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Image registration method and device, multispectral camera, unmanned equipment and storage medium

An image registration and multi-spectral technology, which is applied in the field of remote sensing image processing, can solve problems such as registration errors and band image registration inaccuracies, and achieve the effects of solving large registration errors, improving accuracy and versatility

Active Publication Date: 2021-10-12
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of realizing the present invention, the inventor found that: the geometric model registration can only realize the registration of the images of each band between the set distances, and there will be registration errors for the band images whose distance is greater than the set distance; using the actual Environmental image registration is easily affected by multispectral camera height, insufficient light, and weather, resulting in inaccurate band image registration

Method used

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  • Image registration method and device, multispectral camera, unmanned equipment and storage medium
  • Image registration method and device, multispectral camera, unmanned equipment and storage medium
  • Image registration method and device, multispectral camera, unmanned equipment and storage medium

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Embodiment 1

[0031] Figure 1a It is a flow chart of an image registration method provided by Embodiment 1 of the present invention. This embodiment is applicable to the case of registering band images collected by each band image sensor in a multispectral camera. This method can be performed by image registration device, which can be implemented by software and / or hardware, and can generally be integrated in a multispectral camera, specifically including the following steps:

[0032] Step 110, acquire band images collected by at least two band image sensors respectively, and determine a reference image and at least one image to be registered in each band image, and the band image sensors are associated with the set camera coordinate system. In this embodiment, in a certain actual environment, when it is necessary to use a multi-spectral camera to obtain band images of multiple bands, firstly, real-time image registration can be performed on the images of each band acquired in real time, an...

Embodiment 2

[0053] This embodiment is a further refinement of the first embodiment above, and explanations of terms that are the same as or corresponding to those in the above embodiment will not be repeated in this embodiment. figure 2 A flow chart of an image registration method provided by Embodiment 2 of the present invention, such as figure 2 As shown, the method includes the following steps:

[0054] Step 210, acquiring band images collected by at least two band image sensors respectively.

[0055] Step 220, using the color image collected by the color image sensor, to perform color compensation processing on at least one feature point in each of the band images. In this step, if Figure 1b As shown, the color image sensor 4 is integrated in the multispectral camera for acquiring color images of ground objects. Because the image details obtained by the color sensor are more abundant, the color image collected by the color sensor is used to perform color compensation processing ...

Embodiment 3

[0068] This embodiment is a further refinement of the above-mentioned embodiment 2. The technical solution in this embodiment can be combined with each optional solution in the above-mentioned one or more embodiments, and the same or corresponding terms as the above-mentioned embodiment are explained. The embodiment will not be described in detail.

[0069] image 3 A flow chart of an image registration method provided by Embodiment 3 of the present invention, such as image 3 As shown, the method includes the following steps:

[0070] Step 310, acquiring band images collected by at least two band image sensors respectively.

[0071] Step 320 , using the color image collected by the color image sensor, to perform color compensation processing on at least one feature point in each of the band images.

[0072] Step 330: Perform illumination compensation processing on at least one feature point in each of the band images by using illumination information collected by at least ...

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Abstract

The invention discloses an image registration method and device, a multispectral camera, unmanned equipment and a storage medium, and the method comprises the steps: obtaining wave band images collected by at least two wave band image sensors, determining a reference image and at least one to-be-registered image in each wave band image, and enabling the wave band image sensors to be associated with a set camera coordinate system; by taking a camera coordinate system of the reference image as a reference coordinate system, calculating alternative transformation matrixes respectively corresponding to the to-be-registered images according to the position relationship between the reference image and the associated feature points in the to-be-registered images; and according to the preset basic transformation matrix and each alternative transformation matrix, determining the target transformation matrix of each wave band image sensor corresponding to each to-be-registered image. According to the technical scheme of the embodiment of the invention, the problem of large registration error caused by a geometric model registration mode is solved, and the accuracy and versatility of image registration are improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of remote sensing image processing, and in particular, to an image registration method, device, multispectral camera, unmanned equipment, and storage medium. Background technique [0002] In the process of remote sensing data acquisition, the information of the ground objects in each band is collected by different band image sensors. Due to the different shooting angles of the image sensors of each band, the surface information captured by the image sensors of each band is different, resulting in the same ground There are inconsistencies between the images of each band under the object. Band image registration refers to the positioning, alignment or coincidence of pixels in each band image to eliminate or reduce the blurring and bilateral effects of the composite image. Therefore, band image registration is particularly important to obtain accurate and rich spectral remote sensing information of...

Claims

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Application Information

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IPC IPC(8): G06T7/33
CPCG06T7/337G06T2207/10024G06T2207/20016
Inventor 朱嘉炜刘鹏
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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