Research On Spatial Geometric Information Extraction Based On Stereo Panoramic Camera

With the development of GIS,Internet of things,virtual reality,indoor positioning is the last meter of the service,and the expression of the indoor environment is the most important.Panoramic image as a new model of expression,occupy a place in the filed of expressing indoor environment with its unique advantages,that is,rapid and convenient access to data in the interior of the model.It can also be combined with virtual reality so that people can roam the world without leaving home,and can be provided with immersive scene information.Today,most of the panoramic cameras are two dimensional images,although it has a three-dimensional sense of vision,but they do not have a real measurable,which makes its application is greatly limited.The paper based on the classical photogrammetry theory and computer vision theory,put forward a new three-dimensional panoramic camera equipment,which can Obtain the 360°images around the point of the stereo image.Stereo panoramic camera can extract the geometry information and scene roaming the panoramic image based on the specific research.Methods and works are as following:1.A panoramic image data acquisition device based on array camera is designed.It contains six pairs of stereo cameras,and each pair of stereo camera consists of a set of two Gopro motion camera unit.There are five pairs of stereo cameras in the horizontal direction for the acquisition of the level of the image,and a pair toward the sky for the indoor ceiling image acquisition.The whole device uses 3D printer to print the bracket to fix,and finally achieved the camera image acquisition.According to the distortion parameters of each camera,the image distortion correction of the acquired images is obtained.2.Completed the calibration of the 12 Gopro sports cameras.Using camera calibration method and high precision calibration plate.The interior orientation elements and all kinds of distortion parameters are obtained.3.Realize the acquisition of the world coordinates of the image points in the sequence images.After the assembly of the equipment is successful,the relative orientation and absolute orientation of each pair of stereo cameras are analyzed from the perspective of photogrammetry.The model coordinates are obtained by relative orientation,and the scale of each pair of stereo cameras is solved by absolute orientation.Each subsequent to a panoramic scene,relative coordinate orientation and model acquisition,multiplied by the scale,won the world coordinates of object points,of course,require periodic calibration scale.4.The extraction of spatial geometric information in panoramic image.According to the calculation method of three-dimensional coordinates based on the extracted space polygon area,spatial circle area,slope and angle information,conduct rigorous adjustment solution by using least squares method,finally we get the length accuracy of 2.6cm,accuracy of 0.0052m2.5.Realize the panoramic roaming of the sequence images collected by the stereo panoramic camera,and extract the geometric information from the view of roaming.Based onthe Harris feature extraction method for image feature extraction,the coordinates of the image are conversed.the image processing of the overlap of the color difference,seam and other issues are improved using of linear fusion and linear fusion.Finally,on the basis of OpenGL,the image projection splicing to the sphere,set in the center of view,the panorama roaming is realized.