像机链位姿传递摄像测量方法及船体变形测量研究
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摘要
传统的摄影/摄像测量技术的应用基础是摄像机能够直接拍摄到被测物体的图像,因此对不通视目标三维位置与姿态的测量无能为力。为了解决不通视目标位姿测量问题,本文提出了“像机链位姿传递摄像测量”的新概念,并将其应用于船体变形测量问题,该问题一直是海军装备研究和全球造船行业的难点之一。基于像机链位姿传递摄像测量方法,本文研制了船体变形摄像测量系统,并进行了海上试验。论文的主要工作及创新点如下:
1.在国际上首次提出了像机链位姿传递摄像测量方法。该方法使用多个摄像机和标志物组成像机链,将不通视的待测目标和测量基准联系起来,进而传递测量待测目标相对测量基准的三维位置、姿态及其变化量。本文系统研究了像机链位姿传递摄像测量方法的原理,探讨了测量传递站的形式,进行了精度分析和实验验证。像机链位姿传递摄像测量方法解决了传统摄像测量原理和方法无法完成的两个或多个不通视物体间或超大视角物体间相对位置、姿态及其变化量的测量问题,能够应用于船体及其它大型结构的变形测量。
像机链位姿传递摄像测量方法在传递测量位置姿态的同时也会传递测量误差。围绕着提高该方法的测量精度和实用性,本文对摄像机标定、特征标志定位和多摄像机同步等几个关键技术展开了研究。
2.针对常用摄像机标定方法中存在的参数过度耦合问题,提出了一种基于可控旋转的摄像机标定方法。控制摄像机围绕光心(或光心附近)做旋转运动,能够将等效焦距与其他参数分离开来,求解精确的等效焦距;并在此基础上提出了传统标定方法与基于可控旋转方法相结合的摄像机标定技术,用于高精度标定包含像差系数在内的摄像机内外参数。
3.设计和制作了能够适应全天候测量要求的由多个十字型红外光源组成的合作目标。针对摄像测量时可能出现的不规则十字丝情况,提出了灰度投影积分和数字相关相结合的方法,首先利用灰度投影积分得到十字丝两臂的宽度及其与图像坐标轴之间的夹角,然后据此生成模板进行相关,并利用相关系数拟合极值法进行亚像素定位。实验证明本方法鲁棒性好,噪声较小的情况下定位精度优于0.05像素。
4.设计了一种基于硬件同步触发和软件同步策略的多摄像机同步采集和处理系统。通过简单的编程控制将一种即插即用的数字输出模块作为同步信号发生装置;在硬件同步的基础上,通过一定的同步策略实现多台摄像机拍摄图像的同步处理。该方案具有通用性,并且操作简便,能够解决连接在一台或多台计算机上的多个摄像机之间的同步问题。
5.在原理研究、关键技术研究和方案论证的基础上,设计了基于像机链位姿传递摄像测量方法的船体变形摄像测量系统,并用于实船变形测量,进行了海上试验,得到了甲板上某部位与舰船选定基准之间和船体艏艉之间的长时间、连续的三维位置和姿态变形测量数据。经过更加深入的研究和完善,该方法将在船体及其他大型结构的变形测量和长期监测领域有广阔的应用前景。
Traditional photogrammetry/videometrics methods and techniques are invalid to measure three-dimensional positions and attitudes of nonintervisible objects, for the basis that the camera must capture images of objects to be measured. An innovative prinple of“pose relay videometrics with camera-series”is proposed in this dissertation to resolve the problem of pose measurement between nonintervisible objects. The new method has been applied in ship deformations measurement, which has been one difficulty in navy equipment research and ship building industry. The prototype system for ship deformation measurement based on pose-raly videometrics is developed, and then sea trials are carried on. The main contents and innovations of this dissertation are as follows:
1. Pose relay videometrics with camera-series method is proposed for the first time internationally. The method uses a series of cameras and markers to build up camera-series and connect the nonintervisible measuring target and reference, and then the three-dimensional positions, attitudes and their changes are obtained by pose relay. Principles of pose relay videometrics method by camera-series are studied systemicly, and the forms of relay stations are discussed. In succession, precision analysis and validation experiments are carried on. The method can resolve the problem of pose and deformation measurement of two or more nonintervisible objects, and those of objects with a very large angle of view, which cannot be processed by conventional principles and methods of videometrics, so that it can be applied in deformations measurement of ships and other large structures.
The pose relay videometrics method with camera-series relays errors while relaying pose. Surrounding how to improve the precison and practicality, several key techniques such as camera calibratioin, marker detection and cameras synchronization are studied in this dissertation.
2. A camera calibration method based on controllable rotation is proposed to resolve the problem of overmuch coupled parameters with many commonly used calibration methods. The camera is controlled to rotate a known angle around (or around nearby) the optical center to calculate the accurate efficient focus length departed from other parameters. And then a camera calibration method combined by controllable rotation and traditional two steps calibration is put forward to get all parameters including distortion coefficients.
3. A cooperative marker combined by several infrared crosses is designed to suit the all-condition measurement requirements. Aiming at detection of random and irregular cross, a new sub-pixel detection method based on gray projecting integration (GPI, in short) and correlation is put forward. GPI method is applied to get the line width and the angles between each cross’arm and the image horizontal axis, and then digital correlation model is created according to the angles, at last, high-accurate sub-pixel location is obtained by fitting the correlation coefficients. Experiments show that the proposed detection method is robust and can locate cross center with the accuracy prior to 0.05 pixels.
4. A synchronous image acquisition and processing system for multiple cameras is designed and implemented. A general digital output module is adopted as the synchronous trigger signal generator and controlled by computer program. On the basis of hardware-level synchronization, a certain software synchronous strategy is designed to ensure the synchronous frames of every camera to be processed synchronously. The method is universal, easy to operate, and able to resolve the synchronous problem of multiple cameras connected in one or more computers.
5. On the ground of principle and key techniques research and project demonstration, a prototype videometrics system for ship deformation measurement is developed and applied in ship deformations measurement. Sea trials are carried on, from which long time and continuous data of position and attitude deformations between some point on the deck and the ship reference, and those between the ship head and stern, are achieved. The proposed method therefore has the potential to be applied in deformation measurement of ships and other large structures after more thorough researches and improvements.
1.在国际上首次提出了像机链位姿传递摄像测量方法。该方法使用多个摄像机和标志物组成像机链,将不通视的待测目标和测量基准联系起来,进而传递测量待测目标相对测量基准的三维位置、姿态及其变化量。本文系统研究了像机链位姿传递摄像测量方法的原理,探讨了测量传递站的形式,进行了精度分析和实验验证。像机链位姿传递摄像测量方法解决了传统摄像测量原理和方法无法完成的两个或多个不通视物体间或超大视角物体间相对位置、姿态及其变化量的测量问题,能够应用于船体及其它大型结构的变形测量。
像机链位姿传递摄像测量方法在传递测量位置姿态的同时也会传递测量误差。围绕着提高该方法的测量精度和实用性,本文对摄像机标定、特征标志定位和多摄像机同步等几个关键技术展开了研究。
2.针对常用摄像机标定方法中存在的参数过度耦合问题,提出了一种基于可控旋转的摄像机标定方法。控制摄像机围绕光心(或光心附近)做旋转运动,能够将等效焦距与其他参数分离开来,求解精确的等效焦距;并在此基础上提出了传统标定方法与基于可控旋转方法相结合的摄像机标定技术,用于高精度标定包含像差系数在内的摄像机内外参数。
3.设计和制作了能够适应全天候测量要求的由多个十字型红外光源组成的合作目标。针对摄像测量时可能出现的不规则十字丝情况,提出了灰度投影积分和数字相关相结合的方法,首先利用灰度投影积分得到十字丝两臂的宽度及其与图像坐标轴之间的夹角,然后据此生成模板进行相关,并利用相关系数拟合极值法进行亚像素定位。实验证明本方法鲁棒性好,噪声较小的情况下定位精度优于0.05像素。
4.设计了一种基于硬件同步触发和软件同步策略的多摄像机同步采集和处理系统。通过简单的编程控制将一种即插即用的数字输出模块作为同步信号发生装置;在硬件同步的基础上,通过一定的同步策略实现多台摄像机拍摄图像的同步处理。该方案具有通用性,并且操作简便,能够解决连接在一台或多台计算机上的多个摄像机之间的同步问题。
5.在原理研究、关键技术研究和方案论证的基础上,设计了基于像机链位姿传递摄像测量方法的船体变形摄像测量系统,并用于实船变形测量,进行了海上试验,得到了甲板上某部位与舰船选定基准之间和船体艏艉之间的长时间、连续的三维位置和姿态变形测量数据。经过更加深入的研究和完善,该方法将在船体及其他大型结构的变形测量和长期监测领域有广阔的应用前景。
Traditional photogrammetry/videometrics methods and techniques are invalid to measure three-dimensional positions and attitudes of nonintervisible objects, for the basis that the camera must capture images of objects to be measured. An innovative prinple of“pose relay videometrics with camera-series”is proposed in this dissertation to resolve the problem of pose measurement between nonintervisible objects. The new method has been applied in ship deformations measurement, which has been one difficulty in navy equipment research and ship building industry. The prototype system for ship deformation measurement based on pose-raly videometrics is developed, and then sea trials are carried on. The main contents and innovations of this dissertation are as follows:
1. Pose relay videometrics with camera-series method is proposed for the first time internationally. The method uses a series of cameras and markers to build up camera-series and connect the nonintervisible measuring target and reference, and then the three-dimensional positions, attitudes and their changes are obtained by pose relay. Principles of pose relay videometrics method by camera-series are studied systemicly, and the forms of relay stations are discussed. In succession, precision analysis and validation experiments are carried on. The method can resolve the problem of pose and deformation measurement of two or more nonintervisible objects, and those of objects with a very large angle of view, which cannot be processed by conventional principles and methods of videometrics, so that it can be applied in deformations measurement of ships and other large structures.
The pose relay videometrics method with camera-series relays errors while relaying pose. Surrounding how to improve the precison and practicality, several key techniques such as camera calibratioin, marker detection and cameras synchronization are studied in this dissertation.
2. A camera calibration method based on controllable rotation is proposed to resolve the problem of overmuch coupled parameters with many commonly used calibration methods. The camera is controlled to rotate a known angle around (or around nearby) the optical center to calculate the accurate efficient focus length departed from other parameters. And then a camera calibration method combined by controllable rotation and traditional two steps calibration is put forward to get all parameters including distortion coefficients.
3. A cooperative marker combined by several infrared crosses is designed to suit the all-condition measurement requirements. Aiming at detection of random and irregular cross, a new sub-pixel detection method based on gray projecting integration (GPI, in short) and correlation is put forward. GPI method is applied to get the line width and the angles between each cross’arm and the image horizontal axis, and then digital correlation model is created according to the angles, at last, high-accurate sub-pixel location is obtained by fitting the correlation coefficients. Experiments show that the proposed detection method is robust and can locate cross center with the accuracy prior to 0.05 pixels.
4. A synchronous image acquisition and processing system for multiple cameras is designed and implemented. A general digital output module is adopted as the synchronous trigger signal generator and controlled by computer program. On the basis of hardware-level synchronization, a certain software synchronous strategy is designed to ensure the synchronous frames of every camera to be processed synchronously. The method is universal, easy to operate, and able to resolve the synchronous problem of multiple cameras connected in one or more computers.
5. On the ground of principle and key techniques research and project demonstration, a prototype videometrics system for ship deformation measurement is developed and applied in ship deformations measurement. Sea trials are carried on, from which long time and continuous data of position and attitude deformations between some point on the deck and the ship reference, and those between the ship head and stern, are achieved. The proposed method therefore has the potential to be applied in deformation measurement of ships and other large structures after more thorough researches and improvements.
引文
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