Monocular high-speed videogrammetry method and system based on dynamic platform

A monocular high-speed videogrammetry system based on a dynamic platform, comprising:

• a data-collection module, configured to collect a monocular high-frame-rate image sequence of the dynamic platform and to perform preprocessing on the image sequence;
• an image-block processing module, configured to perform dynamic image-block data processing on the image sequence based on adaptive brightness compensation and LSF to obtain adjusted images, the dynamic image-block data processing sequentially comprising four steps:
• adaptive compensation of target points within image blocks, post-processing with Gaussian blur and adaptive-threshold binarization brightness compensation, LSF-based sub-pixel center localization of target points, and updating the image blocks while acquiring the target point centers of the image sequence;
• a pose-calibration module, configured to perform camera-pose calibration on the adjusted images based on sliding-window constraints to obtain calibrated images, the camera-pose calibration sequentially comprising three steps:
• initial camera-pose estimation using the EPnP algorithm, optimization to minimize the re-projection error, and inter-sequence adjustment within the sliding window;
• and
• a measurement-output module, configured to acquire 3D coordinates and estimated displacements of tracking points from the calibrated images, and to output measurement results based on the 3D coordinates and the estimated displacements.