一种无人机视频影像快速配准方法
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摘要
针对应急测绘中对无人机视频数据快速获取及处理的需求,提出了一种无人机视频影像快速配准方法。首先采用时间索引和线性/球面插值方法实现视频帧与无人机定位定姿信息的时间同步,根据数字微分纠正算法实现视频帧的地理编码,实现视频帧间的粗略配准,然后控制仿射变换模型中的缩放因子不变对纠正后视频帧的坐标进行调整,完成视频帧间的精配准。试验结果表明该方法能够得到航带内视频帧较好的配准效果。
A fast registration method for unmanned aerial vehicle( UAV) video frames was proposed in the paper,according to the need of rapid acquisition and processing of UAV video data in maritime surveys. Firstly,the time synchronization between the video frames and UAV positions and attitude information was realized using the method of time index and linear/spherical interpolation. Then the rough registration of video frames was obtained after geocoding video frames with digital differential rectification algorithm. Finally,the precise registration was obtained by controlling the zoom factor in affine transformation model to adjust geographic coordinates of the processed frames. The results show that this method is qualified for obtaining precise registration of video frames within route.
A fast registration method for unmanned aerial vehicle( UAV) video frames was proposed in the paper,according to the need of rapid acquisition and processing of UAV video data in maritime surveys. Firstly,the time synchronization between the video frames and UAV positions and attitude information was realized using the method of time index and linear/spherical interpolation. Then the rough registration of video frames was obtained after geocoding video frames with digital differential rectification algorithm. Finally,the precise registration was obtained by controlling the zoom factor in affine transformation model to adjust geographic coordinates of the processed frames. The results show that this method is qualified for obtaining precise registration of video frames within route.
引文
[1]廖小罕,周成虎.轻小型无人机遥感发展报告[M].北京:科学出版社,2016.
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[17]孙新博.无人机视频地理编码系统设计与实现[D].北京:中国测绘科学研究院,2017.
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[2]罗楠,孙权森,耿蕾蕾,等.一种扩展SURF描述符及其在遥感图像配准中的应用[J].测绘学报,2013,42(3):383-388.
[3]王飞,高小伟,高宁,等.面向海洋应用的无人机遥感图像配准研究[J].测绘通报,2017(11):123-127.
[4]熊自明,闫鹤.改进SIFT小型无人机视频序列图像自动拼接方法[J].测绘科学,2013,38(5):133-136.
[5]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.
[6]郑晖,姜城,孙敏,等.一种近实时的无人机视频流拼接方法[J].地理与地理信息科学,2015,31(5):1-5.
[7]孟淑英.自动检测拼接线的无人机视频影像快速拼接方法[J].测绘通报,2013(5):47-49.
[8]王雅萍,陈宜金,谢东海,等.面向无人机水域影像的自动拼接方法[J].长江科学院院报,2014,31(5):92-96.
[9]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.
[10]马跃龙,赵勇,曹雪峰.一种基于单目SLAM的无人机序列图像拼接方法[J].系统仿真学报,2016,28(10):2349-2355.
[11]薛武,张永生,赵玲,等.增量式SFM与POS辅助光束法平差精度比较[J].测绘学报,2017,46(2):198-207.
[12]姚娜,林招荣,任超锋,等.一种适合摄像机非线性畸变校正的畸变模型[J].激光与光电子学进展,2014,51(2):171-178.
[13]崔红霞,刘畅,林宗坚,等.基于畸变模型优化的网络摄像机标定[J].计算机应用研究,2016,33(9):2848-2851.
[14]周富强,蔡斐华.基于非量测畸变校正的摄像机标定方法[J].机械工程学报,2009,45(8):228-232.
[15]石玉洁.视频监控中基于摄像机标定的运动目标三维空间定位技术的研究[D].南京:南京邮电大学,2013.
[16]薛武.无人机视频地理信息定标与直播处理技术[D].郑州:信息工程大学,2014.
[17]孙新博.无人机视频地理编码系统设计与实现[D].北京:中国测绘科学研究院,2017.
[18]张剑清,潘励,王树根.摄影测量学[M].武汉:武汉大学出版社,2009.
[19]BAY H,TUYTELAARS T,GOOL L V.SURF:speeded up robust features[C]∥Proceedings of European Conference on Computer Vision.Graz,Austria:[s.n.],2006:404-407.
[20]LOWE D G.Distinctive image features from scaleinvariant keypoints[J].International Journal of Computer Vision,2004,60(2):91-110.
[21]BAY H,ESS A,TUYTELAARS T,et al.Speeded-up robust features(SURF)[J].Computer Vision and Image Understanding,2008,110(3):346-359.
[22]徐秋辉.无控制点的无人机遥感影像几何校正与拼接方法研究[D].南京:南京大学,2013.
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