Image splicing method and device, electronic equipment and computer readable storage medium

Abstract

The invention provides an image splicing method and device, electronic equipment and a computer readable storage medium, and relates to the field of aerial photography image splicing. The image splicing method comprises the following steps: acquiring a first image and a second image; wherein the first image is an image shot by a camera of the unmanned aerial vehicle at a first position, and the second image is an image shot by the camera at a second position; acquiring attitude information of the unmanned aerial vehicle according to the first position and the second position; wherein the attitude information represents angle information of the unmanned aerial vehicle moving from the first position to the second position; and splicing the first image and the second image according to the attitude information to obtain a spliced image. According to the method, the to-be-spliced images with the position information are acquired, the attitude information of the unmanned aerial vehicle is acquired, splicing of the multiple images is further realized, and splicing of the images acquired by the unmanned aerial vehicle is realized without depending on information of an inertial measurementodometer.

Description

technical field [0001] The present application relates to the field of image mosaic of aerial photography, in particular, to an image mosaic method, device, electronic equipment and computer-readable storage medium. Background technique [0002] In recent years, with the development of UAV technology, UAVs have been widely used in various fields such as exploration, reconnaissance, emergency response, and disaster relief due to their high efficiency, flexibility, and low cost. [0003] UAVs are the most widely used in the field of video surveillance. The video surveillance system provides a wide aerial perspective for ground monitoring. In order to obtain a relatively complete video or image, multiple images need to be spliced. There are two commonly used methods: one It is sensorless assisted splicing; the other is sensor assisted splicing, for example, using an inertial measurement unit (Inertial Measurement Unit, IMU) etc. for assisted splicing. Without sensor-assisted s...

AI Technical Summary

Problems solved by technology

Without sensor-assisted splicing, the scale size cannot be obtained, and there are cumulative errors; IMU-assisted splicing, the scale size can be obtained, but there are cumulative errors, and its structure calculation is complicated

Images