Key Technology Research Panoramic Measurement Is Based On In-vehicle Epipolar Constraint And Collinearity Equations

Vehicle mobile measurement based on panoramic camera is an essential complement to mobile measurement technology based on laser scanning, and plays an important role in the three-dimensional information acquisition and digital modeling in urban cities. This paper studies the key technologies in urban high-precision measurement based on vehicle panoramic camera, the main research from two aspects, one is epipolar line panoramic images matching and the other is panoramic spherical photogrammetry, including:1. Describes the development of panoramic images and panoramic camera, introduces the structure and implementation principle of omnidirectional multi-camera system, analysis the model error of spherical panorama.2. Introduces the epipolar line constraint into spherical panorama, gives the formulas and methods to generate epipolar line panoramic images, analyses the panoramic image matching from feature extraction, scope of the search, similarity measure, search strategy.3. In the spherical model, derives collinear conditional in panoramic photography, combines with the actual needs to obtain three-dimensional information in urban cities, and describes the application of intersection and bundle adjustment in mobile measurement.4. Using the panoramic images in sequence with actual position and attitude information as experimental data, epipolar line panoramic images were generated and the experiment of matching epipolar line panoramic images was done. Analyses the accuracy of epipolar line panoramic images, compares the effect of epipolar line panoramic images matching and normal matching.5. The experiments of spherical panoramic forward intersection and uncontrolled panorama bundle adjustment were done, and the experiment results were analyzed. Experimental results show that the algorithm proposed by the principle is correct.6. Develops the prototype software to measure and collect three-demonstration information of urban cities with the data acquired by the Vehicle mobile measurement system with panoramic camera.Finally, summarize the content of the full paper, and prospects the next research direction.