A geolocation method for ground panorama images

Abstract

A geographic positioning method for ground panoramic images of the present invention first adopts an omni-directional feature quantity for the overall description of the spatial organization orientation relationship, completes rough positioning by retrieving the description vectors at grid points on the satellite image map, and then performs coarse positioning. Positioning determines several matching lines as the control lines when the height information is distorted. Finally, under the constraint that the order of the relative height remains unchanged, the initial value of the iteration is introduced through rough positioning to realize the precise calculation of the outer azimuth elements. Different from the beam adjustment calculation of multiple frames of ground images, this method only needs medium and high-resolution satellite image data and relative elevation information of the scene surface, without any other positioning devices (such as GPS) and without adding artificial control points. Realize the precise external parameter calculation of a single frame of ground panoramic image, which is very suitable for image registration with huge differences in field of view and scale such as sky and earth.

Description

[0001] Technical field [0002] 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 [0003] 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 spa...

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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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