Panoramic unmanned aerial vehicle image splicing method

Abstract

The invention discloses a panoramic unmanned aerial vehicle image splicing method. The method comprises the steps of image input, image feature extraction, image feature matching, image matching, image splicing and spliced image output. The image input is an image shot by a plurality of unmanned aerial vehicles at the same time, and the image feature extraction utilizes an improved geometric algebra-scale invariant feature conversion algorithm an adaptive threshold algorithm is adopted for image feature matching, and a homography estimation algorithm which is robust through random sampling consistency is adopted for image matching. According to the method, an optimized geometric algebra scale invariant feature conversion algorithm is adopted to realize rapid feature extraction and featurematching; The limitation problems of large calculation amount and high splicing time cost are solved by applying a self-adaptive threshold method through large feature point extraction and splicing work; A random sample consistency method is adopted to estimate image transformation parameters, and a solution with the best consistency with data is determined. According to the image splicing method,the alignment speed of the images is greatly increased, and a satisfactory image splicing result is generated.

Description

technical field [0001] The present invention relates to the technical field of image mosaic, in particular to a panoramic UAV image mosaic method based on improved geometric algebra-scale invariant feature conversion and adaptive threshold algorithm. technical background [0002] Automatic panoramic image stitching has extensive research literature and several commercial applications in areas such as photogrammetry, computer vision, image processing, and computer graphics. As customers' demand for panoramic stitching functions continues to increase in various fields, the application of image stitching technology in modern intelligent aerial image stitching and UAV equipment has attracted more and more attention. [0003] At present, drones are widely used in the military field, and are becoming more and more popular in fields such as modern agricultural monitoring and urban security area monitoring. The latest advances in UAV technology, material science, and control engine...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to provide a panoramic UAV image mosaic method based on improved geometric algebra-scale invariant feature conversion and adaptive threshold algorithm, which can more accurately locate more Many feature points, and finally solve the limitations of large amount of calculation and high cost of stitching time in the process of image stitching

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