Due to the electronic rolling shutter, high-speed Complementary Metal-Oxide Semiconductor( CMOS) aerial cameras are generally subject to geometric distortions,which cannot be perfectly corrected by conventional vision...Due to the electronic rolling shutter, high-speed Complementary Metal-Oxide Semiconductor( CMOS) aerial cameras are generally subject to geometric distortions,which cannot be perfectly corrected by conventional vision-based algorithms. In this paper we propose a novel approach to address the problem of rolling shutter distortion in aerial imaging. A mathematical model is established by the coordinate transformation method. It can directly calculate the pixel distortion when an aerial camera is imaging at arbitrary gesture angles.Then all pixel distortions form a distortion map over the whole CMOS array and the map is exploited in the image rectification process incorporating reverse projection. The error analysis indicates that within the margin of measuring errors,the final calculation error of our model is less than 1/2 pixel. The experimental results show that our approach yields good rectification performance in a series of images with different distortions. We demonstrate that our method outperforms other vision-based algorithms in terms of the computational complexity,which makes it more suitable for aerial real-time imaging.展开更多
In order to improve the target location accuracy of unmanned aerial vehicle(UAV),a novel target location method using multiple observations is proposed.Firstly,the camera intrinsic parameters are calibrated.Then,the w...In order to improve the target location accuracy of unmanned aerial vehicle(UAV),a novel target location method using multiple observations is proposed.Firstly,the camera intrinsic parameters are calibrated.Then,the weighted least squares estimation is used to improve the localization precision because the traditional crossover method is vulnerable to noise and has low precision.By repeatedly measuring the same target point,a nonlinear observation equation is established and then covered to linear equations using Taylor expansion.The weighted matrix is obtained according to the height of the measurement point and the camera optic axis pointing angle,and then the weighted least squares estimation is used to calculate the target position iteratively.Finally,the effectiveness and robustness of this method is verified by numerical simulation and flight test.The results show that this method can effectively improve the precision of target location.展开更多
Accuracy is a key factor in high-resolution remote sensing and photogrammetry. The factors that affect accuracy are imaging system errors and data processing errors. Due to the complexity of aerial camera errors, this...Accuracy is a key factor in high-resolution remote sensing and photogrammetry. The factors that affect accuracy are imaging system errors and data processing errors. Due to the complexity of aerial camera errors, this paper focuses on the design of digital aerial camera systems and the means to reduce system error and data processing inefficiencies. There are many kinds of digital aerial camera systems at present;however, these systems lack a unified physical model, which ultimately leads to more complicated designs and multi-camera modes. Such a system is complex and costly, as it is easily affected by factors such as vibration and temperature. Thus, the installed accuracy can only reach the millimeter level. Here, we describe a unified physical structure for a digital aerial camera that imitates an out-of-field multi-charge-coupled device (CCD), an in-field multi-CCD, and once-imaging and twice-imaging digital camera systems. This model is referred to as the variable baseline-height ratio spatiotemporal model. The variable ratio allows the opto-mechanical spatial parameters to be linked with height accuracy, thus providing a connection to the surface elevation. The twice-imaging digital camera prototype system and the wideband limb imaging spectrometer provide a transformation prototype from the current multi-rigid once-imaging aerial camera to a single rigid structure. Thus, our research lays a theoretical foundation and prototype references for the construction and industrialization of digital aerial systems.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.60902067)the Foundation for Science & Technology Research Project of Jilin Province(Grant No.11ZDGG001)
文摘Due to the electronic rolling shutter, high-speed Complementary Metal-Oxide Semiconductor( CMOS) aerial cameras are generally subject to geometric distortions,which cannot be perfectly corrected by conventional vision-based algorithms. In this paper we propose a novel approach to address the problem of rolling shutter distortion in aerial imaging. A mathematical model is established by the coordinate transformation method. It can directly calculate the pixel distortion when an aerial camera is imaging at arbitrary gesture angles.Then all pixel distortions form a distortion map over the whole CMOS array and the map is exploited in the image rectification process incorporating reverse projection. The error analysis indicates that within the margin of measuring errors,the final calculation error of our model is less than 1/2 pixel. The experimental results show that our approach yields good rectification performance in a series of images with different distortions. We demonstrate that our method outperforms other vision-based algorithms in terms of the computational complexity,which makes it more suitable for aerial real-time imaging.
基金supported by the National Natural Science Foundation of China(No.61601222)State Key Laboratory of Satellite Navigation System and Equipment Technology(No.EX166840046)+1 种基金the Natural Science Foundation of Jiangsu Province(No.BK20160789)China Postdoctoral Science Foundation Funded Project(No.2018M632303)
文摘In order to improve the target location accuracy of unmanned aerial vehicle(UAV),a novel target location method using multiple observations is proposed.Firstly,the camera intrinsic parameters are calibrated.Then,the weighted least squares estimation is used to improve the localization precision because the traditional crossover method is vulnerable to noise and has low precision.By repeatedly measuring the same target point,a nonlinear observation equation is established and then covered to linear equations using Taylor expansion.The weighted matrix is obtained according to the height of the measurement point and the camera optic axis pointing angle,and then the weighted least squares estimation is used to calculate the target position iteratively.Finally,the effectiveness and robustness of this method is verified by numerical simulation and flight test.The results show that this method can effectively improve the precision of target location.
基金The National Major Plan Research and Development Project(2017YFB0503003)The National Natural Science Foundation of China(11174017)+1 种基金The National 863 Subject(2007AA12Z111,2006AA12Z119)The Special Research Fund for Doctoral Programs in Colleges and Universities(20130001110046).
文摘Accuracy is a key factor in high-resolution remote sensing and photogrammetry. The factors that affect accuracy are imaging system errors and data processing errors. Due to the complexity of aerial camera errors, this paper focuses on the design of digital aerial camera systems and the means to reduce system error and data processing inefficiencies. There are many kinds of digital aerial camera systems at present;however, these systems lack a unified physical model, which ultimately leads to more complicated designs and multi-camera modes. Such a system is complex and costly, as it is easily affected by factors such as vibration and temperature. Thus, the installed accuracy can only reach the millimeter level. Here, we describe a unified physical structure for a digital aerial camera that imitates an out-of-field multi-charge-coupled device (CCD), an in-field multi-CCD, and once-imaging and twice-imaging digital camera systems. This model is referred to as the variable baseline-height ratio spatiotemporal model. The variable ratio allows the opto-mechanical spatial parameters to be linked with height accuracy, thus providing a connection to the surface elevation. The twice-imaging digital camera prototype system and the wideband limb imaging spectrometer provide a transformation prototype from the current multi-rigid once-imaging aerial camera to a single rigid structure. Thus, our research lays a theoretical foundation and prototype references for the construction and industrialization of digital aerial systems.
