Epipolar line resampling method of Mars surface line array image based on strict geometric model
A geometric model and resampling technology, applied in the field of epipolar line resampling of high-resolution stereo camera images on the surface of Mars, can solve the problems of immature epipolar line theory and unification
Active Publication Date: 2016-09-14
THE PLA INFORMATION ENG UNIV
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It can be seen that the epipolar theory of linear array push-broom images is not yet mature, and a unified and general epipolar geometric formula or epipolar theoretical model has not been formed. Therefore, it is still worthy of further study to generate linear array epipolar images with high precision and efficiency.
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[0032] 1 Basic principle of nuclear line
[0033] 1.1 Epipolar geometry of framed images
[0034] The epipolar line geometric relationship of the frame image is as follows: figure 1 As shown, p and q are pixels with the same name in the left and right images, and S 1 , S 2 is the camera station coordinates, S 1 with S 2 The connection line constitutes the photographic baseline B, the ground points P and S 1 , S 2 S 1 S 2 P, S 1 S 2 P intersects with the left and right images to form the epipolar line I p with I q , I p with I q It is the epipolar line of the same name, and the image points p and q of the same name must be located on the epipolar line I of the same name p with I q superior. The epipolar image of the frame image can be realized by reprojecting the original oblique image to the horizontal image (orthographic image), p n with q n Corresponding to the image point coordinates of p and q on the horizontal image respectively, I pn with I qn corresp...
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The present invention relates to a method for resampling the epipolar line of linear array images on the surface of Mars based on a strict geometric model. Firstly, parameters related to the shooting position and attitude of the linear array camera on the surface of Mars are obtained, and a strict geometric model is constructed; the epipolar line of the image point coordinates on the original image is calculated, Obtain a series of discrete points on the epipolar line; set the average elevation surface as the projection surface, and perform differential correction on the linear array stereo image to obtain a horizontal image; convert the discrete points on the epipolar line of the original image to the horizontal image, and calculate the epipolar line at The geometric relationship on the horizontal image and the direction of the epipolar line are determined; the epipolar line resampling is carried out along the epipolar line direction on the horizontal image to obtain an approximate epipolar line image; the present invention uses a strict geometric model combined with the epipolar line geometric analysis and differential correction of the projection trajectory method The epipolar line resampling method of the linear array image that generates the horizontal image is based on the differential correction to generate the horizontal image to perform epipolar line resampling to further eliminate the influence of geometric distortion and improve the matching accuracy and reliability.
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technical field [0001] The invention relates to a method for resampling epipolar lines of images of a high-resolution stereo camera on the surface of Mars. Background technique [0002] Mars is the planet most likely to find traces of life in the solar system. Scientists even dream that humans will be able to colonize Mars one day. Through the successful execution of orbital probes such as Mars Global Surveyor MGS, Mars Express MEX, Mars Reconnaissance Orbiter MRO, and Mars landing probe missions such as Spirit, Opportunity, Phoenix, and Curiosity, humans have a new understanding of Mars. know. Mars topography mapping is the basis for Mars research, and obtaining high-resolution Mars topography data is also a prerequisite for a lander to land safely. Using photogrammetry to process stereoscopic image data of the Martian surface is still the main method for obtaining Martian terrain data. The Mars Express (MEX) probe launched by the European Space Agency in 2003 is equippe...
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IPC IPC(8): G01C11/04G01C11/02
CPCG01C11/28G01C11/36
Inventor 徐青耿迅邢帅蓝朝桢侯一凡李建胜周杨孙伟王栋李鹏程
Owner THE PLA INFORMATION ENG UNIV