UAV Image Stitching Method Based on Grid Optimization and Global Similarity Constraint

Abstract

The present invention provides a UAV image mosaic method based on grid optimization and global similarity constraints, which specifically includes: using the SIFT feature point extraction algorithm to respectively extract the feature points and corresponding relationships of the reference image I and the target image I′; Grating the reference image and the target image; using the local DLT method to obtain the local homography matrix of the gridded reference image and the target image; using the minimized energy function for grid optimization, so that the gridded target image and reference image Align, eliminate the double image of overlapping area with this, obtain initial mosaic image; Use ground as landmark, adopt global similar coplanar constraint to the preliminary mosaic image to eliminate the projection distortion of non-overlapping part, obtain final mosaic image; Beneficial effect of the present invention Yes: Combined with the characteristics of the images captured by the UAV, it can better match the characteristics of the UAV images, achieve accurate registration, and achieve an ideal stitching effect.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a method for mosaicing UAV images based on grid optimization and global similarity constraints. Background technique [0002] UAVs have the functions of automatic take-off and landing, automatic driving, automatic navigation, automatic fast and accurate positioning, automatic information collection and transmission, etc. It is especially suitable for replacing humans to complete tasks in difficult, harsh or extreme environments. Drones have a wide range of applications in military mapping, aerospace and commerce. However, it is difficult to cover the entire target area due to the limitation of a single view. To obtain a complete scene of the desired target, multiple images need to be stitched together. Image stitching is a technique that combines overlapping areas of multiple images to form a panorama. [0003] For drone images, it has some characteristics. UAVs are small in ...

AI Technical Summary

Problems solved by technology

When the drone shakes slightly, the camera cannot be adjusted in time, and the collected images will definitely be affected

The most important problem is image parallax

Also, there are different depth differences in the image due to the undulations of the ground

When using the above method to stitch UAV images, due to the influence of these characteristics, some ghosting and distortion will occur

Images