發(fā)布時間：2019-02-17 09:53

【摘要】：隨著GIS、物聯(lián)網(wǎng)、虛擬現(xiàn)實的發(fā)展,室內(nèi)定位已經(jīng)是“最后一米”的服務(wù),室內(nèi)環(huán)境的表達(dá)是其重中之重。全景影像(Panoramic Image)作為一種新的模型表達(dá)方式,以其獨特的優(yōu)勢,即快速方便的數(shù)據(jù)獲取在室內(nèi)模型表達(dá)方面占據(jù)一席之地。全景影像還可以結(jié)合虛擬現(xiàn)實使人們足不出戶即可漫游全世界,提供身臨其境的原始場景信息。如今的全景相機(jī)大多是拍攝二維影像,二維影像雖然具有視覺上的立體感,卻不具有真正的可量測性,這使得其應(yīng)用范圍受到很大的限制。本文從經(jīng)典攝影測量理論及計算機(jī)視覺理論出發(fā),設(shè)計了一種全新的立體全景相機(jī)設(shè)備,獲得了立體全景相機(jī)周圍360°×180°場景中的物點的立體影像對。基于此立體全景相機(jī)實現(xiàn)了全景影像的漫游及場景中空間幾何信息的提取,具體研究方法和工作如下:1.設(shè)計了一套基于陣列相機(jī)的全景影像數(shù)據(jù)采集設(shè)備。共包括六對立體相機(jī),每對立體相機(jī)由兩臺Gopro運動相機(jī)構(gòu)成一個單元。水平方向的五對立體相機(jī),采集水平360?的影像。朝向天空的一對立體相機(jī),采集室內(nèi)天花板影像。設(shè)備整體使用3D打印機(jī)打印的支架進(jìn)行固定,最后實現(xiàn)了相機(jī)周圍360°×180°影像的獲取。2.完成了相機(jī)的標(biāo)定工作。采用打印的高精度標(biāo)定紙靶,利用相機(jī)標(biāo)定法對相機(jī)進(jìn)行標(biāo)定,求得了每個相機(jī)的內(nèi)方位元素和各種畸變參數(shù)。根據(jù)各個相機(jī)的畸變參數(shù)對采集到的序列影像分別進(jìn)行像畸變糾正,獲得了消除畸變后的序列影像。3.實現(xiàn)了序列影像中像點的世界坐標(biāo)的獲取,點位精度為±2.6cm。設(shè)備組裝成功后,從攝影測量角度出發(fā),對每一對立體相機(jī)進(jìn)行相對定向與絕對定向。相對定向求得模型點坐標(biāo),絕對定向求解每一對立體相機(jī)的模型比例尺,并集成到整套系統(tǒng)中去。后續(xù)每次對場景拍攝一次全景。相對定向及模型點坐標(biāo)獲取后,乘以比例尺,就獲得了物點的世界坐標(biāo),當(dāng)然比例尺需要進(jìn)行周期性檢校。4.完成了全景影像中空間幾何信息的提取。針對空間平面多邊形面積、空間圓面積、坡度、角度等信息使用基于三維坐標(biāo)的求解方法進(jìn)行提取,利用最小二乘法進(jìn)行嚴(yán)密平差求解。5.編程實現(xiàn)了立體全景相機(jī)采集的序列影像的全景漫游,并從漫游視角進(jìn)行幾何信息的提取。基于Harris特征提取方法對影像進(jìn)行特征提取,實現(xiàn)了影像之間的坐標(biāo)轉(zhuǎn)換,采用線性融合和改善后的線性融合處理影像重疊處的色差、接縫等問題。最后以O(shè)penGL為基礎(chǔ),將拼接后的影像投影到球面上,視點設(shè)置在球心,從而實現(xiàn)了全景影像的漫游。
[Abstract]:With the development of GIS, Internet of things and virtual reality, indoor positioning has been the last one meter service, and the expression of indoor environment is the most important. Panoramic image (Panoramic Image) as a new model representation method, with its unique advantages, that is, fast and convenient data acquisition in indoor model representation occupies a place. Panoramic images can also be combined with virtual reality to enable people to roam the world without leaving their homes and provide information of the original scene. Nowadays, most panoramic cameras shoot two-dimensional images. Although two-dimensional images have the visual sense of three-dimensional, they do not have the real measurability, which limits their application scope. Based on the classical photogrammetry theory and computer vision theory, a new stereo panoramic camera equipment is designed in this paper, and the stereo image pairs of objects in 360 擄脳 180 擄scene around the stereo panoramic camera are obtained. Based on the stereo panoramic camera, the roaming of the panoramic image and the extraction of the spatial geometric information from the scene are realized. The specific research methods and work are as follows: 1. A panoramic image data acquisition device based on array camera is designed. Each stereo camera consists of two Gopro motion cameras. Five pairs of stereoscopic cameras in horizontal direction, collecting level 360? Of the A pair of stereoscopic cameras facing the sky collect images of indoor ceilings. The device is fixed by 3D printer, and the 360 擄脳 180 擄image around the camera is acquired. 2. 2. The calibration of the camera is completed. The paper target is calibrated with high precision and the camera calibration method is used to calibrate the camera. The internal azimuth elements and various distortion parameters of each camera are obtained. According to the distortion parameters of each camera, the sequence images are corrected respectively, and the sequence images after eliminating the distortion are obtained. The world coordinates of the image points in the sequence images are obtained, and the accuracy of the points is 鹵2.6 cm. After the equipment is assembled successfully, the relative orientation and absolute orientation of each pair of stereoscopic cameras are carried out from the angle of photogrammetry. The model coordinates are obtained by relative orientation, and the model scale of each pair of stereoscopic cameras is solved by absolute orientation and integrated into the whole system. Take a panoramic view of the scene at a time. Relative orientation and model point coordinate acquisition, multiplied by the scale, get the world coordinates of the object points, of course, scale needs to be periodically checked. 4. The extraction of spatial geometric information from panoramic images is completed. For the information of polygon area, circle area, slope, angle and so on, the three-dimensional coordinate method is used to extract the information, and the least square method is used to solve the strict adjustment. 5. The panoramic roaming of the sequence images collected by the stereo panoramic camera is realized, and the geometric information is extracted from the roaming angle. Based on the Harris feature extraction method, the image features are extracted, and the coordinate transformation between images is realized. The linear fusion and the improved linear fusion are used to deal with the problems of color difference and seam in the overlapped image. Finally, based on OpenGL, the spliced image is projected onto the sphere and the view point is set at the center of the sphere, thus realizing the roaming of the panoramic image.
【學(xué)位授予單位】：北京建筑大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：P235;P209

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