KR102101333B1 - Image processing system to improve the accuracy of captured images - Google Patents

Abstract

The present invention relates to an image processing system for processing geographic information system (GIS) data and spatial information images. More particularly, the present invention relates to an image processing system for processing GIS data and spatial information images so as to improve processing precision of the GIS data and spatial information images by aerial-photographing using a stereo camera and absolutely expressing the photographed image in a map coordinate system using stereo matching and positioning.

Description

Image processing system to improve the accuracy of captured images}

The present invention relates to an image processing system that processes geographic information systems (GIS) data and spatial information images in the field of image processing technology, and more specifically, aerial photographing using a stereo camera, stereo registration and location of the photographed image The present invention relates to an image processing system that processes improved GIS data and spatial information images so as to increase the processing accuracy of geographic information systems (GIS) data and spatial information images by absolute expression in a map coordinate system using posture.

Many aerial video images on the ground secured from the aircraft are sophisticatedly synthesized through image processing that is precisely combined using location information (coordinate information), so they are converted into large image images.

A graphic image is a graphic image converted or mapped into a topographic map (topographic image) using a geographic information systems (GIS) image image that has been precisely converted and converted by image processing, and corresponding coordinate information by numerical values at each point of the map image , It is generally a digital map that reflects location information and numeric information, and a digital map is generally produced by a modified drawing method, an analysis drawing method, or a digital drawing method.

Therefore, an image processing technology that precisely synthesizes a plurality of aerial image images secured by using an aircraft is one of the very important techniques in map production.

In particular, in order to precisely process a plurality of aerial photographs by image processing, it is necessary to quickly measure precise location information (coordinate information) for a corresponding area on the ground, and secured location information (coordinate information) ) Needs to be provided in real time and reflected.

On the other hand, the background of the map or navigation (hereinafter referred to as "numerical map") is being produced based on the actual photo thanks to the development of photographing technology and image image processing technology.

For this basis, aerial photography is performed, and a map background is formed through the aerial photographed image. That is, the aircraft positioned at a certain altitude acquires a video image while photographing the ground.

Of course, aerial photography is limited in its shooting area depending on the altitude, so to produce a wide range of maps, it is necessary to secure multiple image images for the same section and perform separate editing and image processing tasks that connect the image images. .

However, since the video image is taken from an aircraft positioned at a certain altitude from the ground, other ground objects adjacent to it, except for the ground positioned in the vertical direction of the aircraft, are inevitably taken.

In addition, in some cases, in some photographing areas, accurate image data may not be obtained, and re-photographing may be necessary. In some cases, image data of a desired precision may not be obtained even when re-photographing.

In this case, it is very difficult to produce maps, and a cumbersome and complicated processing process is required to correct them.

Republic of Korea Patent Registration No. 10-1853901 (2018.04.25.), An image processing system that improves the precision of aerial image data

The present invention was created to solve the above-mentioned problems in the prior art as described above, and photographed aerial using a stereo camera, and absolute expression of the photographed image in a map coordinate system using stereo matching and position posture. (geographic information systems) The main objective is to provide an improved GIS data and an image processing system that processes spatial information images to improve the processing precision of data and spatial information images.

The present invention as a means for achieving the above object, a stereo camera 100 mounted on an aircraft; An image processing server 200 communicating with the stereo camera 100 through a wireless communication network to receive image information; A map database 210 connected to the image processing server 200 and inputting, storing, updating, and deleting digital map information for each region according to a control signal of the image processing server 200; A matcher 220 connected to the image processing server 200 to match the image acquired by the stereo camera 100 to generate 3D shape information; A mapper 230 connected to the image processing server 200 to absolutely express the image acquired by the stereo camera 100 as a map coordinate system; A management memory 240 for separately storing the information expressed in the mapper 230 to update the map database 210 later; Equipped with a module or board type map database 210, a matcher 220, a mapping unit 230, a case 250 in which a management memory 240 is mounted; equipped with image processing for processing GIS data and spatial information images In the system,
A first ventilation cylinder 410 and a second ventilation cylinder 420 are further installed on the ceiling of the case 250; A silica gel (G) is filled in the first ventilation cylinder (410), and an exhaust fan (412) is installed on the upper portion of the silica gel (G) to be embedded in the first ventilation cylinder (410); A silica gel (G) is filled in the second ventilation cylinder (420), and an air supply fan (422) is installed on the upper portion of the silica gel (G) to be embedded in the second ventilation cylinder (420); The first and second ventilation cylinders 410 and 420 are connected to each other by a connecting cylinder 430, and a ventilation chamber 440 is installed in a part of the length of the connecting cylinder 430; A conical filter 442 is installed inside the ventilation chamber 440; The outer surface of the filter 442 is filled with silica gel (G); A ventilation hole 444 is formed in the ventilation chamber 440 of the portion filled with the silica gel (G);
A buffer hanger 600 is further installed on the upper portion of the case 250, and the buffer hanger 600 is a case fixing bolt 6100 integrally fixed to an upper surface of the case 250, and the case fixing The 'c' section steel 6200 fastened to the bolt 6100 and the section steel buffer spring 6110 which is inserted into the case fixing bolt 6100 to elastically buffer the 'c' section steel 6200, and the 'c' section steel ( Mounting fastening bolt (6300) fixed integrally to the upper surface of the 6200, the fastening buffer spring (6320) interposed based on the bolt flange (6310) on the mounting fastening bolt (6300), and the fastening buffer spring (6320) It provides an image processing system for processing GIS data and spatial information images, characterized in that it comprises a fixed frame (F) to which the mounting fastening bolt 6300 is fixed to be buffered by.

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According to the present invention, aerial photographing using a stereo camera and absolute expression of the photographed image in a map coordinate system using stereo matching and position posture can improve processing accuracy of geographic information systems (GIS) data and spatial information images. Improved effects can be obtained.

1 is a block diagram showing a basic configuration of an image processing system for processing GIS data and spatial information images according to the present invention.
2 is an exemplary cross-sectional view showing a case cooling structure of an image processing system that processes GIS data and spatial information images according to the present invention.
3 is an exemplary view of ventilation means installed on the case ceiling of FIG. 2.
4 is an exemplary view showing an example in which a buffer hanger and a vibration damper are further installed in a case according to the present invention.
5 is an exemplary cross-sectional view showing the structure of the vibration damper in FIG. 4.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

As shown in Fig. 1, a stereo camera 100 mounted on an aircraft to implement an image processing system for processing GIS data and spatial information images according to the present invention; An image processing server 200 communicating with the stereo camera 100 through a wireless communication network to receive image information; A map database 210 connected to the image processing server 200 and inputting, storing, updating, and deleting digital map information for each region according to a control signal of the image processing server 200; A matcher 220 connected to the image processing server 200 to match the image acquired by the stereo camera 100 to generate 3D shape information; A mapper 230 connected to the image processing server 200 to absolutely express the image acquired by the stereo camera 100 as a map coordinate system; Includes a management memory 240 for storing the mapped map information separately so that the map database 210 can be updated later.

A method of precisely processing an image using such a system is first, aerial photographing using the stereo camera 100.

At this time, the stereo camera 100 is a camera used to increase map accuracy through stereo matching, and stereo matching is one of computer vision fields for automating the distance extraction capability of the human visual system.

This stereo matching technology is widely used in medical imaging, factory automation, and map production because it uses ultrasonic waves and lasers as light sources and is effective and less limited by actual application environment than measuring distance as a function of light flight time and speed. It has been used.

The basic steps for obtaining distance information through the stereo camera 100 are image acquisition, feature extraction, stereo matching, displacement estimation, distance calculation from displacement, etc. The most important factor here is the selection of matching elements to be used as features and It can be said to find a matching strategy appropriate for the element.

When aerial photographing is performed through the stereo camera 100 utilized as described above, the photographed image is transmitted to the image processing server 200.

Then, the stereo image received by the image processing server 200 is generated as 3D shape information through the matcher 220.

As described above, when a stereo matching image is generated, a depth map is output through the stereo matching image.

Subsequently, the mapper 230 uses an depth map to perform absolute expression in the map coordinate system.

At this time, the mapper 230 fetches map information on the corresponding coordinates from the map database 210, finds feature points in the 2D image, finds corresponding feature points in the absolute expressed map information, and secures connectivity between the images through mutual matching. do.

Then, the map information processed through the mapper 230 is separately stored in the management memory 240.

This process is used to update the map database 210 later.

By processing in this way, it is possible to more accurately process the photographed aerial image.

In addition, the map database 210, the matcher 220, the mapper 230, and the management memory 240 including the image processing server 200 are mounted in a module or board form inside the case 250.

Therefore, when used for a long time, the inside of the case 250 generates high heat, and the longer it is used, the more likely it is to deteriorate, and a poor signal processing is likely to occur due to deterioration.

In order to solve this, in the present invention, an indirect air cooler 300 is additionally installed on the case 250 as illustrated in FIG. 2 to achieve effective cooling.

The indirect air cooler 300 includes a plurality of air cooling pipes 310 that are fixed to penetrate both side surfaces of the case 250 so that the ends are exposed inside the case 250.

At this time, one end of the air-cooled pipe 310 is stepped to further form a fitting fitting 312 having a small diameter.

In addition, the other end of the air-cooled pipe 310 is formed as an open end with an empty hollow portion 314 inside, and fixed through the side plate of the case 250 so that the open end is exposed inside the case 250 do.

Therefore, the heat inside the case 250 enters into the hollow portion 314 through the open end of the air-cooled pipe 310, and is indirectly cooled while repeating the process of returning after being exchanged therein.

In addition, a cooling cylinder 320 is fitted to the fitting fixing portion 312, and a rubber ring 316 is fitted to an end of the fitting fixing portion 312 that has penetrated the cooling cylinder 320, so that the cooling cylinder 320 is detached. It will not be fixed.

In this case, the rubber ring 316 does not provide a firm fixing force, but since the cooling cylinder 320 is formed by being woven in a grid shape, it is not easily removed even if it is just a locking function. do.

In addition, the cooling cylinder 320 is assembled to correspond to the number of the air-cooled pipe 310, is connected to each other in communication by the link tube 330, the inside is kept empty so that air can flow.

In addition, the cooling cylinder 320 is connected by a link tube 330 to have a substantially lattice shape, of which one side is connected in communication with the air pump 340 to supply cooling air through the air pump 340 It is configured to receive.

Therefore, since the air pumped by the air pump 340 is outdoor air and has a lower temperature than the air inside the case 250, this air circulates and indirectly flows into the internal air located in the hollow portion 314 of the air-cooled pipe 310. It is heat-exchanged to cool the internal air.

Therefore, the air-cooled pipe 310 and the cooling cylinder 320 are preferably made of a material having excellent thermal conductivity, preferably copper and aluminum.

In addition, since a part of the air cooling pipe 300 is exposed to the outside air, cooling is also performed by indirect heat exchange through this part.

That is, in the present invention, the cooling action by double interference heat exchange occurs.

Furthermore, as illustrated in FIG. 3, a first ventilation cylinder 410 and a second ventilation cylinder 420 are further installed on the ceiling of the case 250 for mixing outside air of the case 250.

Then, the first ventilation cylinder 410 is filled with silica gel (G), the upper side is provided with an exhaust fan (412).

In addition, the second ventilation cylinder 420 is filled with silica gel (G), and an air supply fan 422 is installed on the upper side thereof.

In addition, the upper surfaces of the first and second ventilation cylinders 410 and 420 are connected to each other by a connecting cylinder 430, and a ventilation chamber 440 is installed in a part of the length of the connecting cylinder 430.

In particular, a conical filter 442 is installed inside the ventilation chamber 440, silica gel (G) is filled outside the filter 442, and the ventilation chamber 440 of the portion filled with silica gel (G) The pores 444 are formed.

Therefore, when the exhaust fan 412 is rotated in the first ventilation cylinder 410 to exhaust the air inside the case 250, the exhaust air moves through the ventilation chamber 440 and moves at a high speed, and the ventilation hole 444 is moved. Through the air supply fan 422 with the outside air sucked in the dehumidified state through the second ventilation cylinder 420, it enters the case 250 again.

At this time, since the silica gel (G) absorbs and dehumidifies both the indoor and outdoor air, the short circuit caused by moisture is blocked.

Since it is ventilated in this way, it also helps to relieve internal heat and prevent performance degradation.

In particular, since the inflow of dust is blocked, an effect of preventing short circuit due to dust is obtained.

Furthermore, in the present invention, as illustrated in FIGS. 4 and 5, the buffer hanger is provided at the upper portion of the case 250 so that the case 250 is absorbed and absorbed so as not to be affected by external shock or external vibration and receive minimal impact. The sieve 600 is installed, and a vibration damper 700 is further installed under the case 250.

At this time, in the buffer hanger 600, the case fixing bolt 6100 is integrally fixed to the upper surface of the case 250, and the 'c' section steel 6200 is fastened to the case fixing bolt 6100.

Then, the 'U' section steel 6200 is assembled to be elastically buffered by the section steel buffer spring 6110 fitted in the case fixing bolt 6100.

That is, the 'C' section steel 6200 is fitted in the state where the section steel buffer spring 6110 is fitted on the upper end of the case fixing bolt 6100, and in this state, the case fixing bolt 6100 is fastened by the fastening nut 6120. Between the flange FL and the bottom surface of the 'c' section steel 6200, the section steel buffer spring 6110 is tightly elastically cushioned.

Particularly, such a shape steel buffer spring 6110 and a number of springs to be described hereinafter are not elastically cushioned in a large gap, but elastically cushion a very small gap change, which cushions large vibrations, etc., which may cause the case 250 to flow. It means to let.

In addition, a mounting fastening bolt 6300 is integrally fixed to the upper surface of the 'U' shaped steel 6200, and a fastening buffer spring 6320 is interposed in the mounting fastening bolt 6300 based on a bolt flange 6310. On the fixed frame (F) of a building ceiling, etc., it is firmly fastened with a nut (not shown).

At this time, it is also configured to absorb and absorb vibration in the vertical direction by using the fastening buffer spring 6320, which also elastically buffers very minute gap changes as described above. That is, it is configured to be able to resist a very large vibration by keeping the tightened and fixed state to the point where there is almost no elasticity when the spring is completely pressed.

In addition, the vibration damper 700, as shown in the example of Figure 5, the lower support block 7100 fixed to the installation bottom surface, and the V-groove 7110 formed indented at the top apex of the lower support block 7100, The absorption grooved foam 7200 fixed in the v-groove 7110 and buried in a triangular shape and the lower end protruding in a triangular shape are grounded to the absorption buffered foam 7200 and fixed to the bottom surface of the case 250 The upper support block 7300, one end is fixed to the lower support block 7100 and the other end includes an expansion spring 7400 interposed in a state fixed to the upper support block 7300.

At this time, the elastic flow of the expansion spring 7400 is made within a very fine range. That is, that means that the expansion spring (7400) is installed in a compressed state, which is a state where there is little gap between the upper buffer block (7300) and the absorption buffer foam (7200) seated on the lower support block (7100). This is because it is so fine that it absorbs and absorbs only for very large external forces.

In addition, the absorbent buffer foam 7200 is preferably a polyethylene foam.

100: stereo camera
200: image processing server

Claims (1)

A stereo camera 100 mounted on the aircraft; An image processing server 200 communicating with the stereo camera 100 through a wireless communication network to receive image information; A map database 210 connected to the image processing server 200 and inputting, storing, updating, and deleting digital map information for each region according to a control signal of the image processing server 200; A matcher 220 connected to the image processing server 200 to match the image acquired by the stereo camera 100 to generate 3D shape information; A mapper 230 connected to the image processing server 200 to absolutely express the image acquired by the stereo camera 100 as a map coordinate system; A management memory 240 for separately storing the information expressed in the mapper 230 to update the map database 210 later; Equipped with a module or board type map database 210, a matcher 220, a mapping unit 230, a case 250 in which a management memory 240 is mounted; equipped with image processing for processing GIS data and spatial information images In the system,
A first ventilation cylinder 410 and a second ventilation cylinder 420 are further installed on the ceiling of the case 250; A silica gel (G) is filled in the first ventilation cylinder (410), and an exhaust fan (412) is installed on the upper portion of the silica gel (G) to be embedded in the first ventilation cylinder (410); A silica gel (G) is filled in the second ventilation cylinder (420), and an air supply fan (422) is installed on the upper portion of the silica gel (G) to be embedded in the second ventilation cylinder (420); The first and second ventilation cylinders 410 and 420 are connected to each other by a connecting cylinder 430, and a ventilation chamber 440 is installed in a part of the length of the connecting cylinder 430; A conical filter 442 is installed inside the ventilation chamber 440; The outer surface of the filter 442 is filled with silica gel (G); A ventilation hole 444 is formed in the ventilation chamber 440 of the portion filled with the silica gel (G);
A buffer hanger 600 is further installed on the upper portion of the case 250, and the buffer hanger 600 has a case fixing bolt 6100 integrally fixed to an upper surface of the case 250, and the case fixing The 'c' section steel 6200 fastened to the bolt 6100 and the section steel buffer spring 6110 which is inserted into the case fixing bolt 6100 to elastically buffer the 'c' section steel 6200, and the 'c' section steel ( Mounting fastening bolt (6300) fixed integrally to the upper surface of the 6200, the fastening buffer spring (6320) interposed based on the bolt flange (6310) on the mounting fastening bolt (6300), and the fastening buffer spring (6320) An image processing system for processing GIS data and spatial information images, characterized in that it comprises a fixed frame (F) in which the fastening bolt 6300 is fixed to be buffered by.

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