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A fast splicing method of aerial video images without ghosting in horizontal stripes

A horizontal strip and fast splicing technology, which is applied in image enhancement, image analysis, graphic image conversion, etc., can solve the problems of spectral information aliasing, classification and inversion of remote sensing images, and avoid spectral aliasing and ghosts. Effects that increase the processing speed

Active Publication Date: 2018-11-02
CAPITAL NORMAL UNIVERSITY
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Problems solved by technology

The existence of ghosts makes the spectral information of remote sensing images aliased, which makes it difficult for subsequent classification and inversion

Method used

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  • A fast splicing method of aerial video images without ghosting in horizontal stripes
  • A fast splicing method of aerial video images without ghosting in horizontal stripes
  • A fast splicing method of aerial video images without ghosting in horizontal stripes

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Embodiment Construction

[0019] Step 1: Orthorectification

[0020] The present invention needs to use the IMU to correct the aerial image into an orthophoto image before image stitching. The calibration process and formula derivation are as follows.

[0021] There is a point W in three-dimensional space, and its coordinates are W=[X W Y W Z W ], whose homogeneous coordinates are of the form [W 1] T . v=[x y-f] T Indicates the coordinates of the point in the image space coordinate system. According to the principle of pinhole imaging, the relationship between W and v can be expressed as Formula 1:

[0022]

[0023] K, R and t are a 3×3 camera calibration matrix, a 3×3 three-dimensional world space coordinate system and a rotation matrix in the image space coordinate system, and a 3×1 translation vector, respectively. When the origin of the world coordinate system coincides with the origin of the camera coordinate system, t is a zero vector, and formula 1 can be written as formula 2:

[0...

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Abstract

The invention provides a no-ghosting lateral stripe fast splicing method of aerial video images. The method comprises orthorectification, image registration, and image splicing. In the orthorectification, the real-time attitude angle data provided by an inertial measurement unit (IMU) is used to carry out orthorectification of each frame of image. In the image registration, a phase related method is used to calculate the translation relation between two frames of orthographic images. In the image splicing, with one frame of orthographic image as a reference, the translation relationship between each frame of orthographic image and the frame of orthographic image is calculated. In the image splicing, a part of stripes which should participate in splicing of each frame of image is estimated, the stripes are fused together, and a global image is formed. According to the method, GPS position data and elevation data are not needed, the detection of an image characteristic point is not needed, the processing speed is fast, and outfield data quality inspection and emergency response needs are satisfied. In addition, only a narrow stripe in each frame of corrected orthographic image is used, a redundant part which causes ghosting is rejected, and a ghosting phenomenon is avoided.

Description

technical field [0001] The invention relates to the fields of photogrammetry, remote sensing, and computer vision, and in particular provides a ghost-free horizontal strip-type fast splicing method for aerial video images. Background technique [0002] Fast image stitching has always been a key problem to be solved in remote sensing of unmanned aerial vehicles. Traditional photogrammetry techniques are too strict and unsuitable for image stitching based on unmanned aerial vehicles. Although there are some commercial softwares that can stitch multiple frames of images together, these commercial softwares have too many restrictions, the degree of automation is not high, and when there are too many images, they cannot be stitched together. In particular, ghost images often exist in the transition region of the spliced ​​images (collectively referred to as ghost images in the present invention). The existence of ghosts makes the spectral information of remote sensing images al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T3/40G06T5/50G06T5/00
CPCG06T3/4038G06T5/00G06T5/50G06T2207/10032
Inventor 张爱武李含伦
Owner CAPITAL NORMAL UNIVERSITY
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