本文選題：姿態(tài)估計(jì) + 時(shí)間匹配��； 參考：《測(cè)繪科學(xué)》2016年02期

【摘要】：針對(duì)點(diǎn)云與圖像信息快速融合的問(wèn)題,該文研究并實(shí)現(xiàn)了一種基于單目相機(jī)姿態(tài)估計(jì)的點(diǎn)云與圖像融合方法。首先利用視覺(jué)導(dǎo)航中單目相機(jī)姿態(tài)估計(jì)方法估算小型無(wú)人機(jī)的姿態(tài)信息,然后與無(wú)人機(jī)導(dǎo)航系統(tǒng)中的姿態(tài)信息匹配來(lái)準(zhǔn)確獲得相機(jī)曝光時(shí)間點(diǎn),最后結(jié)合圖像曝光時(shí)間點(diǎn)的外方位元素和已知的內(nèi)方位元素完成點(diǎn)云與圖像融合。該方法直接利用圖像信息進(jìn)行融合,省去了相機(jī)時(shí)間檢校步驟,避免了由此帶來(lái)的誤差,提高了時(shí)間匹配的準(zhǔn)確性以及數(shù)據(jù)融合的自動(dòng)化水平。實(shí)驗(yàn)結(jié)果表明,該方法能夠準(zhǔn)確地獲得時(shí)間匹配信息,融合效果良好。
[Abstract]:Aiming at the problem of fast fusion of point cloud and image information, a method of point cloud and image fusion based on single camera attitude estimation is studied and implemented in this paper. Firstly, the attitude information of small UAV is estimated by using the attitude estimation method of monocular camera in visual navigation, and then the camera exposure time is accurately obtained by matching the attitude information with the attitude information in UAV navigation system. Finally, the point cloud is fused with the external azimuth element of the image exposure time point and the known interior azimuth element. This method directly uses image information to fuse, saves camera time check step, avoids the error caused by it, improves the accuracy of time matching and the automation level of data fusion. Experimental results show that this method can accurately obtain time matching information, and the fusion effect is good.
【作者單位】： 華南理工大學(xué)自動(dòng)化科學(xué)與工程學(xué)院;
【基金】：國(guó)家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃(973計(jì)劃)資助項(xiàng)目(2014CB845301/2/3) 2013年度開(kāi)放基金項(xiàng)目(1214) 華南理工大學(xué)中央高校基本科研業(yè)務(wù)費(fèi)自助項(xiàng)目(2014ZP0021)
【分類號(hào)】：P23
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本文編號(hào)：2107121