In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innova...In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.展开更多
The expressions of the second harmonic(2f) signal are derived on the basis of absorption spectral and lock-in theories.A parametric study indicates that the phase shift between the intensity and wavelength modulation ...The expressions of the second harmonic(2f) signal are derived on the basis of absorption spectral and lock-in theories.A parametric study indicates that the phase shift between the intensity and wavelength modulation makes a great contribution to the 2f signal.A self-calibration wavelength modulation spectroscopy(WMS) method based on tunable diode laser absorption spectroscopy(TOLAS) is applied,combining the advantages of ambient pressure,temperature suppression,and phase-shift influences elimination.Species concentration is retrieved simultaneously from selected 2f signal pairs of measured and reference WMS-2f spectra.The absorption line of acetylene(C_2H_2) at 1530.36 nm near-infrared is selected to detect C_2H_2 concentrations in the range of 0-400 ppmv.System sensitivity,detection precision and limit are markedly improved,demonstrating that the self-calibration method has better detecting performance than the conventional WMS.展开更多
An accurate and fast three-step self-calibrating generalized phase-shifting interferomertry(SGPSI) is proposed. In this approach, two new phase-shifting signals are constructed by the difference interferograms normali...An accurate and fast three-step self-calibrating generalized phase-shifting interferomertry(SGPSI) is proposed. In this approach, two new phase-shifting signals are constructed by the difference interferograms normalization and noise suppressing, then the unknown phase shift between the two difference phase-shifting signals is estimated quickly through searching the minimum coefficient of variation of the modulation amplitude, a limited number of pixels are selected to participate in the search process to further save time, and finally the phase is reconstructed through the searched phase shift. Through the reconstruction of phase map by the simulation and experiment, and the comparison with several mature algorithms, the good performance of the proposed algorithm is proved, and it eliminates the limitation of requiring more than three phase-shifting interferograms for high-precision SGPSI. We expect this method to be widely used in the future.展开更多
Firstly,the relationship between the accuracy of low altitude aerial photogrammetry and the field angle of camera is made by a quantitative analysis from the theory.The conclusion that the low altitude photogrammetry ...Firstly,the relationship between the accuracy of low altitude aerial photogrammetry and the field angle of camera is made by a quantitative analysis from the theory.The conclusion that the low altitude photogrammetry should use wide-angle camera as much as possible is done.Then,the limitation of the single lens camera to expand field angle and the combined wide-angle camera existing on the market not suitable for light load of low altitude UAV(Unmanned Aerial Vehicle)due to excessive weight are pointed out.The characteristics of combined wide-angle low altitude light camera with self-calibration and self-stabilization developed by the author are described,especially the principle of self-calibration for the combination of static error and dynamic error.Based on the practice of large scale mapping,a technical procedure in aerial photography by taking with wide-angle camera and large overlap simultaneously for improving the accuracy of low altitude photogrammetry is proposed.The typical engineering produced data is used to verity the above theoretical analysis.A technical route for increasing accuracy of low altitude photogrammetry with combined wide-angle camera is expounded.展开更多
Calibration of the relationship between the scattering angle and the CCD pixel is a key part of achieving accurate measurements of rainbow refractometry.A novel self-calibrated global rainbow refractometry system base...Calibration of the relationship between the scattering angle and the CCD pixel is a key part of achieving accurate measurements of rainbow refractometry.A novel self-calibrated global rainbow refractometry system based on illumination by two lasers of different wavelengths is proposed.The angular calibration and refractive index measurement of two wavelengths can be completed simultaneously without extra measurement devices.The numerical and experimental results show the feasibility and high precision of the self-calibration method,which enables the rainbow refractometry to be implemented in a more powerful and convenient way.The self-calibrated rainbow system is successfully applied to measure the refractive indices of ethanol-water solutions with volume concentrations of 10% to 60%.展开更多
The data fusion in tracking the same trajectory by multi-measurernent unit (MMU) is considered. Firstly, the reduced parameter model (RPM) of trajectory parameter (TP), system error and random error are presented,and ...The data fusion in tracking the same trajectory by multi-measurernent unit (MMU) is considered. Firstly, the reduced parameter model (RPM) of trajectory parameter (TP), system error and random error are presented,and then the RPM on trajectory tracking data (TTD) is obtained, a weighted method on measuring elements (ME) is studied and criteria on selection of ME based on residual and accuracy estimation are put forward. According to RPM,the problem about selection of ME and self-calibration of TTD is thoroughly investigated. The method improves data accuracy in trajectory tracking obviously and gives accuracy evaluation of trajectory tracking system simultaneously.展开更多
基金National Natural Science Foundation of China(Nos.41571410,41977067,42171422)。
文摘In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61172047,61502538,and 61501525)
文摘The expressions of the second harmonic(2f) signal are derived on the basis of absorption spectral and lock-in theories.A parametric study indicates that the phase shift between the intensity and wavelength modulation makes a great contribution to the 2f signal.A self-calibration wavelength modulation spectroscopy(WMS) method based on tunable diode laser absorption spectroscopy(TOLAS) is applied,combining the advantages of ambient pressure,temperature suppression,and phase-shift influences elimination.Species concentration is retrieved simultaneously from selected 2f signal pairs of measured and reference WMS-2f spectra.The absorption line of acetylene(C_2H_2) at 1530.36 nm near-infrared is selected to detect C_2H_2 concentrations in the range of 0-400 ppmv.System sensitivity,detection precision and limit are markedly improved,demonstrating that the self-calibration method has better detecting performance than the conventional WMS.
基金Project supported by the National Natural Science Foundation of China (Grant No. 61905039)Jilin Scientific and Technological Development Program, China (Grant No. 20190701018GH)+1 种基金Education Department of Jilin Province, China (Grant No. JJKH20190691KJ)State Key Laboratory of Applied Optics.
文摘An accurate and fast three-step self-calibrating generalized phase-shifting interferomertry(SGPSI) is proposed. In this approach, two new phase-shifting signals are constructed by the difference interferograms normalization and noise suppressing, then the unknown phase shift between the two difference phase-shifting signals is estimated quickly through searching the minimum coefficient of variation of the modulation amplitude, a limited number of pixels are selected to participate in the search process to further save time, and finally the phase is reconstructed through the searched phase shift. Through the reconstruction of phase map by the simulation and experiment, and the comparison with several mature algorithms, the good performance of the proposed algorithm is proved, and it eliminates the limitation of requiring more than three phase-shifting interferograms for high-precision SGPSI. We expect this method to be widely used in the future.
文摘Firstly,the relationship between the accuracy of low altitude aerial photogrammetry and the field angle of camera is made by a quantitative analysis from the theory.The conclusion that the low altitude photogrammetry should use wide-angle camera as much as possible is done.Then,the limitation of the single lens camera to expand field angle and the combined wide-angle camera existing on the market not suitable for light load of low altitude UAV(Unmanned Aerial Vehicle)due to excessive weight are pointed out.The characteristics of combined wide-angle low altitude light camera with self-calibration and self-stabilization developed by the author are described,especially the principle of self-calibration for the combination of static error and dynamic error.Based on the practice of large scale mapping,a technical procedure in aerial photography by taking with wide-angle camera and large overlap simultaneously for improving the accuracy of low altitude photogrammetry is proposed.The typical engineering produced data is used to verity the above theoretical analysis.A technical route for increasing accuracy of low altitude photogrammetry with combined wide-angle camera is expounded.
基金supported by the National Natural Science Foundation of China(No.51576177)the Major Program of the National Natural Science Foundation of China(No.51390491)+1 种基金the National Basic Research Program of China(No.2015CB251501)the Program of Introducing Talents of Discipline to University(No.B08026)
文摘Calibration of the relationship between the scattering angle and the CCD pixel is a key part of achieving accurate measurements of rainbow refractometry.A novel self-calibrated global rainbow refractometry system based on illumination by two lasers of different wavelengths is proposed.The angular calibration and refractive index measurement of two wavelengths can be completed simultaneously without extra measurement devices.The numerical and experimental results show the feasibility and high precision of the self-calibration method,which enables the rainbow refractometry to be implemented in a more powerful and convenient way.The self-calibrated rainbow system is successfully applied to measure the refractive indices of ethanol-water solutions with volume concentrations of 10% to 60%.
基金Project supported by the National Natural Science Foundation of China (Grant No. 69872039) and the National High-Tech Program of China.
文摘The data fusion in tracking the same trajectory by multi-measurernent unit (MMU) is considered. Firstly, the reduced parameter model (RPM) of trajectory parameter (TP), system error and random error are presented,and then the RPM on trajectory tracking data (TTD) is obtained, a weighted method on measuring elements (ME) is studied and criteria on selection of ME based on residual and accuracy estimation are put forward. According to RPM,the problem about selection of ME and self-calibration of TTD is thoroughly investigated. The method improves data accuracy in trajectory tracking obviously and gives accuracy evaluation of trajectory tracking system simultaneously.
