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研究生： 謝承璋
Cheng-Chang Hsieh
論文名稱： 雙鏡頭車載行動測繪之定位分析
Positioning Analysis of Terrestrial Mobile Mapping with Dual Cameras
指導教授： 陳良健
Liang-Chien Chen
饒見有
Jiann-Yeou Rau
口試委員:
學位類別： 碩士
Master
系所名稱： 工學院 - 土木工程學系
Department of Civil Engineering
畢業學年度： 98
語文別： 中文
論文頁數： 115
中文關鍵詞： 行動測繪 、固定臂率定 、軸角率定 、直接地理定位
外文關鍵詞： Terrestrial Mobile Mapping, Lever arm Calibration, Boresight Calibration, Direct Georeferening
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    • 　　隨著定向定位系統與蒐集空間資訊的遙測感測器結合，逐漸的實現了即時性的移動式測量及空間資料蒐集平台－行動測繪系統，而在定向定位系統與影像資料的相互整合中，直接地理定位法是為關鍵技術。
    　　本研究建置一雙鏡頭、高解析度之車載行動測繪系統，以整合GPS、IMU及兩台數位相機，利用直接地理定位法獲取影像的外方位參數，最後對房屋的牆面點進行定位分析。在此三種感測器的結合中有兩種需要率定的系統轉換關係，分別為GPS與數位相機透視中心間的固定臂位移向量及IMU與數位相機三維坐標軸的軸角旋轉量。
    　　研究中使用的相機焦距為28mm，與牆面距離約10到20公尺，影像的物空間解析度約為0.2到0.4公分，且為提升三維幾何定位精度，兩台相機拍攝之交會角約為60度。實驗中共選擇來自不同相機的十七張影像進行固定臂與軸角的率定，並利用率定結果推估影像外方位參數，最後定位分析的成果可分為兩部分：（一）、將物空間牆面點反投影至像空間，像空間之定位精度可達10個像元以內；（二）、將像空間點進行空間前方交會，檢核點的物空間定位精度可達10公分以內。

    　　With the combination of position and orientation system (POS) and remote sensors, a real-time measurement and spatial data collection platforms¬ which called Mobile Mapping System was realized. The integration of position and orientation system and image data, direct georeferencing is the key technology.
    　　This paper proposes to design a terrestrial mobile mapping system of low-cost, multiple cameras, high-resolution. The exterior orientation parameters (EOP) of image directly provides by the principle of direct georeferencing and GPS/IMU data. The final results will show the position analysis of the mobile mapping system. There are two conversion relations between GPS, IMU and digital cameras. First, a position vector between GPS and digital camera called Lever arm Vector. Second, the angle between the rotation axis of IMU and digital camera called Boresight Angle. There will calibrate the conversion relation of the mobile mapping system in this paper.
    　　The focal length of the camera which used in this research was 28mm and the subject distance is about 10 ~ 20 meters which result the image spatial resolution of 0.2 ~ 0.4 cm for a pixel. For the purpose of increasing its 3D positioning accuracy, the intersection angle of these two cameras is about 60 degrees. In the experiment, 17 scenes were selected from different camera to calculate Borsight and Lever arm calibration, and used a total of 53 ground control points which on the wall were utilized to evaluate the potential of its 3D positioning accuracy. Positioning analysis of the results can be divided into two parts. First, back-projection the point from the object space to the image space, the positioning accuracy in image space can be less than 10 pixels. Second, the positioning accuracy in object space using space intersection can be less than 10 cm.

    摘要 ..................................................I Abstract .........................................II 目錄 .................................................IV 圖目錄 ................................................VII 表目錄 ..................................................X 第一章 前言 ..........................................1 1.1 研究背景 ..........................................1 1.2 文獻回顧 ..........................................3 1.3 研究目的及架構 .........................................11 第二章 理論基礎 .........................................15 2.1 定向定位系統 .........................................15 2.1.1 全球定位系統 .........................................15 2.2.2 慣性量測單元 .........................................17 2.1.3 定向定位系統的整合 .................................19 2.2 影像拍攝系統－數位相機 .................................20 2.3 坐標系統 .........................................23 2.3.1 地心地固坐標系 .................................23 2.3.2 導航坐標系 .........................................27 2.3.3 載體坐標系 .........................................28 2.3.4 攝影測量坐標系統的建立 .................................29 第三章 研究方法 .........................................34 3.1 直接地理定位 .........................................34 3.1.1 直接地理定位的原理 .................................35 3.1.2 軸角率定 .........................................37 3.1.3 固定臂率定 .........................................38 3.2 附加參數自率光束法平差及相機率定模型 .................40 3.2.1 附加參數自率光束法平差數學模式 .........................40 3.2.2 相機率定 .........................................43 3.3 率定控制場的建置 .................................48 3.3.1 室內率定場 .........................................48 3.3.2 室外率定場 .........................................50 3.4 誤差可能來源 .........................................52 第四章 實驗成果與分析 .................................54 4.1 實驗的系統設計及規劃 .................................54 4.1.1 系統的設計 .........................................54 4.1.2 資料處理 .........................................60 4.1.3 GPS/IMU與影像資料的對應 .........................60 4.1.4 實驗場地 .........................................63 4.2 實地拍攝實驗 .........................................65 4.2.1 車載實地實驗 .........................................65 4.2.2 車載實驗觀測量標準差 .................................69 4.3 相機率定成果 .........................................71 4.4 光束法區域平差成果 .................................74 4.5 軸角率定成果 .........................................78 4.6 固定臂率定成果 .........................................81 4.7 定位分析 .........................................84 4.7.1 定位分析－點對點反投影至像空間 .........................85 4.7.2 定位分析－物空間前方交會 .........................90 第五章 結論與建議 .........................................92 5.1 結論 .................................................92 5.2 建議 .................................................93 參考文獻 .................................................95

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