CN106407885A - Small sized unmanned aerial vehicle based affected area estimating method - Google Patents
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a small sized unmanned aerial vehicle based affected area estimating method, which comprises the following steps: based on a small sized unmanned aerial vehicle, performing image acquisition (S1); based on the surf characteristic point extraction, splicing and integrating the acquired images (S2); and based on the basic equipment parameters of the photographing equipment, calculating the resolution of the ground and according to the spliced and integrated image, estimating the actually affected area (S3). The invention further discloses a small sized unmanned aerial vehicle based affected area estimating system, comprising an image acquisition unit, a service platform and a computer. According to the technical schemes of the invention, a small sized four-rotor-wing unmanned aerial vehicle is used to acquire images of a protected land, which ensures the flexibility of image acquisition of the protected land and reduces the acquisition cost as well. The technical schemes also adopt the image matching and screening technology to construct a correlated image among the images and use the correlated image as the basis for the multi-band integration of the images. As a result, the overlapping regions in the image analyzing process can be effectively removed, and the estimating accuracy for the area of the protected land can be increased.
Description
Technical field
The present invention relates to graphical analyses application, the disaster-stricken face in the more particularly to a kind of farmland based on Small and micro-satellite
Long-pending evaluation method and system.
Background technology
Drought and waterlogging is one of most commonly seen Natural Disasters of Agricultural in the whole world, has coverage greatly, the persistent period is long, sends out
The high feature of raw frequency.The farmland that some are insured would generally carry out setting loss to its company of insuring after being subject to the agriculture dangers such as drought and waterlogging and obtain
Protect.At this time, it may be necessary to adjust to disaster-stricken farmland area, compensated insured amount accordingly for insured according to disaster area.But
Because farmland area is vast, ecological various, disaster-stricken after identification difficulty very big it is impossible to estimate disaster-stricken farmland area exactly,
It is easily caused many guarantors or the situation of insurance fraud occurs.
Conventional farmland disaster area estimation is to be measured to protecting ground area by large-scale unmanned plane.But using large-scale
Unmanned plane needs special examination ＆ approval, relatively costly, and flexibility ratio of taking photo by plane is low it is impossible to accurate carry out area reckoning to guarantor
Accordingly, it is desirable to provide a kind of flexible, convenient, calculate accurate mode the area in disaster-stricken field is estimated, with
Just accurately disaster-stricken peasant household is carried out with insured amount compensation.
Content of the invention
The invention solves the problems that the first technical problem be：A kind of estimation system of the disaster area based on Small and micro-satellite is provided
System, to solve in existing use technology to disaster-stricken field area reckoning high cost, very flexible, calculates inaccurate problem；
The invention solves the problems that the second technical problem be：A kind of disaster area estimation side based on Small and micro-satellite is provided
Method, to solve because collection image definition is low during conventional Christmas, in image analysis process, image overlapping region is many, obscures
The problem causing guarantor's ground area estimation wrong such as unclear.
For solving above-mentioned technical problem, the present invention adopts following technical proposals：
A kind of disaster area evaluation method based on Small and micro-satellite, the step of the method includes：
S1, image acquisition is carried out to by disaster area region based on Small and micro-satellite；
S2, be based on surf feature point extraction, the image collecting is carried out splicing merge；
S3, the infrastructure device parameter calculating ground resolution according to capture apparatus, and estimated according to the image after splicing fusion
Calculate actual disaster area.
Preferably, described step S1 includes：
S11, the basic condition according to disaster-stricken shooting area, tentatively select a type unmanned plane covering whole devastated
Rectangle flight range and flying height；
S12, the flying height according to Small and micro-satellite and camera size and performance parameter, calculate Small and micro-satellite
Visual field width；
S13, visual field width is scaled GPS side-play amount；
S14, according to described GPS side-play amount control Small and micro-satellite figure is carried out to devastated with " S " type cruise route
As collection, until the flight range entirely tentatively selected all has been shot finish after make a return voyage.
Preferably, described step S2 includes：
S21, process is zoomed in and out to the image set collecting；
S22, to scaling after image set carry out surf feature point extraction；
S23, the surf characteristic point based on extraction, match two-by-two to the image in image set, and the list calculating between image should
Matrix, and set up the geometrical relationship between image；
S24, basis are paired into the wrong pair relationhip that power error filters image two-by-two, and set up the association of image two-by-two
Image；
S25, to pairing image carry out global optimization and exposure compensating；
S26, image co-registration is carried out to the image matching two-by-two in image set based on multiband.
A kind of disaster area estimating system based on Small and micro-satellite, this system includes：
Image acquisition units, for carrying out image acquisition to by disaster area region, obtain the image set of disaster-stricken region；
Service platform, the image set collecting for storage image collecting unit, and answer the data of data processing unit
Ask to provide described image collection for data processing unit；
Computer, carries out splicing and merges to the image in image set, and is subject to according to the image estimation reality after splicing fusion
Calamity area.
Preferably, described image collecting unit includes：
Small and micro-satellite, carries out image acquisition based on pre-set flight region and flying height to disaster-stricken region；
Survey unit, for entering row data communication with Small and micro-satellite and service platform, and be Small and micro-satellite meter
Calculate GPS side-play amount and provide the user ownership place selection of insuring；
Controller, controls Small and micro-satellite with " S " type cruise route, devastated to be carried out based on described GPS side-play amount
Image acquisition, until the flight range entirely tentatively selected all has been shot finish after make a return voyage.
Preferably, described unit of surveying includes：
Computing module, for being scaled the shooting visual field width of Small and micro-satellite for controlling Small and micro-satellite to fly
The GPS side-play amount of row；
Ownership place selecting module, selects to insure accordingly ownership place with user's request；
Communication module, sets up data communication for Small and micro-satellite with according to ownership place situation and service platform.
Preferably, described computer includes：
Image fusion unit, based on surf feature point extraction, carries out splicing and merges to the image collecting；
Areal calculation unit, the image after being merged according to splicing and ground resolution, estimate actual disaster area.
Preferably, described image integrated unit includes：
Image scaling module, for zooming in and out process to the image set collecting；
Feature point extraction module, for carrying out surf feature point extraction to the image after scaling；
Image matching module, is matched two-by-two using the image in this feature pair graph image set, calculates between image
Homography matrix, and set up the geometrical relationship between image；
Filtering module, according to the wrong pair relationhip being paired into power error and filtering image two-by-two, and sets up image two-by-two
Associated images；
Fusion Module, carries out image co-registration based on multiband to the image matching two-by-two in image set.
Preferably, described image integrated unit further includes compensating module, for carrying out global optimization to pairing image
And exposure compensating；
Preferably, described face computing unit includes：
Ground resolution computing module, the basic physical parameters based on CCD camera calculate ground resolution；
Zoom module, according to splicing resolution, zooms in and out process to ground resolution；
Disaster area computing module, based on the pixel count of the ground resolution after scaling and disaster-stricken image-region, calculates figure
Disaster area in picture.
Beneficial effects of the present invention are as follows：
Technical scheme of the present invention improves guarantor by using small-sized four rotor wing unmanned aerial vehicles to carrying out image acquisition with protecting
The motility of ground image acquisition, reduces acquisition cost.This programme utilizes image pairing screening, builds the associated diagram between image
Picture, and carry out the multi-band blending of image based on this, effectively eliminate the overlapping region in image analysis process, improve
Protect the precision of ground area estimation.
Brief description
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail；
Fig. 1 illustrates a kind of schematic diagram of the disaster area estimating system based on Small and micro-satellite；
Fig. 2 illustrates a kind of schematic diagram of the disaster area evaluation method based on Small and micro-satellite.
Specific embodiment
In order to be illustrated more clearly that the present invention, with reference to preferred embodiments and drawings, the present invention is done further
Bright.In accompanying drawing, similar part is indicated with identical reference.It will be appreciated by those skilled in the art that institute is concrete below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
The invention discloses a kind of disaster area evaluation method based on Small and micro-satellite, the step of the method includes：
Step S1, image acquisition is carried out to by disaster area region based on Small and micro-satellite
, according to the basic condition of disaster-stricken shooting area, flight range and the flight of tentatively selecting Small and micro-satellite are high for user
Degree, selected flight range can be a rectangular area that can cover whole devastated.According to Small and micro-satellite
The camera size of CCD camera and performance parameter in flying height and unmanned plane, calculate the visual field width of Small and micro-satellite, and will
The port owned by the government in this visual field is GPS side-play amount, controls Small and micro-satellite with " S " type cruise route to being subject to according to described GPS side-play amount
Disaster area domain carries out image acquisition, until the flight range entirely tentatively selected all has been shot finish after make a return voyage.
Step S2, be based on surf feature point extraction, the image collecting is carried out splicing merge.
In this programme, process is zoomed in and out to the image set collecting, prevent that image resolution ratio is too high to cause internal memory not
Foot.
Surf feature point extraction is carried out to the image set after scaling, constant to ensure scaling or postrotational characteristics of image.
Based on the surf characteristic point extracted, the image in image set is matched two-by-two, calculates the homography matrix between image,
And set up the geometrical relationship between image.Specific pairing and geometrical relationship establishment step include：According to the invariance of characteristic point,
Calculate Euclidean distance between the characteristic point of two width images (characteristic point is point or vector in hyperspace), according to Distance Judgment feature
The similarity of point, thus set up the Feature point correspondence relation of two width images.By RANSAC algorithm, according to the corresponding pass of characteristic point
System, estimates homography matrix, thus setting up the geometrical relationship between image
According to the wrong pair relationhip being paired into power error and filtering image two-by-two, and set up the associated diagram of image two-by-two
Picture.According to the characteristic point result of calculation of preceding step, determine characteristic point quantity f in overlapping regionn, have the feature of corresponding relation
Point quantity inIt is assumed that the characteristic point pairing of overlapping region is normally Bernoulli Jacob's distribution, always corresponds to normal set-point quantity and defer to
Binomial distribution is as follows：
In the case of p1 represents given correct image pairing, the successful probability of Feature point correspondence, it is set to 0.6, p0 and be represented to
In the case of the image pairing of fixed mistake, the successful probability of Feature point correspondence, it is set to 0.1. and two width figures are calculated by Bayes law
As matching correct posterior probability.
If posterior probability is more than 0.999, accept pair relationhip, otherwise delete pair relationhip.
Due to the geometrical relationship set up in preceding step, usually contain cumulative errors and the factor not modeled, this can lead to
Splicing effect is very poor, produces the phenomenons such as dislocation, therefore, minimizes error by way of global optimization.Simultaneously in order to overcome figure
The different problem of image brightness, the brightness to image carries out gain compensation to be analyzed to image further identifying.
Image co-registration is carried out based on multiband to the image matching two-by-two in image set, obtains the complete disaster-stricken figure in farmland
Picture.
Step S3, merged according to splicing after image calculate ground resolution, and estimate actual disaster area
Devastated image and ground resolution meter that size according to selected CCD camera with pixel-parameters, merges
Calculate disaster area.
If a width of ccd_width of CCD camera, unit：Rice；The ratio of camera is 3:4, then the higher position of CCD camera is
ccd_width*3/4.The pixel width ccd_pixwidth of CCD camera, represents the horizontal pixel count of camera；The ratio of camera is 3:
4, then the pixel higher position of CCD camera is ccd_pixwidth*3/4.The focal length focal_length of CCD camera；Unit：Rice.
Unmanned plane height altitude, unit：Rice
The computing formula of ground resolution rg of image：
Rg=focal_length/altitude*ccd_pixwidth/ccd_width, unit：Pixel/every meter
In splicing, image is scaled：
Scale=sqrt (compose_megapix*1e6/ (3000*4000))
Compose_megapix is splicing resolution；
After scaling, the ground resolution of the image of splicing is scaled_rg=rg*scale
After calculating the ground resolution of stitching image, can first calculate the pixel count of the disaster-stricken image-region of user's delineation
Pixel_count, the area area_per_pixel=pow (1/sacled_rg, 2) of every pixel, unit：Square metre；
In image, disaster area Area_all is：
Area_all=area_per_pixel*pixel_count
This programme further discloses a kind of disaster area estimating system based on Small and micro-satellite, and this system includes：
Image acquisition units, service platform and computer.
Image acquisition units described in this programme are used for carrying out image acquisition to by disaster area region, obtain the figure of disaster-stricken region
Image set.This unit includes Small and micro-satellite, surveys unit and controller；Survey unit to regard the shooting of Small and micro-satellite
Wild width is scaled the GPS side-play amount for controlling Small and micro-satellite flight, receives the view data collecting simultaneously, then
Being based on described GPS side-play amount using controller controls Small and micro-satellite to be shone pre-set flight region and flown with " S " type cruise route
Line height carries out image acquisition to devastated, until the flight range entirely tentatively selected all has been shot finish after return
Boat.
The image set that service platform described in this programme collects for storage image collecting unit, and answer data processing
The request of data of unit provides described image collection for data processing unit.
In this programme, described computer is used for the image in image set carried out with splicing merging, and after being merged according to splicing
Image estimate actual disaster area.This computer includes, based on surf feature point extraction, the image collecting being spelled
Image after connecing the image fusion unit of fusion and being merged according to splicing and ground resolution, estimate the area in actual disaster area
Computing unit.Wherein, described image integrated unit includes image scaling module, feature point extraction module, image matching module, mistake
Filter module, compensating module and Fusion Module；Using image scaling module, process is zoomed in and out to the image set collecting, then profit
With feature point extraction module, surf feature point extraction is carried out to the image after scaling；By image matching module based on the spy extracting
The image levied in pair graph image set is matched two-by-two, calculates the homography matrix between image, and sets up the geometry between image
Relation, using the module that comes according to the wrong pair relationhip being paired into power error and filtering image two-by-two, and sets up image two-by-two
Associated images, recycle compensating module to pairing image carry out global optimization and exposure compensating, finally by Fusion Module base
The image matching two-by-two in multiband is to image set carries out image co-registration.Wherein, described areal calculation unit includes ground distributor
Resolution computing module, the basic physical parameters based on CCD camera calculate ground resolution；Zoom module, according to splicing resolution,
Process is zoomed in and out to ground resolution；Disaster area computing module, based on the ground resolution after scaling and disaster-stricken image district
The pixel count in domain, calculates the disaster area in image.
Below by one group of embodiment, the present invention will be further described：
As shown in figure 1, providing a kind of disaster area estimating system based on Small and micro-satellite, this system in this example
Including Small and micro-satellite, controller, PAD, agriculture danger platform and background computer.System is washed by the use of PAD as estimation in this example
In survey unit.PAD is connected with the remote control of unmanned plane by USB, obtain the real-time video of unmanned plane, high definition photo,
The information such as GPS, height.PAD provides the user guarantor ground region and chooses function, can choose to insure according to the actual insurance place of user and return
Possession, shows user position using GPS or GIS mode, and user can be assisted to confirm ownership place.PAD pass through such as 3G,
The wireless networks such as 4G, WIFI and service platform set up data communication, and the image set collecting is transferred to platform.Service platform
Background computer request is answered to transfer the image set data of devastated, downloaded protects Back ground Information and the image set on ground, right
Image is spliced and is calculated ground resolution, thus estimating the real area of image-region.
Specific image acquisition and calculation are as follows：
User utilizes Small and micro-satellite according to predetermined rectangular area and flying height, with 94 degree of visual angle to devastated
Carry out image acquisition.The GPS side-play amount of unmanned plane is counted according to the visual field width of unmanned plane using instruments such as PAD simultaneously
Calculate, user utilizes controller to control Small and micro-satellite with " S " type cruise route, devastated to be entered based on described GPS side-play amount
Row image acquisition, until the flight range entirely tentatively selected all has been shot finish after make a return voyage.
User provides the location of insuring of prompting according to PAD, chooses the ownership place insured, and the data collecting is passed
Transport to service platform.Rear enclosure computer from service platform downloading data, and using the image scaling module being embedded in computer
The image set collecting is zoomed in and out with process, recycles feature point extraction module to carry out surf feature to the image after scaling
Point extracts；Matched two-by-two based on the image in the feature point pairs image set extracting by image matching module, calculated image
Between homography matrix, and set up the geometrical relationship between image, filter two using the module that comes according to being paired into power error
The wrong pair relationhip of two images, and set up the associated images of image two-by-two, recycle compensating module that pairing image is carried out entirely
Office optimizes and exposure compensating, carries out image based on multiband to the image matching two-by-two in image set finally by Fusion Module and melts
Close.
Devastated image and ground resolution meter that size according to selected CCD camera with pixel-parameters, merges
Calculate disaster area.
If a width of ccd_width of CCD camera, unit：Rice；The ratio of camera is 3:4, then the higher position of CCD camera is
ccd_width*3/4.The pixel width ccd_pixwidth of CCD camera, represents the horizontal pixel count of camera；The ratio of camera is 3:
4, then the pixel higher position of CCD camera is ccd_pixwidth*3/4.The focal length focal_length of CCD camera；Unit：Rice.
Unmanned plane height altitude, unit：Rice
The computing formula of ground resolution rg of image：
Rg=focal_length/altitude*ccd_pixwidth/ccd_width, unit：Pixel/every meter
In splicing, image is scaled：
Scale=sqrt (compose_megapix*1e6/ (3000*4000))
Compose_megapix is splicing resolution；
After scaling, the ground resolution of the image of splicing is scaled_rg=rg*scale
After calculating the ground resolution of stitching image, can first calculate the pixel count of the disaster-stricken image-region of user's delineation
Pixel_count, the area area_per_pixel=pow (1/sacled_rg, 2) of every pixel, unit：Square metre；
In image, disaster area Area_all is：
Area_all=area_per_pixel*pixel_count
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right
The restriction of embodiments of the present invention, for those of ordinary skill in the field, also may be used on the basis of the above description
To make other changes in different forms, all of embodiment cannot be exhaustive here, every belong to this
Obvious change that bright technical scheme is extended out or change the row still in protection scope of the present invention.
Claims (10)
1. a kind of disaster area evaluation method based on Small and micro-satellite is it is characterised in that the step of the method includes：
S1, image acquisition is carried out to by disaster area region based on Small and micro-satellite；
S2, be based on surf feature point extraction, the image collecting is carried out splicing merge；
S3, the infrastructure device parameter calculating ground resolution according to capture apparatus, and real according to the image estimation after splicing fusion
Border disaster area.
2. according to claim 1 disaster area evaluation method it is characterised in that described step S1 includes：
S11, the basic condition according to disaster-stricken shooting area, tentatively select the square of a type unmanned plane covering whole devastated
Shape flight range and flying height；
S12, the flying height according to Small and micro-satellite and camera size and performance parameter, calculate the visual field of Small and micro-satellite
Width；
S13, visual field width is scaled GPS side-play amount；
S14, Small and micro-satellite is controlled to carry out image with " S " type cruise route to devastated and adopt according to described GPS side-play amount
Collection, until the flight range entirely tentatively selected all has been shot finish after make a return voyage.
3. according to claim 1 disaster area evaluation method it is characterised in that described step S2 includes：
S21, process is zoomed in and out to the image set collecting；
S22, to scaling after image set carry out surf feature point extraction；
S23, the surf characteristic point based on extraction, match two-by-two to the image in image set, calculate the homography matrix between image,
And set up the geometrical relationship between image；
S24, basis are paired into the wrong pair relationhip that power error filters image two-by-two, and set up the associated diagram of image two-by-two
Picture；
S25, to pairing image carry out global optimization and exposure compensating；
S26, image co-registration is carried out to the image matching two-by-two in image set based on multiband.
4. a kind of disaster area estimating system based on Small and micro-satellite is it is characterised in that this system includes：
Image acquisition units, for carrying out image acquisition to by disaster area region, obtain the image set of disaster-stricken region；
Service platform, the image set collecting for storage image collecting unit, and answer the request of data of data processing unit
There is provided described image collection for data processing unit；
Computer, carries out splicing and merges to the image in image set, and estimates actual disaster-stricken face according to the image after splicing fusion
Long-pending.
5. disaster area according to claim 4 estimating system is it is characterised in that described image collecting unit includes：
Small and micro-satellite, carries out image acquisition based on pre-set flight region and flying height to disaster-stricken region；
Survey unit, for entering row data communication with Small and micro-satellite and service platform, and calculate GPS for Small and micro-satellite
Side-play amount selects with providing the user ownership place of insuring；
Controller, controls Small and micro-satellite to carry out image with " S " type cruise route to devastated based on described GPS side-play amount
Collection, until the flight range entirely tentatively selected all has been shot finish after make a return voyage.
6. disaster area according to claim 4 estimating system is it is characterised in that described unit of surveying includes：
Computing module, for being scaled the visual field width that shoots of Small and micro-satellite for controlling Small and micro-satellite flight
GPS side-play amount；
Ownership place selecting module, selects to insure accordingly ownership place with user's request；
Communication module, sets up data communication for Small and micro-satellite with according to ownership place situation and service platform.
7. disaster area according to claim 4 estimating system is it is characterised in that described computer includes：
Image fusion unit, based on surf feature point extraction, carries out splicing and merges to the image collecting；
Areal calculation unit, the image after being merged according to splicing and ground resolution, estimate actual disaster area.
8. disaster area according to claim 7 estimating system is it is characterised in that described image integrated unit includes：
Image scaling module, for zooming in and out process to the image set collecting；
Feature point extraction module, for carrying out surf feature point extraction to the image after scaling；
Image matching module, is matched two-by-two using the image in this feature pair graph image set, and the list calculating between image should
Matrix, and set up the geometrical relationship between image；
Filtering module, according to the wrong pair relationhip being paired into power error and filtering image two-by-two, and sets up the pass of image two-by-two
Connection image；
Fusion Module, carries out image co-registration based on multiband to the image matching two-by-two in image set.
9. disaster area according to claim 8 estimating system is it is characterised in that described image integrated unit wraps further
Include compensating module, for global optimization and exposure compensating are carried out to pairing image.
10. disaster area according to claim 7 estimating system is it is characterised in that described face computing unit includes：
Ground resolution computing module, the basic physical parameters based on CCD camera calculate ground resolution；
Zoom module, according to splicing resolution, zooms in and out process to ground resolution；
Disaster area computing module, based on the pixel count of the ground resolution after scaling and disaster-stricken image-region, calculates in image
Disaster area.
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| CN109859057A (en) * | 2019-01-04 | 2019-06-07 | 平安科技（深圳）有限公司 | A kind of farm field data processing method, server and storage medium |
| CN109961466A (en) * | 2017-12-14 | 2019-07-02 | 翔升（上海）电子技术有限公司 | Ranch animals monitoring method and system |
| CN110427032A (en) * | 2019-08-12 | 2019-11-08 | 湘潭大学 | A kind of agricultural data acquisition method and system based on flow model data collection point |
| CN113222980A (en) * | 2021-06-01 | 2021-08-06 | 安徽建筑大学 | Flood disaster surveying method based on unmanned aerial vehicle platform |
| CN113240688A (en) * | 2021-06-01 | 2021-08-10 | 安徽建筑大学 | Integrated flood disaster accurate monitoring and early warning method |
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