Large-distortion wide-angle camera binocular photogrammetry method based on small baseline condition

Abstract

The invention discloses a large-distortion wide-angle camera binocular photogrammetry method based on a small baseline condition, and the method comprises the steps: firstly calibrating a relative position relation and an internal reference coefficient between binocular cameras based on a preset indoor high-precision calibration field; correcting the binocular camera in real time by adopting a distortion coefficient of the wide-angle camera obtained by calibration to obtain a binocular image after distortion correction; then, based on the epipolar geometry, SIFT feature matching and Ransac filtering, obtaining the positions of feature points with the same name; and according to the installation position relationship between the POS system and the binocular cameras, the attitude informationmeasured by the POS system, the relative position relationship between the binocular cameras and the positions of the homonymous feature points, calculating to obtain the light direction of the homonymous points matched with the binocular images, and finally obtaining the position information of the ground object. The method provided by the invention has the advantages of small measurement systemequipment, simple measurement process, large measurement range, high precision and good robustness.

Description

technical field [0001] The invention relates to the technical fields of mobile photogrammetry and computer vision, in particular to a binocular photogrammetry method based on a large distortion wide-angle camera under a small baseline condition. Background technique [0002] Binocular stereo vision is a method of obtaining three-dimensional geometric information of objects from multiple images based on the principle of parallax. In the machine vision system, binocular vision generally obtains two digital images of the surrounding scenery from different angles at the same time by dual cameras, or obtains two digital images of the surrounding scenery from different angles by a single camera at different times, and is based on the principle of parallax The three-dimensional geometric information of the object can be recovered, and the three-dimensional shape and position of the surrounding scenery can be reconstructed. Binocular vision is sometimes called stereo vision, and it...

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Problems solved by technology

[0007] In view of this, the present invention provides a large-distortion wide-angle camera binocular photogrammetry method based on small baseline conditions to solve or at least partially solve the problems in the prior art that are not suitable for concealment conditions and poor measurement accuracy. high technical issues

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