[Objective] The aim was to explore the measurement of coordinate parameter by multi-baseline digital close-range photogrammetry system.[Method] The 3-dimensional coordinate of 8-year-old Jujube was measured by using L...[Objective] The aim was to explore the measurement of coordinate parameter by multi-baseline digital close-range photogrammetry system.[Method] The 3-dimensional coordinate of 8-year-old Jujube was measured by using Lensphoto multi-baseline digital close-range photogrammetry system,and through comparing with measured data of Total Station,the error and accuracy of photogrammetry data were analyzed.[Result] The absolute error of X,Y and Z coordinate was 0-0.014,0-0.018 and 0-0.004 m respectively,and the relative error of X,Y and Z coordinate was less than 0.145%.The significance test of pairs for the photogrammetry data and measured data of Total Station indicated that the space coordinate data of stumpage were accurately measured by using the multi-baseline digital close-range photogrammetry method,and the photogrammetry data meet the need of space coordinate measurement for virtual plant growth simulation.[Conclusion] This study had provided theoretical basis for the growth measurement of virtual plant growth simulation.展开更多
Stem volume estimation is crucial in forest ecology and management,particularly for timber harvesting strategies and carbon stock assessments.This study aimed to develop a variable-exponent taper equation specifically...Stem volume estimation is crucial in forest ecology and management,particularly for timber harvesting strategies and carbon stock assessments.This study aimed to develop a variable-exponent taper equation specifically tailored to savanna tree species using close-range photogrammetry(CRP)data and to evaluate its performance against conventional volume equations for stem volume estimation.A dataset of 30 trees across five dominant savanna species was used to fit the taper model,which was validated using a separate dataset of 322 trees from 14 species.The results demonstrated significant improvements in volume estimation accuracy when using the taper equation.At the tree level,the root mean square error(RMSE)decreased by 47%,from 598 to 319 dm^(3),and the mean absolute bias(MAB)by 48%,from 328 to 172 dm3,compared to volume equations.Similarly,at the plot level,RMSE was reduced by 42% and MAB by 40%.The model performed well for species with regular forms.However,species with irregular tapers exhibited higher errors,reflecting the challenges of modeling stem forms of mixed species.The use of CRP proved valuable,providing high-resolution diameter measurements that improved model parameterization.This study underscores the importance of advanced data collection methods for enhancing taper model accuracy and suggests that further species-specific adjustments are needed to improve performance for species with irregular forms.The findings support the broader application of taper equations for improving stem volume estimates in savanna ecosystems,contributing to better forest management and resource monitoring practices.展开更多
The measurement accuracy of the Mobile Mapping System (MMS) is the main problem, which restricts its development and application, so how to calibrate the MMS to improve its measure-ment accuracy has always been a rese...The measurement accuracy of the Mobile Mapping System (MMS) is the main problem, which restricts its development and application, so how to calibrate the MMS to improve its measure-ment accuracy has always been a research hotspot in the industry. This paper proposes a position and attitude calibration method with error correction based on the combination of the feature point and feature surface. First, the initial value of the spatial position relation-ship between each sensor of MMS is obtained by close-range photogrammetry. Second, the optimal solution for error correction is calculated by feature points in global coordinates jointly measured with International GNSS Service (IGS) stations. Then, the final transformation para-meters are solved by combining the initial values obtained originally, thereby realizing the rapid calibration of the MMS. Finally, it analyzed the RMSE of MMS point cloud after calibration, and the results demonstrate the feasibility of the calibration approach proposed by this method. Under the condition of a single measurement sensor accuracy is low, the plane and elevation absolute accuracy of the point cloud after calibration can reach 0.043 m and 0.072 m, respectively, and the relative accuracy is smaller than 0.02 m. It meets the precision require-ments of data acquisition for MMS. It is of great significance for promoting the development of MMS technology and the application of some novel techniques in the future, such as auton-omous driving, digital twin city, urban brain et al.展开更多
The application of digital photogrammetry to measure distribution of tree positions with stereo image couple is introduced in detail, and the procedure of stereo vision applied in forestry environment is explored. Non...The application of digital photogrammetry to measure distribution of tree positions with stereo image couple is introduced in detail, and the procedure of stereo vision applied in forestry environment is explored. Nonlinear error in measure model is adopted in the camera calibration; the interactive correlation matching is used under constraint of epipolar line and edge of tree detected by Canny operator. Results prove that application of digital photogrammetry technology to measure distribution of tree positions can meet demand of precision in experimental conditions.展开更多
This work describes a calibration process for inexpensive consumer cameras integrated into a low cost and compact aerial multi-view imager for remote sensing and photogrammetry.The main advantage of this design is to ...This work describes a calibration process for inexpensive consumer cameras integrated into a low cost and compact aerial multi-view imager for remote sensing and photogrammetry.The main advantage of this design is to make the filming component lightweight and rapidly deployable,as well as reducing cost when compared with mainstream commercial oblique imagery.An in situ flight test was carried out in Guiyang.In that experiment,a meridian convergence-based approach was adopted to adjust preprocessing,the residue error and the captured images’exterior orientation linear and angular parameters were calculated by means of the direct geo-referencing approach yielding a favorable outcome for exterior orientation linear parameters of the camera,around 0.2–0.3 m deviation from the actual measured results at 1000 m flight above ground level.The camera’s exterior orientation angular parametersφ,ωwhose difference compared with the standard aerial aero triangulation approach reached a high accuracy level within the intended endurance of 0.005°.These results indicate that the compact implementation of the oblique aerial imager comprised of consumer level off-the-shelf digital cameras achieved competitive accuracy at a low cost and high versatility.展开更多
This study analyzes the function of different muscles during arm wrestling and proposes a method to analyze the optimal forearm angle for professional arm wrestlers.We built a professional arm-wrestling platform to me...This study analyzes the function of different muscles during arm wrestling and proposes a method to analyze the optimal forearm angle for professional arm wrestlers.We built a professional arm-wrestling platform to measure the shape and deformation of the skin at the biceps brachii of a volunteer in vivo during arm wrestling.We observed the banding phenomenon of arm skin strain during muscle contraction and developed a model to evaluate the moment provided by the biceps brachii.According to this model,the strain field of the area of interest on the skin was measured,and the forearm angles most favorable and unfavorable to the work of the biceps brachii were analyzed.This study demonstrates the considerable potential of applying DIC and its extension method to the in vivo measurement of human skin and facilitates the use of the in vivo measurement of skin deformation in various sports in the future.展开更多
The concepts of “digital twins”, “3D real scene”, “metacosm” and others were the technical paths for building digital cities with the development of emerging surveying and mapping science and technology, which w...The concepts of “digital twins”, “3D real scene”, “metacosm” and others were the technical paths for building digital cities with the development of emerging surveying and mapping science and technology, which was to build a digital and virtualized city that matched the real physical world, to achieve a one-to-one correspondence between all elements of the physical world and the digital virtual world. And one of its basic geographic information data was a highly similar, virtual simulation of the 3D real scene. After exploring the traditional manual 3DsMax modeling, UAV low-altitude digital oblique photogrammetry modeling, airborne laser scanning modeling and other single modeling technologies, this paper discussed the 3D digital modeling technology used by the UAV airborne laser scanning point cloud and low-altitude digital oblique photogrammetry for complementary integration, constructing the 3D scene of the digital city. This paper expounded the technical route and production process of 3D digital modeling, in order to provide technical references for related projects.展开更多
It is usually a time-consuming process to real-time set up 3D digital surface model(DSM) of an object with complex surface.On the basis of the architectural survey project of"Chilin Nunnery Reconstruction",t...It is usually a time-consuming process to real-time set up 3D digital surface model(DSM) of an object with complex surface.On the basis of the architectural survey project of"Chilin Nunnery Reconstruction",this paper investigates an easy and feasible way,that is,on project site,applying digital close range photogrammetry and CAD technique to establish the DSM for simulating ancient architectures with complex surface.The method has been proved very effective in practice.展开更多
A difficult problem in forestry is tree inventory.In this study, a GoProHero attached to a small unmanned aerial vehicle was used to capture images of a small area covered by pinus pinea trees. Then, a digital surface...A difficult problem in forestry is tree inventory.In this study, a GoProHero attached to a small unmanned aerial vehicle was used to capture images of a small area covered by pinus pinea trees. Then, a digital surface model was generated with image matching. The elevation model representing the terrain surface, a ‘digital terrain model’,was extracted from the digital surface model using morphological filtering. Individual trees were extracted by analyzing elevation flow on the digital elevation model because the elevation reached the highest value on the tree peaks compared to the neighborhood elevation pixels. The quality of the results was assessed by comparison with reference data for correctness of the estimated number of trees. The tree heights were calculated and evaluated with ground truth dataset. The results showed 80% correctness and 90% completeness.展开更多
Positioning of screw holes is an important production procedure for steel construction connecting with bolts.In this paper,a new production method is presented,in which the digital camera is used for taking pictures o...Positioning of screw holes is an important production procedure for steel construction connecting with bolts.In this paper,a new production method is presented,in which the digital camera is used for taking pictures of screw holes and other techniques are advanced.This paper also indicates that the pixels of CCD chip in photogrammetry should be chosen as all geometric units in an image,such as interior elements and all kinds of distortions.The measure can also simplify the camera calibration for determining the size of non-square pixel.展开更多
With the coming of information age and the development of computer science, digitalization of whole garment is becoming more and more important. The surface of whole garment is sequent and glossy so that it is lack of...With the coming of information age and the development of computer science, digitalization of whole garment is becoming more and more important. The surface of whole garment is sequent and glossy so that it is lack of the texture characteristic which is the key of digital 3D modeling. According to this reason, the structure illumination is steered into a method of this paper. The paper proposes the method by which 3D model of whole garment is created from 2D image sequences directly but not by the common techniques using general CAD model. In the paper the structure illumination is generated by the slide projector and the modeling of whole garment is based on the strict theory of the digital photogrammetry, computer vision and image processing pattern recognition. Because whole garment is lack of the applicable texture for matching, the characteristic texture generated by the structure illumination is added onto the surface of whole garment. After the characteristic texture is extracted from images and is matched well, 3D coordinates of the characteristic texture can be calculated out by the space forward intersection. Then the whole garment model is acquired by connecting all neighhour space points in the TIN and rendering the real texture of whole garment automatically. The 3D modeling method is untouched so that it is nondestructive which is just suitable for the messaline and the clothing. The method of whole garment 3D modeling proposed in the paper is flexible, effective and practical, which is confirmed by the results of the reconstructing experiments.展开更多
Potholes are the most prevalent type of structural defect found on roads,caused by aging infrastructure,heavy rains,heavy traffic,thin or weak substructures,and other factors.Regular assessment of road conditions is e...Potholes are the most prevalent type of structural defect found on roads,caused by aging infrastructure,heavy rains,heavy traffic,thin or weak substructures,and other factors.Regular assessment of road conditions is essential for maintaining and improving road networks.Current techniques for identifying potholes on urban roadways primarily rely on public reporting,such as hotlines or social networking websites,which are both timeconsuming and inefficient.This study aims to detect potholes using Unmanned Aerial Vehicles(UAVs)images,enabling accurate analysis of their size,shape,and location,thereby enhancing detection efficiency compared to conventional methods.It compared area and volume measurements of potholes derived from UAV models with those obtained through traditional methods,revealing discrepancies and highlighting UAVs’potential for providing more accurate data with appropriate settings.The study found measurement errors ranging from 90 to 8200 cm^(2) in area and 2000 to 31,000 cm^(3) in volume,emphasizing the need for careful data handling in assessments.This study demonstrates UAV technology’s effectiveness in pothole detection,providing insights that support the adoption of aerial photogrammetry for road maintenance.This approach has the potential to improve efficiency in infrastructure management.By appropriately adjusting altitude settings and parameters based on pothole size and depth,UAVs can detect potholes effectively.To achieve more accurate results,the study recommends analyzing a larger number of potholes rather than limiting the focus to a single pothole.展开更多
多相机三维数字图像相关(three-dimensional digital image correlation,3D-DIC)系统在测量核燃料包壳管应变的实际应用中,多相机标定环节存在坐标系转换引发的累计误差增加及全局优化能力不足等问题。为此,提出一种基于空间标定靶的多...多相机三维数字图像相关(three-dimensional digital image correlation,3D-DIC)系统在测量核燃料包壳管应变的实际应用中,多相机标定环节存在坐标系转换引发的累计误差增加及全局优化能力不足等问题。为此,提出一种基于空间标定靶的多相机全局标定方法。首先,提出为各相机在标定靶每个位姿下提供外方位参数初值的方法,保证空间后方交会正确收敛;其次,提出多相机多位姿光束平差(bundle adjustment,BA)方法,保证多相机标定精度达到全局最优。实验结果表明,该方法的标定精度较直接线性变换(direct linear transformation,DLT)方法提高了55.1%,最大位移误差标准差降低了16.3%。同时,该方法无需对标志点进行手动编号,使标定过程实现了自动化,标定效率更高。展开更多
基金Supported by National Natural Science Foundation of China(30770401)National Eleventh Five-Year Plan for Forestry Scienceand Technology Support Topics(2006BADO3A0505)~~
文摘[Objective] The aim was to explore the measurement of coordinate parameter by multi-baseline digital close-range photogrammetry system.[Method] The 3-dimensional coordinate of 8-year-old Jujube was measured by using Lensphoto multi-baseline digital close-range photogrammetry system,and through comparing with measured data of Total Station,the error and accuracy of photogrammetry data were analyzed.[Result] The absolute error of X,Y and Z coordinate was 0-0.014,0-0.018 and 0-0.004 m respectively,and the relative error of X,Y and Z coordinate was less than 0.145%.The significance test of pairs for the photogrammetry data and measured data of Total Station indicated that the space coordinate data of stumpage were accurately measured by using the multi-baseline digital close-range photogrammetry method,and the photogrammetry data meet the need of space coordinate measurement for virtual plant growth simulation.[Conclusion] This study had provided theoretical basis for the growth measurement of virtual plant growth simulation.
基金partially funded by the International Foundation for Science(Grant No:I-1-D-6066-1).
文摘Stem volume estimation is crucial in forest ecology and management,particularly for timber harvesting strategies and carbon stock assessments.This study aimed to develop a variable-exponent taper equation specifically tailored to savanna tree species using close-range photogrammetry(CRP)data and to evaluate its performance against conventional volume equations for stem volume estimation.A dataset of 30 trees across five dominant savanna species was used to fit the taper model,which was validated using a separate dataset of 322 trees from 14 species.The results demonstrated significant improvements in volume estimation accuracy when using the taper equation.At the tree level,the root mean square error(RMSE)decreased by 47%,from 598 to 319 dm^(3),and the mean absolute bias(MAB)by 48%,from 328 to 172 dm3,compared to volume equations.Similarly,at the plot level,RMSE was reduced by 42% and MAB by 40%.The model performed well for species with regular forms.However,species with irregular tapers exhibited higher errors,reflecting the challenges of modeling stem forms of mixed species.The use of CRP proved valuable,providing high-resolution diameter measurements that improved model parameterization.This study underscores the importance of advanced data collection methods for enhancing taper model accuracy and suggests that further species-specific adjustments are needed to improve performance for species with irregular forms.The findings support the broader application of taper equations for improving stem volume estimates in savanna ecosystems,contributing to better forest management and resource monitoring practices.
基金This research was funded by the National Natural Science Foundation of China[grant number 41971350 and 41571437]Beijing Advanced Innovation Centre for Future Urban Design Project[grant number UDC2019031724]+4 种基金Teacher Support Program for Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture[grant number JDJQ20200307]State Key Laboratory of Geo-Information Engineering[grant number SKLGIE2019-Z-3-1]Open Research Fund Program of LIESMARS[grant number 19E01]National Key Research and Development Program of China[grant number 2019YFC1520100]The Fundamental Research Funds for Beijing University of Civil Engineering and Architecture[grant number X18050].
文摘The measurement accuracy of the Mobile Mapping System (MMS) is the main problem, which restricts its development and application, so how to calibrate the MMS to improve its measure-ment accuracy has always been a research hotspot in the industry. This paper proposes a position and attitude calibration method with error correction based on the combination of the feature point and feature surface. First, the initial value of the spatial position relation-ship between each sensor of MMS is obtained by close-range photogrammetry. Second, the optimal solution for error correction is calculated by feature points in global coordinates jointly measured with International GNSS Service (IGS) stations. Then, the final transformation para-meters are solved by combining the initial values obtained originally, thereby realizing the rapid calibration of the MMS. Finally, it analyzed the RMSE of MMS point cloud after calibration, and the results demonstrate the feasibility of the calibration approach proposed by this method. Under the condition of a single measurement sensor accuracy is low, the plane and elevation absolute accuracy of the point cloud after calibration can reach 0.043 m and 0.072 m, respectively, and the relative accuracy is smaller than 0.02 m. It meets the precision require-ments of data acquisition for MMS. It is of great significance for promoting the development of MMS technology and the application of some novel techniques in the future, such as auton-omous driving, digital twin city, urban brain et al.
基金the National Natural Science Foundationof China (Grant No. 30271079)
文摘The application of digital photogrammetry to measure distribution of tree positions with stereo image couple is introduced in detail, and the procedure of stereo vision applied in forestry environment is explored. Nonlinear error in measure model is adopted in the camera calibration; the interactive correlation matching is used under constraint of epipolar line and edge of tree detected by Canny operator. Results prove that application of digital photogrammetry technology to measure distribution of tree positions can meet demand of precision in experimental conditions.
基金This work was supported by National Science and Technology Specific Projects[grant number 2012YQ1601850],[grant number 2013BAH42F03]the National Natural Science Foundation of China[grant number 61172174]+1 种基金the Program for New Century Excellent Talents in University[grant number NCET-12-0426]the Basic Research Program of Hubei Province[grant number 2013CFA024].
文摘This work describes a calibration process for inexpensive consumer cameras integrated into a low cost and compact aerial multi-view imager for remote sensing and photogrammetry.The main advantage of this design is to make the filming component lightweight and rapidly deployable,as well as reducing cost when compared with mainstream commercial oblique imagery.An in situ flight test was carried out in Guiyang.In that experiment,a meridian convergence-based approach was adopted to adjust preprocessing,the residue error and the captured images’exterior orientation linear and angular parameters were calculated by means of the direct geo-referencing approach yielding a favorable outcome for exterior orientation linear parameters of the camera,around 0.2–0.3 m deviation from the actual measured results at 1000 m flight above ground level.The camera’s exterior orientation angular parametersφ,ωwhose difference compared with the standard aerial aero triangulation approach reached a high accuracy level within the intended endurance of 0.005°.These results indicate that the compact implementation of the oblique aerial imager comprised of consumer level off-the-shelf digital cameras achieved competitive accuracy at a low cost and high versatility.
基金This study was supported by the National Natural Science Foun-dation of China(NSFC)(No.11902074).
文摘This study analyzes the function of different muscles during arm wrestling and proposes a method to analyze the optimal forearm angle for professional arm wrestlers.We built a professional arm-wrestling platform to measure the shape and deformation of the skin at the biceps brachii of a volunteer in vivo during arm wrestling.We observed the banding phenomenon of arm skin strain during muscle contraction and developed a model to evaluate the moment provided by the biceps brachii.According to this model,the strain field of the area of interest on the skin was measured,and the forearm angles most favorable and unfavorable to the work of the biceps brachii were analyzed.This study demonstrates the considerable potential of applying DIC and its extension method to the in vivo measurement of human skin and facilitates the use of the in vivo measurement of skin deformation in various sports in the future.
文摘The concepts of “digital twins”, “3D real scene”, “metacosm” and others were the technical paths for building digital cities with the development of emerging surveying and mapping science and technology, which was to build a digital and virtualized city that matched the real physical world, to achieve a one-to-one correspondence between all elements of the physical world and the digital virtual world. And one of its basic geographic information data was a highly similar, virtual simulation of the 3D real scene. After exploring the traditional manual 3DsMax modeling, UAV low-altitude digital oblique photogrammetry modeling, airborne laser scanning modeling and other single modeling technologies, this paper discussed the 3D digital modeling technology used by the UAV airborne laser scanning point cloud and low-altitude digital oblique photogrammetry for complementary integration, constructing the 3D scene of the digital city. This paper expounded the technical route and production process of 3D digital modeling, in order to provide technical references for related projects.
文摘It is usually a time-consuming process to real-time set up 3D digital surface model(DSM) of an object with complex surface.On the basis of the architectural survey project of"Chilin Nunnery Reconstruction",this paper investigates an easy and feasible way,that is,on project site,applying digital close range photogrammetry and CAD technique to establish the DSM for simulating ancient architectures with complex surface.The method has been proved very effective in practice.
基金financially supported by the scientific research projects coordination unit of Akdeniz University,Project No.FBA-2015-446
文摘A difficult problem in forestry is tree inventory.In this study, a GoProHero attached to a small unmanned aerial vehicle was used to capture images of a small area covered by pinus pinea trees. Then, a digital surface model was generated with image matching. The elevation model representing the terrain surface, a ‘digital terrain model’,was extracted from the digital surface model using morphological filtering. Individual trees were extracted by analyzing elevation flow on the digital elevation model because the elevation reached the highest value on the tree peaks compared to the neighborhood elevation pixels. The quality of the results was assessed by comparison with reference data for correctness of the estimated number of trees. The tree heights were calculated and evaluated with ground truth dataset. The results showed 80% correctness and 90% completeness.
文摘Positioning of screw holes is an important production procedure for steel construction connecting with bolts.In this paper,a new production method is presented,in which the digital camera is used for taking pictures of screw holes and other techniques are advanced.This paper also indicates that the pixels of CCD chip in photogrammetry should be chosen as all geometric units in an image,such as interior elements and all kinds of distortions.The measure can also simplify the camera calibration for determining the size of non-square pixel.
文摘With the coming of information age and the development of computer science, digitalization of whole garment is becoming more and more important. The surface of whole garment is sequent and glossy so that it is lack of the texture characteristic which is the key of digital 3D modeling. According to this reason, the structure illumination is steered into a method of this paper. The paper proposes the method by which 3D model of whole garment is created from 2D image sequences directly but not by the common techniques using general CAD model. In the paper the structure illumination is generated by the slide projector and the modeling of whole garment is based on the strict theory of the digital photogrammetry, computer vision and image processing pattern recognition. Because whole garment is lack of the applicable texture for matching, the characteristic texture generated by the structure illumination is added onto the surface of whole garment. After the characteristic texture is extracted from images and is matched well, 3D coordinates of the characteristic texture can be calculated out by the space forward intersection. Then the whole garment model is acquired by connecting all neighhour space points in the TIN and rendering the real texture of whole garment automatically. The 3D modeling method is untouched so that it is nondestructive which is just suitable for the messaline and the clothing. The method of whole garment 3D modeling proposed in the paper is flexible, effective and practical, which is confirmed by the results of the reconstructing experiments.
基金Ministry of Higher Education(MOHE)are greatly acknowledged for providing the Fundamental Research Grant Scheme(Grant No.FRGS/1/2021/WAB07/UITM/02/2)GPK fund(Grant No.600-RMC/GPK 5/3(223/2020))College of Built Environment,Universiti Teknologi MARA(UiTM)and Research Management Centre(RMC)to enable this research to be carried out.
文摘Potholes are the most prevalent type of structural defect found on roads,caused by aging infrastructure,heavy rains,heavy traffic,thin or weak substructures,and other factors.Regular assessment of road conditions is essential for maintaining and improving road networks.Current techniques for identifying potholes on urban roadways primarily rely on public reporting,such as hotlines or social networking websites,which are both timeconsuming and inefficient.This study aims to detect potholes using Unmanned Aerial Vehicles(UAVs)images,enabling accurate analysis of their size,shape,and location,thereby enhancing detection efficiency compared to conventional methods.It compared area and volume measurements of potholes derived from UAV models with those obtained through traditional methods,revealing discrepancies and highlighting UAVs’potential for providing more accurate data with appropriate settings.The study found measurement errors ranging from 90 to 8200 cm^(2) in area and 2000 to 31,000 cm^(3) in volume,emphasizing the need for careful data handling in assessments.This study demonstrates UAV technology’s effectiveness in pothole detection,providing insights that support the adoption of aerial photogrammetry for road maintenance.This approach has the potential to improve efficiency in infrastructure management.By appropriately adjusting altitude settings and parameters based on pothole size and depth,UAVs can detect potholes effectively.To achieve more accurate results,the study recommends analyzing a larger number of potholes rather than limiting the focus to a single pothole.
文摘多相机三维数字图像相关(three-dimensional digital image correlation,3D-DIC)系统在测量核燃料包壳管应变的实际应用中,多相机标定环节存在坐标系转换引发的累计误差增加及全局优化能力不足等问题。为此,提出一种基于空间标定靶的多相机全局标定方法。首先,提出为各相机在标定靶每个位姿下提供外方位参数初值的方法,保证空间后方交会正确收敛;其次,提出多相机多位姿光束平差(bundle adjustment,BA)方法,保证多相机标定精度达到全局最优。实验结果表明,该方法的标定精度较直接线性变换(direct linear transformation,DLT)方法提高了55.1%,最大位移误差标准差降低了16.3%。同时,该方法无需对标志点进行手动编号,使标定过程实现了自动化,标定效率更高。
