A Robust and Fast UAV Photogrammetry Mark Detection and Localization Method

A photogrammetry and mark detection technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of low mark positioning accuracy, low computational efficiency, and high computational complexity, achieve the advantages of detection effectiveness and reliability, overcome the The effect of blurred image and high calculation accuracy

CN111145201BActive Publication Date: 2021-10-08CENT SOUTH UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-10-08

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Abstract

The invention provides a robust and fast UAV photogrammetry mark detection and positioning method. First, the photographic image is enhanced and grayscaled, and then the centroid coordinates of each pair of black connected domains and white connected domains in the image are compared. , when the distance between the two does not exceed the set pixel threshold, the area is considered as a candidate target area and the centroid coordinates of the white connected domain are used as the initial detection coordinates of the candidate logo, and then the zero-crossing detector is used to detect the crossing in the neighborhood of the candidate logo. If and only when the number of zero-crossing points is 4, keep the candidate target, otherwise delete the candidate target, and finally perform polynomial surface fitting on the gray intensity response map of the sign image generated based on the local Radon transform, and iteratively solve the proposed The precise coordinates of the maximum point of the combined surface, that is, the high-precision coordinates of the measurement mark. The invention has strong anti-interference ability, improves calculation efficiency and mark positioning accuracy, and is suitable for processing large-resolution images.
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Description

technical field

[0001] The invention belongs to the technical field of engineering surveying, and in particular relates to a robust and fast method for detecting and locating marks of unmanned aerial vehicle photogrammetry. Background technique

[0002] With the gradual maturity of UAV hardware technology and computer vision algorithms, photogrammetry methods based on UAV platforms have been widely used in the field of engineering surveying. Among them, the use of UAV photogrammetry marks to determine the coordinate reference frame of the photogrammetry 3D model is one of the main research contents of the photogrammetry technology based on the UAV platform, and the research has high accuracy, high precision positioning and no human intervention. The method of automatic detection and positioning of measurement marks is very important for improving the degree of automation and measurement accuracy of photogrammetry technology. However, due to the complex natural environment, ...

Examples

Embodiment Construction

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0054] see figure 1 , a robust and fast UAV photogrammetry mark detection and positioning method, including the following steps:

[0055] Step 1. Set up signs in the measurement area;

[0056] see figure 2 , the background of the measurement mark is white and includes a black circular area and two 90° white fan-shaped areas of the same size set in the black circular area. The centers of the three areas coincide and the two white fan-shaped areas are set at ...