立体拼接中全局控制点的定向

Orientation of Global Control Points in Stereo Image Mosaic

提出了一种基于光线交汇约束的全局控制点定向方法。精确标定过的单摄像机模拟双目交汇测量系统,在空间2个不同的角度对至少5个自由摆放的全局控制点成像,根据双目视觉测量模型可解算出传感器的转换矩阵R和带有比例因子的平移向量T。通过引入精确长度已知的基准尺提供空间标度,以求得转换因子,进而求得各点在传感器坐标系下的三维坐标。实验表明,该方法简单、精度高,适于现场测量。

An orientation method for global control points based on ray intersecting is proposed. An intersectant binocular measurement system is simulated by an accurately calibrated camera. Two images that indclude at least five global control points placed freely in measurement scene are taken by this camera at different angle of view. Then the spin matrix R and translation vector T with scale factor can be obtained by using the measurement model of binocular stereo vision. And the scale factor can be solved by leading a reference ruler with known accurate length in orientation process. So the 3D coordinates of global control points in sensor coordinate frame can be gained. This method is applicable for field measurement because of its simplicity and high precision.