Image stitching method and apparatus

Abstract

The invention provides an image stitching method and apparatus which can be intended for reducing errors accumulated by stitching in adaptive multiple hierarchical stitching of aviation video images, can adaptively select proper processing level and registration algorithm on the basis of object scenario characteristics, which effectively addresses the dissipation and spreading caused by the increasing of image stitching errors alongside the image frames; also, a registrated image is subject to fusion processing by phasing in and phasing out, which better eliminates the stitching gaps caused by image transformation matrix accumulated errors and image brightness difference, a synthesized image of wide field of view and high resolution is obtained, and the precision and robustness of image stitching are noticeably improved; "characteristic stack" is used to store the characteristics of each frame image for performing registration and stitching with follow-up images, which can effectively reduce the amount of computing, saves the time for repetitively extracting image features, and further increases the speed of image stitching.

Description

technical field [0001] The invention relates to the fields of machine vision and image processing, in particular to an image splicing method and device. Background technique [0002] For aerial video image stitching, the traditional frame-to-frame registration stitching method causes the registration errors of adjacent images to accumulate during the stitching process, and these errors gradually become larger as the number of images increases, It directly affects the accuracy and effect of image stitching. [0003] The problem of error accumulation in aerial video sequence image stitching has always been a technical difficulty in image stitching. Researchers at home and abroad have tried to propose some solutions, such as beam adjustment, bundle adjustment, direct sparse Cholesky decomposition method, Kalman The global optimal registration method such as filtering method to obtain the optimal transformation matrix can reduce the global stitching error of multi-frame images ...

AI Technical Summary

Problems solved by technology

[0002] For aerial video image stitching, the traditional frame-to-frame registration stitching method causes the registration errors of adjacent images to accumulate during the stitching process, and these errors gradually become larger as the number of images increases, Directly affect the accuracy and effect of image stitching

[0003] The problem of error accumulation in aerial video sequence image stitching has always been a technical difficulty in image stitching. Researchers at home and abroad have tried to propose some solutions, such as beam adjustment, bundle adjustment, direct sparse Cholesky decomposition method, Kalman The global optimal registration method such as filtering method to obtain the optimal transformation matrix can reduce the global stitching error of multi-frame images to a certain extent, but in some practical applications (such as aerial reconnaissance and emergency disasters, etc.), using global registration Quasi-algorithms cannot meet real-time requirements

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