Geo-positioning method of ground panoramic images

Abstract

The invention relates to a geo-positioning method of ground panoramic images. An omnibearing characteristic quantity that overall describes space organization and orientation relations; vector retrieval is described at grid points of a satellite imagery map to finish rough positioning; a plurality of matching lines are determined via rough positioning as control lines for use when height information is distorted; under the restraint condition that the relative height sequence is unchanged, iterative initial values are introduced through rough positioning to achieve precise resolving of exterior orientation elements. Unlike the bundle adjustment resolving of multi-frame ground images, the method herein only needs medium to high resolution satellite image data and scenic surface relative elevation information, allows precise external reference resolving of single-frame ground panoramic images to be achieved with no need for other positioning devices (such as GPS (global positioning system)) or addition of manual control points, and is very suitable for image registration of sky and earth fields having great field angle and scale differences.

Description

Technical field [0001] The invention belongs to the technical field of remote sensing information systems, and relates to a geographic location method for ground panoramic images. Background technique [0002] Vision-based ground image positioning (that is, the calculation of external orientation elements) is of great value in the fields of urban 3D augmented reality and mobile robots. In the absence of GPS signals or mobile phone positioning signals such as radio, ground images and satellite / airborne The fusion registration of remote sensing image data obtains the calibration of the current image in geographic space and completes precise positioning and orientation. This method of positioning and orientation only through visual image information not only avoids the use of complex traditional ground mobile measurement devices (equipped with strictly calibrated LiDAR and panoramic cameras, precise GPS, and IMU position and attitude measurement units), but also this space-to-s...

AI Technical Summary

Problems solved by technology

This type of method is limited by the accuracy of the elevation model, and is mostly suitable for rough positioning of large scenes, and is suitable for mountainous or open areas, not suitable for urban areas

The document "Registering Ground and Satellite Imagery for Visual Localization" proposes a panoramic image positioning method based on the building footprint orientation (FPO) description vector, which is suitable for urban environments, but it can only give rough positioning and the accuracy is not high

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