Indoor smoke environment image matching method suitable for fire fighting robot

A fire-fighting robot and environment image technology, applied in the field of computer vision, can solve problems such as image matching algorithm instability and matching failure

Active Publication Date: 2022-03-11
HEBEI UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the interference of indoor smoke and fire, the traditional image matching algorithm is extremely unstable and prone to matching failures, which needs to be improved urgently

Method used

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  • Indoor smoke environment image matching method suitable for fire fighting robot
  • Indoor smoke environment image matching method suitable for fire fighting robot
  • Indoor smoke environment image matching method suitable for fire fighting robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0067] Please refer to figure 1 The shown application provides an indoor smoky environment image matching method suitable for fire extinguishing robots, including the following steps:

[0068] S1. Obtain a frame of real-time image information; collect real-time video images of the indoor smog environment through the camera on the platform, and extract any frame of real-time image information. Here, in order to ensure the processing speed, the resolution of the image should not be too high, for example, choose 640 *480 resolution;

[0069] Because the indoor smoke environment has the characteristics of multiple light sources and different smoke concentrations, the traditional image defogging algorithm is no longer applicable. This scheme divides the real-time image information to obtain n*n image units with a rectangular structure, which reduces the burden of multiple light sources. influences.

[0070] Construct the first eigenvector of each image unit, the first eigenvector...

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Abstract

The invention discloses an indoor smoke environment image matching method suitable for a fire fighting robot. Comprising the following steps: acquiring a frame of real-time image information; dividing the real-time image information to obtain image units; constructing a first feature vector of each image unit; calculating the local density of any image unit; calculating the maximum value of the relative distance between any image unit and other image units whose local density is higher than that of the image unit; constructing a second feature vector of each image unit; superposing the first local atmospheric light intensity and the second local atmospheric light intensity to obtain global atmospheric light intensity; calculating the global transmissivity; constructing a defogging model, and inputting the real-time image information into the defogging model to obtain two first adjacent frame fogless images; tracking the feature points by using a pyramid LK optical flow algorithm to obtain matching point pairs, and eliminating mismatching points; and the transmissivity and atmospheric light intensity parameters are updated. Defogging quality is ensured, algorithm time complexity is reduced, and real-time operation of the algorithm is realized.

Description

technical field [0001] The present disclosure generally relates to the technical field of computer vision, and in particular relates to an image matching method for an indoor smoky environment suitable for a fire-fighting robot. Background technique [0002] With the continuous development of computer and image processing technology, more and more machine vision technologies are applied to various fields, including video surveillance, intelligent transportation, industrial production, special rescue and other fields. However, in scenes of environmental degradation, such as smog, water fog, etc., the application of vision technology is limited. As a key step in machine vision, image matching can establish a geometric correspondence between two or more images of the same target or scene, and is an important link in target recognition, target tracking, visual positioning, and 3D reconstruction. However, due to the interference of indoor smoke and fire, the traditional image ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V10/56G06V20/40G06K9/62G06T5/50
CPCG06T5/50G06T2207/10016G06T2207/20081G06F18/23213
Inventor 韩旭陶友瑞裴文良陆文涛梁博文段书用
Owner HEBEI UNIV OF TECH
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