Acta Scientiarum Naturalium Universitatis Pekinensis ›› 2017, Vol. 53 ›› Issue (2): 353-359.DOI: 10.13209/j.0479-8023.2016.101

• Orginal Article • Previous Articles     Next Articles

A Precise Survey Method for Objects at a Distance Based on Stereo Panorama

Xiaodong LI1, Min SUN1,(), Hui ZHENG1,2, Cheng JIANG1, Xiang REN1, Lei LIU1   

  1. 1. Institute of Remote Sensing and Geographical Information Systems, Peking University, Beijing 100871
    2. College of Geoscience and Surveying Engineering, China University of Mining & Technology (Beijing), Beijing 100083;;
  • Received:2015-11-12 Revised:2016-02-25 Online:2017-03-20 Published:2017-03-20
  • Contact: Min SUN


黎晓东1, 孙敏1,(), 郑晖1,2, 姜城1, 任翔1, 刘磊1   

  1. 1. 北京大学遥感与地理信息系统研究所, 北京 100871
    2. 中国矿业大学(北京)地球科学与测绘工程学院, 北京 100083
  • 通讯作者: 孙敏
  • 基金资助:


A survey method for objects at a distance is proposed in order to resolve the problem of lacking geospatial information in stereo panorama. The current methods mainly aim at the survey for close range objects, while for a bit far range objects or even for long range objects measurement with a non-metric camera, the accuracy of the result is low if there are no control points provided. In the proposed method, GPS/INS sensors are utilized to acquire the camera’s pose data, and the original values in the relative orientation procedure are set in a new way. As a consequence, objects can be measured much more precisely on the stereo panorama, with the precision up to 1% of the distance between the camera and the objects in the performed experiments.

Key words: stereo panorama, GPS/INS, measurement, precision


针对全景影像无法提供场景中目标的地理空间信息问题, 提出一种通过构建立体全景, 实现对全景影像中较远距离兴趣点目标的量测方法。现有的基于立体视觉的量测方法主要实现对近距离物体的量测, 对于较远距离(如 100 m 以上)的物体, 在缺乏控制点的情况下, 使用非量测相机难以获得精确结果。所提方法在获取全景影像的同时, 采用 GPS/INS 传感器获取相机的位置和姿态信息, 在后续数据处理过程中, 通过改进相对定向环节中初始值的设置方法, 实现对全景影像中远距离目标的精确量测。实验表明, 量测结果的相对精度可以达到相机与目标之间距离的1%。

关键词: 立体全景, GPS/INS, 量测, 精度

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