低空影像SfM三维重建的耦合单-多旋转平均迭代优化法
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摘要
针对现有SfM算法初始模型构建、关联影像递增不尽合理导致误差累积等问题,提出一种耦合单-多旋转平均迭代优化的低空影像SfM三维重建方法。首先,基于影像相对定向关系建立初始影像关联无向图,以多因素为依据构建最优增量决策函数锁定强关联影像。其次,利用顾及粗差的单旋转平均递增式添加强关联影像以扩充局部参考系下影像关联有向图,并采用四元数支持下无须物方点参与平差的多旋转平均迭代优化计算全局一致性旋转与平移矩阵最优解。最后,利用光束法区域网平差统一优化整个网络,得到精确的旋转与平移矩阵及物方点。试验结果表明,与现有低空影像旋转平均方法相比,本文方法能解算出更为精确的外方位元素和恢复出更为密集的三维物方点云,且相对于增量式SfM算法效率提升显著。
To reduce the cumulative errors caused by initial stereo model construction and related images augmentation in the existing structure from motion based methods, a single & multiple rotation averaging iterative optimization coupled 3 D reconstruction method for low-altitude images is proposed. Firstly, an initial undirected graph of correlated images is established based on images relative orientation. Strongly correlated images are found in terms of the optimal incremental decision function, which is constructed based on multiple factors. Secondly, single rotation averaging considering gross erroris used to expand images directed graph in local reference framework, the global uniform optimal solution of rotation and translation matrices can be computed by quaternion supported multiple rotation averaging without involving 3 D points. Finally, bundle adjustment is used to refine 3 D points, rotation and translation matrices.The experimental results show that the proposed method can achieve more accurate exterior orientation elements and recover more 3 D object points, and significantly improve the efficiency of the incremental structure from motion.
To reduce the cumulative errors caused by initial stereo model construction and related images augmentation in the existing structure from motion based methods, a single & multiple rotation averaging iterative optimization coupled 3 D reconstruction method for low-altitude images is proposed. Firstly, an initial undirected graph of correlated images is established based on images relative orientation. Strongly correlated images are found in terms of the optimal incremental decision function, which is constructed based on multiple factors. Secondly, single rotation averaging considering gross erroris used to expand images directed graph in local reference framework, the global uniform optimal solution of rotation and translation matrices can be computed by quaternion supported multiple rotation averaging without involving 3 D points. Finally, bundle adjustment is used to refine 3 D points, rotation and translation matrices.The experimental results show that the proposed method can achieve more accurate exterior orientation elements and recover more 3 D object points, and significantly improve the efficiency of the incremental structure from motion.
引文
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[18] 盛庆红,柳建锋,虞梦昕,等.对偶四元数近景影像空中三角测量法[J].测绘学报,2015,44(5):503-509.SHENG Qinghong,LIU Jianfeng,YU Mengxin,et al.Aerial triangulation close-range images with dual quaternion[J].Acta Geodaetica et Cartographica Sinica,2015,44(5):503-509.
[19] CUI Hainan,GAO Xiang,SHEN Shuhan,et al.HSfM:Hybrid structure-from-motion[C]//IEEE Conference on Computer Vision and Pattern Recognition (CVPR).Honolulu:IEEE,2017:1212-1221.
[20] 何海清,程朋根,王晋.低空立体像对的严密相对定向[J].遥感信息,2014,29(6):11-15.HE Haiqing,CHENG Penggen,WANG Jin.Rigorous relative orientation of low-altitude stereo images[J].Remote Sensing Information,2014,29(6):11-15.
[21] HORN B K P.Close-form solution of absolute orientation using unit quaternions[J].Journal of the Optical Society of America A,1987,4(4):629-642.
[22] GUAN Yunlan,ZHANG Hongjun.Initial registration for point clouds based on linear features[C]//Proceedings of the 4th International Symposium on Knowledge Acquisition and Modeling.Washington,DC:IEEE,2011:474-477.
[23] HE Fangning.3D Reconstruction from passive sensors[D].West Lafayette:Purdue University,2017.
[24] HE Fangning,HABIB A.A closed-form solution for coarse registration of point clouds using linear features[J].Journal of Surveying Engineering,2016,142(3):04016006.
[25] 李德仁,袁修孝.误差处理与可靠性理论[M].2版.武汉:武汉大学出版社,2012.LI Deren,YUAN Xiuxiao.Error processing and reliability theory[M].2nd ed.Wuhan:Wuhan University Press,2012.
[26] MARTINEC D,PAJDLA T.Robust rotation and translation estimation in multiview reconstruction[C]//Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.Minneapolis:IEEE,2007:1-8.
[2] 何海清.低空摄影测量航带重构及数据处理方法研究[D].武汉:武汉大学,2013.HE Haiqing.The study of strips reconstruction oriented data processing methodology in low-altitude photogrammetry[D].Wuhan:Wuhan University,2013.
[3] SNAVELY N,SEITZ S M,SZELISKI R.Modeling the world from internet photo collections[J].International Journal of Computer Vision,2008,80(2):189-210.
[4] 沈永林,刘军,吴立新,等.基于无人机影像和飞控数据的灾场重建方法研究[J].地理与地理信息科学,2011,27(6):13-17.SHEN Yonglin,LIU Jun,WU Lixin,et al.Reconstruction of disaster scene from UAV images and flight-control data[J].Geography and Geo-Information Science,2011,27(6):13-17.
[5] ROSNELL T,HONKAVAARA E.Point cloud generation from aerial image data acquired by a quadrocopter type micro unmanned aerial vehicle and a digital still camera[J].Sensors,2012,12(1):453-480.
[6] 许志华,吴立新,刘军,等.顾及影像拓扑的SfM算法改进及其在灾场三维重建中的应用[J].武汉大学学报(信息科学版),2015,40(5):599-606.XU Zhihua,WU Lixin,LIU Jun,et al.Modification of SfM algorithm referring to image topology and its application in 3-dimension reconstruction of disaster area[J].Geomatics and Information Science of Wuhan University,2015,40(5):599-606.
[7] 薛武,张永生,赵玲,等.增量式SfM与POS辅助光束法平差精度比较[J].测绘学报,2017,46(2):198-207.DOI:10.11947/j.AGCS.2017.20160274.XUE Wu,ZHANG Yongsheng,ZHAO Ling,et al.Comparison of the accuracy of incremental SfM with POS-aided bundle adjustment[J].Acta Geodaetica et Cartographica Sinica,2017,46(2):198-207.DOI:10.11947/j.AGCS.2017.20160274.
[8] 吴子敬,邓非.SfM的倾斜航空影像空中三角测量[J].测绘科学,2017,42(11):97-101.WU Zijing,DENG Fei.Aerial triangulation of oblique aerial images based on SfM[J].Science of Surveying and Mapping,2017,42(11):97-101.
[9] 李劲澎,姜挺,龚志辉,等.稳健李代数旋转平均用于GPS辅助无人机影像三维重建[J].光学精密工程,2017,25(6):1607-1618.LI Jinpeng,JIANG Ting,GONG Zhihui,et al.GPS-supported 3D reconstruction of UAV images based on robust lie-algebraic rotation averaging[J].Optics and Precision Engineering,2017,25(6):1607-1618.
[10] IRSCHARA A,HOPPE C,BISCHOF H,et al.Efficient structure from motion with weak position and orientation priors[C]//Proceedings of IEEE CVPR 2011 WORKSHOPS.Colorado:IEEE,2011:21-28.
[11] 郭复胜,高伟.基于辅助信息的无人机图像批处理三维重建方法[J].自动化学报,2013,39(6):834-845.GUO Fusheng,GAO Wei.Batch reconstruction from UAV images with prior information[J].Acta Automatica Sinica,2013,39(6):834-845.
[12] 曹雪峰,王庆贺,谢理想.融合低精度GPS/IMU参数的无人机影像批处理三维重建方法[J].系统仿真学报,2015,27(10):2409-2421.CAO Xuefeng,WANG Qinghe,XIE Lixiang.Batched 3D reconstruction of UAV images fused low precision position and orientation parameters[J].Journal of System Simulation,2015,27(10):2409-2421.
[13] 李劲澎,姜挺,肖达,等.基于关系图的无人机影像三维重建[J].光学精密工程,2016,24(6):1501-1509.LI Jinpeng,JIANG Ting,XIAO Da,et al.On diagram-based three-dimensional reconstruction of UAV image[J].Optics and Precision Engineering,2016,24(6):1501-1509.
[14] GOVINDU V M.Combining two-view constraints for motion estimation[C]//Proceedings of 2001 IEEE Computer Conference on Computer Vision and Pattern Recognition (CVPR).Kauai:IEEE,2001,218-225.
[15] CHATTERJEE A,GOVINDU V M.Efficient and robust large-scale rotation averaging[C]//Proceedings of 2013 IEEE International Conference on Computer Vision.Sydney:IEEE,2013:521-528.
[16] ARIE-NACHIMSON M,KOVALSKY S Z,KEMELMACHER-SHLIZERMAN I,et al.Global motion estimation from point matches[C]//Proceedings of 2012 Second International Conference on 3D Imaging,Modeling,Processing,Visualization & Transmission.Zurich:IEEE,2012:81-88.
[17] OZYESIL O,SINGER A,BASRI R.Stable camera motion estimation using convex programming[J].SIAM Journal on Imaging Science,2015,8(2):1220-1262.
[18] 盛庆红,柳建锋,虞梦昕,等.对偶四元数近景影像空中三角测量法[J].测绘学报,2015,44(5):503-509.SHENG Qinghong,LIU Jianfeng,YU Mengxin,et al.Aerial triangulation close-range images with dual quaternion[J].Acta Geodaetica et Cartographica Sinica,2015,44(5):503-509.
[19] CUI Hainan,GAO Xiang,SHEN Shuhan,et al.HSfM:Hybrid structure-from-motion[C]//IEEE Conference on Computer Vision and Pattern Recognition (CVPR).Honolulu:IEEE,2017:1212-1221.
[20] 何海清,程朋根,王晋.低空立体像对的严密相对定向[J].遥感信息,2014,29(6):11-15.HE Haiqing,CHENG Penggen,WANG Jin.Rigorous relative orientation of low-altitude stereo images[J].Remote Sensing Information,2014,29(6):11-15.
[21] HORN B K P.Close-form solution of absolute orientation using unit quaternions[J].Journal of the Optical Society of America A,1987,4(4):629-642.
[22] GUAN Yunlan,ZHANG Hongjun.Initial registration for point clouds based on linear features[C]//Proceedings of the 4th International Symposium on Knowledge Acquisition and Modeling.Washington,DC:IEEE,2011:474-477.
[23] HE Fangning.3D Reconstruction from passive sensors[D].West Lafayette:Purdue University,2017.
[24] HE Fangning,HABIB A.A closed-form solution for coarse registration of point clouds using linear features[J].Journal of Surveying Engineering,2016,142(3):04016006.
[25] 李德仁,袁修孝.误差处理与可靠性理论[M].2版.武汉:武汉大学出版社,2012.LI Deren,YUAN Xiuxiao.Error processing and reliability theory[M].2nd ed.Wuhan:Wuhan University Press,2012.
[26] MARTINEC D,PAJDLA T.Robust rotation and translation estimation in multiview reconstruction[C]//Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.Minneapolis:IEEE,2007:1-8.
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