地面三维激光扫描仪与外架数码相机间安置参数的高精度标定

李明磊; 高欣圆; 李广云; 王力; 刘松林

doi:10.3788/OPE.20162409.2158

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地面三维激光扫描仪与外架数码相机间安置参数的高精度标定

现代应用光学 | 更新时间：2020-07-07

- 地面三维激光扫描仪与外架数码相机间安置参数的高精度标定
- High accuracy calibration of installation parameters between 3D terrestrial laser scanner and external-installed digital camera
- 光学精密工程 2016年24卷第9期页码：2158-2166
- 作者机构：
  
  1.信息工程大学导航与空天目标工程学院, 河南郑州 450001
  2.北京建筑大学现代城市测绘国家测绘地理信息局重点实验室, 北京 100044
- 作者简介：
  
  李明磊(1989-), 男, 河南宝丰人, 博士研究生, 2011年、2014年于信息工程大学分别获得学士和硕士学位, 主要从事激光点云数据处理及精密工程测量等方面的研究。E-mail:mingleili_xd@163.com E-mail:mingleili_xd@163.com
  [ "李广云(1965-)，男，江苏高淳人，硕士，博士生导师，1983年、1987年于解放军测绘学院分别获得学士和硕士学位，2005年于英国皇家军事测量学校获得硕士学位，主要从事精密工程测量、卫星导航及导航装备与应用等方面的研究。E-mail: guangyun_li@sohu.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(41274014);国家自然科学基金资助项目(41501491);现代城市测绘国家测绘地理信息局重点实验室开放基金资助项目(20141201WY)
- DOI：10.3788/OPE.20162409.2158
  中图分类号： TP732.2;TP391
- 收稿日期：2016-03-14，
  
  录用日期：2016-5-10，
  
  纸质出版日期：2016-09
- 稿件说明：
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李明磊, 高欣圆, 李广云, 等. 地面三维激光扫描仪与外架数码相机间安置参数的高精度标定[J]. 光学精密工程, 2016,24(9):2158-2166.

Ming-lei LI, Xin-yuan GAO, Guang-yun LI, et al. High accuracy calibration of installation parameters between 3D terrestrial laser scanner and external-installed digital camera[J]. Optics and precision engineering, 2016, 24(9): 2158-2166.
李明磊, 高欣圆, 李广云, 等. 地面三维激光扫描仪与外架数码相机间安置参数的高精度标定[J]. 光学精密工程, 2016,24(9):2158-2166. DOI： 10.3788/OPE.20162409.2158.

Ming-lei LI, Xin-yuan GAO, Guang-yun LI, et al. High accuracy calibration of installation parameters between 3D terrestrial laser scanner and external-installed digital camera[J]. Optics and precision engineering, 2016, 24(9): 2158-2166. DOI： 10.3788/OPE.20162409.2158.

摘要

提出了地面三维激光扫描仪与外置数码相机安置参数的高精度标定方案。首先，利用商业化近景摄影测量系统对相机内参数进行单独标定；然后，利用回光反射标志作为二维和三维匹配的同名控制点，对直接线性变换进行拓展应用，在算法迭代过程将内参数作为已知值对外参数进行求解；最后，根据相机数据采集特点确定其拍摄全景时多张影像之间的位置关系，对多张影像的外方位元素进行求解，从而实现全景点云与全景完整影像之间的映射。进行了实验测试，利用安置参数标定结果反求验证点像素坐标与真实测量结果之差验证了本文标定方法的精度和可行性。实验显示：点云与影像间的映射精度可达到1像素左右；相机拍摄全景获取的影像与全景点云可以实现正确映射，表明提出的标定方法正确，满足纹理贴图及将影像作为特征提取辅助信息的精度要求。

Abstract

A high accuracy calibration method for the installation parameters between 3D Terrestrial Laser Scanner(TLS) and external-installed digital camera was proposed. Firstly

the intrinsic parameters were calibrated by existing commercialized close-range photogrammetry products. Then

by taking reflector target centers as input control points of 2D and 3D matching

the direct linear transformation algorithm was expanded in applications and the intrinsic parameters were taken as known coefficients to solve the extrinsic parameters. Finally

the extrinsic parameter of every camera shooting angle was calculated according to the relationships between different shooting angles to get the mapping relationship between point cloud and multi-angle images. The test experiments were performed

and the accuracy and feasibility of the calibration method were verified by obtaining the difference between point pixel coordinate and real measuring result with installation parameter calibration results. The experimental results indicate that the calibration accuracy reaches 1 pixel and the mapping relationship between point cloud and multi-angle images is correct

which satisfies the requirements of texture mapping and accuracy by applying images as auxiliary data in feature extraction.

关键词

Keywords

references

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