变焦相机高精度标定与测图精度研究
发布时间：2019-03-25 15:05
【摘要】：在深空探测领域,目前所有探测车包括我国月球探测车装载的相机均是定焦相机,采用定焦相机,无法动态地调整或聚焦某一目标,并且制图精度、生成正射影像范围和分辨率等都受到限制。变焦相机具有动态缩放视场和聚焦具体目标等定焦相机无法比拟的优势,能够最大限度地获取更多、更为精细的影像数据及三维信息。但是由于变焦相机高精度标定十分困难,导致变焦相机在摄影测量与深空探测领域中应用很少。因此完成变焦相机的高精度标定具有十分重要的科学意义,这既是摄影测量与计算机视觉学科领域的前沿课题,也是新一代深空探测技术领域未来应用的需要。本文针对变焦相机的几何模型进行了研究,完成了变焦相机高精度标定,并在此基础上分析了变焦相机在三维重建以及测图方面的应用。主要内容包括：(1)研究了变焦相机高精度标定方法。变焦相机主距的变化会引起内方位元素的改变。对于内方位元素的每次变化都进行标定十分困难,为了快速实时求出变焦相机任意主距下的内方位元素,本文对变焦相机进行几何建模,实现了变焦相机任意主距下的实时标定。此外,还完成了定焦-变焦立体相机相对关系模型的建立与标定。(2)研究了单目变焦相机进行三维重建的可行性。得出通过单目变焦相机进行三维重建并不可行,但是研究超高精度的匹配方法将实现单目变焦相机在目标点深度估计上的应用。(3)研究分析了定焦-变焦立体相机的测图精度。推导出不同焦距立体相机的测图误差公式。从实验及理论方面比较了立体定焦相机与定焦-变焦立体相机的测图精度,得出在变焦相机的主距高于定焦相机的大部分范围内,定焦-变焦立体相机的测图精度更高的结论。这一发现将为新一代深空探测车高精度制图与科学探测提供有力支持。
[Abstract]:In the field of deep space exploration, all the cameras loaded by rovers, including our lunar rovers, are fixed-focus cameras at present. Using fixed-focus cameras, it is impossible to dynamically adjust or focus a certain target, and the accuracy of mapping is also discussed. The range and resolution of orthophotogenic images are limited. Zoom camera has the incomparable advantage over the fixed focus camera such as dynamic zoom field of view and focusing specific target. It can obtain more and finer image data and three-dimensional information as much as possible. However, it is difficult to calibrate the zoom camera with high precision, which leads to few applications in the field of photogrammetry and deep space exploration. Therefore, it is of great scientific significance to complete the high-precision calibration of zoom camera, which is not only the frontier subject in the field of photogrammetry and computer vision, but also the need for the future application of the new generation of deep space exploration technology. In this paper, the geometric model of zoom camera is studied, and the high precision calibration of zoom camera is completed. On the basis of this, the application of zoom camera in 3D reconstruction and mapping is analyzed. The main contents are as follows: (1) the high precision calibration method of zoom camera is studied. The change of the main distance of the zoom camera will cause the change of the inner azimuth element. It is very difficult to calibrate each change of internal azimuth element. In order to find out the inner azimuth element of zoom camera at any main distance quickly and real-time, the geometric modeling of zoom camera is carried out in this paper. The real-time calibration of zoom camera at any main distance is realized. In addition, the relative relation model of fixed focus-zoom stereo camera is established and calibrated. (2) the feasibility of three-dimensional reconstruction of monocular zoom camera is studied. It is concluded that three-dimensional reconstruction with monocular zoom camera is not feasible. But the matching method of ultra-high precision will realize the application of monocular zoom camera in depth estimation of target point. (3) the mapping accuracy of fixed focus-zoom stereo camera is studied and analyzed. The mapping error formula of three-dimensional camera with different focal length is derived. From the experimental and theoretical aspects, the mapping accuracy of the stereo camera is compared with that of the focus-zoom stereo camera. It is concluded that the mapping accuracy of the zoom-zoom stereo camera is higher than that of the fixed-focus camera in the range that the main distance of the zoom camera is higher than that of the fixed-focus camera. This discovery will provide a powerful support for high precision mapping and scientific exploration of a new generation of deep space exploration vehicles.
【学位授予单位】：辽宁工程技术大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P172
[Abstract]:In the field of deep space exploration, all the cameras loaded by rovers, including our lunar rovers, are fixed-focus cameras at present. Using fixed-focus cameras, it is impossible to dynamically adjust or focus a certain target, and the accuracy of mapping is also discussed. The range and resolution of orthophotogenic images are limited. Zoom camera has the incomparable advantage over the fixed focus camera such as dynamic zoom field of view and focusing specific target. It can obtain more and finer image data and three-dimensional information as much as possible. However, it is difficult to calibrate the zoom camera with high precision, which leads to few applications in the field of photogrammetry and deep space exploration. Therefore, it is of great scientific significance to complete the high-precision calibration of zoom camera, which is not only the frontier subject in the field of photogrammetry and computer vision, but also the need for the future application of the new generation of deep space exploration technology. In this paper, the geometric model of zoom camera is studied, and the high precision calibration of zoom camera is completed. On the basis of this, the application of zoom camera in 3D reconstruction and mapping is analyzed. The main contents are as follows: (1) the high precision calibration method of zoom camera is studied. The change of the main distance of the zoom camera will cause the change of the inner azimuth element. It is very difficult to calibrate each change of internal azimuth element. In order to find out the inner azimuth element of zoom camera at any main distance quickly and real-time, the geometric modeling of zoom camera is carried out in this paper. The real-time calibration of zoom camera at any main distance is realized. In addition, the relative relation model of fixed focus-zoom stereo camera is established and calibrated. (2) the feasibility of three-dimensional reconstruction of monocular zoom camera is studied. It is concluded that three-dimensional reconstruction with monocular zoom camera is not feasible. But the matching method of ultra-high precision will realize the application of monocular zoom camera in depth estimation of target point. (3) the mapping accuracy of fixed focus-zoom stereo camera is studied and analyzed. The mapping error formula of three-dimensional camera with different focal length is derived. From the experimental and theoretical aspects, the mapping accuracy of the stereo camera is compared with that of the focus-zoom stereo camera. It is concluded that the mapping accuracy of the zoom-zoom stereo camera is higher than that of the fixed-focus camera in the range that the main distance of the zoom camera is higher than that of the fixed-focus camera. This discovery will provide a powerful support for high precision mapping and scientific exploration of a new generation of deep space exploration vehicles.
【学位授予单位】：辽宁工程技术大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P172
【参考文献】
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