期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2004
卷号：XXXV Part B3
页码：19-24
出版社：Copernicus Publications
摘要：In this paper we investigate the estimation of pose of images provided by a rigid stereo rig on a mobile mapping system called STERE- OPOLIS developped at IGN in the ARCHI project of the MATIS laboratory. In this system the terrestrial photographies are a georef- erencing device. We use the images as a verticality measurement device by finding the vertical and horizontal vanishing points of both images of the stereo rig at the same time wich improves robustness and accuracy of the estimation. We also use our stereo baseline as a photogrammetric range measurement provided by dene stereo matching. The relative sensor pose estimation between successive acquisitions (t) and (t+dt) of the system can thus be seen as the problem of finding the rigid transformation between the two set of clouds. We achieve this by extracting and matching 3D planes by FFT correlation on corresponding facade orthoimages. The matching of tie points and segments between images at (t) and (t+dt) is due to the reduction of the search space space given by the surface models and the relative pose estimated by our 3D plane matching process
