測量車多相機檢定

Calibrating Cameras on a Mobile Mapping System

吳建億(Jieng-Yi Wu) ； 蔡展榮(Jaan-Rong Tsay)

《航測及遙測學刊》 15卷2期 (2010/06) Pp. 177-188

https://doi.org/10.6574/JPRS.2010.15(2).4

摘要

本文提出的測量車相機檢定(camera calibration)是解算相機的內方位元素、相機拍攝的像點系統性偏移向量、測量車上任意兩相機之間的相對方位，並且不使用檢定場而直接使用像點像坐標觀測值與各式物空間條件來解算。實驗結果顯示使用物空間條件檢定測量車相機參數是可行的，本文結合各式物空間條件，如物空間中可用的已知線段長度、角度、物點共平面、垂直條件、水平條件、坐標差值、高程差、已知點位高程以及已知點位坐標等，求解相機檢定參數，並分析檢定成果與精度。本文以物空間已知條件（距離、水平與垂直條件、坐標差值）求解的內、外方位元素精度可達±0.008~0.010mm、±1~13cm、±0.052°~0.211°。

關鍵字

相機檢定 ； 滅點 ； 物空間三軸條件 ； 光束法平差

並列摘要

In this paper, the camera calibration for a mobile mapping system (MMS) is used to determine the interior orientation parameters, field of systematic bias vectors of image point positions, and the relative orientation of arbitrary two cameras on the MMS. Image coordinates of image points and diverse object space conditions are utilized to evaluate the aforementioned parameters without the need of moving the MMS into a calibration field.
Test results show that the proposed calibration method using diverse object space conditions is applicable for calibrating cameras on a MMS. It integrates different kinds of object conditions (such as known lengths, angles, coordinate differences, coordinates, object heights as well as the perpendicular and parallel conditions) to estimate the camera parameters by using the images taken with the cameras mounted on a MMS. The object space conditions adopted in all tests include known distances, coordinate differences, the parallel and perpendicular conditions, and are used to determine the interior and exterior orientation parameters of all cameras on a MMS. The precision of the interior and exterior orientation parameters are about ±0.008mm~0.010mm, ±1cm~13cm, ±0.052°~0.211°, respectively.

並列關鍵字

Camera Calibration ； Vanishing points ； Conditions of three Orthogonal Axes in Object Space ； Bundle Adjustment