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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 趙鍵哲 | zh_TW |
dc.contributor.advisor | Jen-Jer Jaw | en |
dc.contributor.author | 王俊凱 | zh_TW |
dc.contributor.author | Chun-Kai Wang | en |
dc.date.accessioned | 2024-06-03T16:06:26Z | - |
dc.date.available | 2024-06-04 | - |
dc.date.copyright | 2024-06-03 | - |
dc.date.issued | 2024 | - |
dc.date.submitted | 2024-05-27 | - |
dc.identifier.citation | Agrawal, A., Ramalingam, S., Taguchi, Y. and Chari, V. A theory of multi-layer flat refractive geometry, Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition, 2012, (IEEE), pp. 3346-3353.
Castillon, M., Palomer, A., Forest, J. and Ridao, P., 2019. State of the Art of Underwater Active Optical 3D Scanners, Sensors, 19(23):35. Courtney, L.A., Fisher, W.S., Raimondo, S., Oliver, L.M. and Davis, W.P., 2007. Estimating 3-dimensional colony surface area of field corals, Journal of Experimental Marine Biology and Ecology, 351(1-2):234-242. Edwards, B.D., Dartnell, P. and Chezar, H., 2003. Characterizing benthic substrates of Santa Monica Bay with seafloor photography and multibeam sonar imagery, Marine Environmental Research, 56(1-2):47-66. Elnashef, B. and Filin, S., 2019. Direct linear and refraction-invariant pose estimation and calibration model for underwater imaging, ISPRS Journal of Photogrammetry and Remote Sensing, 154:259-271. Elnashef, B. and Filin, S., 2022. Target-free calibration of flat refractive imaging systems using two-view geometry, Optics and Lasers in Engineering, 150:106856. Elnashef, B., Filin, S., 2023a. Theory and closed-form solutions for three-and n-layer flat refractive geometry. International Journal of Computer Vision 131, 877-898. Fryer, J.G. and Fraser, C., 1986. On the calibration of underwater cameras, The Photogrammetric Record, 12(67):73-85. Gedge, J., 2011. Underwater stereo matching and its calibration, Master thesis, University of Alberta, Edmonton, Alberta. Gu, F., Zhao, J., Xu, P., Huang, S., Zhang, G. and Song, Z. Underwater 3D reconstruction based on multi-view stereo, Proceedings of the Ocean Optics and Information Technology, 2018, (International Society for Optics and Photonics), pp. 108500F. Harvey, E.S. and Shortis, M.R., 1998. Calibration stability of an underwater stereo-video system: implications for measurement accuracy and precision, Marine Technology Society Journal, 32(2):3-17. Jordt, A., 2014. Underwater 3D reconstruction based on physical models for refraction and underwater light propagation, Ph.D. dissertation, Kiel University, Kiel, Germany. Jordt, A., Köser, K. and Koch, R., 2016. Refractive 3D reconstruction on underwater images, Methods in Oceanography, 15:90-113. Kahmen, O., Rofallski, R. and Luhmann, T., 2020. Impact of stereo camera calibration to object accuracy in multimedia photogrammetry, Remote Sensing, 12(12):2057. Kotkowski, R., 1987. Zur Berücksichtigung lichtbrechender Flächen im Strahlenbündel, Beck. Lavest, J.-M., Rives, G. and Lapresté, J.-T. Underwater camera calibration, Proceedings of the European Conference on Computer Vision, 2000, (Springer), pp. 654-668. Li, R., Tao, C., Zou, W., Smith, R. and Curran, T., 1996. An underwater digital photogrammetric system for fishery geomatics, International Archives of Photogrammetry and Remote Sensing, 31:319-323. Li, R.X., Li, H.H., Zou, W.H., Smith, R.G. and Curran, T.A., 1997. Quantitative photogrammetric analysis of digital underwater video imagery, Ieee Journal of Oceanic Engineering, 22(2):364-375. Łuczyński, T., Pfingsthorn, M. and Birk, A., 2017. The pinax-model for accurate and efficient refraction correction of underwater cameras in flat-pane housings, Ocean Engineering, 133:9-22. Maas, H.G., 2015. On the Accuracy Potential in Underwater/Multimedia Photogrammetry, Sensors, 15(8):18140-18152. Massot-Campos, M. and Oliver-Codina, G., 2015. Optical Sensors and Methods for Underwater 3D Reconstruction, Sensors, 15(12):31525-31557. Menna, F., Nocerino, E., Fassi, F. and Remondino, F., 2016. Geometric and optic characterization of a hemispherical dome port for underwater photogrammetry, Sensors, 16(1):48. Reggiannini, M. and Salvetti, O., 2017. Seafloor analysis and understanding for underwater archeology, Journal of Cultural Heritage, 24:147-156. Rofallski, R. and Luhmann, T., 2022. An Efficient Solution to Ray Tracing Problems in Multimedia Photogrammetry for Flat Refractive Interfaces, PFG–Journal of Photogrammetry, Remote Sensing and Geoinformation Science:1-18. Schewe, H., 1996. Improvement of fishfarm pen design using computational structural modelling and large-scale underwater photogrammetry (cosmolup), International Archives of Photogrammetry and Remote Sensing, 31:524-529. Sedlazeck, A. and Koch, R., 2012. Perspective and non-perspective camera models in underwater imaging–overview and error analysis, Outdoor and large-scale real-world scene analysis), Springer, pp. 212-242. Telem, G. and Filin, S., 2010. Photogrammetric modeling of underwater environments, ISPRS Journal of Photogrammetry and Remote Sensing, 65(5):433-444. Traffelet, L., Eppenberger, T., Millane, A., Schneider, T. and Siegwart, R. Target-based calibration of underwater camera housing parameters, Proceedings of the 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, (IEEE), pp. 201-206. Treibitz, T., Schechner, Y.Y., Kunz, C. and Singh, H., 2012. Flat Refractive Geometry, Ieee Transactions on Pattern Analysis and Machine Intelligence, 34(1):51-65. Turner, J. Development of an operational digital photogrammetric system for the North Sea oil and gas industry, Proceedings of the Videometrics, 1993, (SPIE), pp. 136-144. Zaneveld, J.R.V., 1995. Light and water: Radiative transfer in natural waters, JSTOR. 李冠臻,2018。以光學框幅式影像解算水位面及水下物點三維坐標,碩士論文,國立臺灣大學土木工程學系,臺北,pp. 1-96。 張雅博,2018。利用衛星影像以有理函數物像對應同時求解水位面及水下物點三維坐標,碩士論文,國立臺灣大學土木工程學系,臺北,pp. 1-83。 | - |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/92669 | - |
dc.description.abstract | 水下攝影測量的拍攝方式可分為自空氣往水中拍攝、或逕於水中拍攝,本研究探討後者並將相機置於防水殼中作業,此成像系統稱之為具平玻璃介面成像系統,優勢為此成像系統於拍攝位置的選擇具有較高靈活度,並且具有平面玻璃介面,可承受較大水壓,有機會裝配較高規格之相機以獲取較深之水下環境影像。異於單介質環境,此系統之成像路徑涵蓋水、玻璃及空氣三種介質,在折射效應影響下,光線行經於多介質成像環境中會產生偏折,不僅需有完善之內外方位及畸變差參數資訊,還有玻璃介面相關參數,包括玻璃厚度、透視中心到玻璃介面的距離、玻璃傾角、介質折射係數及其誤差等因素必須加入物像對應關係中探討,才能獲致具平玻璃介面成像系統正確的光線路徑。
而良好之定位品質為攸關三維點雲模型精度的關鍵之一,又三維定位品質受前述各影響因子的誤差影響,此外,因拍攝之靈活度,使用者可設定符合需求之攝像幾何,因此本研究欲整合各因子的參數誤差並搭配不同交會幾何之配置,分析對於雙像前方交會定位品質之影響。本研究首先採模擬實驗進行分析,自行模擬物點及符合實務且中庸之相關配置,並引入各參數誤差,在單像分析階段以真值物點至具誤差之單條光線間的距離做為實際精度,以真值物點於具誤差之單條光線上的投影點透過誤差傳播計算理論精度;雙像分析則以廣義最小二乘平差進行共軛光線之交會解算,使用理論精度與實際精度作為定位成果進而驗證模式合理性。而後佐以實際實驗,初步驗證實務工作的可執行性與有效性。此外,於模擬實驗及實際實驗階段皆納入不同交會角度以及多視角之分析於物像對應探討中。 | zh_TW |
dc.description.abstract | Flat-refractive imaging system, one of the camera geometry of underwater photogrammetry involves the multi-medium environment during the imaging. Accordingly, refraction effect plays an important role in the object-to-image correspondence of flat-refractive imaging system. In order to employ the appropriate specification of the camera system, and support a better implementation when carrying out underwater photogrammetry using flat-refractive imaging system, this study focuses on the positioning quality in object space caused by influential factors through the actual imaging path. Moreover, clarifying the sensitivity of parameters in the object-to-image correspondence, as well as exploring the flexibility of different intersection geometry and multi-view configurations, is also one of the research objectives. The parameters related to flat-refractive imaging system discussed in this research include glass thickness, glass distance, glass interface tilt, and refractive index of air, glass, and water.
Analysis of single ray and two rays are used in the simulated experiments. For the quality assessment of single-ray analysis, the empirical accuracy which is calculated from the projection distance from the object point to the ray traced into the water resulting from erroneous parameters and theoretical precision which is calculated by error propagation are analyzed. As for the quality assessment of two-ray analysis, intersection computation of conjugate imaging rays with refraction correction based on generalized least-squares adjustment is conducted to support the quality assessment for both theoretical precision and empirical accuracy. Subsequently, actual experiments are carried out to validate the feasibility and effectiveness of the object-to-image correspondence, and ascertain the consistency of quality between actual experiments and simulated experiments. Additionally, the analyses involving different intersection angles and multi-view are incorporated in both simulated and actual experiments to highlight the flexible camera geometry of flat-refractive imaging system. | en |
dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-06-03T16:06:26Z No. of bitstreams: 0 | en |
dc.description.provenance | Made available in DSpace on 2024-06-03T16:06:26Z (GMT). No. of bitstreams: 0 | en |
dc.description.tableofcontents | 誌謝 i
摘要 ii ABSTRACT iii 目次 iv 圖次 vii 表次 x 第一章 緒論 1 1.1 研究背景 1 1.2 研究動機與目的 2 1.2.1 名詞定義與影響因子 2 1.3 研究方法與流程 4 1.4 論文架構 5 第二章 文獻回顧 7 2.1 具平玻璃介面成像系統之影響因子及折射效應因應策略 7 2.2 具平玻璃介面成像系統之參數值及其誤差 10 2.2.1 平玻璃介面相關之參數值及其誤差 10 2.2.2 內外方位參數誤差與水下拍攝物距 12 2.3 小結 13 第三章 研究方法 14 3.1 具平玻璃介面成像系統之物像對應幾何 14 3.2 單獨因子特性之定性分析 18 3.2.1 定性分析所用之物空間坐標系定義 18 3.2.2 光線入射角大小之影響 18 3.2.3 玻璃厚度以及玻璃距離之影響 19 3.3 單像物空間定位品質分析 20 3.3.1 實際精度(Empirical accuracy)分析 20 3.3.2 理論精度(Theoretical precision)分析 21 3.4 雙像物空間定位品質分析 21 3.4.1 多介質前方交會 21 3.4.2 實際精度分析 23 3.4.3 理論精度分析 23 3.5 單像物空間定位誤差定性分析 24 3.5.1 玻璃厚度以及玻璃距離對物空間定位之影響 24 3.5.2 傾角率定誤差對物空間定位之影響 24 3.6 雙像物空間定位誤差定性分析 25 3.7 資料處理之平差方法 25 3.7.1 前方交會平差 25 3.7.2 全測站多站觀測及距離約制之控制點與檢核點坐標平差 27 3.7.3 玻璃介面附加參數光束法平差 29 第四章 模擬實驗成果分析與討論 31 4.1 模擬實驗配置介紹 32 4.1.1 物點真值佈設 32 4.1.2 單像分析之相機及影響因子參數 33 4.1.3 雙像分析之相機及影響因子參數 34 4.1.4 參數品質說明 35 4.2 地真資料獲取 36 4.3 單像分析 36 4.3.1 折射位移 36 4.3.2 物像對應重要性 37 4.3.3 單獨因子誤差所致定位誤差分析 39 4.3.4 聯合因子誤差所致定位誤差分析 41 4.4 雙像分析 43 4.4.1 折射位移 43 4.4.2 物像對應重要性 44 4.4.3 單獨因子誤差所致定位誤差分析 46 4.4.4 聯合因子誤差所致定位誤差分析 48 4.4.5 參數變化對定位誤差之影響 51 4.4.6 交會幾何改變對定位誤差之影響 52 4.4.7 多視角對定位誤差之影響 53 第五章 實際實驗成果分析與討論 56 5.1 實驗場景布設、控制點與檢核點量測及其資料處理 58 5.2 施作相機一:GoPro Hero Black 7 65 5.2.1 實驗設備及相機內方位參數率定 65 5.2.2 外方位參數及玻璃介面相關參數解算 68 5.2.3 不同交會幾何於水下物點定位之成果 77 5.2.4 控制點數量及分布對水下物點定位品質之影響 81 5.2.5 玻璃介面相關參數解算品質對水下物點定位之影響 83 5.2.6 多視角於水下物點定位之成果 84 5.3 施作相機二:Sony RX100M7 89 5.3.1 實驗設備及相機內方位參數率定 89 5.3.2 外方位參數及玻璃介面相關參數解算 93 5.3.3 不同交會幾何於水下物點定位之成果 100 5.3.4 控制點數量及分布對水下物點定位品質之影響 104 5.3.5 玻璃介面相關參數解算品質對水下物點定位之影響 106 5.3.6 多視角於水下物點定位之成果 107 第六章 結論與建議 112 6.1 結論 112 6.2 建議 113 參考文獻 115 | - |
dc.language.iso | zh_TW | - |
dc.title | 具平玻璃介面成像系統水下物像對應及物點定位品質分析 | zh_TW |
dc.title | Analysis of Underwater Object-to-Image Correspondence and Object Point Positioning Quality by Using Flat-Refractive Imaging System | en |
dc.type | Thesis | - |
dc.date.schoolyear | 112-2 | - |
dc.description.degree | 碩士 | - |
dc.contributor.oralexamcommittee | 邱式鴻;蔡展榮;莊子毅 | zh_TW |
dc.contributor.oralexamcommittee | Shih-Hong Chio;Jaan-Rong Tsay;Tzu-Yi Chuang | en |
dc.subject.keyword | 水下攝影測量,具平玻璃介面成像系統,多介質,定位誤差,交會幾何,多視角, | zh_TW |
dc.subject.keyword | Underwater photogrammetry,Flat-refractive imaging system,Multi-media,Positioning error,Intersection geometry,Multi-view, | en |
dc.relation.page | 117 | - |
dc.identifier.doi | 10.6342/NTU202400529 | - |
dc.rights.note | 同意授權(限校園內公開) | - |
dc.date.accepted | 2024-05-27 | - |
dc.contributor.author-college | 工學院 | - |
dc.contributor.author-dept | 土木工程學系 | - |
顯示於系所單位: | 土木工程學系 |
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