Fire-fighting unmanned aerial vehicle image fusion method based on visible light and infrared thermal imaging

Abstract

The invention discloses a fire-fighting unmanned aerial vehicle image fusion method based on visible light and infrared thermal imaging. The method comprises the steps: using a visible light camera and an infrared thermal imaging camera of a fire-fighting unmanned aerial vehicle to capture a visible light image and an infrared thermal image respectively; converting the two pictures into an image with the size of 1280 * 720 through a size function in the OpenCV; extracting ROI vertex coordinates in the infrared thermogram and displaying the ROI vertex coordinates in the visible light image by using a red rectangular frame; fusing an image in the edge obtained in the infrared thermogram and an image of a coordinate corresponding to the visible light by using a Laplace pyramid algorithm to obtain fire point information; and after the fire point is detected, calculating the three-dimensional position of the target according to the visual information, and accurately estimating the three-dimensional position information of the fire point under the coordinate system of the fire-fighting unmanned aerial vehicle by calculating the relative height and yaw angle between the unmanned aerial vehicle and the target. The method has the advantages of being simple in structure, convenient to operate and easy to implement.

Description

technical field [0001] The invention relates to the technical field of fire-fighting drones, in particular to an image fusion method for fire-fighting drones based on visible light and infrared thermal imaging. Background technique [0002] With the rapid development of drones in our country, the use of drones in our country in the field of fire protection is becoming more and more extensive, such as fire monitoring, auxiliary fire extinguishing and emergency rescue, etc., especially the use of drones to detect and prevent fires It is a very advantageous way at present, and it will become a future trend for UAVs to replace firefighters to enter dangerous scenes for investigation, but at present, due to the performance difference between existing fire UAVs and general civilian aerial photography UAVs It is not big, and it is only equipped with a visible light camera or an infrared camera, and the firefighters use the naked eye to distinguish the acquired images, without using...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of drones in our country, the use of drones in our country in the field of fire protection is becoming more and more extensive, such as fire monitoring, auxiliary fire extinguishing and emergency rescue, etc., especially the use of drones to detect and prevent fires It is a very advantageous way at present, and it will become a future trend for UAVs to replace firefighters to enter dangerous scenes for investigation, but at present, due to the performance difference between existing fire UAVs and general civilian aerial photography UAVs It is not big, and it is only equipped with a visible light camera or an infrared camera, and the firefighters use the naked eye to distinguish the acquired images, without using the two cameras together and computer vision fusion of the images acquired by the two, resulting in no firefighters The performance of machine-to-fire detection is insufficient, especially because the visible light camera cannot work at night, so the fire-fighting drone does not have the ability to work at night, and the application in the fire-fighting field needs to be further explored

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