张正鹏;张强;

• 1:辽宁工程技术大学

摘要(Abstract)：

针对车载全景序列影像的位姿估计问题,该文提出了一种基于角元素和线元素的位姿估计优化方法。根据全景多视几何关系,建立了角元素和线元素多视约束的优化模型,并推导完成模型的位姿求解方法。然后作为初始外方位元素,加入稀疏GPS/INS的相机控制数据约束,采用全景球模型的稀疏光束法平差对位姿估计结果进一步优化。实验选择IP-S2车载移动测量系统获取的全景序列影像,对比分析单视图、全景视图的连续位姿估计、本文方法和GPS/INS控制数据。实验结果表明,该文方法可提高位姿估计的精度,并减少连续位姿估计产生的累计误差。

关键词(KeyWords)： 车载全景影像;多视约束;位姿估计;GPS/INS;光束法平差

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金项目(41501504)

作者(Author): 张正鹏;张强;

Email:

DOI: 10.16251/j.cnki.1009-2307.2017.12.021

参考文献(References)：

• [1]POLLEFEYS M,NISTER D,FRAHM J M,et al.Detailed real-time urban 3D reconstruction from video[J].International Journal of Computer Vision,2008,78(2/3):143-167.
• [2]SNAVELY N,SEITZ S M,SZELISKI R.Photo tourism:exploring photo collections in 3D[J].Acm Transactions on Graphics,2006,25(3):835-846.
• [3]FRAHM J M.Fast robust large-scale mapping from video and internet photo collections[J].ISPRS Journal of Photogrammetry and Remote Sensing.2010,65(6):538-549.
• [4]CRANDALL D,OWENS A,SNAVELY N,et al.Discrete-continuous optimization for large-scale structure from motion[C]//IEEE Conference on Computer Vision and Pattern Recognition.Washington:IEEE,2011:3001-3008.
• [5]MARTINEC D,PAJDLA T.Robust rotation and translation estimation in multiview reconstruction[C]//IEEE Conference on Computer Vision and Pattern Recognition.Minneapolis:IEEE,2007:1-8.
• [6]STRECHA C,PYLVANALNEN P,FUA P.Dynamic and scalable large scale image reconstruction[C]//IEEE Conference on Computer Vision and Pattern Recognition.San Francisco:IEEE,2010:406-413.
• [7]MICUSIK B,KOSECKA J.Piecewise planar city 3D modeling from street view panoramic sequences[C]//IEEE Conference on Computer Vision and Pattern Recognition.Miami:IEEE,2009:2906-2912.
• [8]TARDIF J P,PAVLIDIS Y,DANIILIDIS K.Monocular visual odometry in urban environments using an omnidirectional camera[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Nice:IEEE,2008:2531-2538.
• [9]季顺平,史云.高噪声环境下基于参考影像的车载序列影像定位方法[J].测绘学报,2014,43(11):1174-1181.(JI Shunping,SHI Yun.Georegistration of ground sequential imagery with geo-referenced aerial images in high noise environments[J].Acta Geodaetica et Cartographica Sinica,2014,43(11):1174-1181.)
• [10]TORII A,IMIYA A,OHNISHI N.Two and three view geometry for spherical cameras[C]//The Sixth Workshop on Omnidirectional Vision,Camera Networks and Nonclassical Cameras.Pittsburgh:IEEE,2005:29-34.
• [11]GOVINDU V M.Combining two-view constraints for motion estimation[C]//IEEE Conference on Computer Vision and Pattern Recognition.Kauai:IEEE,2001:218-225.
• [12]季顺平,史云.车载全景相机的影像匹配和光束法平差[J].测绘学报,2013,42(1):94-100.(JI Shunping,SHI Yun.Image matching and bundle adjustment using vehicle-based panoramic camera[J].Acta Gepdaetoca et Cartographica Sinica,2013,42(1):94-100.)
• [13]张正鹏,江万寿,张靖.自适应运动结构特征的车载全景序列影像匹配方法[J].测绘学报,2015,44(10):1132-1141.(ZHANG Zhengpeng,JIANG Wanshou,ZHANG Jing.A matching method for vehicle-borne panoramic image sequence based on adaptive structure from motion feature[J].Acta Geodaetica et Cartographica Sinica,2015,44(10):1132-1141.)
• [14]DESOLNEUX A,MOISAN L,MOREL J M.Meaningful alignments[J].International Journal of Computer Vision,2000,40(1):7-23.
• [15]MOULON P,MONASSE P,MARLET R.Adaptive structure from motion with a contrario model estimation[C]//Asian Conference on Computer Vision.Berlin:IEEE,2012:257-270.