To tackle high-precision point measurement challenges in signal-obstructed or inaccessible areas,a non-contact high-precision point positioning measurement method combining vision,inertial measurement unit(IMU)and real time kinematic(RTK)information is proposed.Firstly,utilizing the camera position information determined by RTK,the spatial positions of feature points and camera poses are registered to the geographical coordinate system during the incremental reconstruction process.Secondly,global optimization is introduced with constraints on visual reprojection error,RTK-determined camera positions,and IMU-determined camera attitudes to enhance the estimation accuracy of feature point spatial positions.Finally,the coordinates of the feature points in the image are mapped from the image plane coordinate system to the geographical coordinate system to achieve non-contact measurement of the spatial coordinates of the feature points in the scene.Comparative experiments with the point measurement method based on OpenMVG showed that the proposed method enhances point measurement accuracy by 87.25%at 3 m and 75.88%at 5 m,underscoring its superior accuracy in point position estimation.
point positioningvisual/IMU/RTKbundle adjustmentincremental Structure from Motion
万方数据
维普
