UAV Image Synthesis Using Marker Panel Feature Correction
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Solution Overview
Problem
Unmanned aerial vehicles (UAVs) equipped with multiple cameras face challenges in synthesizing high-quality panoramic video images due to feature points moving in and out of the image frame, leading to inaccurate correspondence and reduced image synthesis accuracy, especially when natural feature points do not exist on the same plane.
Innovation Solution
An image processing method and device that acquire and correct feature point groups using state information from cameras and the UAV, calculate transformation parameters for projective transformation, and synthesize frame images to correct distortions, allowing for accurate panoramic video image generation even when feature points move or disappear.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If natural feature points are used for projective transformation, then the system is simple and does not interfere with shooting, but the accuracy of feature point correspondence decreases when feature points move in and out of the image frame
Solution Approach 1:
The patent introduces an intermediary device: a marker panel with artificial feature points (markers). This marker panel serves as a mediator between the cameras and the scene being photographed, providing stable, detectable feature points that do not move in and out of the image frame. The markers on the marker panel act as a controlled intermediary that ensures consistent feature point correspondence across multiple cameras while maintaining projective transformation accuracy.
2Measurement precision
If a marker panel is installed for calibration, then the accuracy of synthesis on the plane is improved, but the marker panel interferes with shooting
Solution Approach 1:
The patent extracts the calibration function from the shooting process itself. Instead of relying on natural feature points in the scene during normal shooting, the system uses a separate marker panel specifically for calibration and feature point correspondence. This separation allows the marker panel to serve its calibration purpose without being part of the actual shooting content, minimizing interference with the primary shooting function.
3Adaptability or versatility
If the UAV moves to shoot in various locations, then the versatility and ease of shooting is improved, but the feature points move on the image making correspondence detection difficult
Solution Approach 1:
The patent segments the feature points into two categories: artificial markers on a stationary marker panel and natural feature points in the moving scene. By using the stationary markers as reference points and separating them from the moving scene content, the system maintains accurate correspondence detection even when the UAV moves to various locations. The marker panel remains stationary while the UAV and scene move independently.
Data Source
AI summary
An image processing method includes: acquiring first and second frame images shot by cameras; acquiring first state information of an unmanned aerial vehicle and second and third state information of the cameras; extracting feature point groups from the first and second frame images; calculating correction values based on the state information at the first time and state information at a second time; outputting the extracted feature point groups as corrected feature point groups at the first at a predetermined timing, and correcting feature point groups at the second time as the corrected feature point groups at the first time at a timing other than the predetermined timing; calculating a transformation parameter using the corrected feature point groups; performing projective transformation of the first and second frame images based on the transformation parameter; and synthesizing the first and second frame images after the projective transformation.