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Inclined image matching method and device, computer equipment and readable storage medium

A technology of oblique image and matching method, which is applied in the field of computer vision, can solve the problems of not being able to know the rotation angle of oblique image, low robustness, and low efficiency of oblique image

Pending Publication Date: 2022-05-06
AERIAL PHOTOGRAMMETRY & REMOTE SENSING CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing oblique image matching process, the rotation angle of the oblique image cannot be known, and the relevant oblique images are selected for the matching process. Therefore, the overall oblique image matching has problems of low efficiency and low robustness.

Method used

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  • Inclined image matching method and device, computer equipment and readable storage medium
  • Inclined image matching method and device, computer equipment and readable storage medium
  • Inclined image matching method and device, computer equipment and readable storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0051] figure 1 It is a flow chart of an oblique image matching method provided in Embodiment 1 of the present invention, and the method includes the following steps:

[0052] Step S11: Using the reference image and the camera tilt angle, filter out a plurality of related images intersecting with the reference image from the plurality of oblique images through a preset filtering algorithm.

[0053] In the embodiment of the present invention, oblique image matching is a necessary step in the operation process of drones in the fields of image stitching, high-precision stereoscopic mapping, 3D city model reconstruction, and image retrieval, and it is also a key technology in the field of computer vision. Among them, the above-mentioned UAV includes multiple perspective cameras, such as the following perspective cameras, front perspective cameras, rear perspective cameras, left perspective cameras, and right perspective cameras, etc. Image stitching refers to the splicing of images ...

Embodiment 2

[0066] figure 2 It is a flow chart of screening related images provided by Embodiment 2 of the present invention, including the following steps:

[0067] Step S21: Calculate the outer orientation element of the oblique image according to the tilt angle of the camera and the initial outer orientation element of the down-looking image.

[0068] In the embodiment of the present invention, the above-mentioned outer orientation elements include a straight line element, a heading angle element, a pitch angle element and a roll angle element. The outer orientation elements of the remaining four viewing angles can be calculated according to the camera tilt angle and the initial outer orientation elements of the downward-looking image. Wherein, the remaining four viewing angles include a left viewing angle, a right viewing angle, a front viewing angle and a rear viewing angle.

[0069] Step S22: Calculate the coverage area of ​​the oblique image according to the outer orientation el...

Embodiment 3

[0074] image 3 It is a flow chart for calculating the rotation angle provided by Embodiment 3 of the present invention, including the following steps:

[0075] Step S31: performing a down-sampling process with a preset ratio on the reference image and the related image.

[0076] In the embodiment of the present invention, the preset ratio of the down-sampling process is generally set to be 1000 for the longest side, and then the down-sampling is performed according to the aspect ratio of the original image. Assuming that the width of the image is w and the height is h, the sampling formula is: if w>h, the sampling ratio is If w

[0077] Step S32: After the down-sampling process, use the ASIFT algorithm to extract initial matching feature points from the reference image and the related image.

[0078] In the embodiment of the present invention, when using the ASIFT algorithm to extract matching feature points, the parameter setting of the ASIFT algorithm may be n=5.

[00...

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Abstract

The invention provides an inclined image matching method and device, computer equipment and a readable storage medium, and the method comprises the steps: screening a plurality of related images, which intersect with a reference image, from a plurality of inclined images through a preset screening algorithm by employing the reference image and the inclination angle of a camera; calculating a rotation angle of the related image relative to the reference image through a preset rotation angle algorithm, and performing rotation processing of the rotation angle on the related image; performing preset feature point extraction algorithm processing on the related image after rotation processing to obtain a corresponding related feature point set; matching the related feature point set with a reference feature point set of the reference image to obtain homonymous feature point pairs with the same features; and determining a spatial position relationship between the corresponding related image and the reference image through the homonymous feature point pairs. According to the inclined image matching method, the overall inclined image matching efficiency can be improved, and the inclined image matching robustness is improved.

Description

technical field [0001] The present invention relates to the field of computer vision, in particular to an oblique image matching method, device, computer equipment and readable storage medium. Background technique [0002] Existing drones are generally equipped with a five-lens camera, and the oblique images obtained through the five-lens lens have both affine transformation and rotation angle. However, in the existing oblique image matching process, the rotation angle of the oblique image cannot be known, and relevant oblique images are selected to perform the matching process. Therefore, the overall oblique image matching has problems of low efficiency and low robustness. Contents of the invention [0003] In view of the above problems, the present invention provides an oblique image matching method, device, computer equipment and readable storage medium, so as to improve the efficiency of overall oblique image matching and improve the robustness of oblique image matchin...

Claims

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Application Information

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IPC IPC(8): G06V10/24G06V10/74G06K9/62
CPCG06F18/22
Inventor 梁菲王铮尧
Owner AERIAL PHOTOGRAMMETRY & REMOTE SENSING CO LTD