Real-time image splicing method for police unmanned aerial vehicle investigation and evidence obtaining
A UAV, image technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problem of not taking into account the difference of the salient features of the image, not having scale invariance, etc., to achieve the effect of improving the matching rate
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[0045] The present invention will be further explained below in conjunction with the drawings and specific embodiments.
[0046] Combine figure 1 First of all, let’s understand what the ORB algorithm is. The ORB algorithm combines the FAST feature point detection method with the BRIEF feature descriptor, and makes improvements and optimizations. The present invention mainly introduces the feature point detection and feature point description of the algorithm. section.
[0047] 1) Feature point detection
[0048] The ORB algorithm uses a Gaussian pyramid structure and calculates its main direction for each feature point, so that the detected feature points have scale invariance and rotation invariance.
[0049] (1) First establish the scale space and construct the image pyramid. Unlike SIFT, there is only one image per layer.
[0050] (2) Calculate the number n of feature points that need to be extracted for each layer according to the formula, use FAST algorithm to detect feature point...
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