Acta Geodaetica et Cartographica Sinica ›› 2023, Vol. 52 ›› Issue (2): 218-229.doi: 10.11947/j.AGCS.2023.20210565

• Photogrammetry and Remote Sensing • Previous Articles     Next Articles

Position-attitude calculation of panoramic image based on point-line feature combination

ZHU Ningning, YANG Bisheng, CHEN Chi, DONG Zhen   

  1. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China
  • Received:2021-10-10 Revised:2021-12-27 Published:2023-03-07
  • Supported by:
    The National Science Fund for Distinguished Young Scholars of China (No. 41725005);The National Natural Sciences Foundation of China (Nos. 42101446;42071451);LIESMARS Special Research Funding;China Postdoctoral Science Foundation (No. 2022T150488)

Abstract: At present, the position and attitude parameters of panoramic images are mostly solved by point features, while the line features commonly existing in the scene have not been fully utilized. In this paper, a solution method based on point-line feature combination is proposed, which can not only be used to solve the position and attitude of panoramic image in the scene with missing point features, but also improve the accuracy and robustness in the scene with sufficient point features. The line feature in this method is represented by any two points on the line, which does not require the corresponding relationship between the panoramic image and the 3D scene, so it is easy to select and has great practicability. Firstly, the direct linear transform (DLT) is used to construct the point-line feature combination model of panoramic image, and the simplified model is obtained for horizontal and vertical lines; Then, using the simulated road scene, the applicability of the model is analyzed from the two aspects:different combinations of feature points and lines, large attitude angle, and the tolerance is analyzed by manually introducing different types and magnitude of point-line errors; Finally, this method is applied to the fusion of panoramic image and LiDAR points. It is proved that this method of point-line feature combination is better than the simple point method in accuracy, robustness and tolerance.

Key words: panoramic image, point-line feature combination, position and attitude calculation, simulation analysis, panoramic image and LiDAR points fusion

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