CAJ | 학술논문

全景相机因其360°大视场、旋转不变性等优点，逐渐被用于构建车载移动测图系统。标定是保证系统获取精确地理信息数据的重要前提。本文针对全景相机和定位定姿系统（POS ）集成的车载移动测图系统，提出一种外方位元素标定的方法。首先，在实际场景中布设高精度已知控制点。其次，构建全景球面模型，将全景影像通过球面投影反变换投影到该球面上，从球面上选择控制点而不是直接从存在扭曲的全景影像上选择控制点并得到其球面坐标。在建立点的相关性之后，结合地理参考绝对定位方程和坐标变换，求得全景相机相对POS的平移与旋转参数。最后，采用本文提出的标定方法，分别选择北京航天城和天津滨海新区进行试验。试验表明，GPS信号良好时，点的绝对定位中误差可达平面103． cm、高程165． cm；GPS信号不好时，点的绝对定位中误差为平面354． cm、高程548． cm；在较短距离范围内（＜3 km），距离量测相对误差最大为5 cm左右，GPS信号对相对量测没有明显影响。
전경상궤인기360°대시장、선전불변성등우점，축점피용우구건차재이동측도계통。표정시보증계통획취정학지리신식수거적중요전제。본문침대전경상궤화정위정자계통（POS ）집성적차재이동측도계통，제출일충외방위원소표정적방법。수선，재실제장경중포설고정도이지공제점。기차，구건전경구면모형，장전경영상통과구면투영반변환투영도해구면상，종구면상선택공제점이불시직접종존재뉴곡적전경영상상선택공제점병득도기구면좌표。재건립점적상관성지후，결합지리삼고절대정위방정화좌표변환，구득전경상궤상대POS적평이여선전삼수。최후，채용본문제출적표정방법，분별선택북경항천성화천진빈해신구진행시험。시험표명，GPS신호량호시，점적절대정위중오차가체평면103． cm、고정165． cm；GPS신호불호시，점적절대정위중오차위평면354． cm、고정548． cm；재교단거리범위내（＜3 km），거리량측상대오차최대위5 cm좌우，GPS신호대상대량측몰유명현영향。
Having the advantage of 360° imaging and rotation invariance , panoramic camera has gradually been used in mobile mapping systems(MMS) .Calibration is an essential requirement to make sure that MMS can get high quality geo‐information .This paper presents a way to address the extrinsic calibration for vehicle‐based MMS composed of panoramic camera and Position and Orientation System (POS) .Firstly ,control points in the natural scene are set up ,whose spati al coordinates are measured with high precision .Secondly ,a panoramic spherical model is constructed and panoramic image can be projec‐ted to this model by means of spherical reverse transformation projection .Then ,localize and select the control points in 3D spherical panoramic view but not in panoramic distorted image directly ,the spherical coordinates of control points in panoramic image are gotten .After points correspondence is established , make use of direct geo‐reference positioning equation and coordinate transformation ,the translation and rotation parameters of panoramic camera rel ative to POS are computed .Experiments are conducted sepa‐rately in space city calibration site located in Beijing and the Binhai New Area in Tianjin using our approach .Test results are listed as follows .When the GPS signal are of good quality ,absolute positioning mean square error of a point is 103.cmin two‐dimension planeand 165.cmin height direction;Otherwise,it is 354.cmintwo‐dimension plane and 548.cmin height direction.The maxrelative error of distance measurement is about 5 cmover a short distance(distance<3km),whichis not obviously affected by the GPS signal quality.