车载激光点云与序列化全景影像融合方法
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摘要
利用车载移动测量系统采集的全景影像,建立全景球坐标系。将车载点云通过一系列的坐标转换,在全景球坐标系下利用球心、球面上像点和球面上物点三点共线关系,实现车载移动测量系统激光点云与全景影像的融合。全景影像拍摄盲区造成真彩点云存在"黑洞",从而导致导致路面信息缺失。针对该问题利用相邻影像重叠关系对"黑洞"进行修补。通过人工采集检查点对融合精度进行评定,结果表明,该方法融合结果正确,全景影像与激光点云融合精准,修补"黑洞"后,路面信息保留完整。
We build a panoramic spherical coordinate system using the panoramic images collected by vehicle mobile measurement system.The fusion of the laser point cloud and panoramic images is realized through a series of coordinate transformation of vehicle points based on collinear principle of center of sphere,image point and object point of spherical surface.The black hole of true color point cloud caused by the blind area of panoramic images creates the road information loss,we use the overlapping relationship of adjacent images to solve the black hole.Precision evaluation is conducted via manual information collection.We use the manual collection checkpoints to evaluate the fusion accuracy,and the results show that the fusion method is correct and precision.The road information is preserved completely after repairing the black hole by accurate collection of panoramic images and laser point cloud.
We build a panoramic spherical coordinate system using the panoramic images collected by vehicle mobile measurement system.The fusion of the laser point cloud and panoramic images is realized through a series of coordinate transformation of vehicle points based on collinear principle of center of sphere,image point and object point of spherical surface.The black hole of true color point cloud caused by the blind area of panoramic images creates the road information loss,we use the overlapping relationship of adjacent images to solve the black hole.Precision evaluation is conducted via manual information collection.We use the manual collection checkpoints to evaluate the fusion accuracy,and the results show that the fusion method is correct and precision.The road information is preserved completely after repairing the black hole by accurate collection of panoramic images and laser point cloud.
引文
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[16]Lu X S,Zheng Z Y,Wang D,et al.Evaluating on theoretical accuracy of 3Dsurs system scanner point[J].Acta Geodaetica et Cartographica Sinica,2010,39(2):202-206.卢秀山,郑作亚,王冬,等.3Dsurs系统激光扫描点的理论精度评定[J].测绘学报,2010,39(2):202-206.
[17]Wang L,Li G Y,Yang X Y,et al.One-site calibration of mounted parameter method for 3Dmobile laser scanning[J].Infrared and Laser Engineering,2016,45(11):1106005.王力,李广云,杨新永,等.车载三维激光扫描系统安置参数一站式标定[J].红外与激光工程,2016,45(11):1106005.
[18]Wang D,Lu X S.Realization of multi-coordinate system conversion on vehicle-borne 3D information acquisition system[J].Science of Surveying and Mapping,2007,32(4):35-37,193.王冬,卢秀山.车载式三维信息采集系统中多坐标系统转换实现[J].测绘科学,2007,32(4):35-37,193.
[19]Shi L M,Zhao H R,Li M H,et al.Extrinsic calibration for vehicle-based moblie mapping system[J].Acta Geodaetica et Cartographica Sinica,2015,44(1):52-58.石丽梅,赵红蕊,李明海,等.车载移动测图系统外方位元素标定方法[J].测绘学报,2015,44(1):52-58.
[20]Wang D,Liu F Y,Chen T E,et al.The method of cylinder panoramic image based on camera calibration parameters[J].Science of Surveying and Mapping,2016,41(7):150-154.王冬,刘凤英,陈天恩,等.一种相机标定参数的柱面全景影像拼接方法[J].测绘科学,2016,41(7):150-154.
[21]Yan L,Cao L,Chen C J,et al.Registration of vehicle-borne panoramic image and LiDAR point cloud[J].Bulletin of Surveying and Mapping,2015(3):32-36.闫利,曹亮,陈长军,等.车载全景影像与激光点云数据配准方法研究[J].测绘通报,2015(3):32-36.
[22]Nie Q,Cai Y B,Lin Y,et al.Registration of vehicle-borne laser point clouds and panoramic images[J].Remote Sensing Information,2014,29(1):15-18,22.聂倩,蔡元波,林昀,等.车载激光点云与全景影像的配准研究[J].遥感信息,2014,29(1):15-18,22.
[23]Chen W M,Nie Q,Lin Y.Research on registration of vehicle-borne laser point clouds and panoramic images based on Lodrigues matrix transformation[J].Bulletin of Surveying and Mapping,2013(11):21-24.陈为民,聂倩,林昀.基于罗德里格矩阵的车载激光点云与全景影像配准研究[J].测绘通报,2013(11):21-24.
[24]Cui T,Ji S,Shan J,et al.Line-based registration of panoramic images and LiDAR point clouds for mobile mapping[J].Sensors,2017,17(1):70.
[25]Zeng F Y,Zhong R F,Song Y,et al,Vehicle panoramic image matching based on epipolar geometry and space forward intersection[J].Journal of Remote Sensing,2014,18(6):1230-1236.曾凡洋,钟若飞,宋杨,等.车载全景影像核线匹配和空间前方交会[J].遥感学报,2014,18(6):1230-1236.
[26]Song Y,Zeng F Y,Li C H,et al.The true-color point-cloud algorithm based on collinear principle and panoramic image[J].Engineering of Surveying and Mapping,2015(4):1-5,10.宋杨,曾凡洋,李长辉,等.基于共线原理的全景影像真彩色点云生成算法[J].测绘工程,2015(4):1-5,10.
[27]Yue M Y,Kang Z Z.Registration of Point clouds with panoramic images based on gnomonic projection and line features[J].Remote Sensing Information,2017,32(1):10-16.岳明宇,康志忠.利用球心投影与线特征的点云与全景影像配准[J].遥感信息,2017,32(1):10-16.
[2]Zhang J Q,Pan L,Wang S G.Geo-spatial information science[M]Wuhan:Wuhan University Press,2009.张剑清,潘励,王树根.摄影测量学[M].武汉:武汉大学出版社,2009.
[3]Ji S P,Shi Y.Image matching and bundle adjustment using vehicle-based panoramic camera[J].Acta Geodaetica et Cartographica Sinica,2013,42(1):94-100.季顺平,史云.车载全景相机的影像匹配和光束法平差[J].测绘学报,2013,42(1):94-100.
[4]Fangi G.The multi-image spherical panoramas as a tool for architectural survey[C].XXI International CIPA Symposium,2007.
[5]Parian J A,Gruen A.Sensor modeling,selfcalibration and accuracy testing of panoramic cameras and laser scanners[J].ISPRS Journal of Photogrammetry&Remote Sensing,2010,65(1):60-76.
[6]Fangi G,Nardinocchi C.Photogrammetric processing of spherical panoramas[J].Photogrammetric Record,2014,28(143):293-311.
[7]Sun Z X,Zhong R F.Measurement scheme for panoramic images[J].Journal of Applied Sciences,2015,33(4):399-406.孙振兴,钟若飞.一种用于全景影像的测量方案[J].应用科学学报,2015,33(4):399-406.
[8]Sun M,Dong N,Yu J L,et al.A method of building a measurable stereoscopic panorama[J].Bulletin of Surveying and Mapping,2012(s1):301-303.孙敏,董娜,余京蕾,等.一种可量测立体全景的构建方法[J].测绘通报,2012(s1):301-303.
[9]Cheng X J,Cheng X L,Hu M J,et al.Buildings detection and contour extraction by the fusion of aerial images and LIDAR point cloud[J].Chinese Journal of Lasers,2016,43(5):0514002.程效军,程小龙,胡敏捷,等.融合航空影像和LIDAR点云的建筑物探测及轮廓提取[J].中国激光,2016,43(5):0514002.
[10]Li M L,Gao X Y,Li G Y,et al.High accuracy calibration of installation parameters between 3Dterrestrial laser scanner and external-installed digital camera[J].Optics and Precision Engineering,2016,24(9):2158-2166.李明磊,高欣圆,李广云,等.地面三维激光扫描仪与外架数码相机间安置参数的高精度标定[J].光学精密工程,2016,24(9):2158-2166.
[11]Feng W J,Zhang B F,R9ning J,et al.Panoramic stereo sphere vision[C].SPIE,2013,8662:866206.
[12]Liu S,Chen J,Sun M,et al.Measurable panorama construction based on binocular spherical projective geometry[J].Journal of Computer-Aided Design and Computer Graphics,2015(4):657-665.刘帅,陈军,孙敏,等.双球面投影几何可量测全景模型的构建[J].计算机辅助设计与图形学学报,2015(4):657-665.
[13]Ji S P,Shi Y.Comparison of two sensor models for multi-camera rig system in measurements[J].Acta Geodaetica et Cartographica Sinica,2014,43(12):1252-1258.季顺平,史云.多镜头组合型全景相机两种成像模型的定位精度比较[J].测绘学报,2014,43(12):1252-1258.
[14]Zhang C,Yang H M,Han C,et al.Multi-camera calibration based on vanishing point constraint[J].Acta Photonica Sinica,2016,45(5):0512004.张超,杨华民,韩成,等.基于消失点约束的多相机标定方法[J].光子学报,2016,45(5):0512004.
[15]QI Z S,Wang Z,Huang J H,et al.Research on system calibration of structured-light measurement based on neural network[J].Acta Photonica Sinica,2016,45(5):0512002.齐召帅,王昭,黄军辉,等.基于神经网络的结构光系统标定[J].光子学报,2016,45(5):0512002.
[16]Lu X S,Zheng Z Y,Wang D,et al.Evaluating on theoretical accuracy of 3Dsurs system scanner point[J].Acta Geodaetica et Cartographica Sinica,2010,39(2):202-206.卢秀山,郑作亚,王冬,等.3Dsurs系统激光扫描点的理论精度评定[J].测绘学报,2010,39(2):202-206.
[17]Wang L,Li G Y,Yang X Y,et al.One-site calibration of mounted parameter method for 3Dmobile laser scanning[J].Infrared and Laser Engineering,2016,45(11):1106005.王力,李广云,杨新永,等.车载三维激光扫描系统安置参数一站式标定[J].红外与激光工程,2016,45(11):1106005.
[18]Wang D,Lu X S.Realization of multi-coordinate system conversion on vehicle-borne 3D information acquisition system[J].Science of Surveying and Mapping,2007,32(4):35-37,193.王冬,卢秀山.车载式三维信息采集系统中多坐标系统转换实现[J].测绘科学,2007,32(4):35-37,193.
[19]Shi L M,Zhao H R,Li M H,et al.Extrinsic calibration for vehicle-based moblie mapping system[J].Acta Geodaetica et Cartographica Sinica,2015,44(1):52-58.石丽梅,赵红蕊,李明海,等.车载移动测图系统外方位元素标定方法[J].测绘学报,2015,44(1):52-58.
[20]Wang D,Liu F Y,Chen T E,et al.The method of cylinder panoramic image based on camera calibration parameters[J].Science of Surveying and Mapping,2016,41(7):150-154.王冬,刘凤英,陈天恩,等.一种相机标定参数的柱面全景影像拼接方法[J].测绘科学,2016,41(7):150-154.
[21]Yan L,Cao L,Chen C J,et al.Registration of vehicle-borne panoramic image and LiDAR point cloud[J].Bulletin of Surveying and Mapping,2015(3):32-36.闫利,曹亮,陈长军,等.车载全景影像与激光点云数据配准方法研究[J].测绘通报,2015(3):32-36.
[22]Nie Q,Cai Y B,Lin Y,et al.Registration of vehicle-borne laser point clouds and panoramic images[J].Remote Sensing Information,2014,29(1):15-18,22.聂倩,蔡元波,林昀,等.车载激光点云与全景影像的配准研究[J].遥感信息,2014,29(1):15-18,22.
[23]Chen W M,Nie Q,Lin Y.Research on registration of vehicle-borne laser point clouds and panoramic images based on Lodrigues matrix transformation[J].Bulletin of Surveying and Mapping,2013(11):21-24.陈为民,聂倩,林昀.基于罗德里格矩阵的车载激光点云与全景影像配准研究[J].测绘通报,2013(11):21-24.
[24]Cui T,Ji S,Shan J,et al.Line-based registration of panoramic images and LiDAR point clouds for mobile mapping[J].Sensors,2017,17(1):70.
[25]Zeng F Y,Zhong R F,Song Y,et al,Vehicle panoramic image matching based on epipolar geometry and space forward intersection[J].Journal of Remote Sensing,2014,18(6):1230-1236.曾凡洋,钟若飞,宋杨,等.车载全景影像核线匹配和空间前方交会[J].遥感学报,2014,18(6):1230-1236.
[26]Song Y,Zeng F Y,Li C H,et al.The true-color point-cloud algorithm based on collinear principle and panoramic image[J].Engineering of Surveying and Mapping,2015(4):1-5,10.宋杨,曾凡洋,李长辉,等.基于共线原理的全景影像真彩色点云生成算法[J].测绘工程,2015(4):1-5,10.
[27]Yue M Y,Kang Z Z.Registration of Point clouds with panoramic images based on gnomonic projection and line features[J].Remote Sensing Information,2017,32(1):10-16.岳明宇,康志忠.利用球心投影与线特征的点云与全景影像配准[J].遥感信息,2017,32(1):10-16.