Joint Adjustment Method of Stereo Mapping Satellite Images and Non-stereo Mapping Satellite Images

Abstract

The embodiment of the present application discloses a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, which relates to the field of optical satellite remote sensing image processing technology. The method includes: obtaining connection point pairs between stereoscopic mapping satellite images and connection point pairs between stereoscopic and non-stereoscopic mapping satellite images, and generating virtual control point pairs; obtaining a refined RFM model based on the results of the regional network adjustment of the stereoscopic mapping satellite images, and updating to obtain new virtual control point pairs; constructing an adjustment model between the stereoscopic mapping satellite images and the non-stereoscopic mapping satellite images, calculating the image square error compensation parameters of the non-stereoscopic mapping satellite images and the coordinate correction numbers of the object points, and obtaining the coordinates of the object points. The method provided in the present application uses the geometric model of stereoscopic mapping satellite images to generate virtual control points and replace DEM data, thereby avoiding the defect of high operating costs caused by DEM data in related technologies and improving the geometric positioning accuracy of non-stereoscopic mapping satellite images.

Description

Technical Field

[0001] The present application relates to the technical field of optical satellite remote sensing image processing, and in particular to a method for joint adjustment of stereo mapping satellite images and non-stereo mapping satellite images. Background Art

[0002] High-resolution optical satellite imagery with near-vertical imaging is the primary data source for producing digital orthophoto maps (DOMs). To ensure the accuracy of DOM products, block adjustment of the processed optical satellite imagery is required to eliminate errors in the geometric model. However, due to the relatively low base height of such near-vertical optical satellite imagery, the intersection angle of their same-name rays is typically less than 10°, resulting in a weak intersection. During the block adjustment process, weakly intersecting images are prone to amplifying tie point elevation errors, leading to difficulty in convergence of the adjustment. In practice, block adjustment with a DEM is commonly used. Tie point elevation coordinates are obtained by interpolating the DEM, and only the plane coordinates of the tie points are calculated. This approach can address the problem of non-convergence of weakly intersecting images. However, the development of large-scale, high-precision DEM products requires significant human and material resources to maintain DEM accuracy. This means that conventional DEM products fall short of the required accuracy, while the cost of producing a DEM that meets the requirements is prohibitive.

[0003] Therefore, a low-cost block adjustment processing method for non-stereo mapping satellite images is needed to improve the geometric positioning accuracy of non-stereo mapping satellite images. Summary of the Invention

[0004] The present application provides a method for joint adjustment of stereo mapping satellite images and non-stereo mapping satellite images. The method uses a geometric model of stereo mapping satellite images to generate virtual control points, which are used instead of DEM data. This method avoids the high operating cost caused by DEM data in the above-mentioned related technologies while improving the geometric positioning accuracy of non-stereo mapping satellite images. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for jointly adjusting stereo mapping satellite images and non-stereo mapping satellite images, characterized by comprising:

[0006] Obtaining a first pair of connection points between stereoscopic mapping satellite images, and obtaining a second pair of connection points between the stereoscopic mapping satellite images and the non-stereoscopic mapping satellite images;

[0007] generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0008] performing block adjustment of the stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result;

[0009] Recalculate and obtain new virtual control point pairs based on the second RFM model;

[0010] An adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image is constructed using the image point coordinates of the first tie point pair, the second tie point pair, and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first tie point pair and the weight of the second tie point pair;

[0011] Calculating image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and coordinate correction numbers of corresponding object points based on the adjustment model;

[0012] The coordinates of the object point in the non-stereo mapping satellite image in the second tie point pair are output based on the error compensation parameter and the coordinate correction number.

[0013] In an optional solution of the first aspect, generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on the stereo mapping satellite image and the first RFM model corresponding to the stereo mapping satellite image includes:

[0014] Based on the stereo mapping satellite image, a uniformly distributed grid is generated according to a preset pixel interval, the center point of each grid cell in the grid is selected, the elevation reference plane is determined based on the first RFM model, and the object point corresponding to the center point of each grid cell is obtained through spatial forward intersection. The center point of each grid cell and the corresponding object point are used as virtual control points to form a virtual control point pair.

[0015] In an optional solution of the first aspect, performing block adjustment of stereo mapping satellite images using the image point coordinates of the first connection point pair and the virtual control point pair as observation values ​​includes:

[0016] The image-space error compensation parameters of the first connection point pair and the virtual control point pair are compensated to the first RFM model to obtain a compensated RFM model:

[0017]

[0018] Based on the compensated RFM model, a basic adjustment model is established with the image point coordinates of the first tie point pair and the image point coordinates of the virtual control point pair as observation values, and the following is obtained:

[0019]

[0020] Among them, (l, s) is the coordinate of the image point, Δl and Δs are the error compensation parameters of the image point coordinate, (U, V, W) is the normalized coordinate of the corresponding object point coordinate (Lon, Lat, Height), F x 、F y To compensate for the mathematical deformation of the RFM model, G x , G y is the mathematical deformation of the basic adjustment model, Num L / S is the molecular polynomial composed of RFM model parameters, Den L / S is the denominator polynomial consisting of the RFM model parameters.

[0021] In an optional solution of the first aspect, obtaining an adjustment result based on the basic adjustment model includes:

[0022] Based on the basic adjustment model, linearization processing is performed to obtain the linearized error equation:

[0023]

[0024] Based on the indirect adjustment principle, the observation error equation constructed by the image points in all tie point pairs and the image points in the virtual control point pairs is written into a matrix form, and the result is:

[0025]

[0026] According to the least squares adjustment principle, the observation error equation in matrix form is normalized to obtain the normal equation:

[0027]

[0028] Solving the normal equation to obtain the adjustment result;

[0029] Among them, v l 、v s is the residual vector of the image point coordinate observation value, O is the residual vector of the image point coordinate observation value, the subscript vc represents the virtual control point, the subscript tp represents the connection point, x is the error compensation parameter, t is the coordinate correction number, A and B are the partial derivative coefficient matrices, L is a constant vector, P is the weight matrix, and T represents matrix inversion.

[0030] In an optional solution of the first aspect, obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result includes:

[0031] The adjustment result includes error compensation parameters corresponding to the stereo mapping satellite image obtained by solving the normal equation, and coordinates of an object point corresponding to each tie point in the first tie point pair obtained by spatial forward intersection based on the error compensation parameters and the first RFM model;

[0032] Iterative calculation is performed based on the error compensation parameter and the coordinates of the object point corresponding to each connection point until the difference between two adjacent adjustment results is less than a preset threshold, and the adjustment result of the last iterative calculation is output;

[0033] The second RFM model is obtained based on the adjustment result of the last iterative calculation.

[0034] In an optional solution of the first aspect, the recalculating a new virtual control point pair based on the second RFM model includes:

[0035] Calculate the same-name image points of the virtual control point pairs of the downward-looking image in the stereo mapping satellite image based on the second RFM model in the forward-looking image and the rearward-looking image, and calculate the object points corresponding to the same-name image points by spatial forward intersection;

[0036] The new virtual control point pair is obtained based on the image points with the same name and the object points corresponding to the image points with the same name.

[0037] In an optional solution of the first aspect, calculating the image space error compensation parameters of the non-stereo mapping satellite image and the coordinate correction numbers of the corresponding object points in the second tie point pair based on the adjustment model includes:

[0038] determining, based on the second tie point pair, tie points with the same name in the stereo mapping satellite image, obtaining corresponding elevation coordinates by spatial forward intersection based on a second RFM model of the stereo mapping satellite image having the tie points with the same name, and assigning the elevation coordinates to the elevation coordinates of the object points corresponding to the tie points in the second tie point pair;

[0039] The image space error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the plane coordinate correction numbers of the corresponding object points are calculated based on the adjustment model.

[0040] In a second aspect, an embodiment of the present application further provides a device for jointly adjusting stereo mapping satellite images and non-stereo mapping satellite images, comprising:

[0041] a connection point acquisition module, configured to acquire a first connection point pair between stereoscopic mapping satellite images and a second connection point pair between a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image;

[0042] a virtual control point generation module, configured to generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0043] a calculation module, configured to perform block adjustment of the stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtain a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result;

[0044] The virtual control point generation module is further configured to recalculate new virtual control point pairs based on the second RFM model;

[0045] The calculation module is further configured to construct an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image using the image point coordinates of the first tie point pair, the second tie point pair, and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first tie point pair and the weight of the second tie point pair;

[0046] The calculation module is further used to calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the coordinate correction numbers of the corresponding object points according to the adjustment model;

[0047] The calculation module is further configured to output the coordinates of the object point in the non-stereo mapping satellite image in the second tie point pair based on the error compensation parameter and the coordinate correction number.

[0048] In a third aspect, an embodiment of the present application further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementations of the first aspect is implemented.

[0049] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the method provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0050] The beneficial effects of the technical solutions provided by some embodiments of the present application include at least:

[0051] The embodiment of the present application provides a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, which has at least the following technical effects:

[0052] (1) Stereo mapping satellite images are used as elevation references to provide elevation constraints for non-stereo mapping satellite image block adjustment. Only the plane coordinate corrections of the non-stereo mapping satellite image connection points need to be calculated, that is, only the longitude and latitude need to be calculated, which solves the non-convergence problem of weak intersection image adjustment of non-stereo mapping satellites.

[0053] (2) Directly using stereo mapping satellite images to provide elevation constraints for non-stereo mapping satellite image regional network adjustment can avoid manual editing work in the DEM product production process. Without relying on DEM products, it can greatly reduce operating costs, improve operating efficiency, and ensure positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 1 is a flow chart of a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to an embodiment of the present application;

[0056] Figure 2 1 is a schematic structural diagram of a device for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images provided in an embodiment of the present application;

[0057] Figure 3 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0059] The terms "including" and "having," and any variations thereof, in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to the process, method, product, or apparatus.

[0060] It should be noted that the terms "first" and "second" used in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first" and "second" may interchangeably represent a specific order or precedence, where permitted. It should be understood that the objects distinguished by "first" and "second" may interchangeably represent a specific order or precedence, where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that described or illustrated herein.

[0061] Please refer to the following Figure 1 , which is a flowchart of a method for joint adjustment of stereo mapping satellite images and non-stereo mapping satellite images provided by an exemplary embodiment of the present application. Figure 1 As shown, the method for joint adjustment of stereo mapping satellite images and non-stereo mapping satellite images includes the following steps:

[0062] S101, obtaining a first connection point pair between stereo mapping satellite images, and obtaining a second connection point pair between a stereo mapping satellite image and a non-stereo mapping satellite image;

[0063] S102, generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0064] S103: performing block adjustment of the stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result.

[0065] It should be noted that the above steps S101-S103 are used to calculate an accurate RFM model based on the first connection point pair between the stereo mapping satellite images, that is, the optical satellite image rational function model (Rational Function Model, RFM), which can be used as a substitute for DEM products to provide accurate elevation information.

[0066] Specifically, the connection points in each pair of stereo mapping satellite images corresponding to the first connection point pair in S101 should be evenly distributed, that is, the spacing between the connection points in each pair of stereo mapping satellite images is roughly the same, and the number of connection points is roughly the same. For example, the number of connection points in each pair of stereo mapping satellite images is not less than 25.

[0067] Specifically, two adjacent stereo mapping satellite images have common connection points in the overlapping area, ie, common connection points, and the number of the common connection points is not less than a preset threshold, for example, not less than 5.

[0068] It can be understood that the connection point corresponding to the second connection point pair should be the full-scale point.

[0069] Specifically, the step of generating virtual control point pairs in S102 includes:

[0070] Based on the stereo mapping satellite image, a uniformly distributed grid is generated according to a preset pixel interval, the center point of each grid cell in the grid is selected, the elevation reference plane is determined based on the first RFM model, and the object point corresponding to the center point of each grid cell is obtained through spatial forward intersection. The center point of each grid cell and the corresponding object point are used as virtual control points to form a virtual control point pair.

[0071] Specifically, for the downward-looking image of the stereo mapping satellite in a given test area, a uniformly distributed grid is generated according to a preset interval, and the center point of each grid unit is taken. Then, the image point of each center point can be determined to obtain the position coordinates of the image point.

[0072] Specifically, the corresponding elevation reference surface may be determined based on the HEIGHT_OFF parameter of the elevation reference surface determined by the first RFM model corresponding to the downward-looking image.

[0073] It can be understood that the first RFM model is the original RFM model of the corresponding image, that is, the mapping relationship between the coordinates of the satellite image points and the coordinates of the corresponding object points based on the rational polynomial, which is expressed as:

[0074]

[0075] Num L (U,V,W)=a1+a2V+a3U+a4W+a5VU+a6VW+a7UW+a8V 2 +a9U 2 +a 10 W 2 +a 11 VUW+a 12 V 3 +a 13 VU 2 +a 14 VW 2 +a 15 V 2 U+a 16 U 3 +a 17 UW 2 +a 18 V 2 W+a 19 U 2 W+a 20 W 3 ;

[0076] Den L(U,V,W)=b1+b2V+b3U+b4W+b5VU+b6VW+b7UW+b8V 2 +b9U 2 +b 10 W 2 +b 11 VUW+b 12 V 3 +b 13 VU 2 +b 14 VW 2 +b 15 V 2 U+b 16 U 3 +b 17 UW 2 +b 18 V 2 W+b 19 U 2 W+b 20 W 3 4

[0077] Man S (U,V,W)=c1+c2V+c3U+c4W+c5VU+c6VW+c7UW+c8V 2 +c9U 2 +c 10 W 2 +c 11 VUW+c 12 V 3 +c 13 VU 2 +c 14 VW 2 +c 15 V 2 U+c 16 U 3 +c 17 UW 2 +c 18 V 2 W+c 19 U 2 W+c 20 W 3 4

[0078] They S (U,V,W)=d1+d2V+d3U+d4W+d5VU+d6VW+d7UW+d8V 2 +d9U 2 +d 10 W 2 +d 11 VUW+d 12 V 3+d 13 VV 2 +d 14 VW 2 +d 15 V 2 U+d 16 U 3 +d 17 UW 2 +d 18 V 2 W+d 19 U 2 W+d 20 W 3 ;

[0079] Where, (l n , s n ) is the normalized coordinate corresponding to the image coordinate (l, s), ranging from [-1, 1]; LineOff, SampleOff are the translation values ​​of the image coordinates; LineScale, SampleScale are the scaling values ​​of the image coordinates; (U, V, W) are the normalized coordinates corresponding to the object point coordinates (Lon, Lat, Height), ranging from [-1, 1]; LonOff, LatOff, HeiOff are the translation values ​​of the object point coordinates, LonScale, LatScale, HeiScale are the scaling values ​​of the object point coordinates; a i 、b i 、c i d i (i=1~20) is the RFM model parameter.

[0080] Specifically, S103 includes the following steps:

[0081] The image-space error compensation parameters of the first connection point pair and the virtual control point pair are compensated to the first RFM model to obtain a compensated RFM model:

[0082]

[0083] Based on the compensated RFM model, a basic adjustment model is established with the image point coordinates of the first tie point pair and the image point coordinates of the virtual control point pair as observation values, and the following is obtained:

[0084]

[0085] Among them, (l, s) is the coordinate of the image point, Δl and Δs are the error compensation parameters of the image point coordinate, (U, V, W) is the normalized coordinate of the corresponding object point coordinate (Lon, Lat, Height), F x 、F yTo compensate for the mathematical deformation of the RFM model, G x , G y is the mathematical deformation of the basic adjustment model, Num L / S is the molecular polynomial composed of RFM model parameters, Den L / S is the denominator polynomial consisting of the RFM model parameters.

[0086] Specifically, the image-side error compensation parameters Δl and Δs can be expressed as:

[0087]

[0088] Among them, u, r, and L are correction parameters.

[0089] Furthermore, for the tie point, since its unknown parameters include not only the RFM image point error compensation parameters of the image where the image point is located, but also the corresponding object point coordinates, a linearization process is performed based on the basic adjustment model to obtain the linearized error equation:

[0090]

[0091] For virtual control points, the coordinates of the object points corresponding to the image points of the virtual control points can be obtained by spatial forward intersection calculation. Therefore, the parameters that need to be solved in the above linearized error equation only include the error compensation parameters of the RFM model of the stereo mapping satellite image corresponding to the image points of the virtual control points. The model of the error compensation parameters corresponding to the image points of the RFM model is a linear equation and does not require linearization.

[0092] Based on the indirect adjustment principle, the observation error equation constructed by the image points in all tie point pairs and the image points in the virtual control point pairs is written into a matrix form, and the result is:

[0093]

[0094] According to the least squares adjustment principle, the observation error equation in matrix form is normalized to obtain the normal equation:

[0095]

[0096] Solving the normal equation to obtain the adjustment result;

[0097] Among them, v l 、v s is the residual vector of the image point coordinate observation value, O is the residual vector of the image point coordinate observation value, the subscript vc represents the virtual control point, the subscript tp represents the connection point, x is the error compensation parameter, t is the coordinate correction number, A and B are the partial derivative coefficient matrices, L is a constant vector, P is the weight matrix, and T represents matrix inversion.

[0098] It is understandable that the above P VC represents the weight of the virtual control point, P tp Represents the weight of the connection point. The weight of the virtual control point should be greater than the weight of the connection point.

[0099] In some embodiments, during the adjustment process, the dimension of the coordinates t of the tie point object point is usually much higher than the error compensation parameter x corresponding to the image. The coordinates t of the tie point can be eliminated first, and a modified equation containing only the error compensation parameter x can be constructed, including:

[0100] [A T AA T B(B T B) -1 B T A]x=A T LA T B(B T B) -1 B T L;

[0101] Specifically, the above adjustment results include error compensation parameters corresponding to the stereo mapping satellite image obtained by solving the method equation, and coordinates of the object point corresponding to each connection point in the first connection point pair obtained by spatial forward intersection based on the error compensation parameters and the first RFM model;

[0102] Iterative calculation is performed based on the error compensation parameter and the coordinates of the object point corresponding to each connection point until the difference between two adjacent adjustment results is less than a preset threshold, and the adjustment result of the last iterative calculation is output;

[0103] The second RFM model is obtained based on the adjustment result of the last iterative calculation.

[0104] Optionally, the number of iterative calculations can also be set. Each iteration generates a new RFM model based on the result of the previous iteration, and the current iteration steps are performed based on the RFM. For details, please refer to the description in steps S102 and S103. The second RFM model, that is, the refined RFM model, is output with the result of the last adjustment, which is beneficial to improving the accuracy of the elevation information.

[0105] In some embodiments, after generating the refined second RFM model, the following steps are performed to implement a hybrid block adjustment of stereo mapping satellite images and non-stereo mapping satellite images, including:

[0106] S104: Recalculate and obtain new virtual control point pairs based on the second RFM model.

[0107] Specifically, according to the second RFM model, it is easy to calculate the coordinates of the corresponding object point based on the image points of the virtual control points in the virtual control point pair, thereby updating the virtual control points, and then obtaining the above new virtual control point pair.

[0108] Specifically, the virtual control point pairs generated in S102 are generated based on the downward-looking image, and the same-name image points of the virtual control point pairs of the downward-looking image in the stereo mapping satellite image are calculated in the forward-looking image and the rearward-looking image based on the second RFM model, and the object points corresponding to the same-name image points are calculated by spatial forward intersection;

[0109] The new virtual control point pair is obtained based on the image points with the same name and the object points corresponding to the image points with the same name.

[0110] S105, using the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values, constructing an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair.

[0111] Specifically, the adjustment model described in S105 can refer to the description in S103, which will not be repeated here.

[0112] Specifically, assigning greater weights to virtual control point pairs in stereo mapping satellite images can ensure that they can play a control and constraint role on the regional block adjustment results of non-stereo mapping satellite images, thereby improving the geometric positioning accuracy of non-stereo mapping satellite images.

[0113] S106: Calculate image space error compensation parameters of the non-stereo mapping satellite image and coordinate correction numbers of corresponding object points in the second connection point pair based on the adjustment model.

[0114] Specifically, based on the second connection point pair, the connection points with the same name in the stereo mapping satellite image are determined, and the corresponding elevation coordinates are obtained through spatial forward intersection based on the second RFM model of the stereo mapping satellite image with the connection points with the same name, and the elevation coordinates are assigned to the elevation coordinates of the object points corresponding to the connection points in the second connection point pair.

[0115] It can be understood that the refined RFM model can provide precise elevation coordinates for the corresponding object points of non-stereo mapping satellite images, thereby replacing DEM products and reducing the parameters to be solved for coordinate correction numbers. It is only necessary to calculate the longitude and latitude of the corresponding object points without the need for additional elevation calculation. This can avoid the defect of high operating costs caused by the existing technology's reliance on DEM products, and can also solve the problem of non-convergence of weak intersection image adjustment of non-stereo mapping satellites, thereby improving operating efficiency.

[0116] Specifically, the image space error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the plane coordinate correction numbers of the corresponding object points can be calculated based on the adjustment model.

[0117] It can be understood that the plane coordinate correction number is the correction number for longitude and latitude.

[0118] Specifically, please refer to the description of S103 for the process of solving the error compensation parameters and the plane coordinate correction numbers based on the adjustment model. The limit of the number of iterations can be set, or the results of two adjacent iterations can be compared. When the difference between the two iteration results is less than a preset threshold or the number of iterations reaches the limit, the calculation result is output, that is, the image square error compensation parameters of the non-stereo mapping satellite image and the plane coordinate correction numbers of the corresponding object points are output.

[0119] S107 : Outputting the coordinates of the object point in the non-stereo mapping satellite image in the second connection point pair based on the error compensation parameter and the coordinate correction number.

[0120] It can be understood that based on the calculated error compensation parameters and coordinate correction numbers, it is easy to determine the coordinates of the object points in the non-stereo mapping satellite image.

[0121] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0122] See next Figure 2 , is a schematic diagram of the structure of a device for jointly adjusting stereoscopic and non-stereoscopic mapping satellite images provided in an exemplary embodiment of the present application. The device for jointly adjusting stereoscopic and non-stereoscopic mapping satellite images in the embodiment of the present application includes a connection point acquisition module 210, a virtual control point generation module 220, and a calculation module 230, wherein:

[0123] The connection point acquisition module 210 is used to acquire a first connection point pair between stereo mapping satellite images and a second connection point pair between a stereo mapping satellite image and a non-stereo mapping satellite image;

[0124] A virtual control point generation module 220 is configured to generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0125] A calculation module 230 is configured to perform block adjustment of the stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtain a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result;

[0126] The virtual control point generation module 220 is further configured to recalculate new virtual control point pairs based on the second RFM model;

[0127] The calculation module 230 is further configured to construct an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image using the image point coordinates of the first tie point pair, the second tie point pair, and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first tie point pair and the weight of the second tie point pair;

[0128] The calculation module 230 is further configured to calculate image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and coordinate correction numbers of corresponding object points according to the adjustment model;

[0129] The calculation module 230 is further configured to output the coordinates of the object point in the non-stereo mapping satellite image in the second tie point pair based on the error compensation parameter and the coordinate correction number.

[0130] It should be noted that the device 2 provided in the above embodiment only uses the division of the above functional modules as an example when executing the method for the joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the embodiment of the method for the joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images belong to the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0131] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method of any of the above embodiments are implemented.

[0132] See Figure 3 , is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0133] like Figure 3 As shown, the electronic device 300 includes a processor 301 and a memory 302 .

[0134] In the embodiment of the present application, the processor 301 is the control center of the computer system and can be the processor of a physical machine or the processor of a virtual machine. The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 can be implemented in the form of at least one hardware of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array).

[0135] The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0136] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement the method in the embodiment of the present application.

[0137] In some embodiments, the electronic device 300 further includes: a peripheral device interface 303 and at least one peripheral device 304. The processor 301, the memory 302, and the peripheral device interface 303 can be connected via a bus or signal lines. Each peripheral device 304 can be connected to the peripheral device interface 303 via a bus, signal lines, or a circuit board. Specifically, the peripheral devices 304 include: a display screen, a camera, and an audio circuit. The peripheral device interface 303 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 301 and the memory 302.

[0138] In some embodiments of the present application, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 may be implemented on separate chips or circuit boards. This embodiment of the present application is not specifically limited to this.

[0139] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0140] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of any of the aforementioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0141] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, characterized in that: include: Obtaining a first pair of connection points between stereoscopic mapping satellite images, and obtaining a second pair of connection points between the stereoscopic mapping satellite images and the non-stereoscopic mapping satellite images; generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image; performing block adjustment of the stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result; Recalculate and obtain new virtual control point pairs based on the second RFM model; An adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image is constructed using the image point coordinates of the first tie point pair, the second tie point pair, and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first tie point pair and the weight of the second tie point pair; Calculating image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and coordinate correction numbers of corresponding object points based on the adjustment model; The coordinates of the object point in the non-stereo mapping satellite image in the second tie point pair are output based on the error compensation parameter and the coordinate correction number.

2. The method for combining stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, wherein: The step of generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on the stereo mapping satellite image and the first RFM model corresponding to the stereo mapping satellite image includes: Based on the stereo mapping satellite image, a uniformly distributed grid is generated according to a preset pixel interval, the center point of each grid cell in the grid is selected, the elevation reference plane is determined based on the first RFM model, and the object point corresponding to the center point of each grid cell is obtained through spatial forward intersection. The center point of each grid cell and the corresponding object point are used as virtual control points to form a virtual control point pair.

3. The method for combining stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, wherein: The performing of block adjustment of stereo mapping satellite images using the image point coordinates of the first connection point pair and the virtual control point pair as observation values ​​includes: The image-space error compensation parameters of the first connection point pair and the virtual control point pair are compensated to the first RFM model to obtain a compensated RFM model: Based on the compensated RFM model, a basic adjustment model is established with the coordinates of the image points in the first tie point pair and the coordinates of the image points in the virtual control point pair as observation values, and the following is obtained: Among them, (l, s) is the image point coordinate, △l, △s are the error compensation parameters of the image point coordinate, (U, V, W) is the normalized coordinate of the corresponding object point coordinate (Lon, Lat, Height), F x 、F y To compensate for the mathematical deformation of the RFM model, G x , G y is the mathematical deformation of the basic adjustment model, Num L / S is the molecular polynomial composed of RFM model parameters, Den L / S is the denominator polynomial consisting of the RFM model parameters.

4. The method for combining stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 3, wherein: The adjustment results are obtained based on the basic adjustment model, including: Based on the basic adjustment model, linearization processing is performed to obtain the linearized error equation: Based on the indirect adjustment principle, the observation error equation constructed by the image points in all tie point pairs and the image points in the virtual control point pairs is written into a matrix form, and the result is: According to the least squares adjustment principle, the observation error equation in matrix form is normalized to obtain the normal equation: Solving the normal equation to obtain the adjustment result; Among them, v l 、v s is the residual vector of the image point coordinate observation value, O is the residual vector of the image point coordinate observation value, the subscript vc represents the virtual control point, the subscript tp represents the connection point, x is the error compensation parameter, t is the coordinate correction number, A and B are the partial derivative coefficient matrices, L is a constant vector, P is the weight matrix, and T represents matrix inversion.

5. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 4, characterized in that: The second RFM model corresponding to the stereo mapping satellite image is obtained based on the adjustment result, including: The adjustment result includes error compensation parameters corresponding to the stereo mapping satellite image obtained by solving the normal equation, and coordinates of an object point corresponding to each tie point in the first tie point pair obtained by spatial forward intersection based on the error compensation parameters and the first RFM model; Iterative calculation is performed based on the error compensation parameter and the coordinates of the object point corresponding to each connection point until the difference between two adjacent adjustment results is less than a preset threshold, and the adjustment result of the last iterative calculation is output; The second RFM model is obtained based on the adjustment result of the last iterative calculation.

6. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, characterized in that: The recalculating a new virtual control point pair based on the second RFM model includes: Calculate the same-name image points of the virtual control point pairs of the downward-looking image in the stereo mapping satellite image based on the second RFM model in the forward-looking image and the rearward-looking image, and calculate the object points corresponding to the same-name image points by spatial forward intersection; The new virtual control point pair is obtained based on the image points with the same name and the object points corresponding to the image points with the same name.

7. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, characterized in that: The step of calculating the image space error compensation parameters of the non-stereo mapping satellite image and the coordinate correction numbers of the corresponding object points in the second tie point pair based on the adjustment model includes: determining, based on the second tie point pair, tie points with the same name in the stereo mapping satellite image, obtaining corresponding elevation coordinates by spatial forward intersection based on a second RFM model of the stereo mapping satellite image having the tie points with the same name, and assigning the elevation coordinates to the elevation coordinates of the object points corresponding to the tie points in the second tie point pair; The image space error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the plane coordinate correction numbers of the corresponding object points are calculated based on the adjustment model.

8. A device for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, characterized in that: include: a connection point acquisition module, configured to acquire a first connection point pair between stereoscopic mapping satellite images and a second connection point pair between a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image; a virtual control point generation module, configured to generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image; a calculation module, configured to perform block adjustment of the stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtain a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result; The virtual control point generation module is further configured to recalculate new virtual control point pairs based on the second RFM model; The calculation module is further configured to construct an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image using the image point coordinates of the first tie point pair, the second tie point pair, and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first tie point pair and the weight of the second tie point pair; The calculation module is further used to calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the coordinate correction numbers of the corresponding object points according to the adjustment model; The calculation module is further configured to output the coordinates of the object point in the non-stereo mapping satellite image in the second tie point pair based on the error compensation parameter and the coordinate correction number.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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