CN110310243A - A kind of method for correcting image that unmanned plane is photogrammetric, system and storage medium - Google Patents
A kind of method for correcting image that unmanned plane is photogrammetric, system and storage medium Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of method for correcting image that unmanned plane is photogrammetric, system and storage mediums, the described method includes: obtaining the moment UAV Attitude angle t1 and t2 and intrinsic parameter under unmanned plane during flying state respectively, and using the image of the acquisition at t1 moment as reference picture；The image that the t2 moment acquires is as image to be calibrated；Homography matrix is constructed respectively, is denoted as H respectively1And H2；By the homography matrix H1And H2Combination obtains the conversion homography matrix H between t1 moment and t2 moment；By the pixel input conversion homography matrix H of image to be calibrated, the corresponding pixel points of the conversion homography matrix H combination reference picture calibrate the pixel of image to be calibrated and export the image after calibration.Attitude angle information combination unmanned plane intrinsic parameter at the time of the present invention is by acquisition unmanned plane difference, building conversion homography matrix carry out the correction of photographs, improve calibration accuracy, reduce measurement error, improve photogrammetric accuracy.
Description
Technical Field
The invention relates to the field of photogrammetry, in particular to an image correction method, an image correction system and a storage medium for unmanned aerial vehicle photogrammetry.
Background
At present, the high-speed development of science and technology and the perfect of unmanned aerial vehicle technique for unmanned aerial vehicle can use in more fields, and the advantage that performance unmanned aerial vehicle is nimble, convenient operation and not restricted by the topography. Although the unmanned aerial vehicle technology is rapidly developed in recent years, when the unmanned aerial vehicle performs photogrammetry, the unmanned aerial vehicle is still influenced by the environment, for example, the influence of wind causes great errors in images shot by the unmanned aerial vehicle; in addition to being affected by the environment, the vibration of the drone itself can also cause measurement errors. Utilize unmanned aerial vehicle to carry out the topographic survey in the survey and drawing field, carry out the technique of splicing to unmanned aerial vehicle image and also be in elementary stage.
Unmanned aerial vehicle has not yet been applied to the photogrammetry field that requires very high precision, does not solve unmanned aerial vehicle yet all the requirement that environment and unmanned aerial vehicle self vibration brought, when utilizing unmanned aerial vehicle to carry out the photogrammetry, the image that the shooting obtained not only contains useful information, also can contain simultaneously because unmanned aerial vehicle self vibration and the error information that the environmental impact brought, eliminate or reduce these error information that influence the measurement at present and become a difficult point in the unmanned aerial vehicle photogrammetry.
Disclosure of Invention
The invention provides an image correction method, an image correction system and a storage medium for unmanned aerial vehicle photogrammetry, aiming at overcoming the defects of larger error and low photogrammetry precision of unmanned aerial vehicle photogrammetry in the prior art.
In order to solve the technical problem, the first aspect of the present invention discloses an image correction method for unmanned aerial vehicle photogrammetry, comprising the following steps:
s1: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a certain moment t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the moment t1 as a reference picture;
s2: acquiring an unmanned aerial vehicle attitude angle and internal parameters at a time t2 after a time t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the time t2 as an image to be calibrated;
s3: and respectively constructing homography matrixes by using attitude angles and internal parameters of the unmanned aerial vehicle at the time t1 and the time t2, and respectively recording the homography matrixes as H1And H2；
S4: the homography matrix H1And H2Combining to obtain a conversion homography matrix H between the time t1 and the time t 2;
s5: and inputting pixel points of the image to be calibrated into a conversion homography matrix H, and calibrating the pixel points of the image to be calibrated by combining the conversion homography matrix H with corresponding pixels of the reference picture and outputting the calibrated image.
In this scheme, unmanned aerial vehicle attitude angle information includes: the unmanned aerial vehicle comprises a roll angle, a pitch angle and a yaw angle, wherein the roll angle is the angle of the unmanned aerial vehicle rotating around the X axis; the pitch angle theta is the angle of rotation of the unmanned aerial vehicle around the Y axis; the yaw angle is the angle of rotation of the unmanned aerial vehicle around the Z axis; the intrinsic parameters include: focal length f on u-axis of unmanned aerial vehiclexFocal length f on the v-axis of the droneyPrincipal point coordinates (u) of unmanned aerial vehicle0,v0)。
In this scheme, the homography matrix H1 at the time t1 is represented as follows:
wherein j is1Roll angle of drone at time t1, q1For the pitch angle of the drone at time t1, y1Yaw angle of drone at time t1, txFor unmanned aerial vehicle displacement value in x direction, tyFor unmanned aerial vehicle displacement value in y direction, tzFor the displacement value of the unmanned plane in the z direction, fxRepresenting the focal length, f, on the u-axis of the droneyDenotes the focal length on the v-axis of the drone (u)0,v0) Representing the principal point coordinates of the drone.
In this scheme, the homography matrix H2 at the time t2 is represented as follows:
wherein j is2Roll angle of drone at time t2, q2For the pitch angle of the drone at time t2, y2Yaw angle of drone at time t2, txFor unmanned aerial vehicle displacement value in x direction, tyFor unmanned aerial vehicle displacement value in y direction, tzFor the displacement value of the unmanned plane in the z direction, fxRepresenting the focal length on the u-axis of the drone,fydenotes the focal length on the v-axis of the drone (u)0,v0) Representing the principal point coordinates of the drone.
In this scheme, the homography matrix H1And H2The combination formula is as follows:
H＝H1H2 -1
i.e. the homography matrix H1Multiplied by the inverse of the homography matrix H2.
In this embodiment, the specific correction process in step S5 is as follows:
and (3) outputting corrected image points by converting pixel points of the image to be calibrated, which are acquired at the time t2, into a homography matrix H in a vector mode, wherein the formula is as follows:
wherein u 'and v' represent pixel points of the image to be calibrated, and u and v represent pixel points of the calibrated image.
The invention discloses an image correction system for unmanned aerial vehicle photogrammetry in a second aspect, which comprises: the image correction method program for unmanned aerial vehicle photogrammetry is executed by the processor to realize the following steps:
s1: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a certain moment t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the moment t1 as a reference picture;
s2: acquiring an unmanned aerial vehicle attitude angle and internal parameters at a time t2 after a time t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the time t2 as an image to be calibrated;
s3: and respectively constructing homography matrixes by using attitude angles and internal parameters of the unmanned aerial vehicle at the time t1 and the time t2, and respectively recording the homography matrixes as H1And H2；
S4: the homography matrix H1And H2Combining to obtain a conversion homography matrix H between the time t1 and the time t 2;
s5: and inputting pixel points of the image to be calibrated into a conversion homography matrix H, and calibrating the pixel points of the image to be calibrated by combining the conversion homography matrix H with corresponding pixels of the reference picture and outputting the calibrated image.
In a third aspect, the present invention discloses a computer-readable storage medium, where the computer-readable storage medium includes a program of an image correction method for unmanned aerial vehicle photogrammetry, and when the program of the image correction method for unmanned aerial vehicle photogrammetry is executed by a processor, the steps of the image correction method for unmanned aerial vehicle photogrammetry as described in any one of the above are implemented.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
according to the invention, the attitude angle information of the unmanned aerial vehicle at different moments is collected and combined with the internal parameters of the unmanned aerial vehicle, and the conversion homography matrix is constructed to correct the photogrammetric image, so that the calibration precision is improved, the measurement error is reduced, and the photogrammetric precision is improved.
Drawings
Fig. 1 is a flowchart of an image correction method for unmanned aerial vehicle photogrammetry.
Fig. 2 is a block diagram of an image correction system for unmanned aerial vehicle photogrammetry.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Example 1
Fig. 1 shows a flowchart of an image correction method for unmanned aerial vehicle photogrammetry.
As shown in fig. 1, an image correction method for unmanned aerial vehicle photogrammetry includes the following steps:
s1: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a certain moment t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the moment t1 as a reference picture;
s2: acquiring an unmanned aerial vehicle attitude angle and internal parameters at a time t2 after a time t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the time t2 as an image to be calibrated;
s3: and respectively constructing homography matrixes by using attitude angles and internal parameters of the unmanned aerial vehicle at the time t1 and the time t2, and respectively recording the homography matrixes as H1And H2；
S4: the homography matrix H1And H2Combining to obtain a conversion homography matrix H between the time t1 and the time t 2;
s5: and inputting pixel points of the image to be calibrated into a conversion homography matrix H, and calibrating the pixel points of the image to be calibrated by combining the conversion homography matrix H with corresponding pixels of the reference picture and outputting the calibrated image.
According to the method, the imaging points of the images shot when the unmanned aerial vehicle is influenced during photogrammetry are analyzed through the principle of photogrammetry, and image correction is performed by combining a conversion homography matrix between the images. Attitude information when the unmanned aerial vehicle carries out photogrammetry is saved in the unmanned aerial vehicle image, and can be acquired from the unmanned aerial vehicle image.
The invention can correct the unmanned aerial vehicle photographic image by combining the attitude angle information of the unmanned aerial vehicle and the known internal parameters of the unmanned aerial vehicle with the homography matrix.
In this scheme, unmanned aerial vehicle attitude angle information includes: the unmanned aerial vehicle comprises a roll angle, a pitch angle and a yaw angle, wherein the roll angle is the angle of the unmanned aerial vehicle rotating around the X axis; the pitch angle theta is the angle of rotation of the unmanned aerial vehicle around the Y axis; the yaw angle is the angle of rotation of the unmanned aerial vehicle around the Z axis; the intrinsic parameters include: focal length f on u-axis of unmanned aerial vehiclexFocal length f on the v-axis of the droneyPrincipal point coordinates (u) of unmanned aerial vehicle0,v0)。
In this scheme, the homography matrix H1 at the time t1 is represented as follows:
wherein j is1Roll angle of drone at time t1, q1For the pitch angle of the drone at time t1, y1Yaw angle of drone at time t1, txFor unmanned aerial vehicle displacement value in x direction, tyFor unmanned aerial vehicle displacement value in y direction, tzFor the displacement value of the unmanned plane in the z direction, fxRepresenting the focal length, f, on the u-axis of the droneyDenotes the focal length on the v-axis of the drone (u)0,v0) Representing the principal point coordinates of the drone.
In this scheme, the homography matrix H2 at the time t2 is represented as follows:
wherein j is2Roll angle of drone at time t2, q2For the pitch angle of the drone at time t2, y2Yaw angle of drone at time t2, txFor unmanned aerial vehicle displacement value in x direction, tyFor unmanned aerial vehicle displacement value in y direction, tzFor the displacement value of the unmanned plane in the z direction, fxRepresenting the focal length, f, on the u-axis of the droneyDenotes the focal length on the v-axis of the drone (u)0,v0) Representing the principal point coordinates of the drone.
In this scheme, the homography matrix H1And H2The combination formula is as follows:
H＝H1H2 -1
i.e. the homography matrix H1Multiplied by the inverse of the homography matrix H2.
In this embodiment, the specific correction process in step S5 is as follows:
and (3) outputting corrected image points by converting pixel points of the image to be calibrated, which are acquired at the time t2, into a homography matrix H in a vector mode, wherein the formula is as follows:
wherein u 'and v' represent pixel points of the image to be calibrated, and u and v represent pixel points of the calibrated image.
Fig. 2 shows a block diagram of an image correction system for unmanned aerial vehicle photogrammetry.
As shown in fig. 2, a second aspect of the present invention discloses an image correction system for unmanned aerial vehicle photogrammetry, the system comprising: a memory 21 and a processor 22, wherein the memory includes an image correction method program for unmanned aerial vehicle photogrammetry, and when executed by the processor, the image correction method program for unmanned aerial vehicle photogrammetry realizes the following steps: s1: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a certain moment t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the moment t1 as a reference picture;
s2: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a time t2 after the time t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the time t2 as an image to be calibrated;
s3: and respectively constructing homography matrixes by using attitude angles and internal parameters of the unmanned aerial vehicle at the time t1 and the time t2, and respectively recording the homography matrixes as H1And H2；
S4: the homography matrix H1And H2Combining to obtain a conversion homography matrix H between the time t1 and the time t 2;
s5: and inputting pixel points of the image to be calibrated into a conversion homography matrix H, and calibrating the pixel points of the image to be calibrated by combining the conversion homography matrix H with corresponding pixels of the reference picture and outputting the calibrated image.
In a third aspect, the present invention discloses a computer-readable storage medium, where the computer-readable storage medium includes a program of an image correction method for unmanned aerial vehicle photogrammetry, and when the program of the image correction method for unmanned aerial vehicle photogrammetry is executed by a processor, the steps of the image correction method for unmanned aerial vehicle photogrammetry as described in any one of the above are implemented.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. An image correction method for unmanned aerial vehicle photogrammetry is characterized by comprising the following steps:
s1: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a certain moment t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the moment t1 as a reference picture;
s2: acquiring an unmanned aerial vehicle attitude angle and internal parameters at a time t2 after a time t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the time t2 as an image to be calibrated;
s3: and respectively constructing homography matrixes by using attitude angles and internal parameters of the unmanned aerial vehicle at the time t1 and the time t2, and respectively recording the homography matrixes as H1 and H2；
S4: the homography matrix H1 and H2Combining to obtain a conversion homography matrix H between the time t1 and the time t 2;
s5: and inputting the pixel points of the image to be calibrated into a conversion homography matrix H, and combining the conversion homography matrix H with the corresponding pixel points of the reference picture to calibrate the pixel points of the image to be calibrated and outputting the calibrated image.
2. The method of claim 1, wherein the information of the attitude angle of the drone includes: the unmanned aerial vehicle comprises a roll angle, a pitch angle and a yaw angle, wherein the roll angle is the angle of the unmanned aerial vehicle rotating around the X axis; the pitch angle theta is the angle of rotation of the unmanned aerial vehicle around the Y axis; the yaw angle is the angle of rotation of the unmanned aerial vehicle around the Z axis; the intrinsic parameters include: focal length f on u-axis of unmanned aerial vehiclexFocal length f on the v-axis of the droneyPrincipal point coordinates (u) of unmanned aerial vehicle0,v0)。
3. The method of claim 1, wherein the homography matrix H1 at time t1 is represented as follows:
wherein ,j1Roll angle of drone at time t1, q1For the pitch angle of the drone at time t1, y1Yaw angle of drone at time t1, txFor unmanned aerial vehicle displacement value in x direction, tyFor unmanned aerial vehicle displacement value in y direction, tzFor the displacement value of the unmanned plane in the z direction, fxRepresenting the focal length, f, on the u-axis of the droneyDenotes the focal length on the v-axis of the drone (u)0,v0) Representing the principal point coordinates of the drone.
4. The method of claim 1, wherein the homography matrix H2 at time t2 is represented as follows:
wherein ,j2Roll angle of drone at time t2, q2For the pitch angle of the drone at time t2, y2Yaw angle of drone at time t2, txFor unmanned aerial vehicle displacement value in x direction, tyFor unmanned aerial vehicle displacement value in y direction, tzFor the displacement value of the unmanned plane in the z direction, fxRepresenting the focal length, f, on the u-axis of the droneyDenotes the focal length on the v-axis of the drone (u)0,v0) Representing the principal point coordinates of the drone.
5. The method of claim 1, wherein the homography matrix H is a homography matrix1 and H2The combination formula is as follows:
H＝H1H2 -1
i.e. the homography matrix H1Multiplied by the inverse of the homography matrix H2.
6. The method of claim 1, wherein the step S5 is specifically performed by the following steps:
and (3) outputting the corrected image pixel points by converting the pixel points of the image to be calibrated, which are obtained at the moment of t2, into a homography matrix H in a vector mode, wherein the formula is as follows:
wherein u 'and v' represent pixel points of the image to be calibrated, and u and v represent pixel points of the calibrated image.
7. An image correction system for unmanned aerial vehicle photogrammetry, the system comprising: the image correction method program for unmanned aerial vehicle photogrammetry is executed by the processor to realize the following steps: s1: acquiring an attitude angle and internal parameters of the unmanned aerial vehicle at a certain moment t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the moment t1 as a reference picture;
s2: acquiring an unmanned aerial vehicle attitude angle and internal parameters at a time t2 after a time t1 in the flight state of the unmanned aerial vehicle, and taking an image acquired by the unmanned aerial vehicle at the time t2 as an image to be calibrated;
s3: and respectively constructing homography matrixes by using attitude angles and internal parameters of the unmanned aerial vehicle at the time t1 and the time t2, and respectively recording the homography matrixes as H1 and H2；
S4: the homography matrix H1 and H2Combining to obtain a conversion homography matrix H between the time t1 and the time t 2;
s5: and inputting pixel points of the image to be calibrated into a conversion homography matrix H, and calibrating the pixel points of the image to be calibrated by combining the conversion homography matrix H with corresponding pixels of the reference picture and outputting the calibrated image.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a program of an image correction method for drone photogrammetry, which when executed by a processor, carries out the steps of a method of image correction for drone photogrammetry of any of claims 1 to 6.
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