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Stereoscopic vision fast image stitching method suitable for space tether-robot

A stereo vision and space tethering technology, applied in image enhancement, image data processing, graphics and image conversion, etc., can solve problems such as insufficient speed, insufficient precision, and insufficient robustness.

Active Publication Date: 2014-04-30
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] Although many image stitching algorithms have been proposed, and the image stitching technology is constantly developing, it still cannot meet the needs of current practical applications.
The existing algorithms have various problems such as not fast enough, not high enough precision, not good enough fusion effect, not wide enough to use and not strong enough robustness, etc.
For example, the image stitching algorithm based on the classic feature detection algorithm SIFT, although its effect is very good, but due to the large amount of calculation of the SIFT algorithm, the operation speed of the algorithm is very slow; the image stitching algorithm based on SURF, although its operation speed is faster , but the stitching effect is not ideal

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  • Stereoscopic vision fast image stitching method suitable for space tether-robot

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Embodiment Construction

[0040] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0041] The technical solution implemented by the invention is composed of five parts: feature detection and matching, determination of transformation mathematical model, image space transformation, image reconstruction and splicing, and image fusion.

[0042] The method specifically includes steps as follows:

[0043] (1) Image collection: use the binocular camera to collect the target image;

[0044] (2) Image preprocessing: Perform median filtering and Wiener filtering on the images collected by the left and right cameras to eliminate noise interference and obtain a smooth target image;

[0045] (3) Feature detection and matching: Use the ORB feature point extraction algorithm to detect the left and right images respectively, and use rBRIEF to obtain the key point descriptor of the binary bit string, so the description of the distance in the process of key poi...

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Abstract

The invention relates to a stereoscopic vision fast image stitching method suitable for a space tether-robot. Based on ORB feature detection and an image stitching algorithm of a description algorithm, by comparing the method with a traditional stitching algorithm, it can be seen that the method is high in stitching precision and robustness and good in final image stitching effect, has the highest speed when compared with the traditional stitching algorithm, and has a wide application range and good application prospects. Compared with the prior art, the method has the advantages that time consumption of the method is small, the stitching speed is significantly improved, the infusion effect of stitching portions of an image is good, and noise immunity is strong.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and in particular relates to a fast stereoscopic image splicing method suitable for space tethered robots. Background technique [0002] Image processing is a comprehensive subject. Due to its wide application in recent years, it has developed into a rapidly growing subject with strong vitality. Especially in recent years, with the rapid development of computer technology, digital image processing technology has also emerged and developed rapidly. In recent years, with the continuous deepening of people's applications, the requirements for the viewing angle, resolution and size of images are constantly increasing. For example, in aerial image processing and geographic information systems, the viewing angle, range and resolution of images are all There are very strict requirements. [0003] Image stitching is the process of combining multiple original images with a certain ove...

Claims

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Application Information

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IPC IPC(8): G06T5/50G06T3/40G06T5/00
Inventor 黄攀峰蔡佳王东科张彬
Owner NORTHWESTERN POLYTECHNICAL UNIV
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