基于等高地面控制点的航空摄像机参数估计

余家祥; 萧德云; 秦东兴

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基于等高地面控制点的航空摄像机参数估计

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- 基于等高地面控制点的航空摄像机参数估计
- Estimation of aerial camera parameters based on ground control points with equal elevation
- 光学精密工程 2007年15卷第3期页码：350-355
- 作者机构：
  
  1. 清华大学自动化系北京,100084
  2. 海军大连舰艇学院舰载武器系,辽宁大连,116018
  3. 海军装备部北京,100076
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： V447.3
- 收稿日期：2006-09-14，
  
  修回日期：2006-12-20，
  
  网络出版日期：2007-06-30，
  
  纸质出版日期：2007-06-30
- 稿件说明：
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余家祥, 萧德云, 秦东兴. 基于等高地面控制点的航空摄像机参数估计[J]. 光学精密工程, 2007,15(3):350-355.

YU Jia-xiang, XIAO De-yun, QIN Dong-xing. Estimation of aerial camera parameters based on ground control points with equal elevation[J]. Optics and precision engineering, 2007, 15(3): 350-355.
余家祥, 萧德云, 秦东兴. 基于等高地面控制点的航空摄像机参数估计[J]. 光学精密工程, 2007,15(3):350-355. DOI：

YU Jia-xiang, XIAO De-yun, QIN Dong-xing. Estimation of aerial camera parameters based on ground control points with equal elevation[J]. Optics and precision engineering, 2007, 15(3): 350-355. DOI：

摘要

为满足炮射廉价航空CCD摄像机的对地定位需求

提出一种基于四个已知等高地面控制点的航空摄像机参数估计方法。该方法根据单张航空像片估计伞载空中摄像机焦距及摄像机在世界坐标系中的位置和姿态角等外参数

利用直接线性变换算法求取已知等高地面控制点与对应像点之间的单应矩阵

建立了单应矩阵与共线条件方程之间的关联关系

最后根据关联关系推导出计算航空摄像机焦距、纵横比、位置和姿态角等内外参数的数学模型。为考查该方法的有效性

分别运用室内模拟控制点和野外真实控制点进行了实验。实验结果表明:在给定四个等高地面控制点的三维坐标及对应像点的二维坐标的情况下

该方法计算焦距、纵横比、位置和姿态角等摄像机参数的相对误差约为2%

参数估计结果基本满足炮射摄像机对地成像定位需求。

Abstract

To make a low cost aerial CCD camera locate a ground target accurately

a new estimating technique using four known ground control points with equal elevation for estimating camera parameter is presented

in which the focal length and external parameters of an aerial camera carried by a parachute

including position and pose angles relative to the world reference frame

can be estimated according to a single aerial image.In this paper

we use direct linear transformation algorithm to compute the homographic matrix between the known ground control points with equal elevation and the corresponding points on the image plane

then establish the relationships between the homographic matrix and the collinearity equations

and finally give the mathematic models for computing the intrinsic and extrinsic parameters of the aerial camera. Two experiments are carried out to examine the effectiveness of the proposed algorithm with indoor simulation control points and outdoor real control points

respectively. The experiment results show that the presented technique can get the camera parameters with relative error of 2% by given the 3-dimension coordinates of four known ground control points and the 2-dimension coordinates of the corresponding image points. The estimated parameters can meet the need of geo-location.

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references

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