双摄影目标跟踪定位技术研究及应用
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摘要
摄影测量是通过拍摄被测物体获取影像,运用数学的方法对影像进行处理以获取被测目标形状、大小、空间位置和运动状态的一门技术。摄影测量经历了模拟摄影测量,解析摄影测量,现已进入数字摄影测量阶段。随着数字摄影测量的迅速发展,利用数字近景摄影测量技术进行动态目标的位置,姿态和轨迹测量正逐渐成为人们研究的一个热点问题。
本文首先介绍了双摄影目标跟踪定位系统的设计方案。其次详细论述了摄像机标定方法并对几种常用的标定方法进行了比较,介绍了如何利用两个标定好的摄像机测量目标空间位置的双摄影测量算法。然后介绍了双摄影目标跟踪定位系统的软件设计思想及功能,如何利用DSP以及FPGA程序实现目标的特征提取,目标识别和跟踪。最后通过运动目标模拟软件对系统的跟踪性能进行了验证,利用差分GPS对系统的定位精度进行了验证,结果表明系统性能达到指标要求。
Photogrammetry is a technology to measure the shape, size, spatial location and moving status of tested object by using mathematical method to process the photographic images taken from tested object. Photogrammetry develops through analog photogrammetry, analytical photogrammetry and now has stepped into digital photogrammetry stage. With the speedy development of digital photogrammetry,the measurement of moving object’s location, pose and trajectory by using digital close range photogrammetry now has become a hot research topic.
This thesis first introduces the design proposal of target tracking and locating system with dual cameras photogrammetry. Secondly,it discusses camera calibration in detail and compares several frequently used calibration methods, as well as dual cameras photogrammetry which uses two calibrated cameras to measure the target spatial location. Then this thesis introduces the software design philosophy and function of dual cameras photogrammetry system,and how to realize feature extraction and target classification by using DSP and FPGA program.Finally, the tracking performance has been evaluated by moving object simulation software and the calibration accuracy has been evaluated by differential GPS, both results showed that the system performance is qualified.
本文首先介绍了双摄影目标跟踪定位系统的设计方案。其次详细论述了摄像机标定方法并对几种常用的标定方法进行了比较,介绍了如何利用两个标定好的摄像机测量目标空间位置的双摄影测量算法。然后介绍了双摄影目标跟踪定位系统的软件设计思想及功能,如何利用DSP以及FPGA程序实现目标的特征提取,目标识别和跟踪。最后通过运动目标模拟软件对系统的跟踪性能进行了验证,利用差分GPS对系统的定位精度进行了验证,结果表明系统性能达到指标要求。
Photogrammetry is a technology to measure the shape, size, spatial location and moving status of tested object by using mathematical method to process the photographic images taken from tested object. Photogrammetry develops through analog photogrammetry, analytical photogrammetry and now has stepped into digital photogrammetry stage. With the speedy development of digital photogrammetry,the measurement of moving object’s location, pose and trajectory by using digital close range photogrammetry now has become a hot research topic.
This thesis first introduces the design proposal of target tracking and locating system with dual cameras photogrammetry. Secondly,it discusses camera calibration in detail and compares several frequently used calibration methods, as well as dual cameras photogrammetry which uses two calibrated cameras to measure the target spatial location. Then this thesis introduces the software design philosophy and function of dual cameras photogrammetry system,and how to realize feature extraction and target classification by using DSP and FPGA program.Finally, the tracking performance has been evaluated by moving object simulation software and the calibration accuracy has been evaluated by differential GPS, both results showed that the system performance is qualified.
引文
[1]苏国中.基于光电经纬仪影像的飞机姿态测量方法研究.武汉大学博士学位论文.2005.
[2] John F.Canny.A computational approach to edge detection .IEEE Transaction on Pattern Analysis and Machine Intelligence.1986, 8(6) .679-698.
[3]马颂德,张正友.计算机视觉.科学出版社,1998,52-80.
[4]杨敏,沈春林.基于单平面模板的摄像机标定研究.数据采集与处理.2003,03,18(1).40-43.
[5]段华.基于双目立体视觉的计算机三维重建.南京航空航天大学硕士学位论文.2003
[6] W.Faig.Calibration of close-range photogrammetry Systems Mathematical formulation.Photogrammetric Eng.Remote Sensing.1975,41(12) .1479-1486.
[7] Tsai R.Y .A Versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf Tv camera and lenses.IEEE Journal of Automation.1987,3(4) .
[8] Tsai R.Y .A efficient and accurate camera calibration technique for 3D machine vision.Proc.CVPR’86 New York.IEEE.1986.364-374 .
[9] Zhengyou Zhang.A Flexible New Technique for camera Calibrate.IEEE Transaction on pattern analysis and machine intelligence.2000,11,22(11).1330-1334
[10]伍尤富.基于CCD摄像机的举重运动分析系统的预处理及研究.广西师范大学硕士学位论文.2005.
[11]黄任飞,习俊通,马登哲.一种摄像机自动标定方法的设计与实现.测试技术学报.2004,18(2):122-127.
[12]唐大江,熊汉伟,张湘伟.一种快速的相机标定方法.汕头大学学报(自然科学版).2001,2,10(2).74-77.
[13]陈杨,陈荣娟,郭颖辉等. MATLAB6.X图形编程与图像处理.西安:西安电子科技大学出版社,2002.
[14]张兆礼.现代图像处理技术及Matlab实现.北京:人民邮电出版社,2001.
[15]张志涌.精通MATLAB6.5.北京:北京航空航天大学出版社,2003.
[16]张根耀,李竹林,赵宗涛.一种飞行目标跟踪方法.广西大学学报.2003,28(3).229-232.
[17]张超.智能图像分割方法研究.西南交通大学硕士学位论文.2005
[18]李娟.基于模糊理论的图像分割算法研究.武汉科技大学硕士学位论文。2005
[19]李智勇,沈振康,杨卫平等.动态图像分析.北京:国防工业出版社.1999.
[20]杨宜禾,周维真.成像跟踪技术导论.西安:西安电子科技大学出版社,1991.
[21]杨耿.运动目标的图像识别与跟踪研究.江苏大学硕士学位论文.2005.
[22]谢钢.GPS原理与接收机设计.北京:电子工业出版社,2009.90-91.
[23]刘基余.GPS卫星导航定位原理与方法.第二版.北京:科学出版社,2008.237-238.
[24]李广军,陈亦欧,李林等译.Verilog数字系统设计.第二版.北京:电子工业出版社,2007.
[25]刘波.精通Verilog HDL语言编程.北京:电子工业出版社,2007.
[26]杜普选,马庆龙.实时DSP技术及浮点处理器的应用.北京:清华大学出版社,北京交通大学出版社,2007.
[2] John F.Canny.A computational approach to edge detection .IEEE Transaction on Pattern Analysis and Machine Intelligence.1986, 8(6) .679-698.
[3]马颂德,张正友.计算机视觉.科学出版社,1998,52-80.
[4]杨敏,沈春林.基于单平面模板的摄像机标定研究.数据采集与处理.2003,03,18(1).40-43.
[5]段华.基于双目立体视觉的计算机三维重建.南京航空航天大学硕士学位论文.2003
[6] W.Faig.Calibration of close-range photogrammetry Systems Mathematical formulation.Photogrammetric Eng.Remote Sensing.1975,41(12) .1479-1486.
[7] Tsai R.Y .A Versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf Tv camera and lenses.IEEE Journal of Automation.1987,3(4) .
[8] Tsai R.Y .A efficient and accurate camera calibration technique for 3D machine vision.Proc.CVPR’86 New York.IEEE.1986.364-374 .
[9] Zhengyou Zhang.A Flexible New Technique for camera Calibrate.IEEE Transaction on pattern analysis and machine intelligence.2000,11,22(11).1330-1334
[10]伍尤富.基于CCD摄像机的举重运动分析系统的预处理及研究.广西师范大学硕士学位论文.2005.
[11]黄任飞,习俊通,马登哲.一种摄像机自动标定方法的设计与实现.测试技术学报.2004,18(2):122-127.
[12]唐大江,熊汉伟,张湘伟.一种快速的相机标定方法.汕头大学学报(自然科学版).2001,2,10(2).74-77.
[13]陈杨,陈荣娟,郭颖辉等. MATLAB6.X图形编程与图像处理.西安:西安电子科技大学出版社,2002.
[14]张兆礼.现代图像处理技术及Matlab实现.北京:人民邮电出版社,2001.
[15]张志涌.精通MATLAB6.5.北京:北京航空航天大学出版社,2003.
[16]张根耀,李竹林,赵宗涛.一种飞行目标跟踪方法.广西大学学报.2003,28(3).229-232.
[17]张超.智能图像分割方法研究.西南交通大学硕士学位论文.2005
[18]李娟.基于模糊理论的图像分割算法研究.武汉科技大学硕士学位论文。2005
[19]李智勇,沈振康,杨卫平等.动态图像分析.北京:国防工业出版社.1999.
[20]杨宜禾,周维真.成像跟踪技术导论.西安:西安电子科技大学出版社,1991.
[21]杨耿.运动目标的图像识别与跟踪研究.江苏大学硕士学位论文.2005.
[22]谢钢.GPS原理与接收机设计.北京:电子工业出版社,2009.90-91.
[23]刘基余.GPS卫星导航定位原理与方法.第二版.北京:科学出版社,2008.237-238.
[24]李广军,陈亦欧,李林等译.Verilog数字系统设计.第二版.北京:电子工业出版社,2007.
[25]刘波.精通Verilog HDL语言编程.北京:电子工业出版社,2007.
[26]杜普选,马庆龙.实时DSP技术及浮点处理器的应用.北京:清华大学出版社,北京交通大学出版社,2007.