CN109003295A - A kind of unmanned plane aviation image fast matching method - Google Patents
A kind of unmanned plane aviation image fast matching method Download PDFInfo
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- CN109003295A CN109003295A CN201810811943.0A CN201810811943A CN109003295A CN 109003295 A CN109003295 A CN 109003295A CN 201810811943 A CN201810811943 A CN 201810811943A CN 109003295 A CN109003295 A CN 109003295A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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Abstract
The present invention provides a kind of unmanned plane aviation image fast matching method, is related to technical field of mapping.This method comprises: computer simulation generates Three Dimensional Ground sampling point set, and point set is transformed under selected coordinate system；It is exposure point by the processing of unmanned plane POS data, and exposure point bit map is arrived under selected coordinate system, then exposure point is added to sampling point set and is measured under coordinate system；The picture plane coordinates that picture point is calculated using central projection imaging equation, determines that sampled point projects to unmanned plane photo to the visibility of photo, and by point set according to as plane coordinates；The matching relationship between image is determined according to the sampled point shared between photo.A kind of unmanned plane aviation image fast matching method provided by the invention, image projecting based on virtual ground sampled point, utilize the visual ground sampled point set of image, the problem of judging the matching relationship between photo, unmanned plane image error hiding caused by traditional treatment method can be thoroughly eliminated during unmanned plane Image Matching.
Description
Technical field
The present invention relates to technical field of mapping, and in particular to a kind of unmanned plane aviation image fast matching method.
Background technique
In photogrammetric data processing, Image Matching provides identical point coordinates observation for image orientation, and precision is very
The precision of photogrammetric end result is determined in big degree, and the speed of Image Matching is to influence photogrammetric data processing effect
An important factor for rate, traditional aerial survey using manned aircraft as flying platform, good flight control can guarantee lesser scale,
Visual angle and corner variation, therefore the point of same place is it is expected that and unmanned aerial vehicle platform is larger by weather and the influence of topography, image
Scale, visual angle and corner change greatly, the steady matching of image is difficult to realize using traditional aerial survey image matching method.It is existing
Image feature (SIFT) operator the characteristic point of a large amount of scales and invariable rotary can be extracted from image, and characteristic point is to affine
Transformation and illumination variation have good adaptability, therefore are widely used in photogrammetric Image Matching, however, based on nearest
The Image Matching of neighbour's search usually there is error hiding as a result, the image of error hiding, which is introduced compensating computation, will cause empty three precision
Decline, even results in image global orientation and does not restrain.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of unmanned plane aviation image fast matching method, in terms of
Based on calculation machine simulates Three Dimensional Ground sampling point set, projected using central projection imaging equation virtual image, according between image
Shared sampled point determines the matching relationship between image, eliminates image error hiding problem caused by traditional treatment method.
To achieve the goals above, a kind of unmanned plane aviation image fast matching method, comprising the following steps:
Step 1: according to the landform and range of tested region, generating ground three using computer simulation in different ways
Sampling point set is tieed up, it then will be under the coordinate transform of sampling point set to selected measurement coordinate system；Wherein, the area flat for landform
Domain carries out three-dimensional coordinate sampling in an elevation plane, for region with a varied topography, using global digital elevation model,
Generate three-dimensional sample point set；
Step 2: the position that unmanned plane positioning and orientation system is obtained and attitude data processing transform to expose point
Under selected measurement coordinate system, the exposure point of unmanned plane and Three Dimensional Ground sampling point set are added to and measured under coordinate system；
Step 3: picture plane coordinates (x, y) of picture point is calculated using central projection imaging equation, it is flat according to the picture of sampled point
Definitely ground sampling point set and is projected to unmanned plane photo to the visibility of photo to areal coordinate by surface sample point；
Step 4: the matching relationship between image being determined according to the sampled point shared between photo, if for any two photographs
Piece concludes that there are matching relationships for this two photos if there are intersections for visible ground sampled point.
Further, the formula of central projection imaging equation is as follows in the step 3:
Wherein, f is photogrammetric focal length, and (X, Y, Z) is the measurement coordinate system coordinate of ground sampled point, (XS, YS, ZS)
For the measurement coordinate system coordinate of projection centre, a1、a2、a3、b1、b2、b3、c1、c2、c3The cosine in respectively 9 directions；9 directions
Cosine calculation formula it is as follows:
Wherein, ω is corner of the photogrammetric image space coordinate system around X-axis,For photogrammetric image space coordinate system
Around the corner of Y-axis, κ is the corner of photogrammetric image space coordinate system about the z axis.
Beneficial effects of the present invention:
The present invention proposes a kind of unmanned plane aviation image fast matching method, utilizes computer simulation ground sampled point, knot
Unmanned plane positioning and orientation (POS) data are closed, the image projecting of virtual ground sampled point is calculated based on central projection imaging equation,
On the basis of this, friendship is asked using the visual ground sampled point set of image, the matching relationship between photo is judged, in unmanned plane image
The problem of unmanned plane image error hiding caused by traditional treatment method can be thoroughly eliminated in matching process.
Detailed description of the invention
Fig. 1 is the flow chart of unmanned plane aviation image fast matching method in the embodiment of the present invention；
Fig. 2 is the Three Dimensional Ground sampling point set for utilizing computer simulation to generate in tested region in the embodiment of the present invention；
Fig. 3 is unmanned plane camera exposure point in the embodiment of the present invention；
Fig. 4 is that the exposure point of unmanned plane in the embodiment of the present invention is superimposed point with Three Dimensional Ground sampling point set；
Fig. 5 is the ground sampled point of single photo covering in the embodiment of the present invention；
Fig. 6 is the three-dimensional exposure point of unmanned plane photo in the embodiment of the present invention.
Specific embodiment
It is right in the following with reference to the drawings and specific embodiments in order to be more clear the purpose of the present invention, technical solution and advantage
The present invention is described in further details.Described herein specific examples are only used to explain the present invention, is not used to limit this
Invention.
A kind of unmanned plane aviation image fast matching method, process is as shown in Figure 1, that the specific method is as follows is described:
Step 1: according to the landform and range of tested region, generating ground three using computer simulation in different ways
Sampling point set is tieed up, it then will be under the coordinate transform of sampling point set to selected measurement coordinate system；Wherein, the area flat for landform
Domain carries out three-dimensional coordinate sampling in an elevation plane, for region with a varied topography, using global digital elevation model,
Generate three-dimensional sample point set.
It is as shown in Figure 2 in the Three Dimensional Ground sampling point set that tested region is generated using computer simulation in the present embodiment.
Step 2: the position that unmanned plane positioning and orientation system is obtained and attitude data processing transform to expose point
Under selected measurement coordinate system, the exposure point of unmanned plane and Three Dimensional Ground sampling point set are added to and measured under coordinate system.
In the present embodiment, unmanned plane camera exposure point is as shown in figure 3, the exposure point and Three Dimensional Ground of unmanned plane sample
It is as shown in Figure 4 that point set is superimposed point.
Step 3: picture plane coordinates (x, y) of picture point is calculated using central projection imaging equation, it is flat according to the picture of sampled point
Definitely ground sampling point set and is projected to unmanned plane photo to the visibility of photo to areal coordinate by surface sample point.
Shown in the formula such as formula (1) of the central projection imaging equation:
Wherein, f is photogrammetric focal length, and (X, Y, Z) is the measurement coordinate system coordinate of ground sampled point, (XS, YS, ZS)
For the measurement coordinate system coordinate of projection centre, a1、a2、a3、b1、b2、b3、c1、c2、c3The cosine in respectively 9 directions；9 directions
Cosine calculation formula such as formula (2) shown in:
Wherein, ω is corner of the photogrammetric image space coordinate system around X-axis,For photogrammetric image space coordinate system
Around the corner of Y-axis, κ is the corner of photogrammetric image space coordinate system about the z axis.
In the present embodiment, the ground sampled point of single photo covering is as shown in figure 5, the ground in image coverage area is adopted
Sampling point is visible to the photo.
Step 4: the matching relationship between image being determined according to the sampled point shared between photo, for any two photographs
Piece concludes that there are matching relationships for this two photos if there are intersections for visible ground sampled point.
Image Matching operation is also carried out using the image matching method based on SIFT operator in the prior art, SIFT operator is
The classic algorithm of Image Matching can extract the characteristic point of a large amount of scales and invariable rotary from image, therefore be widely used in
Photogrammetric and 3D computer vision.Neighborhood where SIFT operator can extract position, scale and the characteristic point of characteristic point
Feature description.SIFT feature description is with the expression of 128 dimensional vectors, for matching to characteristic point.Ordinary matches method utilizes core
The characteristic point of most of error hiding is rejected in line constraint, but cannot thoroughly eliminate the error hiding problem of image.It is based on SIFT below
The image matching method of operator and unmanned plane aviation image fast matching method proposed by the present invention compare test.
To 4 course lines, SIFT is matched two-by-two for totally 120 unmanned plane photos progress, and Fig. 6 shows 120 unmanned plane photos
The sparse cloud that three-dimensional exposure point and sky three are rebuild.Table 1 is the unmanned plane photo matching result based on SIFT operator, in conjunction with figure
6, it is known that there are error hidings for SIFT matching result.Number is under every photo and No. 1 course line under current course line number in table 1
Photo 1 matches obtained points of the same name, and number, which is greater than 1, indicates two photos there are matching relationship, the matching result underlined
For the image pair of error hiding.
Unmanned plane photo matching result of the table 1 based on SIFT operator
When the photo matching relationship being calculated using method proposed by the present invention is as shown in table 2.Matching result in table 2
For the matching relationship of the photo 1 under each photo and No. 1 course line, wherein 1 indicates two photos, and there are matching relationships, 0 to indicate
Matching relationship is not present in photo, and the matching result underlined is the image pair of error hiding in table 1.By comparison it can be found that originally
The problem of method that invention proposes completely eliminates unmanned plane image error hiding caused by SIFT image matching method.
The matching result of 2 unmanned plane aviation image fast matching method of table
In terms of computational efficiency, match time is 8 minutes to matched 120 photos of SIFT two-by-two, and proposed by the present invention
The calculating time of photo matching relationship calculation method is 5 seconds, hence it is evident that is better than SIFT image matching method.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that；It still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；Thus these are modified or replaceed, defined by the claims in the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (2)
1. a kind of unmanned plane aviation image fast matching method, which comprises the following steps:
Step 1: according to the landform and range of tested region, generating Three Dimensional Ground using computer simulation in different ways and adopt
Sampling point collection, then will be under the coordinate transform of sampling point set to selected measurement coordinate system；Wherein, the region flat for landform,
Three-dimensional coordinate sampling is carried out in an elevation plane, and region with a varied topography is generated using global digital elevation model
Three-dimensional sample point set；
Step 2: the position that unmanned plane positioning and orientation system is obtained and attitude data processing transform to selected to expose point
Measurement coordinate system under, the exposure point of unmanned plane and Three Dimensional Ground sampling point set are added to and measured under coordinate system；
Step 3: calculating picture plane coordinates (x, y) of picture point using central projection imaging equation, sat according to the picture plane of sampled point
Definitely ground sampling point set and is projected to unmanned plane photo to the visibility of photo to mark by surface sample point；
Step 4: the matching relationship between image being determined according to the sampled point shared between photo, for any two photos, such as
There are intersections for the visible ground sampled point of fruit, that is, conclude that there are matching relationships for this two photos.
2. unmanned plane aviation image fast matching method according to claim 1, which is characterized in that in the step 3
The formula that the heart projects imaging equation is as follows:
Wherein, f is photogrammetric focal length, and (X, Y, Z) is the measurement coordinate system coordinate of ground sampled point, (XS, YS, ZS) it is to throw
The measurement coordinate system coordinate at shadow center, a1、a2、a3、b1、b2、b3、c1、c2、c3The cosine in respectively 9 directions；9 directions it is remaining
String calculation formula is as follows:
Wherein, ω is corner of the photogrammetric image space coordinate system around X-axis,It is photogrammetric image space coordinate system around Y-axis
Corner, κ be the corner of photogrammetric image space coordinate system about the z axis.
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