一种基于无人机位姿信息的航拍图像拼接方法

doi:10.11947/j.AGCS.2016.20150567

测绘学报 ›› 2016, Vol. 45 ›› Issue (6): 698-705.doi: 10.11947/j.AGCS.2016.20150567

一种基于无人机位姿信息的航拍图像拼接方法

程争刚, 张利

清华大学电子工程系, 北京 100084

收稿日期:2015-11-05 修回日期:2016-02-02 出版日期:2016-06-20 发布日期:2016-06-29
通讯作者: 张利 E-mail:chinazhangli@tsinghua.edu.cn E-mail:chinazhangli@tsinghua.edu.cn
作者简介:程争刚(1988-),男,硕士生,研究方向为图像处理、计算机视觉等。E-mail:chengzhenggang2012@163.com
基金资助:
国家自然科学基金(61172125;61132007)

An Aerial Image Mosaic Method Based on UAV Position and Attitude Information

CHENG Zhenggang, ZHANG Li

Department of Electronic Engineering, Tsinghua University, Beijing 100084, China

Received:2015-11-05 Revised:2016-02-02 Online:2016-06-20 Published:2016-06-29
Supported by:
The National Natural Science Foundation of China (Nos. 61172125;61132007)

摘要/Abstract

摘要： 针对现有航拍图像拼接方法处理速度较慢的问题,提出一种基于无人机位姿信息的快速拼接方法。首先从机载GPS和惯性导航单元获得无人机航拍时的坐标和姿态角,根据每一幅航拍图像对应的无人机坐标和姿态角计算它们之间的单应变换矩阵,实现航拍图像之间的快速配准。然后通过单应变换矩阵的运算得到拼接图像之间的配准,最后完成多幅图像的拼接得到整个区域的全景图。试验结果证明该方法快速有效。

关键词: 航拍图像, 位置和姿态, 图像配准, 单应矩阵, 全景图

Abstract: As the existing methods for aerial image mosaic take high computational, a fast and effective algorithm based on the position and attitude information of unmanned aerial vehicles (UAV) is proposed. Firstly, the coordinates and attitude angles of UAV can be obtained by airborne GPS and inertial measurement unit (IMU), and each aerial image has a corresponding position and attitude information. The homography matrix between two aerial images with the positions and attitude information can be calculated. Then the registration of the mosaic images is obtained by the operation of homography matrix. Finally, the multiple images can be stitched and the whole panorama got. A large number of experiments demonstrate this algorithm is efficient.

Key words: aerial image, position and attitude, image registration, homography matrix, panorama

中图分类号:

P231

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 Geodaetica et Cartographica Sinica, 2016, 45(6): 698-705.

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一种基于无人机位姿信息的航拍图像拼接方法

An Aerial Image Mosaic Method Based on UAV Position and Attitude Information

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