Robust semi-calibrating down-looking image epipolar rectification method and system

Abstract

The present invention discloses a robust semi-calibrating down-looking image epipolar rectification method and system. The robust semi-calibrating bottom view image epipolar rectification method comprise the following steps: S1, obtaining an image shot by a down-looking camera of an unmanned aerial vehicle at each imaging moment, an intrinsic parameter matrix of the camera, and attitude parameters provided by an inertial navigation system of the unmanned aerial vehicle, and constructing a virtual imaging environment in parallel with a ground level; S2, respectively extracting feature points from the images at different imaging moments, constructing an initial feature point corresponding set, obtaining a feature point corresponding set after transformation according to the initial feature point corresponding set; S3, constructing a probability expression model, calculating an included angle between the course of the unmanned aerial vehicle and the true north direction; and S4, calculating a homograph matrix, and performing epipolar rectification for the image at each imaging moment according to the homograph matrix. The robust semi-calibrating down-looking image epipolar rectification method can quickly achieve rectification, and can obtain high-precision rectified image, thus the robust semi-calibrating down-looking image epipolar rectification method has important guiding significance in the application fields such as unmanned aerial vehicle auxiliary navigation.

Description

technical field [0001] The invention relates to the cross field of computer vision and remote sensing technology, in particular to a method and system for robust half-scaled downward image epipolar correction. Background technique [0002] In recent years, unmanned aerial vehicles (UnmannedAerialVehicles, UAV) are more and more widely used in military and civilian fields. Airborne cameras are passive sensors that use natural information such as visible light or infrared rays to meet the autonomous navigation needs of unmanned aerial vehicles such as speed measurement, height measurement, positioning, attitude determination, and map creation. Airborne optical imaging platforms in the context of unmanned aerial vehicles can be divided into forward-looking, down-looking, and side-looking according to their placement positions. The present invention is mainly aimed at the airborne down-view optical imaging platform, which perceives the three-dimensional information of the scene...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to aim at the inaccurate defect of the image epipolar line correction method in the case of semi-calibration in the prior art, and to provide a method that can complete different corrections when some parameters are unknown in the imaging process of the unmanned aerial vehicle’s airborne camera. Robust half-scaled down-view image epipolar correction method and system for epipolar correction between time images

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