无人机低空遥感数字影像自动拼接与快速定位技术研究
|
摘要
当前,无人机低空遥感在很多领域有着越来越广泛的应用。本文利用固定翼无人机平台获取的遥感数据,研究低空遥感数字影像自动拼接与快速定位处理的技术方法。重点探讨了基于SFM(Structure From Motion)的数字影像自动拼接和低空遥感数字影像与移动道路测量系统相结合的快速空中三角测量。完成的主要工作和取得的成果如下:
1、阐述了论文研究的背景和意义以及无人机低空遥感数据获取与处理的国内外研究现状。
2、介绍了四种常用的兴趣点算子和两种局部不变性特征提取方法,针对无人机低空遥感数字影像的特点和实际应用需求,依据探测速度、适应性和提取效能三个评价准则,通过实验检验并评价了常用兴趣点算子和局部不变性特征在低空遥感数字影像中的应用性能。
3、研究了低空遥感数字影像纹理增强预处理和小波去噪的方法及对影像特征点提取与匹配的影响,提出了一种基于SFM(Structure From Motion)的低空遥感数字影像自动生成“正射影像”与拼接的方法。实验证明该方法处理流程自动化,影像拼接效果好。
4、研究了将无人机低空遥感系统和移动道路测量系统相结合的快速定位方法和作业流程。该方法缩短了摄影测量作业周期,提高了作业效率。
5、简要介绍了无人机低空遥感影像数据的处理流程,研制了一套专门针对无人机低空遥感影像的数据处理系统。
Currently, low altitude remote sensing with unmanned aerial vehicles (UAV) plays a more and more important role in many realms. In this article, we researched in the auto mosaic and fast positioning techniques of low altitude remote sensing digital images by using the remote sensing data from the fixed-wing unmanned aerial vehicle platform, focused on the discussion of full-automatic digital images mosaic on the basis of SFM (Structure From Motion) and the fast aerial triangulation which combines low altitude remote sensing digital images with mobile road survey. Our mainly work and achievement are as follows:
1. Described the background and significance of this article and also the research status between domestic and aboard in the obtaining and processing of unmanned aerial vehicle remote sensing data.
2. Introduced four types of common used interest points operators and two types of local invariant feature extraction methods .Based on three evaluate criteria in the aim of practical need of application and the characteristic of the low altitude unmanned aerial vehicle remote sensing: detection speed、adaptability、extraction efficiency, testified the application performance in the low altitude remote sensing images of these operators and local invariant features.
3. Researched on the methods of texture enhancement pre-processing and wavelet denoising for low altitude remote sensing digital images and the influence of it for feature point extraction and matching. Proposed a full-automatic method to generate orthoimage and mosaic from low altitude remote sensing digital images on the basis of SFM. Experiment proved the method has automatic process and the effect of mosaic is well.
4. Researched on the fast positioning method and working process by combining unmanned aerial vehicle low altitude remote sensing system with mobile road surveying system which shortened the period of photogrammetric work and improved efficiency.
5. A brief introduction of the process of using low-altitude UAV remote sensing image data. Developed a data processing systems specialized in low-altitude UAV remote sensing.
1、阐述了论文研究的背景和意义以及无人机低空遥感数据获取与处理的国内外研究现状。
2、介绍了四种常用的兴趣点算子和两种局部不变性特征提取方法,针对无人机低空遥感数字影像的特点和实际应用需求,依据探测速度、适应性和提取效能三个评价准则,通过实验检验并评价了常用兴趣点算子和局部不变性特征在低空遥感数字影像中的应用性能。
3、研究了低空遥感数字影像纹理增强预处理和小波去噪的方法及对影像特征点提取与匹配的影响,提出了一种基于SFM(Structure From Motion)的低空遥感数字影像自动生成“正射影像”与拼接的方法。实验证明该方法处理流程自动化,影像拼接效果好。
4、研究了将无人机低空遥感系统和移动道路测量系统相结合的快速定位方法和作业流程。该方法缩短了摄影测量作业周期,提高了作业效率。
5、简要介绍了无人机低空遥感影像数据的处理流程,研制了一套专门针对无人机低空遥感影像的数据处理系统。
Currently, low altitude remote sensing with unmanned aerial vehicles (UAV) plays a more and more important role in many realms. In this article, we researched in the auto mosaic and fast positioning techniques of low altitude remote sensing digital images by using the remote sensing data from the fixed-wing unmanned aerial vehicle platform, focused on the discussion of full-automatic digital images mosaic on the basis of SFM (Structure From Motion) and the fast aerial triangulation which combines low altitude remote sensing digital images with mobile road survey. Our mainly work and achievement are as follows:
1. Described the background and significance of this article and also the research status between domestic and aboard in the obtaining and processing of unmanned aerial vehicle remote sensing data.
2. Introduced four types of common used interest points operators and two types of local invariant feature extraction methods .Based on three evaluate criteria in the aim of practical need of application and the characteristic of the low altitude unmanned aerial vehicle remote sensing: detection speed、adaptability、extraction efficiency, testified the application performance in the low altitude remote sensing images of these operators and local invariant features.
3. Researched on the methods of texture enhancement pre-processing and wavelet denoising for low altitude remote sensing digital images and the influence of it for feature point extraction and matching. Proposed a full-automatic method to generate orthoimage and mosaic from low altitude remote sensing digital images on the basis of SFM. Experiment proved the method has automatic process and the effect of mosaic is well.
4. Researched on the fast positioning method and working process by combining unmanned aerial vehicle low altitude remote sensing system with mobile road surveying system which shortened the period of photogrammetric work and improved efficiency.
5. A brief introduction of the process of using low-altitude UAV remote sensing image data. Developed a data processing systems specialized in low-altitude UAV remote sensing.
引文
[1]朱述龙,张占睦.遥感图像获取与分析[M].北京:科学出版社,2000:33-34.
[2]刘先林.测绘学院学术报告[R].郑州:解放军测绘学院,2006-5:
[3]无人机应用.URL:http://vvxz.com/122.html,2011-3-20.
[4] Jonathan Fentzke,Joseph O’Day,John Priestly.UAV TESTBED FOR REMOTE SENSING APPLICATIONS[C].Multi-Disciplinary Engineering Design Conference 2005.
[5] G. J. Grenzd?rffer,A. Engelb,B. Teichertc.2008.THE PHOTOGRAMMETRIC POTENTIAL OF LOW-COST UAVs IN FORESTRY AND AGRICULTURE[A].In:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Vol. XXXVII. Part B1[C].Beijing,2008:1207-1213.
[6]马轮基,马瑞升等.微型无人机遥感应用初探[J].广西气象,2005,26(1):180-181.
[7] J. Everaerts.THE USE OF UNMANNED AERIAL VEHICLES (UAVS) FOR REMOTE SENSING AND MAPPING[A].In:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Vol. XXXVII. Part B1[C].Beijing,2008.
[8] LIN Zongjian.UAV FOR MAPPING—LOW ALTITUDE PHOTOGRAMMETRIC SURVEY[A].In:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Vol. XXXVII. Part B1[C].Beijing,2008:1183-1186
[9]吴云东,张强,王慧.无人直升机低空数字摄影与影像测量技术[J].测绘科学技术学报,2007,24(5):328-331.
[10]彭晓东,林宗坚.无人飞艇低空航测系统[J].测绘科学,2009,34(4):11-14,20.
[11]王慧,吴云东,梁红.数字航测相机系统研究现状[J].测绘科学技术学报,2007,24(3):171-174.
[12]龚建华,赵忠明.四川汶川地震应急无人机遥感信息获取与应用[J].城市发展研究,2008,l5(3):31-32.
[13]程维明,龚循平等.摄影测量与遥感在中国[M].北京:测绘出版社,2008:14-15.
[14] Albert Rango,Andrea Laliberte,Jeffrey E. Herrick,Craig Winters,Kris Havstad.Development of an Operational UAV / Remote Sensing Capability for Rangeland Management[C].23rd International UAV Systems Conference– 2008.
[15]王聪华.无人飞行器低空遥感影像数据处理方法[D].青岛:山东科技大学,2006:
[16]张永军,无人驾驶飞艇低空遥感影像的几何处理[J].武汉大学学报·信息科学版,2009,34(3):284-288.
[17]竹林村,胡开全.几种低空遥感系统对比分析[J].城市勘测,2009,(3):65-66.
[18]方勇,常本义.基于多源遥感数据融合的SAR影像地图制作的研究[J].测绘学院学报,2000,20(1):8-12.
[19]张祖勋,张剑清.数字摄影测量学[M].武汉:武汉测绘科技大学出版社,1996:120-140.
[20]徐青,张艳等.遥感影像融合与分辨率增强技术[M].北京:科学出版社,2007:43-67.
[21]王慧,吴云东,张永生.分通道影像配准误差分析[J].测绘科学技术学报,2006,23(4):258-260,264.
[22] Schmid C,Mohr R,Bauckhage C.Evaluation of Interest Point Detectors[J].Int. Journal of Computer Vision,2000,37(2):151-172.
[23] S M Smith,J M Brady.SUSAN—A New Approach to Low Level Image Processing[J].UK,Oxford University,1995.
[24] C G Harris,M J Stephens.A Combined Corner and Edge Detector[A].Proceedings Fourth Alvey Vision Conference,Manchester,1988:147-151.
[25] Tony Lindeberg.Feature detection with automatic scale selection[J].IJCV,1998,30(2):79–116
[26] Krystian Mikolajczyk,Cordelia Schmid.Indexing based on scale invariant interest points[A].In:ICCV,Volume 1[C].2001:525–531.
[27] D G Lowe.Object Recognition from local scale-Invariant Features[A].7th International conference on Computer Vision[C].1999:1150-1157.
[28] D G Lowe.Distinctive Image Feature form Scale-invariant Keypoints[J].International Journal of Computer Vision,2004,60(2):91-110.
[29]李二森,张保明等.SIFT特征匹配技术在自动相对定向中的应用[J].测绘科学,2008,33(5):16-18.
[30]李二森.基于遥感影像的人工地物高度信息快速提取技术研究[D].郑州:信息工程大学,2008:
[31] H. Bay,T. Tuytelaars,L. Van Gool.SURF:Speeded up robust features[A].In:European Conference on Computer Vision[C].2006,1:404–417.
[32] Koenderink J.J, A.J van Doorn.The internal representation of solid shape with respect to vision[J].Biological Cybernetics,1979,32:211-216.
[33] Lindeberg T.Scale-space Theory in Computer Vision[M].The Kluwer International Series in Engineering and Computer Science,Kluwer Academy Publishers,Dordrecht,Netherlands,1994:
[34]王娟.影像拼接技术研究[D].西安:陕西师范大学,2008:
[35]张力,张祖勋,张剑清.Wallis滤波在影像匹配中的应用[J].武汉测绘科技大学学报,1999,24(1):24-27,35.
[36]赵春江.数字图像处理算法典型实例[M].北京:人民邮电出版社,2009:151-153.
[37]江延川.解析空中三角测量[M].郑州:解放军测绘学院,1995:156-159.
[38] M. Brown,D. G. Lowe.Unsupervised 3D object recognition and reconstruction in unordered datasets[A].In:Proceedings of the international conference on 3D digital imaging and modeling[C].2005: 56–63.
[39] M. Lourakis,A. Argyros.The Design and Implementation of a Generic Sparse Bundle Adjustment Software Package based on the LM Algorithm.FORTH-ICS Technical Report,TR-340,2004.
[40]徐德,谭明,李原.机器人视觉测量与控制[M].北京:国防工业出版社,2008:39-43.
[41] F. Dellaert,S. Seitz,C. Thorpe,Thrun.Structure from Motion without Correspondence[J].IEEE Computer Society Conference on Computer Vision and Pattern Recognition,2000:
[42]黄杏元,马劲松等.地理信息系统概念[M].北京:高等教育出版社,2001:141-142.
[43]张皓,张永生,刘军等.一种基于平面拟合的LIDAR点云滤波方法[J].测绘科学,2009,34(4):141-143.
[44]吴焕萍,潘懋,胡金星等.规则格网DTM快速构建算法研究[J].计算机应用研究,2004,21(6):26-28.
[45]朱述龙,钱曾波.遥感影像镶嵌时拼接缝的消除方法[J].遥感学报,2002,6(3):183-186.
[46]李德仁.论可量测实景影像的概念与应用——从4D产品到5D产品[J].测绘科学,2002,32(4):5-7.
[47]李德仁.移动测量技术及其应用[J].地理空间信息,2006,4 (4):1-5.
[48]李德仁,郭晟,胡庆武.基于3S集成技术的LD2000系列移动道路测量系统及其应用[J].测绘学报,2008,37(3):272-276.
[49]单杰.摄影测量与非摄影测量观测值的联合平差[M].北京:测绘出版社,1993:126-127.
[50]国家技术监督局.1:5000、1:10000地形图航空摄影像测量内业规范[S].北京:中国标准出版社,1993.
[51]国家测绘局.低空数字航空摄影测量内业规范[S].北京:国家测绘局,2010.
[2]刘先林.测绘学院学术报告[R].郑州:解放军测绘学院,2006-5:
[3]无人机应用.URL:http://vvxz.com/122.html,2011-3-20.
[4] Jonathan Fentzke,Joseph O’Day,John Priestly.UAV TESTBED FOR REMOTE SENSING APPLICATIONS[C].Multi-Disciplinary Engineering Design Conference 2005.
[5] G. J. Grenzd?rffer,A. Engelb,B. Teichertc.2008.THE PHOTOGRAMMETRIC POTENTIAL OF LOW-COST UAVs IN FORESTRY AND AGRICULTURE[A].In:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Vol. XXXVII. Part B1[C].Beijing,2008:1207-1213.
[6]马轮基,马瑞升等.微型无人机遥感应用初探[J].广西气象,2005,26(1):180-181.
[7] J. Everaerts.THE USE OF UNMANNED AERIAL VEHICLES (UAVS) FOR REMOTE SENSING AND MAPPING[A].In:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Vol. XXXVII. Part B1[C].Beijing,2008.
[8] LIN Zongjian.UAV FOR MAPPING—LOW ALTITUDE PHOTOGRAMMETRIC SURVEY[A].In:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,Vol. XXXVII. Part B1[C].Beijing,2008:1183-1186
[9]吴云东,张强,王慧.无人直升机低空数字摄影与影像测量技术[J].测绘科学技术学报,2007,24(5):328-331.
[10]彭晓东,林宗坚.无人飞艇低空航测系统[J].测绘科学,2009,34(4):11-14,20.
[11]王慧,吴云东,梁红.数字航测相机系统研究现状[J].测绘科学技术学报,2007,24(3):171-174.
[12]龚建华,赵忠明.四川汶川地震应急无人机遥感信息获取与应用[J].城市发展研究,2008,l5(3):31-32.
[13]程维明,龚循平等.摄影测量与遥感在中国[M].北京:测绘出版社,2008:14-15.
[14] Albert Rango,Andrea Laliberte,Jeffrey E. Herrick,Craig Winters,Kris Havstad.Development of an Operational UAV / Remote Sensing Capability for Rangeland Management[C].23rd International UAV Systems Conference– 2008.
[15]王聪华.无人飞行器低空遥感影像数据处理方法[D].青岛:山东科技大学,2006:
[16]张永军,无人驾驶飞艇低空遥感影像的几何处理[J].武汉大学学报·信息科学版,2009,34(3):284-288.
[17]竹林村,胡开全.几种低空遥感系统对比分析[J].城市勘测,2009,(3):65-66.
[18]方勇,常本义.基于多源遥感数据融合的SAR影像地图制作的研究[J].测绘学院学报,2000,20(1):8-12.
[19]张祖勋,张剑清.数字摄影测量学[M].武汉:武汉测绘科技大学出版社,1996:120-140.
[20]徐青,张艳等.遥感影像融合与分辨率增强技术[M].北京:科学出版社,2007:43-67.
[21]王慧,吴云东,张永生.分通道影像配准误差分析[J].测绘科学技术学报,2006,23(4):258-260,264.
[22] Schmid C,Mohr R,Bauckhage C.Evaluation of Interest Point Detectors[J].Int. Journal of Computer Vision,2000,37(2):151-172.
[23] S M Smith,J M Brady.SUSAN—A New Approach to Low Level Image Processing[J].UK,Oxford University,1995.
[24] C G Harris,M J Stephens.A Combined Corner and Edge Detector[A].Proceedings Fourth Alvey Vision Conference,Manchester,1988:147-151.
[25] Tony Lindeberg.Feature detection with automatic scale selection[J].IJCV,1998,30(2):79–116
[26] Krystian Mikolajczyk,Cordelia Schmid.Indexing based on scale invariant interest points[A].In:ICCV,Volume 1[C].2001:525–531.
[27] D G Lowe.Object Recognition from local scale-Invariant Features[A].7th International conference on Computer Vision[C].1999:1150-1157.
[28] D G Lowe.Distinctive Image Feature form Scale-invariant Keypoints[J].International Journal of Computer Vision,2004,60(2):91-110.
[29]李二森,张保明等.SIFT特征匹配技术在自动相对定向中的应用[J].测绘科学,2008,33(5):16-18.
[30]李二森.基于遥感影像的人工地物高度信息快速提取技术研究[D].郑州:信息工程大学,2008:
[31] H. Bay,T. Tuytelaars,L. Van Gool.SURF:Speeded up robust features[A].In:European Conference on Computer Vision[C].2006,1:404–417.
[32] Koenderink J.J, A.J van Doorn.The internal representation of solid shape with respect to vision[J].Biological Cybernetics,1979,32:211-216.
[33] Lindeberg T.Scale-space Theory in Computer Vision[M].The Kluwer International Series in Engineering and Computer Science,Kluwer Academy Publishers,Dordrecht,Netherlands,1994:
[34]王娟.影像拼接技术研究[D].西安:陕西师范大学,2008:
[35]张力,张祖勋,张剑清.Wallis滤波在影像匹配中的应用[J].武汉测绘科技大学学报,1999,24(1):24-27,35.
[36]赵春江.数字图像处理算法典型实例[M].北京:人民邮电出版社,2009:151-153.
[37]江延川.解析空中三角测量[M].郑州:解放军测绘学院,1995:156-159.
[38] M. Brown,D. G. Lowe.Unsupervised 3D object recognition and reconstruction in unordered datasets[A].In:Proceedings of the international conference on 3D digital imaging and modeling[C].2005: 56–63.
[39] M. Lourakis,A. Argyros.The Design and Implementation of a Generic Sparse Bundle Adjustment Software Package based on the LM Algorithm.FORTH-ICS Technical Report,TR-340,2004.
[40]徐德,谭明,李原.机器人视觉测量与控制[M].北京:国防工业出版社,2008:39-43.
[41] F. Dellaert,S. Seitz,C. Thorpe,Thrun.Structure from Motion without Correspondence[J].IEEE Computer Society Conference on Computer Vision and Pattern Recognition,2000:
[42]黄杏元,马劲松等.地理信息系统概念[M].北京:高等教育出版社,2001:141-142.
[43]张皓,张永生,刘军等.一种基于平面拟合的LIDAR点云滤波方法[J].测绘科学,2009,34(4):141-143.
[44]吴焕萍,潘懋,胡金星等.规则格网DTM快速构建算法研究[J].计算机应用研究,2004,21(6):26-28.
[45]朱述龙,钱曾波.遥感影像镶嵌时拼接缝的消除方法[J].遥感学报,2002,6(3):183-186.
[46]李德仁.论可量测实景影像的概念与应用——从4D产品到5D产品[J].测绘科学,2002,32(4):5-7.
[47]李德仁.移动测量技术及其应用[J].地理空间信息,2006,4 (4):1-5.
[48]李德仁,郭晟,胡庆武.基于3S集成技术的LD2000系列移动道路测量系统及其应用[J].测绘学报,2008,37(3):272-276.
[49]单杰.摄影测量与非摄影测量观测值的联合平差[M].北京:测绘出版社,1993:126-127.
[50]国家技术监督局.1:5000、1:10000地形图航空摄影像测量内业规范[S].北京:中国标准出版社,1993.
[51]国家测绘局.低空数字航空摄影测量内业规范[S].北京:国家测绘局,2010.