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

doi:10.11947/j.AGCS.2016.20150567

Abstract

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

CLC Number:

P231

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.

References

[1] 阮芹, 彭刚, 李瑞. 基于特征点的图像配准与拼接技术研究[J]. 计算机与数字工程, 2011, 39(2):141-144, 183. RUAN Qin, PENG Gang, LI Rui. Study on Image Registration and Mosaic Technologhy Based on Surf Feature[J]. Computer & Digital Engineering, 2011, 39(2):141-144, 183.
[2] 吕金建, 文贡坚, 李德仁, 等. 一种新的基于空间关系的特征匹配方法[J]. 测绘学报, 2008, 37(3):367-373, 379. LÜ Jinjian, WEN Gongjian, LI Deren, et al. A New Method Based on Spatial Relations for Feature Matching[J]. Acta Geodaetica et Cartographica Sinica, 2008, 37(3):367-373, 379.
[3] LOWE D G.Object Recognition from Local Scale-invariant Features[C]//Proceedings of the 7th IEEE International Conference on Computer Vision. Kerkyra:IEEE, 1999:1150-1157.
[4] LOWER D G. Distinctive Image Features from Scale-invariant Keypoints[J]. International Journal of Computer Vision, 2004, 60(2):91-110.
[5] KE Yan, SUKTHANKAR R. PCA-SIFT:A More Distinctive Representation for Local Image Descriptors[C]//Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Washington:IEEE, 2004:511-517.
[6] MIKOLAJCZYK K, SCHMID C. A Performance Evaluation of Local Descriptors[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2005, 27(10):1615-1630.
[7] BAY H, TUYTELAARS T, VAN GOOL L. SURF:Speeded Up Robust Features[C]//Proceedings of the 9th European Conference on Computer Vision. Berlin:Springer-Verlag, 2006:404-417.
[8] 罗楠, 孙权森, 耿蕾蕾, 等. 一种扩展SURF描述符及其在遥感图像配准中的应用[J]. 测绘学报, 2013, 42(3):383-388. LUO Nan, SUN Quansen, GENG Leilei, et al. An Extended SURF Descriptor and Its Application in Remote Sensing Images Registration[J]. Acta Geodaetica et Cartographica Sinica, 2013, 42(3):383-388.
[9] MOREL J M, YU Guoshen. ASIFT:A New Framework for Fully Affine Invariant Image Comparison[J]. SIAM Journal on Imaging Sciences, 2009, 2(2):438-469.
[10] CABALLERO F, MERINO L, FERRUZ J, et al. Homography Based Kalman Filter for Mosaic Building. Applications to UAV Position Estimation[C]//Proceedings of the 2007 IEEE International Conference on Robotics and Automation. Roma:IEEE, 2007:2004-2009.
[11] 李岩山, 裴继红, 谢维信, 等. 一种新的无人机航拍序列图像快速拼接方法[J]. 电子学报, 2012, 40(5):935-940. LI Yanshan, PEI Jihong, XIE Weixin, et al. A New Fast Automatic Mosaic Method on Unmanned Aerial Vehicle Images[J]. Acta Electronica Sinica, 2012, 40(5):935-940.
[12] XIONG Peng, LIU Xianpeng, GAO Chao, et al. A Real-time Stitching Algorithm for UAV Aerial Images[C]//Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering. Paris:Atlantis Press, 2013:1613-1616.
[13] 何宾, 陶丹, 彭勃. 高实时性F-SIFT图像拼接算法[J]. 红外与激光工程, 2013, 42(S2):440-444. HE Bin, TAO Dan, PENG Bo. High Real-time F-SIFT Image Mosaic Algorithm[J]. Infrared and Laser Engineering, 2013, 42(S2):440-444.
[14] 杨宇博, 程承旗. 基于分块Harris特征的航拍视频拼接方法[J]. 北京大学学报(自然科学版), 2013, 49(4):657-661. YANG Yubo, CHENG Chengqi. Block Harris Based Mosaic Method for Aerial Video[J]. Acta Scientiarum Naturalium Universitatis Pekinensis, 2013, 49(4):657-661.
[15] FISCHLER M A, BOLLES R C. Random Sample Consensus:A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography[J]. Communications of the ACM CACM Homepage Archive, 1981, 24(6):381-395.
[16] 何贝, 王贵锦, 沈永玲, 等. 结合地理参数的航拍视频实时拼接算法[J]. 应用科学学报, 2012, 30(2):151-157. HE Bei, WANG Guijin, SHEN Yongling, et al. Real-time Mosaicing for Aerial Videos Combined with Geographical Parameters[J]. Journal of Applied Sciences:Electronics and Information Engineering, 2012, 30(2):151-157.
[17] 徐玉华, 龚文全, 苏昂, 等. 近似平面场景多视点图像拼接算法[J]. 国防科技大学学报, 2014, 36(2):148-155. XU Yuhua, GONG Wenquan, SU Ang, et al. Multi-viewpoint Image Mosaicing Algorithm for Roughly Planar Scenes[J]. Journal of National University of Defense Technology, 2014, 36(2):148-155.
[18] YAHYANEJAD S,WISCHOUNIG-STRUCL D, QUARITSCH M, et al. Incremental Mosaicking of Images from Autonomous, Small-scale UAVs[C]//Proceedings of the 2010 Seventh IEEE International Conference on Advanced Video and Signal Based Surveillance. Boston:IEEE, 2010:329-336.
[19] 朱云芳. 摄像机径向畸变校正和内参估计的单图标定方法[J]. 光电工程, 2012, 39(9):125-131. ZHU Yunfang. Calibration of Radial Distortion and Intrinsic Parameters Using a Single Image[J]. Opto-Electronic Engineering, 2012, 39(9):125-131.
[20] 丁建华, 姚明海, 赵瑜. 基于单应性矩阵的机器人视觉伺服系统研究[J]. 机电工程, 2012, 29(12):1485-1489. DING Jianhua, YAO Minghai, ZHAO Yu. Study of Visual Servoing System of Robot Based on Homography Matrix[J]. Journal of Mechanical & Electrical Engineering, 2012, 29(12):1485-1489.
[21] 唐琎, 谷士文, 蔡自兴. 图象拼接误差的理论分析[J]. 小型微型计算机系统, 2003, 24(12):2185-2189. TANG Jin, GU Shiwen, CAI Zixing. Theoretical Analysis on Image Stitching Error[J]. Mini-Micro Systems, 2003, 24(12):2185-2189.
[22] 李从利, 薛模根, 冷晓艳, 等. 空中侦察序列图像连续拼接的累积误差分析与消除[J]. 中国图象图形学报, 2008, 13(4):814-819. LI Congli, XUE Mogen, LENG Xiaoyan, et al. Analysis and Elimination on Aerial Recon Sequential Image Stitching Accumulative Error[J]. Journal of Image and Graphics, 2008, 13(4):814-819.