Image and RTK combined measurement method and system, electronic equipment and medium

A measurement method and image technology, applied in image enhancement, image analysis, image data processing, etc., can solve the problems of information redundancy, increased office processing burden, poor practicability, etc., to reduce complexity, increase flexibility and reliability Operational and practical effects

Pending Publication Date: 2019-06-28
GUANGZHOU SOUTH SATELLITE NAVIGATION INSTR
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The deficiencies of V10 are mainly reflected in the following aspects: first, too many cameras are installed, and too many cameras lead to the need to be very careful when operating, otherwise the operator will block the image collection; second, too many images will This leads to information redundancy, increases the processing burden of the office, and consumes a lot of time to obtain sparse point clouds; third, the V10 uses angle sensors to determine its own attitude, which is used as the initial value of the beam method, but its accuracy is low. less practical

Method used

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  • Image and RTK combined measurement method and system, electronic equipment and medium
  • Image and RTK combined measurement method and system, electronic equipment and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0034] A measurement method combining image and RTK, such as figure 1 shown, including the following steps:

[0035] S1: Use the Zhang Zhengyou plane calibration method to calibrate the internal orientation elements and distortion coefficients of the camera;

[0036] Among them, Zhang Zhengyou’s plane calibration method: use the camera to shoot the chessboard template from different angles, the camera’s internal program will detect the corner points of the chessboard, calculate the camera’s three-dimensional space coordinates and two-dimensional image point coordinates, and then use the method of comprehensive adjustment to estimate In-camera orientation elements and distortion coefficients;

[0037] S2: Collect several images obtained by the camera, use the distortion coefficient to correct the distortion of the image, and use the OpenCV distortion correction function to correct the distortion of the image, and extract and match the feature points in the image through image ...

Embodiment 2

[0051] A measurement system combining image and RTK, such as figure 2 As shown, the following modules are included:

[0052]Calibration module: calibrate the internal orientation elements and distortion coefficients of the camera;

[0053] Acquisition module: collect the image obtained by the camera, use the distortion coefficient to correct the distortion of the image, and extract and match the feature points in the image through image matching technology, and obtain the two-dimensional coordinates of the feature points;

[0054] Inspection module: use the gross error detection technology to check the two-dimensional coordinates of the feature points and eliminate the gross error coordinates;

[0055] RTK module: use RTK technology to obtain the real-time position of the camera and convert the real-time position of the camera into the center position of the projection during the shooting process of the camera;

[0056] Modeling module: adjust the two-dimensional coordinate...

Embodiment 3

[0062] An electronic device includes a processor, a memory, an input device and an output device; the number of processors in a computer device may be one or more; the processor, memory, input device and output device in an electronic device may be connected through a bus or other means.

[0063] As a computer-readable storage medium, the memory can be used to store software programs, computer-executable programs and modules, such as program instructions / modules corresponding to the measurement method combining image and RTK in the embodiment of the present invention. The processor executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory, that is, realizes the above-mentioned measurement method combining image and RTK.

[0064] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and ...

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Abstract

The invention relates to the technical field of image measurement, and particularly discloses an image and RTK combined measurement method, which comprises the following steps: S1, calibrating an inner orientation element and a distortion coefficient of a camera; S2, performing distortion correction on the image shot by the camera by utilizing the distortion coefficient, and extracting and matching feature points in the image through an image processing technology to obtain two-dimensional coordinates of the feature points; S3, acquiring the real-time position of the camera by using the RTK, and converting the real-time position into the position of a camera projection center in the shooting process; And S4, performing comprehensive adjustment processing on the two-dimensional coordinatesof the feature points and the projection center position to obtain three-dimensional coordinates of the feature points, and integrating the three-dimensional coordinates of all the feature points to establish a corresponding spatial model. The invention further discloses an image and RTK combined measurement system, electronic equipment and a computer readable storage medium which are higher in practicability.

Description

technical field [0001] The invention relates to the technical field of image measurement, in particular to a measurement method, system, electronic equipment and computer-readable storage medium combining image and RTK. Background technique [0002] The practical product combining the popular positioning equipment (such as RTK (Real-time kinematic, real-time dynamic) carrier phase difference technology) and photogrammetry technology on the market is mainly the V10 image rover of the United States. It utilizes 12 calibrated cameras to capture 60-megapixel panoramic images to visualize job sites and capture location information with GIS or mapping-level accuracy. The basic process is to use the camera to collect images at the job site, use RTK to collect position and direction information simultaneously, and then return to the office to process with relevant software to obtain the position of the target point. The deficiencies of V10 are mainly reflected in the following aspe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T7/73G06T7/80
Inventor 王江林肖浩威文述生李宁闫少霞周光海黄劲风马原徐丹龙杨艺丁永祥庄所增潘伟锋张珑耀刘国光郝志刚陶超韦锦超赵瑞东闫志愿陈奕均
Owner GUANGZHOU SOUTH SATELLITE NAVIGATION INSTR
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