Out-field global calibration method and system for visual tracking measurement system
A measurement system and visual tracking technology, applied in image data processing, instruments, calculations, etc., can solve the problems of time-consuming and tedious adjustment, difficult to obtain accuracy, and low leveling accuracy of jack legs, so as to facilitate calculation and evaluation, improve Solution accuracy and error reduction effects
Active Publication Date: 2021-07-27
BEIHANG UNIV
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Problems solved by technology
[0005] The leveling accuracy of the jack legs is usually not high, and the adjustment is time-consuming and cumbersome
Therefore, the coordinate system conversion algorithm based on the basic assumption of visual tracking measurement system leveling is difficult to obtain ideal accuracy.
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[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0058] The purpose of the present invention is to provide a global calibration method and system for the visual tracking measurement system, which can eliminate the need for leveling the visual tracking measurement system and ensure the calibration accuracy of the visual tracking measurement system.
[0059] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described i...
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The invention relates to an out-field global calibration method and system for visual tracking measurement system. The method comprises the following steps: constructing a virtual omnidirectional camera model according to a two-degree-of-freedom turntable and an automatic long zoom camera; acquiring three-dimensional coordinates of a control point in the scene to be measured under a WGS-84 coordinate system and an azimuth angle and a pitch angle of a two-degree-of-freedom turntable corresponding to the control point; converting the three-dimensional coordinates of the control points in the WGS-84 coordinate system into three-dimensional coordinates in a centroid coordinate system; converting the azimuth angle and the pitch angle into virtual image coordinates by using a virtual omnidirectional camera model; establishing a factorization linear equation according to the virtual image coordinates of the control points and the three-dimensional coordinates in the centroid coordinate system; and determining the pose of the two-degree-of-freedom turntable corresponding to the control point in the centroid coordinate system according to the factorization linear equation, and further converting the pose in the centroid coordinate system into the pose in an east-north-sky coordinate system. According to the method, the visual tracking measurement system does not need to be leveled, and the calibration precision of the visual tracking measurement system is ensured.
Description
technical field [0001] The invention relates to the field of virtual omnidirectional camera models, in particular to a global calibration method and system for an external field of a visual tracking measurement system. Background technique [0002] The visual tracking measurement system can calculate the position, speed, attitude and other information of the target. On the basis of obtaining the target GPS position information in advance, the target can also be tracked and guided in real time. [0003] In the above two cases, it is necessary to solve the pose of the body coordinate system of the visual tracking measurement system in the local earth coordinate system. The accuracy of pose transformation directly affects the accuracy of target measurement and the effect of real-time tracking and guidance. [0004] Vision tracking measurement systems are generally equipped with jack legs. Most of the previous methods first level the visual tracking measurement system by adju...
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IPC IPC(8): G06T7/80G06T7/73
CPCG06T7/80G06T7/73
Inventor 魏振忠柴斌虎刘福林张广军
Owner BEIHANG UNIV