Global Image Orientation Method for PTZ Camera with Pure Rotation
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摘要: Pan-tilt-zoom (PTZ)相机能通过绕光心纯旋转以获得更大视场，被广泛应用于监控系统中。针对在处理PTZ相机影像定向时现有运动恢复结构(structure from motion，SfM)方法存在适用性不足的问题，参考全局式SfM的思路，提出一种面向PTZ相机纯旋转运动的影像定向方法。首先，优选部分像对进行内定向，估计影像的内方位元素；然后，对所有影像进行全局式外定向，估计影像的外方位角元素；最后，利用无物方点的光束法平差优化内方位元素和外方位角元素。通过使用仿真数据和真实数据进行实验，表明了该方法可弥补现有SfM方法的不足，成功实现对PTZ相机纯旋转时的影像定向；在与商用软件对比方面，得到的外定向精度更高，同时具有计算效率上的优势。该方法并不局限于PTZ相机影像的定向，对于多镜头相机、全向相机等设备采集的纯旋转影像的定向问题具有通用性。Abstract: Objectives: Pan-tilt-zoom(PTZ) camera is widely used in surveillance systems due to its wide field of view and high resolution. The camera mounted on the gimbal can only make pure rotation motion around the optical center. The optical center overlap of images makes it impossible to use existing Structure from Motion (SfM) methods for purely rotated images orientation. In order to estimate the elements of interior and exterior orientation in the free net of a set of PTZ camera images with pure rotation, a global image orientation method for PTZ camera with pure rotation was proposed, which motivated by the idea of the global SfM. Methods: Compared with the general SfM method, the similarities are feature extraction and feature matching, and the differences are interior orientation, exterior orientation and bundle adjustment. Firstly, partial image pairs are selected for inner orientation to estimate the elements of interior orientation. Then, global exterior orientation was implemented for all images, and the elements of exterior orientation were estimated. Finally, the elements of interior and exterior orientation are optimized by bundle adjustment with no object 3d point. Results: Experiments on simulation data and real data prove the feasibility and accuracy of the proposed method. In the simulation data experiments, the maximum error of the focal length and the principal point is 3.321 pixels, and most of the errors are less than 1 pixel. The maximum rotation errors of the four datasets are 0.116 degrees, 0.320 degrees, 0.103 degrees, 0.125 degrees. In the real data experiments, the maximum reprojection errors of the checkpoints are 4.919 pixels and 4.758 pixels for the two datasets, respectively. Conclusions: Compared with the existing global SfM method, the proposed method can successfully orient the images of PTZ camera with pure rotation. In addition, compared with other commercial software, the exterior orientation accuracy of the proposed method is higher, and it also has the advantage of computational efficiency. The method presented is not limited to PTZ camera images, and it has universality for other purely rotated images orientation problems.
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