近景摄影测量在桥梁变形监测中的应用
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摘要
近景摄影测量是通过摄影和随后的图像处理以获取被摄目标形状大小和运动状态的一门技术。凡是可以摄取其影像的目标,均可作为近景摄影测量的对象,以获得目标物上点群的三维空间坐标,以及基于这些空间坐标的长度、面积、体积等。近景摄影测量的优点在于它兼有非接触性量测手段,不伤及被测物体,信息容量高且易存储,精度高,速度快,信息可重复使用。这些优点使得该技术特别适用于测量包含有大量测量点位的目标物,躲避危险环境而远离摄影对象等情况。
作为近景摄影测量的一种摄影设备——数码相机以其低廉的价格、成熟的技术已经得到了越来越广泛的应用。利用数码相机实现非接触的摄影测量也引起了多领域的专业学者越来越多的关注和研究。本论文即研究利用未检校的数码相机实现三维量测的基本理论与方法,并将其应用于桥梁结构的变形监测当中。
本文从近景摄影测量的基本理论入手,分析数码相机的成像几何模型并选取合适的解析方法对相机进行内方位元素和镜头光学畸变差的检校。基于数码相机的摄影测量在获取目标物的影像时不可避免的要布设人工标志来识别物体的特征点或待测点。本文在研究了人工标志的选取和布设后,结合本次实验的实际拍摄环境选取了较为合适的人工标志。在遵循外业采集影像的原则对实际目标物进行了影像的获取后,利用专业的建模和测量软件PhotoModeler Pro 5对所摄影像进行处理,通过标定特征点、线,进行同名像点的匹配,将实地所用坐标系引入软件系统,进而量测特征点的三维坐标,还可进一步建立桥梁的三维立体模型并将其纹理赋予表面。论文结尾针对完成的工作进行了总结并概括了结论,同时对进一步的研究工作提出了展望。
Digital Close-range Photogrammetry is such a technology that to get the size and motions of the objects by using photography and image processing. All can be photographied are the objects of Digital Close-range Photogrammetry, in order to get 3d coordinates of point cluster on the objects and length, area and bulk of the object in the 3d frame of axes. Digital Close-range Photogrammetry is non-contact measurement method,it will not damage the target and have a high information capacity,the message can be easily stored and be reused,it has a high accuracy ,high speed.This technique is especially suitable for measuring the objects containing large points or those located at dangerous position.
Digital camera,as a photographic device of Digital Close-range Photogrammetry, with its low prices, mature technology ,has been applied more and more. Using digital cameras as the equipment for photography also attracted more and more concern and research of scholars in many fields . This paper studies on the basis theory and method of realizing three-dimensional measurement based on uncalibrate digital camera, and applies the results to the deformation measurement of bridge structure.
The contents of this paper are given as follows:first this paper gives the basic theory of Digital Close-range Photogrammetry .Then digital imaging geometric model of camera are analysised and the suitable method for the camera calibration are choosen in order to get the interior position elements and the optical lens distortion coefficient of the camera.It is inevitable to lay out the artificial marking signs to identify the object when photographing images using digital camera. Based on the study of sharp and layout of artificial marks, combining actual environment of the experiment, suitable artificial marks are selected. After collecting the image of actual object based on the principle of image collection, data processing can be done. Using professional modeling and measuring software PhotoModeler Pro 5 as the tool of image processing, the characteristics dots and lines are identified, then homologous points should be matched,next actual three-dimensional coordinates must be introduced into the software,this is very important stage. Finally,coordinate three-dimensional coordinates of feature points can be measure , but also three-dimensional model of bridge be built, and its surface texture are given. The paper finished by summarizing the total word has been done and concluding the results. Further research work is also presented.
作为近景摄影测量的一种摄影设备——数码相机以其低廉的价格、成熟的技术已经得到了越来越广泛的应用。利用数码相机实现非接触的摄影测量也引起了多领域的专业学者越来越多的关注和研究。本论文即研究利用未检校的数码相机实现三维量测的基本理论与方法,并将其应用于桥梁结构的变形监测当中。
本文从近景摄影测量的基本理论入手,分析数码相机的成像几何模型并选取合适的解析方法对相机进行内方位元素和镜头光学畸变差的检校。基于数码相机的摄影测量在获取目标物的影像时不可避免的要布设人工标志来识别物体的特征点或待测点。本文在研究了人工标志的选取和布设后,结合本次实验的实际拍摄环境选取了较为合适的人工标志。在遵循外业采集影像的原则对实际目标物进行了影像的获取后,利用专业的建模和测量软件PhotoModeler Pro 5对所摄影像进行处理,通过标定特征点、线,进行同名像点的匹配,将实地所用坐标系引入软件系统,进而量测特征点的三维坐标,还可进一步建立桥梁的三维立体模型并将其纹理赋予表面。论文结尾针对完成的工作进行了总结并概括了结论,同时对进一步的研究工作提出了展望。
Digital Close-range Photogrammetry is such a technology that to get the size and motions of the objects by using photography and image processing. All can be photographied are the objects of Digital Close-range Photogrammetry, in order to get 3d coordinates of point cluster on the objects and length, area and bulk of the object in the 3d frame of axes. Digital Close-range Photogrammetry is non-contact measurement method,it will not damage the target and have a high information capacity,the message can be easily stored and be reused,it has a high accuracy ,high speed.This technique is especially suitable for measuring the objects containing large points or those located at dangerous position.
Digital camera,as a photographic device of Digital Close-range Photogrammetry, with its low prices, mature technology ,has been applied more and more. Using digital cameras as the equipment for photography also attracted more and more concern and research of scholars in many fields . This paper studies on the basis theory and method of realizing three-dimensional measurement based on uncalibrate digital camera, and applies the results to the deformation measurement of bridge structure.
The contents of this paper are given as follows:first this paper gives the basic theory of Digital Close-range Photogrammetry .Then digital imaging geometric model of camera are analysised and the suitable method for the camera calibration are choosen in order to get the interior position elements and the optical lens distortion coefficient of the camera.It is inevitable to lay out the artificial marking signs to identify the object when photographing images using digital camera. Based on the study of sharp and layout of artificial marks, combining actual environment of the experiment, suitable artificial marks are selected. After collecting the image of actual object based on the principle of image collection, data processing can be done. Using professional modeling and measuring software PhotoModeler Pro 5 as the tool of image processing, the characteristics dots and lines are identified, then homologous points should be matched,next actual three-dimensional coordinates must be introduced into the software,this is very important stage. Finally,coordinate three-dimensional coordinates of feature points can be measure , but also three-dimensional model of bridge be built, and its surface texture are given. The paper finished by summarizing the total word has been done and concluding the results. Further research work is also presented.
引文
[1]Starritt LW ,Matthews LK.Laser optical displacement system[A].Proceeding of Smart Structures and Ma-terialsEc].SPIE.USA.1995.181-192
[2]何旭辉,陈政清.南京长江大桥安全监测和状态评估的初步研究[J].振动与冲击. 2003.1(1).75-78
[3]程庆国.我国桥梁工程的成就与展望[A].中国土木工程学会第八届年会论文[C].北京.清华大学出版社.1998
[4]李宏男,李东升.土木工程结构安全性评估、健康监测及诊断述评[J].地震工程与工程振动.2002.22(3).82-90
[5]叶森.反向工程中的数字近景摄影测量原理研究.[上海交通大学硕士学位论文].2003
[6]Setan H., Ibrahim M.S.,Majid Z.. Precise measurement and 3D modeling for medical and industrial applications.verification tests[J].From Pharaohs to Geoinformatics.2005.Cairo. Egypt.pp.16-21
[7]Shortis M.,Fraser C.S..Current trends in close range optical 3D measurement for industratrial and engineering applications[J].Suvey Review.1991.31(242).pp.188-200
[8]Fraser C.S..Some thoughts on the emergence of digital close range photogrammetry[J].Photogrammetric Record.1998.16(91).pp.37-50
[9]Abdek-Aziz,YI,HM Karara.Photogrammetric Potentials of Non-Metric Cameras[J].Photagrammetry Series No.36.1974.46-51
[10]吴世棋,孔健,张德强.近景摄影测量在隧道变形监测中的应用[J].铁路航测.1994. (4).6-8.
[11]Tsai R.Y..A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J].IEEE Journal of Robotics and Automation.1987.3(4).pp.323-344
[12]Weng J.,Cohen P., Hemiou M..Camera calibration with distortion models and accuracy evaluation[J].IEEE Transactions on Pattern Analysis and Machine Intelligence.1992.14(10).pp.965-980
[13]张剑清,潘励,王树根.摄影测量学[M].武汉大学出版社.2003.6
[14]李德仁,郑肇保.解析摄影测量学[M].北京.测绘出版社.1992
[15]王细波.近景摄影测量理论的若干问题及单相机交通事故现场测量系统的研制.[中南工业大学博士论文].1991.10
[16]张祖勋,张剑清.数字摄影测量[M].武汉.武汉大学出版社.1997
[17]Zeng Z.Q.,Wang X.B..A general solution of a closed-form space resection[J]. Photogrammetry Engineering & Remote Sensing.1992.58(3).pp.327-338
[18]Pan H.P..A direct closed-form solution to general relative orientation of two stereo views[J].Digital Signal Processing.1999.9(3).pp.195-221
[19]Pan H.P.,Huynh D.Q..Two-image resituation practical algorithm[J].in Videometrics. IV. Proc. SPIE 1995.2598.pp.174-190
[20]冯文灏.近景摄影测量[M] .武汉.武汉大学出版社.2002.2
[21]Wei Q.C.,Zhou G.Q..On DLT method for CCD camera calibration[J].Proceedings of ICSP 96.pp.883-885
[22]Zhang Z.Y..A flexible camera calibration by viewing a plane from unknown orientations[J].Technical report.Microsoft Research.1998
[23]Habib A.F.,Morgan M.,Lee Y.R..Bundle adjustment with self-calibration using straight lines[J].Photogrammetry Record.2002.17(100).pp.635-650
[24]Fremont V.,Chellali R..Direct camera calibration using two concentric circles from a single view[J].Icat.Tokyo.Japan.2002.pp.93-98
[25]张祖勋,张剑清.一种新的基于灭点的相机标定方法[J].哈尔滨工业大学学报.2003.35(11).pp.1384-1389
[26]Maybank S.J.,Faugeras O.D..A theory of self-calibration of a moving camera[J].Int.J.Computer Vision.1992.8(2).pp.123-151
[27]Fraser C.S..Digital camera self-calibration[J].Journal of Photogrammetry & Remote Sensing.1997.52(4).pp.149-159
[28]吴福朝,阮宗才,胡占义.非线性模型下的摄像机自标定[J].计算机学报.2002.25(3).pp.276-283
[29]吴福朝,胡占义.摄像机自标定的线性理论与算法[J].计算机学报.2001.24(11).pp.1221-1235
[30]吴福朝,于洪川,袁波等.摄像机内参数自标定——理论与算法[J].自动化学报.1999.25(6).pp.669-776
[31]Franka,Heuvel.Vanishing Point Detection for Architectural[J]. Photogrammetry and Remote Sensing.1998.32(5).652-659.
[32]R.CIPOLLA,E.BOYER.3D Model Acquisition from Uncalibrated Images[A].Proc IAPR Workshop on Machine Vision Applications[C].[s.l.].[s.n.].1998.559-568.
[33]Schuster R,Ansari N,Banihashemi A.Steering a Robot with Vanishing Points[J].Robotics and Automation IEEE Transactions on Rbotics and Automation.1993.9(4).491-498.
[34]WANG Ling-ling,WEN-HSIANG TSAL. Camera Calibration by Vanishing Lines for 3-D Computer Vision[J].IEEE Transactions on Pattern Analysis and Machine Intelligence.1991.13(4).370-376.
[35]FENGJUN LV,TAO Zhan,RAM NEVATIA.Self-calibration of a Camera from Video of aWalking Human[A].Proc International Conference on Pattern Recognition[C].Quebec City.[s.n.].2002.639-644
[36]ZHANG Zu-xun, ZHANG Jian-qing, ZHANG Shi-xing.Three-Dimensional Building Model Based on Single Image[C].[s.l.].Workshops on Automatic Engineering Surveying of Channel.2001.112-118.
[37]张祖勋,张剑清.广义点摄影测量及其应用[J].武汉大学学报(信息科学版).2005(1).1-5
[38]Lynnerup N,Andersen M,Lauritsen H P.Facial Image Identification Using Photomodeler [J].Legal Medicine.2003 (5).156-160
[39]张启伟.大型桥梁结构健康监测概念与监测系统设计[A].第十四届全国桥梁学术会议论文集[C].上海.同济大学出版社.2000.908—913
[40]李振涛,许妙忠.数字近景摄影测量在古建筑物重建中的应用研究[J].测绘信息与工程.2007.32(4)
[41]刘世杰,叶勤,童小华等.用数码相机测量斜拉桥拉索模型的变形[J].吉林大学学报(工学版).2007.4(37)
[42]王伟,梁瑞柱.近景摄影测量在桥梁变形观测中的应用[J].东北公路.1998.4(21)
[43]马莉,王国辉,李锦城.数码相机镜头畸变对变形监测精度的影响及其改正方[J].铁道建筑.2006.11
[44]曾令永,张世青,李宏超.桥梁变形监测研究[J].安徽农学通报.2007.13(17)
[45]张慧,胡新玲.,普通数码相机在建筑物变形观测中的优越性[J].山西建筑.2007.12(33)
[46]寇新建,宋计棉..数字化摄影测量及其工程应用[J].大坝观测与土工测试.2001.1(25)
[47]陈思,仲思东.基于CCD的桥梁变形三维实时监测系统[J].计算机测量与控制.2006.14 (5)
[48]中华人民共和国行业标准.公路养护技术规范(JTJ 073—96)[S].中华人民共和国交通部发布
[49]中华人民共和国国家标准.工程测量规范(GB50026—2007)[S].中华人民共和国建设部
[2]何旭辉,陈政清.南京长江大桥安全监测和状态评估的初步研究[J].振动与冲击. 2003.1(1).75-78
[3]程庆国.我国桥梁工程的成就与展望[A].中国土木工程学会第八届年会论文[C].北京.清华大学出版社.1998
[4]李宏男,李东升.土木工程结构安全性评估、健康监测及诊断述评[J].地震工程与工程振动.2002.22(3).82-90
[5]叶森.反向工程中的数字近景摄影测量原理研究.[上海交通大学硕士学位论文].2003
[6]Setan H., Ibrahim M.S.,Majid Z.. Precise measurement and 3D modeling for medical and industrial applications.verification tests[J].From Pharaohs to Geoinformatics.2005.Cairo. Egypt.pp.16-21
[7]Shortis M.,Fraser C.S..Current trends in close range optical 3D measurement for industratrial and engineering applications[J].Suvey Review.1991.31(242).pp.188-200
[8]Fraser C.S..Some thoughts on the emergence of digital close range photogrammetry[J].Photogrammetric Record.1998.16(91).pp.37-50
[9]Abdek-Aziz,YI,HM Karara.Photogrammetric Potentials of Non-Metric Cameras[J].Photagrammetry Series No.36.1974.46-51
[10]吴世棋,孔健,张德强.近景摄影测量在隧道变形监测中的应用[J].铁路航测.1994. (4).6-8.
[11]Tsai R.Y..A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J].IEEE Journal of Robotics and Automation.1987.3(4).pp.323-344
[12]Weng J.,Cohen P., Hemiou M..Camera calibration with distortion models and accuracy evaluation[J].IEEE Transactions on Pattern Analysis and Machine Intelligence.1992.14(10).pp.965-980
[13]张剑清,潘励,王树根.摄影测量学[M].武汉大学出版社.2003.6
[14]李德仁,郑肇保.解析摄影测量学[M].北京.测绘出版社.1992
[15]王细波.近景摄影测量理论的若干问题及单相机交通事故现场测量系统的研制.[中南工业大学博士论文].1991.10
[16]张祖勋,张剑清.数字摄影测量[M].武汉.武汉大学出版社.1997
[17]Zeng Z.Q.,Wang X.B..A general solution of a closed-form space resection[J]. Photogrammetry Engineering & Remote Sensing.1992.58(3).pp.327-338
[18]Pan H.P..A direct closed-form solution to general relative orientation of two stereo views[J].Digital Signal Processing.1999.9(3).pp.195-221
[19]Pan H.P.,Huynh D.Q..Two-image resituation practical algorithm[J].in Videometrics. IV. Proc. SPIE 1995.2598.pp.174-190
[20]冯文灏.近景摄影测量[M] .武汉.武汉大学出版社.2002.2
[21]Wei Q.C.,Zhou G.Q..On DLT method for CCD camera calibration[J].Proceedings of ICSP 96.pp.883-885
[22]Zhang Z.Y..A flexible camera calibration by viewing a plane from unknown orientations[J].Technical report.Microsoft Research.1998
[23]Habib A.F.,Morgan M.,Lee Y.R..Bundle adjustment with self-calibration using straight lines[J].Photogrammetry Record.2002.17(100).pp.635-650
[24]Fremont V.,Chellali R..Direct camera calibration using two concentric circles from a single view[J].Icat.Tokyo.Japan.2002.pp.93-98
[25]张祖勋,张剑清.一种新的基于灭点的相机标定方法[J].哈尔滨工业大学学报.2003.35(11).pp.1384-1389
[26]Maybank S.J.,Faugeras O.D..A theory of self-calibration of a moving camera[J].Int.J.Computer Vision.1992.8(2).pp.123-151
[27]Fraser C.S..Digital camera self-calibration[J].Journal of Photogrammetry & Remote Sensing.1997.52(4).pp.149-159
[28]吴福朝,阮宗才,胡占义.非线性模型下的摄像机自标定[J].计算机学报.2002.25(3).pp.276-283
[29]吴福朝,胡占义.摄像机自标定的线性理论与算法[J].计算机学报.2001.24(11).pp.1221-1235
[30]吴福朝,于洪川,袁波等.摄像机内参数自标定——理论与算法[J].自动化学报.1999.25(6).pp.669-776
[31]Franka,Heuvel.Vanishing Point Detection for Architectural[J]. Photogrammetry and Remote Sensing.1998.32(5).652-659.
[32]R.CIPOLLA,E.BOYER.3D Model Acquisition from Uncalibrated Images[A].Proc IAPR Workshop on Machine Vision Applications[C].[s.l.].[s.n.].1998.559-568.
[33]Schuster R,Ansari N,Banihashemi A.Steering a Robot with Vanishing Points[J].Robotics and Automation IEEE Transactions on Rbotics and Automation.1993.9(4).491-498.
[34]WANG Ling-ling,WEN-HSIANG TSAL. Camera Calibration by Vanishing Lines for 3-D Computer Vision[J].IEEE Transactions on Pattern Analysis and Machine Intelligence.1991.13(4).370-376.
[35]FENGJUN LV,TAO Zhan,RAM NEVATIA.Self-calibration of a Camera from Video of aWalking Human[A].Proc International Conference on Pattern Recognition[C].Quebec City.[s.n.].2002.639-644
[36]ZHANG Zu-xun, ZHANG Jian-qing, ZHANG Shi-xing.Three-Dimensional Building Model Based on Single Image[C].[s.l.].Workshops on Automatic Engineering Surveying of Channel.2001.112-118.
[37]张祖勋,张剑清.广义点摄影测量及其应用[J].武汉大学学报(信息科学版).2005(1).1-5
[38]Lynnerup N,Andersen M,Lauritsen H P.Facial Image Identification Using Photomodeler [J].Legal Medicine.2003 (5).156-160
[39]张启伟.大型桥梁结构健康监测概念与监测系统设计[A].第十四届全国桥梁学术会议论文集[C].上海.同济大学出版社.2000.908—913
[40]李振涛,许妙忠.数字近景摄影测量在古建筑物重建中的应用研究[J].测绘信息与工程.2007.32(4)
[41]刘世杰,叶勤,童小华等.用数码相机测量斜拉桥拉索模型的变形[J].吉林大学学报(工学版).2007.4(37)
[42]王伟,梁瑞柱.近景摄影测量在桥梁变形观测中的应用[J].东北公路.1998.4(21)
[43]马莉,王国辉,李锦城.数码相机镜头畸变对变形监测精度的影响及其改正方[J].铁道建筑.2006.11
[44]曾令永,张世青,李宏超.桥梁变形监测研究[J].安徽农学通报.2007.13(17)
[45]张慧,胡新玲.,普通数码相机在建筑物变形观测中的优越性[J].山西建筑.2007.12(33)
[46]寇新建,宋计棉..数字化摄影测量及其工程应用[J].大坝观测与土工测试.2001.1(25)
[47]陈思,仲思东.基于CCD的桥梁变形三维实时监测系统[J].计算机测量与控制.2006.14 (5)
[48]中华人民共和国行业标准.公路养护技术规范(JTJ 073—96)[S].中华人民共和国交通部发布
[49]中华人民共和国国家标准.工程测量规范(GB50026—2007)[S].中华人民共和国建设部