The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo m...The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.展开更多
The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in t...The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in this paper. First, two appro- priate lines are selected in the space to establish a local coordinate system, the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane; then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P, and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution; finally, the rota- tion matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition （SVD）. The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1~ and the 3a error is superior to 0.3＇. The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.展开更多
基金Supported by the National Natural Science Foundation of China(42221002,42171432)Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities.
文摘The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.
基金supported by the National Natural Science Foundation of China(Grant Nos.11072263,11272347)the Program for New Century Excellent Talents in University
文摘The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in this paper. First, two appro- priate lines are selected in the space to establish a local coordinate system, the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane; then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P, and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution; finally, the rota- tion matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition （SVD）. The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1~ and the 3a error is superior to 0.3＇. The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.
