Photogrammetry method and system based on monocular camera

Abstract

The invention discloses a photogrammetry method and system based on a monocular camera. The photogrammetry method comprises the steps that the width and height of two-dimensional images acquired by the monocular camera, the vertical field of view angle, the horizontal field of view angle and the optical axis pitch angle of the monocular camera as well as the moving distance of a detection carrierin the process that the monocular camera acquires the two-dimensional image for two consecutive times are calibrated; the detection carrier is controlled to move, and the first two-dimensional image and the second two-dimensional image acquired by the monocular camera are adopted; first two-dimensional image coordinates of pixel points corresponding to a target to be measured in the first two-dimensional image and second two-dimensional image coordinates of pixel points corresponding to the target to be measured in the second two-dimensional image are acquired; and calculating is carried out to obtain the position of the target to be measured in the space environment. According to the photogrammetry method and system, the spatial position of any target in the monocular camera visual fieldcan be accurately obtained without specifying a reference object, and the application scene is wide.

Description

technical field [0001] The invention relates to the technical field of road surveying, in particular to a photogrammetry method and system based on a monocular camera. Background technique [0002] Monocular vision-based photogrammetry technology has the advantages of simple system structure, good real-time performance, small size, and low cost, and has great practical value in many fields. The existing photogrammetry methods based on monocular vision mainly include mathematical regression modeling method, inverse perspective coordinate transformation method, geometric projection derivation method, etc. The photogrammetry method based on monocular vision in the prior art must determine the plane (for example, the road surface) where the target is located, and obtain the vertical distance between the monocular camera and this plane through pre-calibration, so that the target's position can be studied on this basis. object-image relationship. However, in the actual detection...

AI Technical Summary

Problems solved by technology

[0003] Embodiments of the present invention provide a photogrammetry method and system based on a monocular camera to solve the problem of limited application of the method of measuring the position of a target based on a monocular camera in the prior art

Images