Space-movable visual sensor array system and image information fusion method

Abstract

The invention discloses a space-movable visual sensor array system and an image information fusion method. The space-movable visual sensor array system consists of a plurality of visual sensor nodes, a plurality of first-stage ground stations and a second-stage ground station, wherein the visual sensor nodes mainly consist of flight control modules, flight management modules, cameras, digital transmission radio stations, wireless network cards and micro-miniature rotor wing unmanned aerial vehicle bodies; and the first-stage ground stations and the second-stage ground station are both computers. The real-time image information fusion method realized by the system and provided by the invention comprises the steps of: initialization of a visual sensor array, image capturing of the visual sensor nodes, and image information fusion. According to the space-movable visual sensor array system and the image information fusion method, the real-time fusion of image information captured by the multiple micro-miniature rotor wing unmanned aerial vehicles is broken through, the effect and the efficiency of aerial photographing are improved, the large visual field visual coverage can be realized, and the space-movable visual sensor array system and the image information fusion method can be applied to situations required to carry out high-efficient and high-quality aerial photographing and instant image displaying on specific regions.

Description

technical field [0001] The present invention relates to a visual sensor array system and method, in particular to a spatially movable visual sensor array system and image information fusion method based on multi-miniature rotor drones. Background technique [0002] Today's micro-rotor UAV-based vision system requirements are no longer limited to single-view image acquisition and processing, and have put forward higher requirements for the effect and efficiency of micro-rotor UAV aerial photography. In response to this situation, it is necessary to design a new vision system based on multi-miniature drones. [0003] Micro-rotor drones have the ability to fly autonomously, land autonomously, and plan flight paths autonomously. [0004] The characteristics of the vision system of the traditional miniature rotor UAV are as follows: [0005] 1. A micro-rotor UAV performs image acquisition tasks, and the micro-rotor UAV is equipped with a camera; [0006] 2. The method of acqui...

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Problems solved by technology

[0006] 2. The method of acquiring a complete image in a larger field of view is to increase the flying height of the micro-rotor UAV and sacrifice the image resolution;

[0008] A vision system based on a micro-rotor UAV equipped with a camera does not have the ability to obtain a larger field of view image under the premise of ensuring image resolution, and cannot perform video acquisition of the target area in parallel to realize map mapping

[0009] Judging from the current technology, the research on the vision system based on UAV is more in the experimental stage, and the real practical application is less

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