Photogrammetry System Using Non-Overlapping Camera Fields
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Solution Overview
Problem
Existing photogrammetry systems face challenges in accurately determining the relative position of two bodies without high contrast surface features, and are limited by the type of camera lenses used, such as not allowing fish-eye or hyperbolic lenses.
Innovation Solution
A photogrammetry system utilizing high-speed digital cameras with wide-angle fish-eye or conventional lenses, synchronized with LED-illuminated reflective targets, calculates the relative position of two bodies by generating lines-of-sight and solving matrix equations to determine rotation and translation, employing MATLAB toolboxes for calibration and non-linear least-squares algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If retro-reflective targets are attached to objects to provide high contrast features, then measurement accuracy is improved, but device complexity and preparation time increase
Solution Approach 1:
The system uses naturally occurring high-contrast features on objects themselves rather than requiring external retro-reflective targets. The photogrammetry system processes these inherent features directly, eliminating the need for additional target attachment hardware and simplifying the overall measurement system while maintaining accuracy.
Solution Approach 2:
The invention extracts and utilizes the high-contrast features that already exist on the objects being measured, rather than adding external targets. This extraction approach removes the need for retro-reflective target attachment while preserving the measurement accuracy benefits of high-contrast feature detection.
2Measurement precision
If multiple cameras with overlapping fields-of-view are used, then measurement accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The system divides the measurement task across multiple cameras with non-overlapping fields-of-view, where each camera captures a distinct portion of the scene. By segmenting the visual field and using the known geometric relationships between camera positions and targets, the system achieves accurate relative position determination without requiring complex overlapping视场 configurations.
Solution Approach 2:
Instead of relying on temporal overlap or redundant viewing angles from overlapping fields-of-view, the system transitions to a spatial arrangement where cameras are positioned at known locations with non-overlapping views. The multi-dimensional geometric relationships between cameras, targets, and body positions enable accurate measurement without the complexity of overlapping fields-of-view.
3Measurement precision
If specific types of camera lenses are required, then photogrammetry accuracy is maintained, but adaptability and versatility decrease
Solution Approach 1:
The photogrammetry system is designed to work with multiple types of camera lenses including wide-angle, fish-eye, and conventional lenses. By implementing a universal calibration and measurement approach that accommodates different lens characteristics, the system maintains photogrammetry accuracy across various lens types while significantly improving adaptability and versatility for different application scenarios.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate determination of the relative position of two bodies with non-overlapping camera fields-of-view, using a variety of lenses, and improves accuracy by iteratively converging on a solution with minimal residual error, suitable for applications like space vehicles and in-flight refueling.
Implementation Method 1
retro-reflective targets may be attached to the object to artificially provide these high contrast features. When illuminated, these targets reflect light directly back to the illuminating source, causing the targets to appear very bright in contrast to the background
Data Source
AI summary
A photogrammetry system and method provide for determining the relative position between two objects. The system utilizes one or more imaging devices, such as high speed cameras, that are mounted on a first body, and three or more photogrammetry targets of a known location on a second body. The system and method can be utilized with cameras having fish-eye, hyperbolic, omnidirectional, or other lenses. The system and method do not require overlapping fields-of-view if two or more cameras are utilized. The system and method derive relative orientation by equally weighting information from an arbitrary number of heterogeneous cameras, all with non-overlapping fields-of-view. Furthermore, the system can make the measurements with arbitrary wide-angle lenses on the cameras.