Beam adjustment method and system for joint parallax angle parameterization of camera and object point

By uniformly expressing the camera pose, the position of the camera center and the 3D connection point in the angle parameter space, the problem of unstable solution in bundle adjustment under small parallax and weak control conditions is solved, and more stable solution of the coordinates of the camera center and the 3D connection point is achieved.

CN122108196APending Publication Date: 2026-05-29TAIYUAN UNIVERSITY OF TECHNOLOGY
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Patent Information

Application Number
CN202610163802.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-02-05
Publication Date
2026-05-29

AI Technical Summary

Technical Problem

In aerospace photogrammetry, existing bundle adjustment methods suffer from slow iterative convergence, limited steady-state improvement, and even divergence under conditions of small parallax and weak control. In particular, the inconsistent variable scales between the photo center and the 3D connection points cause the condition number of the normal equations to be dominated by the sub-blocks related to the photo center, affecting the stability of the solution.

Method used

A bundle adjustment method with joint parallax angle parameterization of camera and object points is adopted. Under the constraint of two prior anchor baselines, the camera attitude, the position of the photography center and the position of the three-dimensional connection point are uniformly incorporated into the angle parameter space. The bundle adjustment is used to perform joint iterative optimization and solve the problem, and the collinear observation equation is constructed to improve the solution stability.

Benefits of technology

Under conditions of small parallax and weak control, the solution stability and accuracy of the coordinates of the photo center and the coordinates of the three-dimensional tie points are improved, and the sensitivity to depth instability is reduced. It is suitable for regional network adjustment of aerospace remote sensing images and can still maintain a stable convergence process when the number of control points is reduced.

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Abstract

The invention discloses a bundle adjustment method and system for camera and object point combined parallax angle parameterization, and the method comprises the following steps: 1), obtaining remote sensing images through an aerial photographing measurement region, and extracting and matching the same-name image point observation values of all remote sensing images; 2) arranging two prior anchor points to form a base line, and establishing an angle reference frame; 3) uniformly parameterizing a camera attitude, a photographing center position and a three-dimensional connection point position by a direction angle, an elevation angle and a parallax angle; and 4) constructing a collinear observation equation to carry out bundle adjustment calculation, and jointly obtaining a camera attitude, a photographing center coordinate and a ground point coordinate. On the basis of performing parallax angle parameterization on the three-dimensional connection points, the photographing center and the camera attitude are further uniformly incorporated into an angle parameterization system, so that the problems of ill-conditioned and numerical instability under the conditions of small parallax and weak control are effectively improved, and the convergence and the stability of adjustment calculation are improved. The method is suitable for aerospace remote sensing image block adjustment.
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