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題名 室內球形全景影像定位定向之研究
A Study of Orientation Determination for Indoor Spherical Panoramic Images作者 曾郁婷
Tseng, Yu-Ting貢獻者 邱式鴻
Chio, Shih-Hong
曾郁婷
Tseng, Yu-Ting關鍵詞 三維城市模型
球形全景影像
室內模型
光束法平差
Digital city model
Spherical panoramic image
LOD4 model reconstruction
Bundle adjustment日期 2018 上傳時間 27-Aug-2018 14:55:37 (UTC+8) 摘要 隨著數位三維城市模型的興起，房屋內部結構逐漸受到重視，而球形全景影像(Spherical Panoramic Image, SPI)擁有水平360度與垂直180度的拍攝視角，相較於一般近景影像，可減少拍攝影像數量，降低作業成本，適合作為室內模型建置的資料來源。為重建室內模型，須先以光束法平差完成影像方位求解，然市面上的球形全景影像，並沒有公開球半徑等資訊、且無從獲得拼接前原始影像。本研究基於像點、球心及物點之攝影測量共線條件，提出以上述球形全景影像之定位定向流程、平差解算及精度評估方法論，結合影像匹配演算法提高自動化程度，並藉由像點變形改正模式改善系統誤差。經理論及實驗顯示，本研究可使用少量球形全景影像定位定向並建構室內模型，其成果精度符合CityGML(City Geographic Markup Language)所定義的LOD4室內模型的規範。
The process of capturing and modeling indoor buildings has gained increased focus in recent years with the rise of the Digital City Model. As Spherical Panoramic Images (SPIs) have a 360-degree coverage in horizontal direction and a large vertical field of view, the whole scene can be covered by few panoramic images. It is therefore different from traditional central perspective images that need to cover the whole scene with many more images. Therefore, SPI has been considered more popular in recent years. This study will use this advantage of SPIs and use them as the data source of the fourth levels of detail (LOD4) model reconstruction in order to reduce the costs and increase shooting efficiency. However, before using SPIs to reconstruct the indoor model, bundle adjustment should be implemented in order to orient these SPIs. Camera parameters of the consumer SPIs are confidentiality. Moreover, original images stitching become SPIs are unable to acquisition. Therefore, the purpose of this study is to develop the work flow and the mathematical model for orientation determination of consumer SPIs. Improving the automation by image matching algorithms and the accuracy by correcting SPIs distortion in the process of orientation determination. The experiments show that following the work flow can obtain an acceptable accuracy for the orientation determination of SPIs.參考文獻 毛可標、龔循平，1985，「航測區域網系統誤差驗後補償的試驗」，『測繪學報』，14(4)：285-293。王彬權，2012，「可攜式全景影像測繪系統之系統率定」，國立成功大學測量及空間資訊學系碩士論文：臺南。江渾欽、馮怡婕，2012，「地籍建物三維資料流通架構建立之研究」，『臺灣土地研究，15(1)：127-155。吳姿璇，2015，「整合RGB-D感測器與單眼數位相機的室內環境點雲模型重建」，國立中央大學土木工程學系碩士論文：桃園。李德仁、袁修孝，2002，「誤差處理與可靠性理論」，武漢：武漢大學出版社。季順平、史云，2013，「車載全景相機的影像匹配和光束法平差」，『測繪學報』，42(1)：94-100。季順平、史云，2014，「多鏡頭組合型全景相機兩種成像模型的定位精度比較」，『測繪學報』，43(15)：1252-1258。林汝晏，2013，「航空影像控制實體於近景影像光束法區域平差控制之精度探討」，國立政治大學地政學系碩士論文：臺北。林冠穎，2014，「多測站具GPS定位之球形全景影像之光束法平差」，國立成功大學測量及空間資訊學系碩士論文：臺南。涂仁瑋、王聖鐸，2014，「以三維建物模型進行室內三維定位、展示、導航、導覽之研究」。論文發表於〈臺灣地理資學會年會暨學術研討會〉，臺灣地理資訊學會：高雄，民國103年6月26日至27日。涂辛茹、許妙忠、羅红聯、付宏達，2013，「基於驗後補償補償的三線陣航测數碼相機ADS40幾何校準技術」，『勘察科學技術』，6：20-23。黃光群、蔡展榮，2016，「Ladybug5全景相機應用於移動式製圖系統」。論文發表於〈第35屆測量及空間資訊研討會〉，國立政治大學：臺北，民國105年8月25日至26日。黃聰哲，2016，「基於全景控制影像進行室內定位及導航之可行性分析」，國立成功大學測量及空間資訊學系碩士論文：臺南。楊雄壹，2011，「利用自走車機車人搭載雷射測距儀快速建立三維室內環境模型的方法」，國立臺灣科技大學資訊工程系碩士論文：臺北。蔡富安、張智安、陳良健、黃智遠，2015，「三維城市模型與建築等級模型之整合機制」，104年度內政部研究計畫期末報告。謝嘉聲，2011，「應用數值近景攝影測量技術於大比例地表變異量製圖之研究」，行政院國家科學委員會專題研究計畫成果報告。簡鈺珊，2011，「近景攝影測量網形優化設計」，國立臺灣大學土木工程學系碩士論文：臺北。Aghayari, S., Saadatseresht, M., Omidalizarandi, M. and Neumann, I., 2017, “Geometric Calibration of Full Spherical Panoramic Ricoh-Theta Camera.”, Paper presented at the International Society for Photogrammetry and Remote Sensing, Hannover, Germany, June 6–9.Bay, H., Ess, A., Tuytelaars, T. and Van Gool, L., 2008, “Speeded-Up Robust Features (SURF)”, Computer vision and image understanding, 110(3): 346-359.Bosch, J., Gracias, N., Ridao, P. and Ribas, D., 2015, “Omnidirectional Underwater Camera Design and Calibration”, Sensors, 15(3): 6033-6065.Brown, D. C., 1971, “Close-Range Camera Calibraion”, Photogrammetric Engineering and Remote Sensing, 37(8): 855-866.Brown, M. and Lowe, D. G, 2007, “Automatic Panoramic Image Stitching using Invariant Features”, International journal of computer vision, 74(1): 59-73.Budroni, A. and Boehm, J., 2009, “Toward Automatic Reconstruction of Interiors from Laser Data”, Paper presented at Virtual Reconstruction and Visualization of Complex Architectures (3D-Arch), Trento, Italy, February 25-28.Cruz-Mota, J., Bogdanova, I., Paquier, B., Bierlaire, M. and Thiran, J. P., 2012, “Scale Invariant Feature Transform on the Sphere: Theory and Applications”, International journal of computer vision, 98(2): 217-241.D’Annibale, E., 2011, “Image Based Modeling from Spherical Photogrammetry and Structure for Motion. The Case of the Treasury, Nabatean Architecture in Petra”, Geoinformatics FCE CTU, 6: 62-73.Driscoll Jr, E., Morrow, H., Steinhauer, A. J., and Lomax, W. 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A. and Gruen, A, 2005,” Close Range Photogrammetric Network Design for Panoramic Cameras by Heuristic Simulation”, Optical 3-D measurement techniques, VII(1): 237-244.Scaramuzza, D., Martinelli, A. and Siegwart, R, 2006, “A Toolbox for Easily Calibrating Omnidirectional Cameras”, Paper presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15.Shi, Y., Ji, S., Shi, Z., Duan, Y. and Shibasaki, R, 2013, “GPS-Supported Visual SLAM with a Rigorous Sensor Model for a Panoramic Camera in Outdoor Environments”, Sensors, 13(1): 119-136.Snyder, J. P, 1987, Map Projections—A Working Manual, US Government Printing Office.Wang, S. C., Lee, S. Y., Shih, T. Y., Lee, P. S. and Liu, J. L., 2013, “Image Distortion Assessment of an UltraCam Xp Camera with Calibration Field”, Paper presented at the International Symposium on Remote Sensing, Chiba, Japan, May 15-17.Szeliski, R. and Shum, H. Y., 1997, “Creating Full View Panoramic Image Mosaics and Environment Maps”, Paper presented at the 24th annual conference on Computer graphics and interactive techniques, Los Angeles, USA, August 3-8.Taira, H., Inoue, Y., Torii, A. and Okutomi, M., 2015, “Robust Feature Matching for Distorted Projection by Spherical Cameras”, IPSJ Transactions on Computer Vision and Applications, 7:84-88.Thomson, C., Apostolopoulos, G., Backes, D. and Boehm, J., 2013, “Mobile Laser Scanning for Indoor Modelling”, Paper presented at the International Society for Photogrammetry and Remote Sensing, Antalya, Turkey, November 11-13.Wolf, P. R., Dewitt, B. A. and Wilkinson, B. E., 2000, Elements of Photogrammetry: with applications in GIS, New York: McGraw-Hill. 描述 碩士
國立政治大學
地政學系
105257005資料來源 http://thesis.lib.nccu.edu.tw/record/#G0105257005 資料類型 thesis dc.contributor.advisor 邱式鴻 zh_TW dc.contributor.advisor Chio, Shih-Hong en_US dc.contributor.author (Authors) 曾郁婷 zh_TW dc.contributor.author (Authors) Tseng, Yu-Ting en_US dc.creator (作者) 曾郁婷 zh_TW dc.creator (作者) Tseng, Yu-Ting en_US dc.date (日期) 2018 en_US dc.date.accessioned 27-Aug-2018 14:55:37 (UTC+8) - dc.date.available 27-Aug-2018 14:55:37 (UTC+8) - dc.date.issued (上傳時間) 27-Aug-2018 14:55:37 (UTC+8) - dc.identifier (Other Identifiers) G0105257005 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/119591 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 地政學系 zh_TW dc.description (描述) 105257005 zh_TW dc.description.abstract (摘要) 隨著數位三維城市模型的興起，房屋內部結構逐漸受到重視，而球形全景影像(Spherical Panoramic Image, SPI)擁有水平360度與垂直180度的拍攝視角，相較於一般近景影像，可減少拍攝影像數量，降低作業成本，適合作為室內模型建置的資料來源。為重建室內模型，須先以光束法平差完成影像方位求解，然市面上的球形全景影像，並沒有公開球半徑等資訊、且無從獲得拼接前原始影像。本研究基於像點、球心及物點之攝影測量共線條件，提出以上述球形全景影像之定位定向流程、平差解算及精度評估方法論，結合影像匹配演算法提高自動化程度，並藉由像點變形改正模式改善系統誤差。經理論及實驗顯示，本研究可使用少量球形全景影像定位定向並建構室內模型，其成果精度符合CityGML(City Geographic Markup Language)所定義的LOD4室內模型的規範。 zh_TW dc.description.abstract (摘要) The process of capturing and modeling indoor buildings has gained increased focus in recent years with the rise of the Digital City Model. As Spherical Panoramic Images (SPIs) have a 360-degree coverage in horizontal direction and a large vertical field of view, the whole scene can be covered by few panoramic images. It is therefore different from traditional central perspective images that need to cover the whole scene with many more images. Therefore, SPI has been considered more popular in recent years. This study will use this advantage of SPIs and use them as the data source of the fourth levels of detail (LOD4) model reconstruction in order to reduce the costs and increase shooting efficiency. However, before using SPIs to reconstruct the indoor model, bundle adjustment should be implemented in order to orient these SPIs. Camera parameters of the consumer SPIs are confidentiality. Moreover, original images stitching become SPIs are unable to acquisition. Therefore, the purpose of this study is to develop the work flow and the mathematical model for orientation determination of consumer SPIs. Improving the automation by image matching algorithms and the accuracy by correcting SPIs distortion in the process of orientation determination. The experiments show that following the work flow can obtain an acceptable accuracy for the orientation determination of SPIs. en_US dc.description.tableofcontents 第一章 緒論 1第一節 研究背景 1第二節 研究動機與目的 3第三節 論文架構 7第二章 文獻回顧 8第一節 球形全景影像的特性 8一、全景影像種類介紹 8二、球形全景影像成像原理 10第二節 影像匹配 12第三節 球形全景影像定位定向方法 14第四節 像點變形改正方法 16第五節 球形全景影像應用於攝影測量精度探討 19第三章 研究方法與理論基礎 21第一節 影像匹配 22第二節 初始值給定 25第三節 定位定向平差解算模式 28第四節 像點變形改正方法 33第五節 精度評估 36第四章 實驗成果與分析 39第一節 實驗設計 39一、拍攝器材介紹 39二、拍攝方式 39三、場景介紹 41第二節 模擬實驗 44一、拍攝方式實驗 44二、控制點數量的影響 50第三節 匹配演算法的影響 55第四節 實地實驗 58一、連結點分布的影響 62二、像點變形改正的影響 70三、控制點數的影響 79四、先驗精度給定方式的影響 82五、LOD4室內模型成果 85第五章 結論與建議 90第一節 結論 90第二節 建議 92參考文獻 93 zh_TW dc.format.extent 6013935 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0105257005 en_US dc.subject (關鍵詞) 三維城市模型 zh_TW dc.subject (關鍵詞) 球形全景影像 zh_TW dc.subject (關鍵詞) 室內模型 zh_TW dc.subject (關鍵詞) 光束法平差 zh_TW dc.subject (關鍵詞) Digital city model en_US dc.subject (關鍵詞) Spherical panoramic image en_US dc.subject (關鍵詞) LOD4 model reconstruction en_US dc.subject (關鍵詞) Bundle adjustment en_US dc.title (題名) 室內球形全景影像定位定向之研究 zh_TW dc.title (題名) A Study of Orientation Determination for Indoor Spherical Panoramic Images en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) 毛可標、龔循平，1985，「航測區域網系統誤差驗後補償的試驗」，『測繪學報』，14(4)：285-293。王彬權，2012，「可攜式全景影像測繪系統之系統率定」，國立成功大學測量及空間資訊學系碩士論文：臺南。江渾欽、馮怡婕，2012，「地籍建物三維資料流通架構建立之研究」，『臺灣土地研究，15(1)：127-155。吳姿璇，2015，「整合RGB-D感測器與單眼數位相機的室內環境點雲模型重建」，國立中央大學土木工程學系碩士論文：桃園。李德仁、袁修孝，2002，「誤差處理與可靠性理論」，武漢：武漢大學出版社。季順平、史云，2013，「車載全景相機的影像匹配和光束法平差」，『測繪學報』，42(1)：94-100。季順平、史云，2014，「多鏡頭組合型全景相機兩種成像模型的定位精度比較」，『測繪學報』，43(15)：1252-1258。林汝晏，2013，「航空影像控制實體於近景影像光束法區域平差控制之精度探討」，國立政治大學地政學系碩士論文：臺北。林冠穎，2014，「多測站具GPS定位之球形全景影像之光束法平差」，國立成功大學測量及空間資訊學系碩士論文：臺南。涂仁瑋、王聖鐸，2014，「以三維建物模型進行室內三維定位、展示、導航、導覽之研究」。論文發表於〈臺灣地理資學會年會暨學術研討會〉，臺灣地理資訊學會：高雄，民國103年6月26日至27日。涂辛茹、許妙忠、羅红聯、付宏達，2013，「基於驗後補償補償的三線陣航测數碼相機ADS40幾何校準技術」，『勘察科學技術』，6：20-23。黃光群、蔡展榮，2016，「Ladybug5全景相機應用於移動式製圖系統」。論文發表於〈第35屆測量及空間資訊研討會〉，國立政治大學：臺北，民國105年8月25日至26日。黃聰哲，2016，「基於全景控制影像進行室內定位及導航之可行性分析」，國立成功大學測量及空間資訊學系碩士論文：臺南。楊雄壹，2011，「利用自走車機車人搭載雷射測距儀快速建立三維室內環境模型的方法」，國立臺灣科技大學資訊工程系碩士論文：臺北。蔡富安、張智安、陳良健、黃智遠，2015，「三維城市模型與建築等級模型之整合機制」，104年度內政部研究計畫期末報告。謝嘉聲，2011，「應用數值近景攝影測量技術於大比例地表變異量製圖之研究」，行政院國家科學委員會專題研究計畫成果報告。簡鈺珊，2011，「近景攝影測量網形優化設計」，國立臺灣大學土木工程學系碩士論文：臺北。Aghayari, S., Saadatseresht, M., Omidalizarandi, M. and Neumann, I., 2017, “Geometric Calibration of Full Spherical Panoramic Ricoh-Theta Camera.”, Paper presented at the International Society for Photogrammetry and Remote Sensing, Hannover, Germany, June 6–9.Bay, H., Ess, A., Tuytelaars, T. and Van Gool, L., 2008, “Speeded-Up Robust Features (SURF)”, Computer vision and image understanding, 110(3): 346-359.Bosch, J., Gracias, N., Ridao, P. and Ribas, D., 2015, “Omnidirectional Underwater Camera Design and Calibration”, Sensors, 15(3): 6033-6065.Brown, D. 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