| 机载平台下半标定的下视图像极线校正方法 |
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| 引用本文： | 周华兵,龚俊斌,田金文.机载平台下半标定的下视图像极线校正方法[J].华中科技大学学报(自然科学版),2012,40(9):21-24. |
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| 作者姓名： | 周华兵 龚俊斌 田金文 |
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| 作者单位： | 1. 华中科技大学多谱信息处理技术重点实验室,湖北武汉,430074
2. 中国舰船研究设计中心,湖北武汉,430064 |
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| 基金项目： | 国家自然科学基金资助项目(61004111);智能机器人湖北省重点实验室开发基金资助项目(HBIR201101) |
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| 摘 要： | 以无人飞行器下视光学成像平台为研究背景,提出了一种相机半标定的下视图像极线校正方法.先对机载下视摄像机的成像几何模型进行了分析,在此基础上推导出一种新的极线校正单应估计函数,并用最小二乘法估计变换参数.结合惯导参数分析可知：所提出的方法不依赖于基础矩阵的精确求解,且在理论上只须1对同名点即可求解.实验结果验证了该方法校正精度高,校正速度快,且图像变形明显小于经典的极线校正算法.
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| 关 键 词： | 立体视觉 极线校正 下视运动视觉 半标定 最小二乘法 无人飞行器 |
Semi-calibrated downward-looking images epipolar rectification on airborne platform |
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| Zhou Huabing,Gong Junbin,Tian Jinwen.Semi-calibrated downward-looking images epipolar rectification on airborne platform[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2012,40(9):21-24. |
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| Authors: | Zhou Huabing Gong Junbin Tian Jinwen |
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| Institution: | 1(1 National Key Laboratory of Science and Technology on Multi-spectral Information Processing,Huazhong University of Science and Technology,Wuhan 430074,China;2 Chinese Ship Research Center,Wuhan 430064,China) |
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| Abstract: | A method to fully consider the downward-look-imaging feature of unmanned aerial vehicles(UAVs),was proposed to deal with the problem of epipolar rectification in the semi-calibrated case.The motion vision camera model on UAVs was analyzed at first,and then,a minimization about homograph was set up and solved by least square method.With the inertial navigation parameters,the solution does not need explicit computation of the fundamental matrix but only one parameter.Experiments results show that the method works well both on precision and efficiency,and the image loss is less than state-of-the-art approaches. |
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| Keywords: | stereo vision epipolar rectification downward-looking motion vision semi-calibrate least square method unmanned aerial vehicles(UAVs) |
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