单应性矩阵的无人机遥感影像拼接方法
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摘要
针对无人机遥感影像拼接速度较慢的问题,该文利用无人机定位定向系统可获取高精度坐标位置和姿态参数特有的优势,提出一种计算单应性矩阵的无人机遥感影像拼接方法。无人机定位定向系统核心技术通过机载差分全球定位系统和惯性测量单元获得每一张影像对应的坐标和姿态角,根据每张影像的坐标和姿态角计算影像之间的单应性矩阵,完成拼接影像之间的快速配准,按照同样的方法,推导出多张影像之间的单应性矩阵,最后实现多张遥感影像连续拼接成一张全景影像图。通过两组拼接方法对8张无人机遥感影像拼接进行比较,实验结果证明,该方法是快速有效的。
Aiming at the problem of slow speed of unmanned aerial vehicle(UAV)remote sensing image mosaic and of obtaining high-precision coordinate position and euler angle parameter by using the advantage of the UAV position and orientation system(POS)system,a method of UAV remote sensing image mosaic based on homography matrix was proposed.The core technology of POS system is that obtain the coordinates and the euler angles of each image by airborne differential global positioning system(DGPS)and inertial measurement unit(IMU),the homography matrix was calculated from the coordinates and euler angles of each image,which completed a fast registration between the mosaic images.According to the same method,the homography matrix of multiple images were deduced.Finally,the multiple remote sensing images could be stitched to be a panorama.Through stitching method of two groups for eight images mosaic contrast test,the experimental results proved that this method was fast and effective.
Aiming at the problem of slow speed of unmanned aerial vehicle(UAV)remote sensing image mosaic and of obtaining high-precision coordinate position and euler angle parameter by using the advantage of the UAV position and orientation system(POS)system,a method of UAV remote sensing image mosaic based on homography matrix was proposed.The core technology of POS system is that obtain the coordinates and the euler angles of each image by airborne differential global positioning system(DGPS)and inertial measurement unit(IMU),the homography matrix was calculated from the coordinates and euler angles of each image,which completed a fast registration between the mosaic images.According to the same method,the homography matrix of multiple images were deduced.Finally,the multiple remote sensing images could be stitched to be a panorama.Through stitching method of two groups for eight images mosaic contrast test,the experimental results proved that this method was fast and effective.
引文
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[2]BROWN M,LOWE D G.Automatic panoramic image stitching using invariant features[J].International Journal of Computer Vision,2007,74(1):59-73.
[3]LOWE D G.Object recognition from local scale-invariant features[J].IEEE International Conference on Computer Vision,1999(2):1150-1157.
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[9]韩文超.基于POS系统的无人机遥感图像拼接技术研究与实现[D].南京:南京大学,2011.(HAN Wenchao.The UAV remote sensing image mosaic research and implements based POS system[D].Nanjing:Nanjing University,2011.)
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[11]唐琎,谷士文,蔡自兴.图象拼接误差的理论分析[J].小型微型计算机系统,2014,24(12):2185-2189.(TANG Jin,GU Shiwen,CAI Zixing.Theoretical analysis on image stitching error[J].Mini-micro Systems,2014,24(12):2185-2189.)
[12]程争刚,张利.一种基于无人机位姿信息的航拍图像拼接方法[J].测绘学报,2016,45(6):698-705.(CHENG Zhenggang,ZHANG Li.An aerial image mosaic method based on UAV position and attitude information[J].Acta Gapeodaetica et Cartographica Sinica,2016,45(6):698-705.)
[13]刘如飞,卢秀山,刘冰,等.一种改进的无人机航摄影像快速拼接方法[J].测绘通报,2014(2):46-49.(LIU Rufei,LU Xiushan,LIU Bing,et al.An improved UAV aerial image quick mosaic method[J].Bulletin of Surveying and Mapping,2014(2):46-49.)
[14]胡同喜,牛雪峰,谭洋,等.基于SURF算法的无人机遥感影像拼接技术[J].测绘通报,2015(1):55-58,74.(HU Tongxi,NIU Xuefeng,TAN Yang,et al.Unmanned aerial vehicle images mosaic based on SURF algorithm[J].Bulletin of Surveying and Mapping,2015(1):55-58,74.)
[15]陈维明,高明顺,陈维南.一种摄像机内外参数的校准方法[J].东南大学学报,1993,23(4):105-108.(CHEN Weiming,GAO Mingshun,CHEN Weinan.A calibration technique for the intrinsic and extrinsic parameters of the camera[J].Journal of Southeast University,1993,23(4):105-108.)
[16]王艳,袁峰.基于合作目标姿态测量的新型摄像机校准方法[J].光学学报,2016,36(11):180-188.(WANG Yan,YUAN Feng.Novel camera calibration method based on cooperative target pose measurement[J].Acta Optica Sinica,2016,36(11):180-188.)
[17]何艳秋,刘波,李永树,等.基于无人机POS数据的地形特征点提取研究[J].测绘,2013,36(6):258-260,264.(HE Yanqiu,LIU Bo,LI Yongshu,et al.Research on abstracting feature points of topographic patterns based on UAV POS data[J].Surveying and Mapping,2013,36(6):258-260,264.)
[2]BROWN M,LOWE D G.Automatic panoramic image stitching using invariant features[J].International Journal of Computer Vision,2007,74(1):59-73.
[3]LOWE D G.Object recognition from local scale-invariant features[J].IEEE International Conference on Computer Vision,1999(2):1150-1157.
[4]HERBERT B,TINNE T,LUC V G.SURF:speeded Up robust features[C]∥9th European Conference on Computer Vision.Graz:[s.n.],2006:404-417.
[5]杨宇博,程承旗.基于分块Harris特征的航拍视频拼接方法[J].北京大学学报(自然科学版),2013,49(4):657-661.(YANG Yubo,CHENG Chengqi.Block harris based mosaic method for aerial video[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2013,49(4):657-661.)
[6]何贝,王贵锦,沈永玲,等.结合地理参数的航拍视频实时拼接算法[J].应用科学学报,2012,30(2):151-157.(HE Bei,WANG Guijin,SHEN Yongling,et al.Real time mosaicking for aerial videos combined with geographical parameters[J].Journal of Applied Sciences,2012,30(2):151-157.)
[7]徐玉华,龚文全,苏昂,等.近似平面场景多视点图像拼接算法[J].国防科技大学学报,2014,36(2):148-155.(XU Yuhua,GONG Wenquan,SU Ang,et al.Multiviewpoint image mosaicing algorithm for roughly planar scenes[J].Journal of National University of Defense Technology,2014,36(2):148-155.)
[8]张铖伟,王彪,徐贵力.摄像机标定方法研究[J].计算机技术与发展,2010,20(11):174-179,183.(ZHANG Chengwei,WANG Biao,XU Guili.A study on classification of camera calibration methods[J].Computer Technology and Development,2010,20(11):174-179,183.)
[9]韩文超.基于POS系统的无人机遥感图像拼接技术研究与实现[D].南京:南京大学,2011.(HAN Wenchao.The UAV remote sensing image mosaic research and implements based POS system[D].Nanjing:Nanjing University,2011.)
[10]吴福朝,胡占义.摄像机自标定的线性理论与算法[J].计算机学报,2001,24(1):1221-1235.(WU Fuchao,HU Zhanyi.A new theory and algorithm of linear camera self calibration[J].Chinese Journal of Computers,2001,24(11):1221-1235.)
[11]唐琎,谷士文,蔡自兴.图象拼接误差的理论分析[J].小型微型计算机系统,2014,24(12):2185-2189.(TANG Jin,GU Shiwen,CAI Zixing.Theoretical analysis on image stitching error[J].Mini-micro Systems,2014,24(12):2185-2189.)
[12]程争刚,张利.一种基于无人机位姿信息的航拍图像拼接方法[J].测绘学报,2016,45(6):698-705.(CHENG Zhenggang,ZHANG Li.An aerial image mosaic method based on UAV position and attitude information[J].Acta Gapeodaetica et Cartographica Sinica,2016,45(6):698-705.)
[13]刘如飞,卢秀山,刘冰,等.一种改进的无人机航摄影像快速拼接方法[J].测绘通报,2014(2):46-49.(LIU Rufei,LU Xiushan,LIU Bing,et al.An improved UAV aerial image quick mosaic method[J].Bulletin of Surveying and Mapping,2014(2):46-49.)
[14]胡同喜,牛雪峰,谭洋,等.基于SURF算法的无人机遥感影像拼接技术[J].测绘通报,2015(1):55-58,74.(HU Tongxi,NIU Xuefeng,TAN Yang,et al.Unmanned aerial vehicle images mosaic based on SURF algorithm[J].Bulletin of Surveying and Mapping,2015(1):55-58,74.)
[15]陈维明,高明顺,陈维南.一种摄像机内外参数的校准方法[J].东南大学学报,1993,23(4):105-108.(CHEN Weiming,GAO Mingshun,CHEN Weinan.A calibration technique for the intrinsic and extrinsic parameters of the camera[J].Journal of Southeast University,1993,23(4):105-108.)
[16]王艳,袁峰.基于合作目标姿态测量的新型摄像机校准方法[J].光学学报,2016,36(11):180-188.(WANG Yan,YUAN Feng.Novel camera calibration method based on cooperative target pose measurement[J].Acta Optica Sinica,2016,36(11):180-188.)
[17]何艳秋,刘波,李永树,等.基于无人机POS数据的地形特征点提取研究[J].测绘,2013,36(6):258-260,264.(HE Yanqiu,LIU Bo,LI Yongshu,et al.Research on abstracting feature points of topographic patterns based on UAV POS data[J].Surveying and Mapping,2013,36(6):258-260,264.)