A real time video image stitching method for UAV based on spherical transformation

被引：0
|
作者：
Zeng G. [1 ]
Niu Z. [2 ]
Zheng L. [1 ]
Li J. [2 ]
Hao D. [2 ]
机构：
[1] Institute of Unmanned System, Beijing University, Beijing
[2] School of Electronic Information Engineering, Beijing University, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷 / 24期
关键词：
homography transformation; image stitching; spherical transformation; SURF; UAV;
D O I：
10.7527/S1000-6893.2023.28364
中图分类号：
学科分类号：
摘要：
In the emergency situations such as fire situation monitoring，the image of the task area is obtained through UAV aerial photography. The traditional UAV image mosaic method has the problem of low timeliness. However，the real-time splicing based on video suffers from problem of homography error accumulation and splicing interruption. This paper designs and implements a real-time video image stitching method for UAV based on spherical transforma⁃ tion. After spherical transformation is added，global consistency can be increased for large angle stitching. In addition，only a single homography matrix is calculated，which ensures the splicing efficiency of the algorithm on the premise of angle robustness. This paper first calculates the SURF feature description of the generated image，uses the matching algorithm to match the Speeded Up Robust Features（SURF）features between consecutive images，and then uses the random sampling consistency algorithm to screen the matching. According to the matching relationship between im⁃ ages，the homography transformation matrix is calculated，and the error correction sphere parameters are calculated after the homography matrix is split. After the spherical transformation correction，homography is used to complete im⁃ age mosaic，and finally image fusion is carried out. The experimental results show that the method proposed in this paper can improve the timeliness of traditional image mosaic（Compared with the Shape-Preserving Half-Projective （SPHP）algorithm，the tie splicing time has been reduced from 2 345. 25 ms to 1 528. 6 ms，resulting in a 34. 8% im⁃ provement in algorithm efficiency）and the robustness of image splicing with the change of camera angle and it can still perform well in situations with large angles and poor visual perception. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.
引用
收藏
相关论文
共 20 条
  • [1] Thermal and visual tracking of photovoltaic plants for autonomous UAV inspection ［J］, Drones, 6, 11, (2022)
  • [2] ZHANG Y T，, CHEN S, WANG W Y，, Et al., Pyramid attention based early forest fire detection using UAV imagery［J］, Journal of Physics：Conference Series, 2363, 1, (2022)
  • [3] CARVAJAL-RAMIREZ F，, SERRANO J M P R，, AGUERA-VEGA F，, Et al., A comparative analysis of phytovolume estimation methods based on UAVphotogrammetry and multispectral imagery in a Mediterranean forest ［J］, Remote Sensing, 11, 21, (2019)
  • [4] UAV mapping and 3D modeling as a tool for promotion and management of the urban space［J］, Drones, 6, 5, (2022)
  • [5] SHAO R Z, CHEN H，, Et al., Fast anchor point matching for emergency UAV image stitching using position and pose information［J］, Sensors, 20, 7, (2020)
  • [6] ABDULKHALEQ A H., A review over panoramic image stitching techniques［J］, Journal of Physics：Conference Series, 1, (1999)
  • [7] LOWE D G., Object recognition from local scale-invariant features, Proceedings of the Seventh IEEE International Conference on Computer Vision, pp. 1150-1157, (2002)
  • [8] Speeded-up robust features（SURF）［J］, Computer Vision and Image Understanding, 110, 3, pp. 346-359, (2008)
  • [9] BROX T., Descriptor matching with convolutional neural networks：A comparison to SIFT［J］, Computer Science, 4, 7, pp. 678-694, (2014)
  • [10] NGUYEN T, CHEN S W，, SHIVAKUMAR S S，, Et al., Unsupervised deep homography：A fast and robust homography estimation model ［J］, IEEE Robotics and Automation Letters, 3, 3, pp. 2346-2353, (2018)
12