火星多光谱相机的地面几何标定研究
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摘要
随着航空航天技术的飞速发展,作为地球近邻的火星成为当今国际空间大国的主要研究目标。为完成火星巡视区形貌和地质探测任务,可直接使用多光谱相机获取的高分辨率真彩色图像作为观测手段。为寻找着陆点,火星多光谱相机应具备精确定位的测绘功能,因此需进行几何标定估计其内方位元素。通过张正友标定算法提供初值,然后以改进的Heikkil?算法完成几何标定,经过分析标定结果的不确定度,探究实验误差来源,提出改进方法,最终获得满足要求的标定参数,为实现图像融合、三维重建等计算机视觉领域奠定坚实的基础。
With the rapid development of aerospace technology, as the near neighbor of the Earth, the Mars has become the main research target of the leading space power in the world. To complete the Mars patrolling area topography and geological exploration missions, true color images with high resolution obtained by multispectral cameras can be used directly as observations.In order to find the landing point, the Mars multispectral camera should possess the mapping function with precise positions, so it is necessary to conduct the geometric calibration for measuring intrinsic elements. The Zhang Zhengyou calibration algorithm is used to provide initial values, and then combined with the improved Heikkil? algorithm in this paper. After analyzing the uncertainty of the calibration results, and finding out the source of experimental errors, an improved method for calibration parameters is proposed to meet the requiremens, which lays a solid foundation for 3 D reconstruction and other fields of computer vision.
With the rapid development of aerospace technology, as the near neighbor of the Earth, the Mars has become the main research target of the leading space power in the world. To complete the Mars patrolling area topography and geological exploration missions, true color images with high resolution obtained by multispectral cameras can be used directly as observations.In order to find the landing point, the Mars multispectral camera should possess the mapping function with precise positions, so it is necessary to conduct the geometric calibration for measuring intrinsic elements. The Zhang Zhengyou calibration algorithm is used to provide initial values, and then combined with the improved Heikkil? algorithm in this paper. After analyzing the uncertainty of the calibration results, and finding out the source of experimental errors, an improved method for calibration parameters is proposed to meet the requiremens, which lays a solid foundation for 3 D reconstruction and other fields of computer vision.
引文
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[16]洪裕珍,任国强,孙健.离焦模糊图像清晰度评价函数的分析与改进[J].光学精密工程,2014,22(12):3401-3408.HONG Y Z,REN G Q,SUN J.Analysis and improvement of defocused image clarity evaluation function[J].Optical Precision Engineering,2014,22(12):3401-3408.
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[19]陆永耕.数码相机内部参数标定[J].上海电机学院报,2010,15(2):97-100.LU Y G.Digital camera calibration of intrinsic elements[J].Shanghai Institute of Motor,2010,15(2):97-100.
[20]寻言言,薛河儒,姜新华.基于MATLAB的相机标定方法[J].内蒙古农业大学学报,2014,35(2):164-168.XUN Y Y,XUE H R,JIANG X H.Camera calibration method based on MATLAB[J].Journal of Inner Mongolia Agricultural University,2014,35(2):164-168.
[21]王永强,费建锋,毕德学,等.基于交比不变性的投影仪镜头畸变参数标定方法[J].测试技术学报,2008,22(4):283-286.WANG Y Q,FEI J F,BI D X,et al.Calibration method for the lens distortion parameter of projectors based on the non-denaturation[J].Journal of Test and Measurement Technology,2008,22(4):283-286.
[22]陈一超,刘秉琦,黄富瑜.超大视场红外双目视觉极线约束与空间定位[J].光子学报,2019,48(2):0211003.CHEN Y C,LIU B Q,HUANG F Y.Ultra-wide field infrared binocular vision epipolar constraint and spatial positioning[J].Acta Photonica Sinica,2019,48(2):0211003.
[2]郑逢杰,余涛,袁国体,等.相机几何标定方法综述[J].太原科技,2010(2):72-73.ZHENG F J,YU T,YUAN G T,et al.Camera geometry calibration method review[J].Taiyuan Science and Technology,2010(2):72-73.
[3]邱茂林.计算机视觉中摄像机定标综述[J].自动化学报,2000,26(1):43-55.QIU M L.Camera calibration in computer vision[J].Acta Automatica Sinica,2000,26(1):43-55.
[4]吴渊凯,卞新高.计算机视觉中摄像机标定的实验分析[J].电子测量技术,2016,39(11):95-99.WU Y K,BIAN X G.Experimental analysis of camera calibration in computer vision[J].Electronic Measurement Technology,2016,39(11):95-99.
[5]赵育良,李开端.利用线性CCD自动测量航空相机镜头的焦距[J].光学技术,2002,28(2):163-164.ZHAO Y L,LI K D.Automatic measurement of the focal length of aerial camera lens using linear CCD[J].Optical Technique,2002,28(2):163-164.
[6]王卓君,杨群丰,范凯,等.一种相机标定方法的探讨[J].机电工程技术,2015,44(12):99-101.WANG Z J,YANG Q F,FAN K,et al.A method of camera calibration[J].Mechanical&Electrical Engineering Technology,2015,44(12):99-101.
[7]ZHANG Z.A flexible new technique for camera calibration[J].IEEETransactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[8]柳溜.CE-3全景相机内方位元素标定技术研究[D],北京:中国科学院研究生院,2014.LIU L.Technology research to extrinsic element calibration in CE-3panoramic camera[D]//Peking:University of Chinese Academy of Sciences,2014.
[9]马颂德,张正友.计算机视觉-计算理论与算法基础[M].北京:科学出版社,1998:50-73.
[10]HEIKKIL?J.Geometric camera calibration using circular control points[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1066-1077.
[11]HEIKKILA J,SILVEN O.A four-step camera calibration procedure with implicit image correction[C]//IEEE international conference on computer vision and pattern recognition.[S.l.]:IEEE,1997.
[12]郝鑫.摄像机标定参数的不确定性分析及三维测量[D].山西:山西大学,2014.HAO X.Uncertainty analysis and 3D measurement of camera calibration parameters[D].Shanxi:Shanxi University,2014.
[13]袁铭,苏显渝,刘晓青.影响摄像机标定精度的因素分析[J].光学与光电技术,2018,8(4):18-21.YUAN M,SU X Y,LIU X Q.Factors affecting camera calibration accuracy[J].Optics&Optoelectronic Technology,2018,8(4):18-21.
[14]HEIKKILA J,SILVEN O.Calibration procedure for short focal length off-the-shelf CCD cameras[C]//13th International Conference on Pattern Recognition,Austria:[s.n.],1996.
[15]陈晓燕,董志国,轧刚,等.相机标定精度外界影响因素仿真及实验研究[J].太原理工大学学报,2016,47(1):6-20.CHEN X Y,DONG Z G,ZHI G,et al.The external factors simulation and experimental study in camera calibration accuracy[J].Taiyuan University of Technology,2016,47(1):6-20.
[16]洪裕珍,任国强,孙健.离焦模糊图像清晰度评价函数的分析与改进[J].光学精密工程,2014,22(12):3401-3408.HONG Y Z,REN G Q,SUN J.Analysis and improvement of defocused image clarity evaluation function[J].Optical Precision Engineering,2014,22(12):3401-3408.
[17]惠守文.航空测绘相机几何标定方法[J].红外,2013,34(9):13-18.HUI S W.Aeronautical mapping camera geometry calibration method[J].Infrared magazine,2013,34(9):13-18.
[18]陈铎.摄像机标定方法研究与实现[D].沈阳:东北大学,2008.CHEN D.Camera calibration method research and implementation[D].Shenyang:Northeastern University,2008.
[19]陆永耕.数码相机内部参数标定[J].上海电机学院报,2010,15(2):97-100.LU Y G.Digital camera calibration of intrinsic elements[J].Shanghai Institute of Motor,2010,15(2):97-100.
[20]寻言言,薛河儒,姜新华.基于MATLAB的相机标定方法[J].内蒙古农业大学学报,2014,35(2):164-168.XUN Y Y,XUE H R,JIANG X H.Camera calibration method based on MATLAB[J].Journal of Inner Mongolia Agricultural University,2014,35(2):164-168.
[21]王永强,费建锋,毕德学,等.基于交比不变性的投影仪镜头畸变参数标定方法[J].测试技术学报,2008,22(4):283-286.WANG Y Q,FEI J F,BI D X,et al.Calibration method for the lens distortion parameter of projectors based on the non-denaturation[J].Journal of Test and Measurement Technology,2008,22(4):283-286.
[22]陈一超,刘秉琦,黄富瑜.超大视场红外双目视觉极线约束与空间定位[J].光子学报,2019,48(2):0211003.CHEN Y C,LIU B Q,HUANG F Y.Ultra-wide field infrared binocular vision epipolar constraint and spatial positioning[J].Acta Photonica Sinica,2019,48(2):0211003.