【摘要】：在深空探測領域,目前所有探測車包括我國月球探測車裝載的相機均是定焦相機,采用定焦相機,無法動態(tài)地調整或聚焦某一目標,并且制圖精度、生成正射影像范圍和分辨率等都受到限制。變焦相機具有動態(tài)縮放視場和聚焦具體目標等定焦相機無法比擬的優(yōu)勢,能夠最大限度地獲取更多、更為精細的影像數(shù)據(jù)及三維信息。但是由于變焦相機高精度標定十分困難,導致變焦相機在攝影測量與深空探測領域中應用很少。因此完成變焦相機的高精度標定具有十分重要的科學意義,這既是攝影測量與計算機視覺學科領域的前沿課題,也是新一代深空探測技術領域未來應用的需要。本文針對變焦相機的幾何模型進行了研究,完成了變焦相機高精度標定,并在此基礎上分析了變焦相機在三維重建以及測圖方面的應用。主要內容包括：(1)研究了變焦相機高精度標定方法。變焦相機主距的變化會引起內方位元素的改變。對于內方位元素的每次變化都進行標定十分困難,為了快速實時求出變焦相機任意主距下的內方位元素,本文對變焦相機進行幾何建模,實現(xiàn)了變焦相機任意主距下的實時標定。此外,還完成了定焦-變焦立體相機相對關系模型的建立與標定。(2)研究了單目變焦相機進行三維重建的可行性。得出通過單目變焦相機進行三維重建并不可行,但是研究超高精度的匹配方法將實現(xiàn)單目變焦相機在目標點深度估計上的應用。(3)研究分析了定焦-變焦立體相機的測圖精度。推導出不同焦距立體相機的測圖誤差公式。從實驗及理論方面比較了立體定焦相機與定焦-變焦立體相機的測圖精度,得出在變焦相機的主距高于定焦相機的大部分范圍內,定焦-變焦立體相機的測圖精度更高的結論。這一發(fā)現(xiàn)將為新一代深空探測車高精度制圖與科學探測提供有力支持。
[Abstract]:In the field of deep space exploration, all the cameras loaded by rovers, including our lunar rovers, are fixed-focus cameras at present. Using fixed-focus cameras, it is impossible to dynamically adjust or focus a certain target, and the accuracy of mapping is also discussed. The range and resolution of orthophotogenic images are limited. Zoom camera has the incomparable advantage over the fixed focus camera such as dynamic zoom field of view and focusing specific target. It can obtain more and finer image data and three-dimensional information as much as possible. However, it is difficult to calibrate the zoom camera with high precision, which leads to few applications in the field of photogrammetry and deep space exploration. Therefore, it is of great scientific significance to complete the high-precision calibration of zoom camera, which is not only the frontier subject in the field of photogrammetry and computer vision, but also the need for the future application of the new generation of deep space exploration technology. In this paper, the geometric model of zoom camera is studied, and the high precision calibration of zoom camera is completed. On the basis of this, the application of zoom camera in 3D reconstruction and mapping is analyzed. The main contents are as follows: (1) the high precision calibration method of zoom camera is studied. The change of the main distance of the zoom camera will cause the change of the inner azimuth element. It is very difficult to calibrate each change of internal azimuth element. In order to find out the inner azimuth element of zoom camera at any main distance quickly and real-time, the geometric modeling of zoom camera is carried out in this paper. The real-time calibration of zoom camera at any main distance is realized. In addition, the relative relation model of fixed focus-zoom stereo camera is established and calibrated. (2) the feasibility of three-dimensional reconstruction of monocular zoom camera is studied. It is concluded that three-dimensional reconstruction with monocular zoom camera is not feasible. But the matching method of ultra-high precision will realize the application of monocular zoom camera in depth estimation of target point. (3) the mapping accuracy of fixed focus-zoom stereo camera is studied and analyzed. The mapping error formula of three-dimensional camera with different focal length is derived. From the experimental and theoretical aspects, the mapping accuracy of the stereo camera is compared with that of the focus-zoom stereo camera. It is concluded that the mapping accuracy of the zoom-zoom stereo camera is higher than that of the fixed-focus camera in the range that the main distance of the zoom camera is higher than that of the fixed-focus camera. This discovery will provide a powerful support for high precision mapping and scientific exploration of a new generation of deep space exploration vehicles.
【學位授予單位】：遼寧工程技術大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：P172

【參考文獻】

相關期刊論文 前10條

1 彭Z，

本文編號：2447079