基于非标航片的三维数字地图生成技术研究
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摘要
以计算机为核心的信息处理技术是二次世界大战后科技革命的主要标志之一,计算机科学的飞速发展为地理信息系统提供了先进的工具和手段。城市信息化地理信息系统发展的重要阶段,它是国家战略发展和科技文明进步的必经之路。城市信息化,进而构建数字城市,所需的信息多种多样,其中最基础的是空间地理信息。地理信息的获取大多依赖于摄影测量学科的发展和完善。
摄影测量发展到今天,已经进入了它的第三个阶段—数字摄影测量阶段。它对整个摄影测量的理念、技术、应用都产生了极其深远的影响。计算机科学技术的发展不仅可以代替人工进行大量的计算,而且已经可能代替人眼来识别同名点,从而为摄影测量开辟了真正的自动化道路。
目前,用于数字地图绘制的地理数据主要来自于卫星遥感影像和航拍图像,我国目前地形地貌的数据来源主要还是以航拍为主,卫星为辅。卫星遥感影像和航拍图像适合作为大区域地图制作的数据源,它制作成本较高,数据采集周期较长。对于局部区域地图的绘制,或要求补充现有地图数据,难以采用大型航拍飞机作业。尤其在“9.11”事件后,安全防范系统更是突显三维地图的重要性,得到许多国家的高度重视。突发事件现场的指挥员希望所得到的三维场景能够反映现场地形地貌和建筑的最新变化。
超小型无人定翼机成本低,有一定的负载能力和抗风能力,且携带方便,在民用和军用方面均具有巨大的实用价值。从目前的技术水平和成本上看,对于地理空间信息数据的获取,基于低空超小型飞行器的航拍是对卫星遥感和高空航拍的一个有益补充,具有可行性和实用性。由于超小型飞行器飞行高度相对低、体积小、重量轻、飞行灵活,起落方便,因此特别适合小区域的图像采集。但超小型飞行器也由于其体积小、重量轻,飞行时很容易受外部风力的影响,采集的数据难以达到航测的标准。
本文为了实现利用超小型飞行器采集的非标航片生成三维地图的目标,通过对与课题相关的地物测量理论和机器视觉理论的深入研究,采用机器视觉的方法解决地物测量理论中的问题:对超小型飞行器采集的非标航片进行预处理,采用改进的算法对其彩色信息实施灰度化;针对非标航片的特点提出了改进的特征点提取和匹配算法,通过实验证明其可行性;文中提出了一种新的F矩阵估算算法——加权随机采样法,并且实现了基于这种算法的特征点加密步骤,有效保证了地形地貌的连续性;考虑镜头一阶畸变的两步相机标定算法,更加精确的计算特征点对的世界坐标,生成工作区DEM;在规格网生成技术的基础上采用改进的Delaunay三角网的分治算法,完成工作区三维浏览,最终实现了整个系统的有效运行。
本课题在研究过程中充分考虑各种编译环境的优缺点,采用VC++6.0完成软件主系统的编写,无缝处理matlab和VC的接口,利用matlab计算处理相机标定过程等需要大量计算的模块,使用OpenGL编写三维浏览模块。整个系统软件编写实现了模块化和对象抽象化,具有较高的可移植性和跨平台性,可实现从windows平台向Linux操作系统的平滑移植;系统软件交互性、开放性和可扩充性好,操作简单,安全性能好,便于维护。
The information processing which kernel by computer technique is one of the symbols about the revolution of science and technology aider the World WarⅡ.The computer science's fast development gives some advanced instruments and means for GIS(Geographic Information Systems).It is necessary for the national strategy's development and science and technology's progress which about city informatization.There are so many kinds of info to construct the digital city,but the most fundamental of them is the spatial geography info.The geography information's acquired mostly dependent on photogrammetry's development and consummate.
Photogrammetry has run to its third phase-digital photogrammetry.It makes a far-reaching effect on the wholly photogrammetric logos,technology and application. The developments of computer science not only replace the enormous manual count, but have likely to identify the same point.Thereby it pioneers a robotic zed way for photogrammetry.
It is hard to bring large navigate plane to renew the currently part-region-map data in some place.Security system became more important after the "911" event and many countries pay high attention on it.The commander wanted to have a three-dimensional scene around the terror environment which can reflect its new change.
Subminiature Unmanned fixed-wing Aerial Vehicles(SUAV) is low-cost and portable,and they have good performances in payload and stability to wind. Obviously SUAV have enormous potential in civil and military application.It is an availability supplement for the geography spatial info collected by remote sensing and high-altitude navigate plane which by its current capability and its cost.It is so fit for the sub region's images collected because of its low altitude of flight,small volume,light weight,agile flight and convenient landing or flying-off.And also because of those the data it collected cannot reach the aerial survey's standard.
This research's target is to build three-dimensional map by the data which collected by the SUAV.The author wanted to solve the problem in Photogrammetry by machine vision after lots of investigations and analyses about the theory of Photogrammetry and machine vision.We pretreated the nonstandard navigate picture collected by SUAV and adopted an improved algorithm to grey it.We did an improvement algorithm of characteristic point's extracting and matching Contra posed its specialty,and programmed the algorithm to prove its feasibility.In this paper the author brought out a new algorithm to estimate the F matrices-weighted random sampling algorithm.I programmed to complete the step of increasing the characteristic points based on this algorithm for the hypsography continuity.For the point's world co-ordinate's accuracy,we used a calibration algorithm which considered the lens first-order aberrant.And then we used the result to build the work area's Digital Elevatation Model(DEM).We made an improvement on the Delaunay triangulation net's Divide-and-Conquer algorithm based on the rule net spanning technology.And at last the work area's relief map can be browsed by this new system.
In the process of this research the author considerd many different kinds of compile environmental relative merits.VC++6.0 should be used in the major system's programmer and matlab should be used in the calibration procedure and so on which need more calculation.The author also used OpenGL to compile the browse module and disposed the interface of matlab,VC++6.0 and OpenGL smoothly.The system software has been modularized and abstracted and has a good ability of portability and cross-platform.This software can be transmitted from Windows to Linux smoothly.The software has a good ability of interaction, openness and extension.This software has strong function,good security and is easy to operate and maintain.
摄影测量发展到今天,已经进入了它的第三个阶段—数字摄影测量阶段。它对整个摄影测量的理念、技术、应用都产生了极其深远的影响。计算机科学技术的发展不仅可以代替人工进行大量的计算,而且已经可能代替人眼来识别同名点,从而为摄影测量开辟了真正的自动化道路。
目前,用于数字地图绘制的地理数据主要来自于卫星遥感影像和航拍图像,我国目前地形地貌的数据来源主要还是以航拍为主,卫星为辅。卫星遥感影像和航拍图像适合作为大区域地图制作的数据源,它制作成本较高,数据采集周期较长。对于局部区域地图的绘制,或要求补充现有地图数据,难以采用大型航拍飞机作业。尤其在“9.11”事件后,安全防范系统更是突显三维地图的重要性,得到许多国家的高度重视。突发事件现场的指挥员希望所得到的三维场景能够反映现场地形地貌和建筑的最新变化。
超小型无人定翼机成本低,有一定的负载能力和抗风能力,且携带方便,在民用和军用方面均具有巨大的实用价值。从目前的技术水平和成本上看,对于地理空间信息数据的获取,基于低空超小型飞行器的航拍是对卫星遥感和高空航拍的一个有益补充,具有可行性和实用性。由于超小型飞行器飞行高度相对低、体积小、重量轻、飞行灵活,起落方便,因此特别适合小区域的图像采集。但超小型飞行器也由于其体积小、重量轻,飞行时很容易受外部风力的影响,采集的数据难以达到航测的标准。
本文为了实现利用超小型飞行器采集的非标航片生成三维地图的目标,通过对与课题相关的地物测量理论和机器视觉理论的深入研究,采用机器视觉的方法解决地物测量理论中的问题:对超小型飞行器采集的非标航片进行预处理,采用改进的算法对其彩色信息实施灰度化;针对非标航片的特点提出了改进的特征点提取和匹配算法,通过实验证明其可行性;文中提出了一种新的F矩阵估算算法——加权随机采样法,并且实现了基于这种算法的特征点加密步骤,有效保证了地形地貌的连续性;考虑镜头一阶畸变的两步相机标定算法,更加精确的计算特征点对的世界坐标,生成工作区DEM;在规格网生成技术的基础上采用改进的Delaunay三角网的分治算法,完成工作区三维浏览,最终实现了整个系统的有效运行。
本课题在研究过程中充分考虑各种编译环境的优缺点,采用VC++6.0完成软件主系统的编写,无缝处理matlab和VC的接口,利用matlab计算处理相机标定过程等需要大量计算的模块,使用OpenGL编写三维浏览模块。整个系统软件编写实现了模块化和对象抽象化,具有较高的可移植性和跨平台性,可实现从windows平台向Linux操作系统的平滑移植;系统软件交互性、开放性和可扩充性好,操作简单,安全性能好,便于维护。
The information processing which kernel by computer technique is one of the symbols about the revolution of science and technology aider the World WarⅡ.The computer science's fast development gives some advanced instruments and means for GIS(Geographic Information Systems).It is necessary for the national strategy's development and science and technology's progress which about city informatization.There are so many kinds of info to construct the digital city,but the most fundamental of them is the spatial geography info.The geography information's acquired mostly dependent on photogrammetry's development and consummate.
Photogrammetry has run to its third phase-digital photogrammetry.It makes a far-reaching effect on the wholly photogrammetric logos,technology and application. The developments of computer science not only replace the enormous manual count, but have likely to identify the same point.Thereby it pioneers a robotic zed way for photogrammetry.
It is hard to bring large navigate plane to renew the currently part-region-map data in some place.Security system became more important after the "911" event and many countries pay high attention on it.The commander wanted to have a three-dimensional scene around the terror environment which can reflect its new change.
Subminiature Unmanned fixed-wing Aerial Vehicles(SUAV) is low-cost and portable,and they have good performances in payload and stability to wind. Obviously SUAV have enormous potential in civil and military application.It is an availability supplement for the geography spatial info collected by remote sensing and high-altitude navigate plane which by its current capability and its cost.It is so fit for the sub region's images collected because of its low altitude of flight,small volume,light weight,agile flight and convenient landing or flying-off.And also because of those the data it collected cannot reach the aerial survey's standard.
This research's target is to build three-dimensional map by the data which collected by the SUAV.The author wanted to solve the problem in Photogrammetry by machine vision after lots of investigations and analyses about the theory of Photogrammetry and machine vision.We pretreated the nonstandard navigate picture collected by SUAV and adopted an improved algorithm to grey it.We did an improvement algorithm of characteristic point's extracting and matching Contra posed its specialty,and programmed the algorithm to prove its feasibility.In this paper the author brought out a new algorithm to estimate the F matrices-weighted random sampling algorithm.I programmed to complete the step of increasing the characteristic points based on this algorithm for the hypsography continuity.For the point's world co-ordinate's accuracy,we used a calibration algorithm which considered the lens first-order aberrant.And then we used the result to build the work area's Digital Elevatation Model(DEM).We made an improvement on the Delaunay triangulation net's Divide-and-Conquer algorithm based on the rule net spanning technology.And at last the work area's relief map can be browsed by this new system.
In the process of this research the author considerd many different kinds of compile environmental relative merits.VC++6.0 should be used in the major system's programmer and matlab should be used in the calibration procedure and so on which need more calculation.The author also used OpenGL to compile the browse module and disposed the interface of matlab,VC++6.0 and OpenGL smoothly.The system software has been modularized and abstracted and has a good ability of portability and cross-platform.This software can be transmitted from Windows to Linux smoothly.The software has a good ability of interaction, openness and extension.This software has strong function,good security and is easy to operate and maintain.
引文
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