Stereo image pair automatic relative orientation method with additional non-linear constraint condition

Abstract

The invention relates to a stereo image pair automatic relative orientation method with additional non-linear constraint conditions. The method of the invention comprises the following steps: firstly expanding a coplanar condition equation to obtain a basic model of a relative orientation direct solution; solving 8 unknown parameters of the relative orientation direct solution basic model by using several pairs of corresponding image points; giving a baseline component Bx, further solving 9 coefficients Li(i=1?-9) of the coplanar condition equation expansion; performing adjustment calculation by using the solved 9 coefficients Li(i=1?-9) as initial values of the adjustment and combining with the additional constraint conditions; solving the coefficients Li(i=1?-9) by stepwise iteration, after exact values of the coefficients Li(i=1?-9) are solved by iteration, performing factorization based on traditional formulae related to the relative orientation direct solution to obtain relative orientation elements. The advantages of the invention are that: no initial value is required for the calculation process of the relative orientation elements; the invention is applicable to aerial photographic images with large dip angles or images from non-metric cameras, and has good application prospects in fields of low-altitude photogrammetry and close-range photogrammetry.

Description

technical field [0001] The invention relates to a method for automatic relative orientation of stereo pairs, in particular to a method for automatic relative orientation of stereo pairs with additional nonlinear constraints. Background technique [0002] In photogrammetry, the relative orientation of images refers to restoring the relative position and attitude relationship of two overlapping two-dimensional images at the time of shooting in a selected auxiliary coordinate system of image space, so as to establish a relationship with the subject. Similar solid geometric models to determine the 3D coordinates of object points. With the rapid development of photogrammetry, the relative orientation work has developed from the original optical simulation to the current computer automatic realization. [0003] In the actual production application of digital photogrammetry, the original image data may be digital images or film images captured by measurement or non-measurement cam...

AI Technical Summary

Problems solved by technology

[0004] The present invention mainly solves the technical problem that there is a correlation between the eight parameters of the relative orientation direct solution in the prior art, and when the orientation condition is not good, the accuracy of the relative orientation element solution is often decreased or even wrong; it provides a An automatic relative orientation method for stereo pairs with additional nonlinear constraints that can eliminate the correlation between parameters without the need for initial values, thereby obtaining more accurate and reliable relative orientation elements

Images