Summary of the invention
The purpose of the present invention is to provide one kind to draw high-precision map datum method based on the measurement of high-precision track data, toSolve the problems, such as that existing laser point cloud atlas cost price is higher.
To achieve the above object, the technical scheme is that
One kind drawing high-precision map datum method based on the measurement of high-precision track data, comprising the following steps:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device, to image information intoRow camera calibration, obtains camera parameter and distortion parameter；
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the rotation of world coordinatesTorque battle array R；
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image；
Step S4, the geometry mark point that contour of object is marked on orthoscopic image, obtains geometry mark pointPixel coordinate on corresponding orthoscopic image；
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.
Further embodiment, the camera calibration are Zhang Shi standardization.
Further embodiment generates collection point coordinate in the step S2 in the method for the spin matrix R of world coordinatesTo generate image capture device coordinate in the spin matrix R of world coordinates (X, Y, Z), formula according to GPS information and camera parameterIt is as follows；
Wherein, X, Y, Z respectively represent world coordinates axis, ψ, φ, and θ represents the rotation angle of corresponding reference axis.
Further embodiment, the method for going distortion to handle are
A, the pixel coordinate system of image information is passed through into the internal reference matrix conversion in camera parameter to camera coordinates system:
Y=(u-u0)/fy；
X=(v-v0)/fx；
B, aberration is carried out under camera coordinates system；
R=x2+y2；
X'=x* (1+k1*r+k2*r2+k3*r3)+2*p1*x*y+p2*(r+2*x2)；
Y '=y* (1+k1*r+k2*r2+k3*r3)+2*p2*x*y+p1*(r+2*y2)；
C, after removing aberration, camera coordinates system is transformed into image pixel coordinates system again；
X "=x ' * fx+u0；
Y "=y ' * fy+v0；
D, and with the pixel value of image information to the pixel for removing fault image interpolation is carried out；
H=x "；
W=y "；
I2 (u, v)=([w+1]-w) * ([h+1]-h) * I1 ([h], [w])
+ ((w+1)-w) * (h- [h]) * I1 ([h+1], [w])
+ (w- [w]) * ([h+1]-h) * I1 ([h], [w+1])
+ (w- [w]) * (h- [h]) * I1 ([h+1], [w+1])
Wherein, [] is to be rounded, and I2 is fault image, and I1 is source images.
Latitude and longitude coordinates are calculated using pixel coordinate in the step S5, according to longitude and latitude in further embodimentCoordinate matching GPS location transfers the height value of corresponding GPS location, generates the high-precision map comprising latitude and longitude coordinates and height valueData.
The present invention has the advantage that
It is described excellent in existing high-precision map datum drafting based on the high-precision track data high-precision map datum method of measurement draftingGesture is directly can directly be carried out drawing according to high-precision track camera viewings and data mention not dependent on laser point cloud atlasIt takes, is not needing laser point cloud atlas and camera picture to assist drawing extraction data.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present inventionIn attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment isA part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implementedThe component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawingsThe detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the inventionExample.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative effortsEvery other embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to endSame or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attachedThe embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The present invention is further illustrated with specific embodiment below with reference to accompanying drawings.
As shown in Figure 1, one kind of the embodiment of the present invention, which is based on the measurement of high-precision track data, draws high-precision map datum method,The following steps are included:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device, to image information intoRow camera calibration, obtains camera parameter and distortion parameter；
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the rotation of world coordinatesTorque battle array R；
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image；
Step S4, the geometry mark point that contour of object is marked on orthoscopic image, obtains geometry mark pointPixel coordinate on corresponding orthoscopic image；
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.
Its concrete principle method is illustrated to the method expansion in above-mentioned each step separately below:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device, to image information intoRow camera calibration, obtains camera parameter and distortion parameter；Image capture device in the present embodiment is preferably monocular camera or doubleMesh camera, wherein camera is industrial camera；The camera calibration is Zhang Shi standardization, and Zhang Shi standardization is the prior art, hereIt is not repeating.
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the rotation of world coordinatesTorque battle array R, wherein the method for generating spin matrix R are as follows:
According to GPS information and camera parameter, image capture device coordinate is generated in the spin matrix of world coordinates (X, Y, Z)R, formula are as follows；
Wherein, X, Y, Z respectively represent world coordinates axis, ψ, φ, and θ represents the rotation angle of corresponding reference axis.
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image,It is wherein described that distortion is gone to handle method particularly includes:
The internal reference matrix of camera is obtained mentioned by camera calibration and distortion factor is respectively
Internal reference matrix
Distortion factor
D=[k1 k2 k3 p1 p2]
=[- 0.3784872335914 0.00411334402276-0.00079763894420-0.0018735095178 0]
Then each parameter is as follows:
Fx=A (1,1)；%fx and fy is f/dx, f/dy respectively；
Fx=A (2,2)；%
U0=A (1,3)；%cx and cy optical center position, and optical center position cx, cy are related with resolution ratio；
V0=A (2,3)；%
K1=D (1)；%1 rank coefficient of radial distortion；
K2=D (2)；%2 rank coefficient of radial distortion；
K3=D (3)；%3 rank coefficient of radial distortion；
P1=D (4)；%1 rank coefficient of radial distortion；
P2=D (5)；%2 rank coefficient of radial distortion；
Go distortion processing as follows:
A, the pixel coordinate system of image information is passed through into the internal reference matrix conversion in camera parameter to camera
Coordinate system:
Y=(u-u0)/fy；
X=(v-v0)/fx；
B, aberration is carried out under camera coordinates system；
R=x2+y2；
X'=x* (1+k1*r+k2*r2+k3*r3)+2*p1*x*y+p2*(r+2*x2)；
Y'=y* (1+k1*r+k2*r2+k3*r3)+2*p2*x*y+p1*(r+2*y2)；
C, after removing aberration, camera coordinates system is transformed into image pixel coordinates system again；
X "=x ' * fx+u0；
Y "=y ' * fy+v0；
D, and with the pixel value of image information to the pixel for removing fault image interpolation is carried out；
H=x "；
W=y "；
I2 (u, v)=([w+1]-w) * ([h+1]-h) * I1 ([h], [w])
+ ((w+1)-w) * (h- [h]) * is several ([h+1], [w])
+ (w- [w]) * ([h+1]-h) * I1 ([h], [w+1])
+ (w- [w]) * (h- [h]) * I1 ([h+1], [w+1])
Wherein, [] is to be rounded, and I2 is fault image, and I1 is source images.
Step S4, the geometry mark point that contour of object is marked on orthoscopic image, obtains geometry mark pointPixel coordinate on corresponding orthoscopic image.Contour of object contains instruction graticule, forbids on graticule, warning graticule and groundText or number mark.
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.More specifically, make in the step S5Latitude and longitude coordinates are calculated with pixel coordinate, matches GPS location according to latitude and longitude coordinates, transfers the elevation of corresponding GPS locationValue generates the high-precision map datum comprising latitude and longitude coordinates and height value.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to itLimitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:It can still modify to technical solution documented by previous embodiment, or to part of or all technical features intoRow equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical sideThe range of case.