无人机大比例尺测图中非量测相机标定ChARUco验证  

ChARUco Verification of Non-measurement Camera Calibration for UAV Large Scale Mapping

作　　者：王安磊 甘淑[1,2] 袁希平 WANG Anlei;GAN Shu;YUAN Xiping(Faculty of Land Resources Engineering,Kunming University of Science and Technology,Kunming 650093,China;Application Engineering Research Center of Plateau and Mountainous Spatial Information Surveying and Mapping Technology in Yunnan Universities,Kunming 650093,China;Key Laboratory of Cloud Data Processing and Application of Mountain Scenic Spot in Yunnan Universities,West Yunnan University of Applied Technology,Dali 671006,China)

机构地区：[1]昆明理工大学国土资源工程学院,云南昆明650093 [2]云南省高校高原山地空间信息测绘技术应用工程研究中心,云南昆明650093 [3]滇西应用技术大学云南省高校山地实景点云数据处理及应用重点实验室,云南大理671006

出　　处：《城市勘测》2022年第4期90-94,共5页Urban Geotechnical Investigation & Surveying

基　　金：国家自然科学基金项目,东川小江泥石流迹地的多尺度遥感探测试验分析研究(41861054)。

摘　　要：针对消费级无人机大比例尺测图应用中存在的非量测相机标定问题,提出了一种将Chessboard与ArUco进行结合的ChARUco改进非量测相机标定技术,并尝试采用实验实证方法,将其与传统的张正友法进行实验对比分析其中的投影误差来证明其可用性,最后通过使用传统大地测量方法获得地面控制点,并以此作为检查点验证其校正的正射影像图的点位精度。实验基于Cygwin64开源环境中的opencv-python进行非量测相机的畸变参数解算,使用Pix4Dmapper制作正射影像图,并通过ArcMap获取检查点坐标。实验结果表明,使用ChARUco标定处理,具有对标定图案采集要求较低的优势,从大比例尺测图的要求出发,点位精度无显著差异。Aiming at the problem of non-measurement camera calibration in the large-scale mapping application of consumer uav,an improved non-measurement camera calibration technology of ChARUco combining Chessboard and ArUco was proposed,and experimental and empirical methods were tried to be adopted.Finally,the ground control points are obtained by using the traditional geodesy method,and the points are used as checkpoints to verify the accuracy of the orthographic images corrected by the method.The experiment is based on Opencv-Python in Cygwin64 open source environment to solve the distortion parameters of non-measuring camera,use Pix4 Dmapper to make orthophoto images,and obtain checkpoint coordinates through ArcMap.The experimental results show that ChARUco calibration process has the advantage of lower requirements for calibration pattern acquisition,and there is no significant difference in point accuracy from the requirements of large scale mapping.

关 键 词：ChARUco 镜头畸变 opencv-python 目标检测 

分 类 号：P204[天文地球—测绘科学与技术] P23