关键词: 车载组合全景相机, 扩展共线方程, 相对位姿参数, 空中三角测量

Abstract: This paper introduces the extended collinearity equations into aerial triangulation of the vehicle-borne multi-camera rig images to improve the positioning accuracy. The cameras in a multi-camera rig are rigidly fixed and the relative position and orientation parameters among the mono cameras of multi-camera rig can be calibrated accurately, so the extended collinearity equations can be used to extend the imaging unit from a mono camera image to multiple images of multi-camera rigs. Compared with the existing spherical models, including the spherical ideal model and the spherical rigorous model, the extended collinearity equations used in this paper avoid the spherical projection error and fusion error caused by the misalignment of projection centers. Experimental results show that the method omits the processing procedure of model projection and fusion of overlap areas, which avoids the precision loss and complicated processing procedure, and finally obtains more robustness triangulation net, more precise and robust position accuracy.

Key words: vehicle-borne multi-camera rigs, extended collinear equations, relative position and orientation parameters, aerial triangulation