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针对晃动平台对空拍摄大视场摄像机难以标定的情况,提出了利用无人机(UAV)作为动态控制点来现场标定摄像机参数的方法。该方法控制无人机在摄像机视场内飞行,并用与晃动平台固联的无人机定位测量系统对无人机位置进行测量,从而整个飞行过程中的无人机位置均可当作控制点对摄像机进行标定。实验中控制点数目充足,易满足控制点在空间和在图像上均匀散布的要求,可以准确求解摄像机内外参数。突破了无法在视场中布设传统像机标定方法所需控制点,使晃动平台上大视场摄像测量无法现场采集参考图像进行高精度标定的局限。对实验条件要求低,最少只需要晃动平台基准坐标系下2个基准点和方位像机光心位置即可标定摄像机内外参数。该方法已成功应用于系泊状态下船舶中摄像机参数的标定。
Aimed at the difficulty of calibrating the large-field camera to the aerial photography of the rocking platform, a method of using the UAV as the dynamic control point to calibrate the parameters of the scene is proposed. The method controls the UAV to fly in the field of view of the camera and measures the position of the UAV by a UAV positioning measuring system which is fixedly connected with the shaking platform so that the UAV position during the whole flight can be regarded as a control point Calibrate the camera. The experimental control points sufficient number, easy to meet the control points in space and spread evenly on the image of the request, you can accurately solve the camera parameters inside and outside. Which overcomes the limitation that high-precision calibration can not be achieved by collecting the reference images on the scene of large-field camera measurement on the rocking platform without breaking the control points required for laying out the traditional camera calibration method in the field of view. The requirements of the experimental conditions are low, at least only need to shake the platform reference coordinate system 2 fiducials and azimuth camera optical center position can be calibrated inside and outside the camera parameters. The method has been successfully applied to the calibration of camera parameters in ships under mooring conditions.