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Positioning and attitude-determining method and system

A positioning and attitude system and positioning and attitude technology are applied in the field of three-dimensional mobile measurement, which can solve the problems of complex device, unfavorable large-scale popularization, and high cost, and achieve the effect of simple device, favorable for large-scale popularization, and low cost.

Active Publication Date: 2013-11-27
史云 +1
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AI Technical Summary

Problems solved by technology

[0005] In addition, since this positioning system using GPS / IMU needs to use a high-precision IMU, its biggest disadvantage is that the device is complicated and expensive, which is not conducive to large-scale popularization

Method used

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  • Positioning and attitude-determining method and system
  • Positioning and attitude-determining method and system
  • Positioning and attitude-determining method and system

Examples

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Embodiment Construction

[0034] first embodiment

[0035] figure 1 One embodiment of the method of the invention is shown. The steps of this method are as follows:

[0036] Step 1: Get the original image, extract feature points from the original image, and match feature points between adjacent original images.

[0037] The original image can be acquired by a multi-camera rig. The multi-lens panoramic camera has multiple lenses, so each time a shot is taken, multiple images with fixed relative positions are obtained. These multiple original images are stitched together. together to form a panoramic image.

[0038] In the prior art, multiple original images are spliced ​​into one panoramic image, feature points of the panoramic image are extracted, and then feature points of the two panoramic images are matched. Although this simplifies the processing, it will introduce systematic errors. This is because the loose model is based on the processing of a panorama, which will lead to errors due to the ...

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Abstract

The invention provides a positioning and attitude-determining method, comprising the following steps: 1) acquiring original images, extracting characteristic points of the original images and matching characteristic points of adjacent original images; 2) carrying out relative orientation on the images by using a random sampling consistency algorithm based on a strict imaging model of a multi-lens combined panoramic camera; 3) calculating the distance between every two adjacent original images through fusion with laser-point cloud so as to determine a photographic scale; 4) carrying out model connection based on results of relative orientation and the photographic scale; and 5) calculating position and attitude information based on the result of model connection by using strict bundle adjustment of the strict imaging model under the restriction condition of the photographic scale. The invention further provides a positioning and attitude-determining apparatus which comprises the panoramic camera, a laser scanner, a GPS receiver and a calculating device. According to the invention, positioning and attitude determination with controllable precision are realized, and manufacturing cost for the apparatus is low.

Description

technical field [0001] The invention belongs to the field of photogrammetry and remote sensing, and in particular relates to three-dimensional mobile measurement technology. Background technique [0002] In recent years, the key to building digital cities and smart cities lies in the acquisition and update of urban spatial information. How to quickly collect and update these urban spatial information has become the key. Therefore, mobile measurement systems (for example, measurement vehicles) equipped with mapping sensors such as digital cameras have begun to be widely studied. For the measurement system of the mobile platform, the high-precision positioning and attitude determination of its sensors is a key issue, because the position and attitude information of the sensors directly affect the 3D positioning accuracy of ground objects based on these sensors in the later stage. [0003] In order to solve the positioning problem of the mobile measurement system, the common m...

Claims

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Application Information

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IPC IPC(8): G01C11/00
Inventor 史云史中超
Owner 史云
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