我如何准确地使用GS18快速轻松测量？

TheLeica GS18 i是一种多功能且易于使用的GNSS Rover，它使用视觉定位技术在图像中远程测量点。该系统将GNSS传感器与IMU和相机集成在一起。由于其精确的传感器融合，可以立即测量图像中的无法访问点。我解释了Q&A on Visual Positioning and Leica GS18 I我如何捕获和处理图像。有了这个专家的见解，我们将进一步迈出一步。我将描述一些摄影测量法的基本原理，并仔细研究自动匹配过程，该过程允许测量图像中的测量级点Leica Captivate.

How is it possible to measure points by selecting only one point in an image?

Immediately after capturing an image group, Captivate processes the GS18 I data and computes the position and orientation of each image. Therefore, the user can select one image, click on one point in it, press Measure and “瞧！” – 3D point coordinates have already been calculated in a global coordinate system. As you can see, the workflow of measuring points in images is effortless and straightforward. This is possible thanks to the highly precise and reliablepoint matching algorithmrunning on Captivate (often referred to as AR tracking).
这似乎相对简单。但是，您是否曾经问过自己的要点如何匹配？为了回答这个问题，我首先要解释一些摄影测量的基础。

摄影测量是从图像进行测量的科学。一个点的位置可以从位于局部坐标系中定位和定向的图像中重建。一个对象点的位置可以通过像图1中的图像射线相交的捆绑包来定义。

图1：图像射线的相交捆

更具体地说，图像射线从相机的透视中心开始，穿过标记的图像点，并像图2中一样进入无穷大。

图2：透视中心和图像射线

我们要测量的对象点可以是沿该图像射线的任何点。为了计算该点的确切位置，需要至少两个空间分离的图像射线，这些射线需要一点点相交。这两个射线必须由两个不同的图像定义。通过增加用于重建的图像射线数量，位置精度将提高。

为了定义图像射线的方向，用户通常必须手动标记每个图像中的点。当使用与GS18 I捕获的图像时，不需要这。以下视频可以很好地将匹配点匹配算法的每个步骤都很好地动画，以说明它如何自动匹配其他捕获的图像中的标记点。

As shown in the animation, by marking one point in a selected image, the corresponding image ray will be computed. To define the direction of the second image ray, the same point has to be marked in the second image. The point matching algorithm does this automatically by connecting both perspective centres with a baseline. Now, using both the baseline and the first image ray, it is possible to create a plane. This plane is a so-called阴性平面，并且它与红线相交的第二张图像称为epipolar line.

对外相线对于匹配算法的点至关重要，因为第一个图像中选择的点位于第二张图像中沿着外两极线的某个位置。因此，该算法仅沿该行搜索最佳匹配。首先，Caintivate定义了模板矩阵，围绕着第一个图像的标记点的灰度像素的19 x 19矩阵。在动画中，模板矩阵由绿色构成。在第二张图像中，算法检测到点所在的外侧线段所在，并仅沿该段进行矩阵扫描。通过这样做，处理时间减少了。在扫描过程中，该算法沿着异性线的选定部分为每个点提取19 x 19像素矩阵。

在下一步中，该算法搜索最佳模板匹配。因此，将从第二个图像提取的每个矩阵与第一个图像的模板矩阵进行比较。这是通过计算矩阵之间的相关性来完成的。与模板具有最高相关性的提取矩阵被视为最佳匹配。然后使用该矩阵的周围像素以子像素精度找到点的确切位置。迷人的可视化与蓝色符号的匹配点可视化，并在所有匹配点的图像中出现。

匹配算法的观点有多聪明？

在开发匹配算法的点时，其目的是创建一种像人类视觉意义一样擅长匹配的算法。但是，很明显，人造和人类的智力不能以完全相同的方式工作。例如，在许多用例中，匹配算法的点很容易匹配用户无法匹配的点。查看图3中的示例。

Figure 3: Point marked in one image (left) and matched in another image (right)

On the left screen of Figure 3, one point on the pipeline is selected in the image. On the right screen, the same point is automatically matched in another image of the image group. One GS18 I user asked an excellent question: “How is it possible to automatically match the marked point in other images? Every point along this pipeline looks exactly the same to me, and I cannot see one unique point on this pipeline that I could manually match in two images. So, how can the algorithm do this if I cannot?”

答案很简单。正如我前面解释的那样，当一个图像中标记一个点时，匹配算法首先为每个图像创建一条外观线。然后，该算法沿二极分线进行搜索，以获取点的最佳匹配。如图4所示，外两极线与管道上的红线相交，在相交点，找到了最佳匹配。这就是算法很容易与人眼无法区分的两个图像中的点匹配的方式。

Figure 4: Epipolar line

Sensor fusion, photogrammetry and cross-functional development to solve surveyors’ problems

视觉定位抛光工艺ogy is using photogrammetric principles for remote point measurement. In addition, sensor fusion gives GS18 I the ability to join GNSS and IMU data together with the captured images. The unique combination of both photogrammetry and sensor fusion simplifies the traditional photogrammetric workflow. What is more, the point matching algorithm speeds up the measurement process, and it even helps users measure points that cannot be matched manually in images. This way, users can easily measure points in images with survey-grade accuracy. Not only is the mapping from the images possible onsite, but the same workflow also continues in the office withLeica Infinity.

In the GNSS team, we constantly push the boundaries to develop new solutions that solve surveyors’ problems. By developing a sensor that offers a simple solution to measuring challenging points, we want to extend the possibilities that surveyors have when measuring with a GNSS rover. With the GS18 I, we undoubtedly proved that even the greatest challenges could be mastered with synergistic teamwork. We did this for our users to have the ability to accurately and reliably perform remote measurements with survey-grade accuracy when using a GNSS rover.

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