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
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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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