變焦相機(jī)高精度標(biāo)定與測圖精度研究
發(fā)布時(shí)間：2019-03-25 15:05
【摘要】：在深空探測領(lǐng)域,目前所有探測車包括我國月球探測車裝載的相機(jī)均是定焦相機(jī),采用定焦相機(jī),無法動(dòng)態(tài)地調(diào)整或聚焦某一目標(biāo),并且制圖精度、生成正射影像范圍和分辨率等都受到限制。變焦相機(jī)具有動(dòng)態(tài)縮放視場和聚焦具體目標(biāo)等定焦相機(jī)無法比擬的優(yōu)勢,能夠最大限度地獲取更多、更為精細(xì)的影像數(shù)據(jù)及三維信息。但是由于變焦相機(jī)高精度標(biāo)定十分困難,導(dǎo)致變焦相機(jī)在攝影測量與深空探測領(lǐng)域中應(yīng)用很少。因此完成變焦相機(jī)的高精度標(biāo)定具有十分重要的科學(xué)意義,這既是攝影測量與計(jì)算機(jī)視覺學(xué)科領(lǐng)域的前沿課題,也是新一代深空探測技術(shù)領(lǐng)域未來應(yīng)用的需要。本文針對變焦相機(jī)的幾何模型進(jìn)行了研究,完成了變焦相機(jī)高精度標(biāo)定,并在此基礎(chǔ)上分析了變焦相機(jī)在三維重建以及測圖方面的應(yīng)用。主要內(nèi)容包括：(1)研究了變焦相機(jī)高精度標(biāo)定方法。變焦相機(jī)主距的變化會引起內(nèi)方位元素的改變。對于內(nèi)方位元素的每次變化都進(jìn)行標(biāo)定十分困難,為了快速實(shí)時(shí)求出變焦相機(jī)任意主距下的內(nèi)方位元素,本文對變焦相機(jī)進(jìn)行幾何建模,實(shí)現(xiàn)了變焦相機(jī)任意主距下的實(shí)時(shí)標(biāo)定。此外,還完成了定焦-變焦立體相機(jī)相對關(guān)系模型的建立與標(biāo)定。(2)研究了單目變焦相機(jī)進(jìn)行三維重建的可行性。得出通過單目變焦相機(jī)進(jìn)行三維重建并不可行,但是研究超高精度的匹配方法將實(shí)現(xiàn)單目變焦相機(jī)在目標(biāo)點(diǎn)深度估計(jì)上的應(yīng)用。(3)研究分析了定焦-變焦立體相機(jī)的測圖精度。推導(dǎo)出不同焦距立體相機(jī)的測圖誤差公式。從實(shí)驗(yàn)及理論方面比較了立體定焦相機(jī)與定焦-變焦立體相機(jī)的測圖精度,得出在變焦相機(jī)的主距高于定焦相機(jī)的大部分范圍內(nèi),定焦-變焦立體相機(jī)的測圖精度更高的結(jié)論。這一發(fā)現(xiàn)將為新一代深空探測車高精度制圖與科學(xué)探測提供有力支持。
[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.
【學(xué)位授予單位】：遼寧工程技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：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.
【學(xué)位授予單位】：遼寧工程技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：P172
【參考文獻(xiàn)】
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