Orthoimage real-time generation method and device of unmanned aerial vehicle image, medium and equipment
A technology of orthophotos and drones, applied in the field of image processing, can solve the problems of large errors and small calculations, and achieve the effects of small calculations, ensuring real-time performance and accuracy, and reducing errors
Active Publication Date: 2022-05-31
GUANGZHOU URBAN PLANNING & DESIGN SURVEY RES INST
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[0003] The present invention provides a method, device, medium and equipment for real-time generation of orthophoto images of UAV images to solve the problem of large errors in the prior art. The invention can estimate the pose of the UAV camera in real time according to the real-time characteristics of the image, so as to perform real-time image stitching, reduce errors, and have a small amount of calculation
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[0047] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0048] see figure 1 , is a flowchart of a real-time generation method for an orthophoto image of a UAV image provided by an embodiment of the present invention, including:
[0049] S1. Obtain the images collected by the UAV in real time;
[0050] S2. Extract several first feature points of the current frame image and several second feature points of the previous frame image, and perform feature point matching on several first featur...
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The invention discloses an orthoimage real-time generation method and device of an unmanned aerial vehicle image, a medium and equipment. The method comprises the steps of obtaining an image collected by an unmanned aerial vehicle in real time; performing feature point matching on the plurality of first feature points of the current frame image and the plurality of second feature points of the previous frame image to obtain a plurality of mutually matched third feature points; establishing epipolar geometry according to the plurality of third feature points, and calculating initial attitude information of each frame of image under the visual coordinate system; performing loopback detection on each frame of image according to the initial attitude information to obtain each key frame of image; according to the initial attitude information of each key frame image, calculating final attitude information of each key frame image under the visual coordinate system to generate each initial orthoimage; and performing real-time splicing and fusion on each initial orthoimage according to the final attitude information so as to generate an orthoimage of the unmanned aerial vehicle image in real time. According to the embodiment of the invention, the camera attitude of the unmanned aerial vehicle can be estimated in real time, so that real-time image splicing is performed, and errors are reduced.
Description
technical field [0001] The invention relates to the technical field of image processing, and in particular, to a method, device, medium and equipment for real-time generation of orthophoto images of drone images. Background technique [0002] In recent years, due to the characteristics of real-time and low cost, drones have been widely used in various fields, including current urban inspections, disaster prevention and mitigation, and change detection. In the operation of drones, the most important problem is how to reconstruct the scene from the photos taken by the drone and restore the situation of the job site. Among them, the most commonly used algorithm is the SFM (Structure from Motion) algorithm, but the algorithm has a large error. SUMMARY OF THE INVENTION [0003] The present invention provides a method, device, medium and equipment for real-time generation of orthophoto images of UAV images, so as to solve the problem of large errors in the prior art, and the pre...
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IPC IPC(8): G06V20/17G06V10/20G06V10/44
CPCY02T10/40
Inventor 刘洋何华贵王会杨卫军郭亮
Owner GUANGZHOU URBAN PLANNING & DESIGN SURVEY RES INST