搜索
基于双目视觉的光束法平差新算法薛俊鹏*,苏显渝,肖永亮,刘晓青(,610064):,,,,;,12,,,,,:;;;;:TP391.4:A:1005-0086(2011)06-0888-05AnewalgorithmforbundleadjustmentbasedonstereovisionXUEJun-peng*,SUXian-yu,XIAOYong-liang,LIUXiao-qing(OptoelectronicsDepartment,SichuanUniversity,Chengdu610064,China)Abstract:Inthispaper,weproposeanewalgorithmforbundleadjustmentbasedonthefixedconstraintsbetweenthetwocamerasinstereovision.Thenewalgorithmimprovesthenormalequationoftraditionalbundleadjustment,anditonlyneedstooptimizeextrinsicparametersofonecameraineachiteration.Thetwocamerascanbebetterboundedasoneanditcanachieveahigheraccuracy.Thedimensionofthematrixinthenewalgorithmishalfofthatinthetraditionalalgorithm.Thereforeitwillreducethetimeofcalculationineachiteration.Simulationandactualmeasurementexperimentsbothprovethattheaccu-racyofthenewalgorithmishigherthanthatofthetraditionalalgorithmandthenewalgorithmcostsshortertime.Keywords:stereovision;dataregistration;bundleadjustment;errorequation;normalequation1[1,2],,,[3,4],[5],,,,,,,,,[6~9],[10]LM[11,12],,,,,22.1,[13],[14~16]uv1=fsu00fvv0001[RT]XYZ1=K[RT]XYZ1(1):(XYZ)T,(u,v)T;;K;fufvuv;suv;(u0,v0);RT,22620116JournalofOptoelectronicsLaserVol.22No.6Jun.2011*E-mail:junpengxue@163.com:2010-10-28:2011-01-25:(60838002),,(1)u=fur1X+r2Y+r3Z+Txr7X+r8Y+r9Z+Tz+u0v=fvr4X+r5Y+r6Z+Tyr7X+r8Y+r9Z+Tz+v0(2)(2)R-T[13,14](2)(Tx,Ty,Tz)T;(r1,,r9)R,(,,k)R,R=coscosksinsincosk-cossinkcossincosk+sinsinkcossinksinsinsink+coscoskcossinsink-sincosk-sinsincoscoscos2.2,,,(2),[11,12,15]Vl=[BlCl]xltl-Ll(3)(B1,C1)(ul,vl)T(wl,l,kl,Tlx,Tly,Tlz)(XYZ),Bl=ullullulklulTlxulTlyulTlzvllvllvlklvlTlxvlTlyvlTlzCl=ulXulYulZvlXvlYvlZ(xl,tl)T,xl=[llklTlxTlyTlz]Ttl=[XYZ]TLl=ul-ulvl-vl,(ul,vl)(2),,,,(Rc,Tc)(Rl,Tl)(Rr,Tr)[1],Rr=RcRlTr=Tc+RcTl(4)(4),urvr1=Kr[RcRlTc+RcTl]XYZ1(5)(5),,(ur,vr)T(l,l,kl,Tlx,Tly,Tlz),Vr=[BrCr]xrtr-Lr(6)Br=urlurlurklurTlxurTlyurTlzvrlvrlvrklvrTlxvrTlyvrTlzCr=urXurYurZvrXvrYvrZxr=xltr=tlLr=ur-urvr-vr,,,,,BTBBTCCTBCTCxt-BTLCTL=0(7):B=[BlBr]T;C=[ClCr]T;L=[LlLr]T;x=xl;t=tl(7),mnU1W11W21Wn1U2W12W22Wn2OOUmW1mW2mWnmWT11WT12WT1mV1WT21WT22WT2mV2OOWTn1WTn2WTnmVnx1x2xmt1t2tn=x1x2xmt1t2tn(8):Uj=ni=1BTijBij,j,j=1,2,,m;Vi=mj=1CTijCij,i;i=1,2,,n;Wij=BTijCij,ij;xj=ni=1BTijLij;jtj=8896:mj=1CTijLij,j(8)xjti,,,,,,mn2(6m+3n),6m+3n,,,3,WinXP,VisualC++,Celeron(R)CPU3.06GHz,1256MB3.1,1000mm1000mm,35mm,73,11Fig.1Schematicdiagramofellipsoidscenepoints100mm,Z1500mm10,100mm,11Tab.1TheIntrinsicparametersofsimulationcamerafu/pixelsfv/pixelsu0/pixelsv0/pixelss/pixels2500250064051201,731010,201020,0~2pixels,0.1pixels20,3.1.1新算法与传统算法精度的比较,50,,,223-DFig.2Comparetheresidual3-Derrorsofthedifferentmethods2,,,22%,3.1.2新算法与传统算法优化时间效率的比较,50,,33Fig.3Comparetheefficiencyofthealgorithms3,,1,890201122;,,,1.0pixel,,3.2,3DOEPTS-S200,12801024,8mm,,9,,,44Fig.4Rectangularcros-ssectionviewof3Dpoints444,,,,22Tab.2MeasuringresultsoftraditionalandnewalgorithmsofbundleadjustmentUnit:mmTruevalueTraditionalalgorithmNewalgorithmMeasuredvalueErrorMeasuredvalueErrorHeight5050.22150.221550.10080.1008Width5050.16650.166550.08320.08322,,,,33,,,4,,3Tab.3EfficiencyoftraditionalandnewalgorithmsofbundleadjustmentMethodsTimes/msTraditionalalgorithm4372Newalgorithm41511/2,,,,:[1]ZHANGGuang-jun.VisionMeasurement[M].Beijing:SciencePress,2008,134-173..[M].:,2008,134-173.[2]DENGWen-yi,LVNa-iguang,DONGMing-li,etal.Applicationin3-Dmeasurementofdigitalphotogrammetry[J].JournalofOptoelectronicsLaser,2001,12(7):697-700.,,,.[J].,2001,12(7):697-700.[3]WANGYing,SUXian-yu.Amodifiedthree-dimensionalobjectrecognitionbasedonstructurelightprojection[J].JournalofOptoelectronicsLaser,2008,19(11):1561-1565.,.[J].,2008,19(11):1561-1565.[4]SUXian-yu,ZHANGQ-ican,XIANGL-iqun.Optical3-Dshapemeasurementfordynamicprocess[J].OptoelectronicsLe-tters,2008,4(1):55-58.[5]HANJian-dong,LVNa-iguang,WANGFeng,etal.3-Ddataregistrationmethodbasedonopticallocationtrackingtechno-logy[J].OpticsandPrecisionEngineering,2009,17(1):45-51.,,,.[J].,2009,17(1):45-51.[6]MouragnonE,LhuillierM,DhomeM,etal.Genericandrea-ltimestructurefrommotionusinglocalbundleadjustment[J].ImageandVisionComputing,2009,27(8):1178-1193.[7]MarskZ,TomsaK.Simultaneousbundleadjustmentofthequadruplet[J].StudiaGeophysicaetGeodaetica,1975,19(2):115-120.[8]GonalvesN,ArajoH.Estimatingparametersofnoncentralcata-dioptricsystemsusingbundleadjustment[J].ComputVisIm-ageUnd,2009,113:11-28.[9]HanY.Relationsbetweenbundle-adjustmentandepipola-rge-ometry-basedapproaches,andtheirapplicationstoefficientstructurefrommotion[J].Rea-lTimeImaging,2004,10:389-402.[10]ZHANGJing-yu,DONGMing-li,LVNa-iguang,etal.Anewa-rithmeticmethodcompensatingtheaberranceoflensbyusing8916:themethodofgeneralreversionofleastsquare[J].JournalofBeijingInstituteofMachinery,2001,16(1):36-39.,,,.[J].,2001,16(1):36-39.[11]TriggsB,MclauchlanP,HartleyR,etal.Bundleadjustmen-tAmodernsynthesis[M].VisionAlgorithms:TheoryandPractice,2000,1883:298-372.[12]LourakisMIA,ArgyrosAA.SBA:Asoftwarepackageforge-nericsparsebundleadjustment[J].ACMTrans.Math.Softw,2009,36(1):1-30.[13]YUQ-ifeng,SHANGYang.Videometrics:PrinciplesandRe-searches[M].B