CN114240758B - Mountain tea garden low-altitude image splicing method taking quadrilateral plots as reference objects - Google Patents
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Abstract
The invention discloses a splicing method of low-altitude images of a mountainous area tea garden by taking a quadrangular land block as a reference object, which comprises the following steps: collecting low-altitude images of the tea garden in the mountainous area, carrying out threshold segmentation on the collected images, extracting coordinates of each corner point of a reference object in a binary image, calculating the scaling and the rotation angle of the images, and splicing the low-altitude images of the tea garden; the method takes the starting point of the mountain tea garden operation as a reference object to splice the low-altitude images, carries out binarization segmentation on the images in the splicing process, carries out corner point coordinate extraction on the operation starting point, calculates the scaling ratio and the rotation angle of the secondary image, extracts the region uncovered by the main image in the secondary image and completes splicing with the main image, avoids errors caused by selection errors of feature points, and solves the problem of insufficient image coverage in the traditional mountain tea garden image acquisition by taking the mountain tea garden operation starting point as the starting point of the obtained spliced image, thereby ensuring the relatively large image coverage while maintaining the image quality.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method for splicing low-altitude images of a mountainous area tea garden by taking a quadrilateral land as a reference object.
Background
Tea originates in China, the cultivation history has been for more than three thousand years, the tea is one of three major drinks of human beings, the consumption exceeds coffee and cocoa, tea is an important economic crop in China, the development condition of the tea has profound influence on economic happiness of tea areas, market supply and establishment of famous tea brands, drinking tea is beneficial to the body health of people, most of tea is planted in tea gardens, mountain tea gardens are mountainous areas for planting tea, most of the tea gardens of China are located in the mountainous areas, particularly organic tea gardens, in order to improve the quality of the tea in the mountain tea gardens, effective perception and daily inspection on environmental parameters of the tea need to be carried out, so that effective measures can be timely taken to realize efficient production management.
The daily inspection work of mountain tea garden leads to work load because of mountain topography characteristics big, and work efficiency is low, and the introduction many rotors unmanned vehicles technique of carrying out the daily inspection of tea garden becomes the effective way that improves labor efficiency, consequently all builds the quadrangle plot that is used for unmanned vehicles to berth on the mountain tea garden, with regard as unmanned vehicles parking apron, however, in unmanned vehicles actual image acquisition process, in order to keep image quality, the coverage of unmanned vehicles collection image is less relatively, the problem that a plurality of continuous hills can't appear in an image often appears, thereby lead to the image coverage of gathering not enough.
At present, in order to display more regional information in one image, the images need to be spliced, feature points are mostly selected through an image processing algorithm in the existing image splicing research, at this time, matching between different tea tree rows is probably generated due to the similarity of tea tree row information in a tea garden in a mountainous area, and under the existing splicing method, the splicing target mainly highlights the smoothness of the images and the transition nature of pictures, which is obviously not beneficial to the positioning of a subsequent agricultural operation region, and the problem can be solved by taking an apron of a quadrangular land as a reference object.
Disclosure of Invention
In view of the above problems, the present invention provides a method for splicing low-altitude images of a mountain tea garden with a quadrangular land block as a reference, which splices low-altitude images with a starting point of mountain tea garden operation as a reference from the perspective of agricultural operation, performs binary segmentation on the images during the splicing process, extracts corner coordinates of the starting point of the operation, calculates a scaling ratio and a rotation angle of a secondary image, extracts an area uncovered by a main image in the secondary image and splices the area with the main image, and avoids errors caused by selection errors of feature points in the traditional image splicing method.
In order to achieve the purpose of the invention, the invention is realized by the following technical scheme: a splicing method of low-altitude images of a mountainous area tea garden by taking a quadrangular land block as a reference object comprises the following steps:
the method comprises the following steps: firstly, presetting a patrol area of a mountain tea garden on an unmanned aerial vehicle, then starting the unmanned aerial vehicle to carry out daily flight patrol on the mountain tea garden, carrying out low-altitude image acquisition on the mountain tea garden in the patrol area, and then preprocessing the acquired images to obtain original images to be spliced, wherein the original images contain quadrangular plots serving as parking aprons of the unmanned aerial vehicle;
step two: dividing an original image to be spliced into a main image and a secondary image according to the length of a road in the image, then taking the brightness characteristics of the main image and the secondary image and carrying out threshold segmentation to obtain binary images of the main image and the secondary image, and determining a white area of a quadrilateral land block in the binary images of the main image and the secondary image as a quadrilateral reference object;
step three: firstly, determining pixel point coordinates of four corner points of a quadrilateral reference object in a binary image of a main image and a secondary image in an original image, and then sequentially extracting four corner points A of the quadrilateral reference object on the main image according to the determined pixel point coordinates 1 、B 1 、C 1 And D 1 And four corner points A of the quadrilateral reference object on the sub-graph 2 、B 2 、C 2 And D 2 ；
Step four: firstly, the diagonal A of the quadrilateral reference object on the main graph is respectively obtained according to the four corners on the main graph and the auxiliary graph 1 C 1 And B 1 D 1 And the diagonal A of the quadrangular reference object on the sub-diagram 2 C 2 And B 2 D 2 According to the diagonal line A 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 The scaling of the sub-map is calculated, the sub-map is then scaled according to the calculated scaling, and then according to the diagonal A 1 C 1 And A 2 C 2 And B 1 D 1 ：B 2 D 2 Calculating the rotation angle of the secondary image at an included angle in the original image coordinate system;
step five: firstly, selecting an area which is not covered by the main graph in the auxiliary graph as a part of the auxiliary graph participating in splicing, then rotating the part of the auxiliary graph participating in splicing according to the rotating angle in the fourth step, and splicing with the main graph to finish the splicing of the low-altitude images of the mountainous area tea garden.
The further improvement lies in that: in the first step, the image preprocessing specifically comprises the following steps: firstly, carrying out edge detection processing on the image, then carrying out equalization processing on the image, then carrying out noise reduction processing on the image after the equalization processing, and finally obtaining a low-altitude original image of the mountainous area tea garden after pretreatment.
The further improvement lies in that: in the second step, the specific step of threshold segmentation is to take the R + G + B brightness feature of the original image to be spliced as the segmentation feature, determine the threshold by using the OSTU method, and then segment the original image to be spliced into a binary image by using threshold segmentation.
The further improvement lies in that: in the third step, when extracting the coordinates of the corner points of the quadrilateral reference object on the main graph and the auxiliary graph, the upper left corner of the four corner points of the quadrilateral reference object of the main graph is used as A 1 Sequentially extracting coordinates A clockwise 1 、B 1 、C 1 And D 1 The four corner points of the quadrilateral reference object on the secondary graph take the upper left corner as A 2 Sequentially extracting coordinates A clockwise 2 、B 2 、C 2 And D 2 。
The further improvement lies in that: in the fourth step, when the scaling of the sub-image is calculated, the diagonal A is calculated respectively 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 Length of (1), and then A 1 C 1 ：A 2 C 2 And B 1 D 1 ：B 2 D 2 The average of (d) is used as a scaling of the sub-graph.
The further improvement lies in that: in the fourth step, when the rotation angle of the secondary graph is calculated, A is used firstly 1 C 1 And A 2 C 2 The angle in the image coordinate system is theta 1 Then with B 1 D 1 ：B 2 D 2 The angle in the image coordinate system is theta 2 Then at theta 1 And theta 2 The average value of (a) is used as the rotation angle of the sub-map.
The further improvement lies in that: in the fifth step, if the sub-image view is on the left, the rotated image from the leftmost to A is selected 1 The point area is used as the part of the sub-image participating in the splicing, if the sub-image visual field is right, the rightmost side of the rotated image is selected to be C 1 The region of points serves as a part of the sub-map participating in the stitching.
The invention has the beneficial effects that: according to the method, from the perspective of agricultural operation, the starting point of mountain tea garden operation is taken as a reference object to splice the low-altitude images, the images are subjected to binarization segmentation in the splicing process, the angular point coordinates of the operation starting point are extracted, the scaling ratio and the rotation angle of the secondary image are calculated, the region which is not covered by the main image in the secondary image is extracted and spliced with the main image, errors caused by selection errors of feature points are avoided, the obtained spliced image takes the mountain tea garden operation starting point as the starting point, the problem of insufficient image coverage in traditional mountain tea garden image acquisition is solved, the image coverage is relatively large while the image quality is maintained, and compared with a traditional splicing method, the spliced image is more beneficial to determination of subsequent tea garden operation regions.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram showing a comparison between the main diagram and the sub diagram in the second embodiment of the present invention;
FIG. 3 is a schematic diagram of a binarized image according to a second embodiment of the present invention;
FIG. 4 is a diagram illustrating a main graph and a sub graph after being merged according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, the present embodiment provides a method for splicing low-altitude images of a mountainous area tea garden by using a quadrangular plot as a reference, including the following steps:
the method comprises the following steps: the method comprises the following steps of firstly presetting a patrol area of a mountain tea garden on an unmanned aerial vehicle, then starting the unmanned aerial vehicle to carry out daily patrol on the mountain tea garden, carrying out low-altitude image acquisition on the mountain tea garden in the patrol area, then preprocessing the acquired image to obtain an original image to be spliced, wherein the original image contains a quadrilateral land block serving as an unmanned aerial vehicle parking apron, and the preprocessing specific steps of the image are as follows: firstly, carrying out edge detection processing on the image, then carrying out equalization processing on the image, then carrying out noise reduction processing on the image after the equalization processing, and finally obtaining a low-altitude original image of the mountain tea garden after pretreatment;
step two: dividing an original image to be spliced into a main image and a secondary image according to the length of a road in the image, then adopting the brightness characteristics of the main image and the secondary image and carrying out threshold segmentation to obtain a binary image of the main image and the secondary image, determining a white area of a quadrilateral land block in the binary image of the main image and the secondary image as a quadrilateral reference object, and carrying out threshold segmentation by using the R + G + B brightness characteristics of the original image to be spliced as segmentation characteristics, then using an OSTU method to determine a threshold, and then adopting threshold segmentation to segment the original image to be spliced into a binary image;
step three: firstly, determining pixel point coordinates of four corner points of a quadrilateral reference object in a binary image of a main image and a secondary image in an original image, and then sequentially extracting four corner points A of the quadrilateral reference object on the main image according to the determined pixel point coordinates 1 、B 1 、C 1 And D 1 And four corner points A of the quadrilateral reference object on the sub-graph 2 、B 2 、C 2 And D 2 When coordinates of corner points of the quadrilateral reference object on the main graph and the secondary graph are extracted, the upper left corner of the four corner points of the quadrilateral reference object of the main graph is used as A 1 Sequentially extracting coordinates A clockwise 1 、B 1 、C 1 And D 1 The four corner points of the quadrilateral reference object on the secondary graph take the upper left corner as A 2 Sequentially extracting coordinates A clockwise 2 、B 2 、C 2 And D 2 ；
Step four: firstly, the diagonal A of the quadrilateral reference object on the main graph is respectively obtained according to the four corners on the main graph and the auxiliary graph 1 C 1 And B 1 D 1 And the diagonal A of the quadrangular reference object on the sub-diagram 2 C 2 And B 2 D 2 According to the diagonal line A 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 The scaling of the sub-map is calculated, the sub-map is then scaled according to the calculated scaling, and then according to the diagonal A 1 C 1 And A 2 C 2 And B 1 D 1 ：B 2 D 2 Calculating the rotation angle of the sub-image at the included angle in the original image coordinate system, and calculating the scaling of the sub-image by calculating the diagonal A 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 Length of (1), and then A 1 C 1 ：A 2 C 2 And B 1 D 1 ：B 2 D 2 The average value of (A) is used as the scaling of the sub-map, and when calculating the rotation angle of the sub-map, A is used first 1 C 1 And A 2 C 2 The angle in the image coordinate system is theta 1 Then with B 1 D 1 ：B 2 D 2 The angle in the image coordinate system is theta 2 Then at theta 1 And theta 2 The average value of (a) is used as the rotation angle of the sub-map;
step five: firstly, selecting an area which is not covered by the main image in the auxiliary image as a part of the auxiliary image participating in splicing, and if the visual field of the auxiliary image is on the left, selecting the rotated image from the leftmost side to A 1 The point area is used as the part of the sub-image participating in the splicing, if the sub-image visual field is right, the rightmost side of the rotated image is selected to be C 1 And taking the region of the point as a part of the auxiliary image participating in splicing, rotating the part of the auxiliary image participating in splicing according to the rotating angle in the fourth step, and splicing with the main image to finish the splicing of the low-altitude image of the mountainous area tea garden.
Example two
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, the present embodiment provides a method for splicing low-altitude images of a mountainous area tea garden by using a quadrangular plot as a reference, including the following steps:
the method comprises the following steps: the method comprises the following steps of firstly presetting a patrol area of a mountain tea garden on an unmanned aerial vehicle, then starting the unmanned aerial vehicle to carry out daily patrol on the mountain tea garden, carrying out low-altitude image acquisition on the mountain tea garden in the patrol area, then preprocessing the acquired image to obtain an original image to be spliced, wherein the original image contains a quadrilateral land block serving as an unmanned aerial vehicle parking apron, and the preprocessing specific steps of the image are as follows: firstly, performing primary enhancement processing on an image by a spatial domain method, performing secondary enhancement processing on the image by a high-pass filter, then performing equalization processing on the image, and finally obtaining a preprocessed low-altitude original image of the mountain tea garden;
step two: dividing an original image to be spliced into a main image and a secondary image according to the length of a road in the image, then adopting the brightness characteristics of the main image and the secondary image and carrying out threshold segmentation to obtain a binary image of the main image and the secondary image, determining a white area of a quadrilateral land block in the binary image of the main image and the secondary image as a quadrilateral reference object, and carrying out threshold segmentation by using the R + G + B brightness characteristics of the original image to be spliced as segmentation characteristics, then using an OSTU method to determine a threshold, and then adopting threshold segmentation to segment the original image to be spliced into a binary image;
step three: firstly, determining pixel point coordinates of four corner points of a quadrilateral reference object in a binary image of a main image and a secondary image in an original image, and then sequentially extracting four corner points A of the quadrilateral reference object on the main image according to the determined pixel point coordinates 1 、B 1 、C 1 And D 1 And four corner points A of the quadrilateral reference object on the sub-graph 2 、B 2 、C 2 And D 2 When coordinates of corner points of the quadrilateral reference object on the main graph and the secondary graph are extracted, the upper left corner of the four corner points of the quadrilateral reference object of the main graph is used as A 1 Sequentially extracting coordinates A clockwise 1 、B 1 、C 1 And D 1 The four corner points of the quadrilateral reference object on the secondary graph take the upper left corner as A 2 Sequentially extracting coordinates A clockwise 2 、B 2 、C 2 And D 2 ；
Step four: firstly, the diagonal A of the quadrilateral reference object on the main graph is respectively obtained according to the four corners on the main graph and the auxiliary graph 1 C 1 And B 1 D 1 And the diagonal A of the quadrangular reference object on the sub-diagram 2 C 2 And B 2 D 2 According to the diagonal line A 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 The scaling of the sub-map is calculated, the sub-map is then scaled according to the calculated scaling, and then according to the diagonal A 1 C 1 And A 2 C 2 And B 1 D 1 ：B 2 D 2 Calculating the rotation angle of the sub-image at the included angle in the original image coordinate system, and calculating the scaling of the sub-image by calculating the diagonal A 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 Length of (1), and then A 1 C 1 ：A 2 C 2 And B 1 D 1 ：B 2 D 2 The average value of (A) is used as the scaling ratio of the sub-map, and when the rotation angle of the sub-map is calculated, A is used first 1 C 1 And A 2 C 2 Clip in image coordinate systemAngle theta 1 Then with B 1 D 1 ：B 2 D 2 The angle in the image coordinate system is theta 2 Then at theta 1 And theta 2 The average value of (a) is used as the rotation angle of the sub-map;
step five: firstly, selecting an area which is not covered by the main image in the auxiliary image as a part of the auxiliary image participating in splicing, and if the visual field of the auxiliary image is on the left, selecting the rotated image from the leftmost side to A 1 The point area is used as the part of the sub-image participating in the splicing, if the sub-image visual field is right, the rightmost side of the rotated image is selected to be C 1 And taking the region of the point as a part of the auxiliary image participating in splicing, rotating the part of the auxiliary image participating in splicing according to the rotating angle in the fourth step, and splicing with the main image to finish the splicing of the low-altitude image of the mountainous area tea garden.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A method for splicing low-altitude images of a mountainous area tea garden by taking a quadrangular plot as a reference object is characterized by comprising the following steps of:
the method comprises the following steps: firstly, presetting a patrol area of a mountain tea garden on an unmanned aerial vehicle, then starting the unmanned aerial vehicle to carry out daily flight patrol on the mountain tea garden, carrying out low-altitude image acquisition on the mountain tea garden in the patrol area, and then preprocessing the acquired images to obtain original images to be spliced, wherein the original images contain quadrangular plots serving as parking aprons of the unmanned aerial vehicle;
step two: dividing an original image to be spliced into a main image and a secondary image according to the length of a road in the image, then taking the brightness characteristics of the main image and the secondary image and carrying out threshold segmentation to obtain binary images of the main image and the secondary image, and determining a white area of a quadrilateral land block in the binary images of the main image and the secondary image as a quadrilateral reference object;
step three: firstly, determining four corner points of a quadrilateral reference object in a binary image of a main image and a secondary image in an original imageThen sequentially extracting four corner points A of the quadrilateral reference object on the main graph according to the determined pixel point coordinates 1 、B 1 、C 1 And D 1 And four corner points A of the quadrilateral reference object on the sub-graph 2 、B 2 、C 2 And D 2 ；
Step four: firstly, the diagonal A of the quadrilateral reference object on the main graph is respectively obtained according to the four corners on the main graph and the auxiliary graph 1 C 1 And B 1 D 1 And the diagonal A of the quadrangular reference object on the sub-diagram 2 C 2 And B 2 D 2 According to the diagonal line A 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 The scaling of the sub-map is calculated, then the sub-map is scaled according to the calculated scaling, and then according to the diagonal A 1 C 1 And A 2 C 2 And B 1 D 1 And B 2 D 2 Calculating the rotation angle of the secondary image at an included angle in the original image coordinate system;
step five: firstly, selecting an area which is not covered by the main graph in the auxiliary graph as a part of the auxiliary graph participating in splicing, then rotating the part of the auxiliary graph participating in splicing according to the rotating angle in the fourth step, and splicing with the main graph to finish the splicing of the low-altitude images of the mountainous area tea garden.
2. The method for splicing the low-altitude images of the mountain tea garden by taking the quadrangular land blocks as the reference objects according to claim 1, wherein the method comprises the following steps: in the first step, the image preprocessing specifically comprises the following steps: firstly, carrying out edge detection processing on the image, then carrying out equalization processing on the image, then carrying out noise reduction processing on the image after the equalization processing, and finally obtaining a low-altitude original image of the mountainous area tea garden after pretreatment.
3. The method for splicing the low-altitude images of the mountain tea garden by taking the quadrangular land blocks as the reference objects according to claim 1, wherein the method comprises the following steps: in the second step, the specific step of threshold segmentation is to take the R + G + B brightness feature of the original image to be spliced as the segmentation feature, determine the threshold by using the OSTU method, and then segment the original image to be spliced into a binary image by using threshold segmentation.
4. The method for splicing the low-altitude images of the mountain tea garden by taking the quadrangular land blocks as the reference objects according to claim 1, wherein the method comprises the following steps: in the third step, when extracting the coordinates of the corner points of the quadrilateral reference object on the main graph and the auxiliary graph, the upper left corner of the four corner points of the quadrilateral reference object of the main graph is used as A 1 Sequentially extracting coordinates A clockwise 1 、B 1 、C 1 And D 1 The four corner points of the quadrilateral reference object on the secondary graph take the upper left corner as A 2 Sequentially extracting coordinates A clockwise 2 、B 2 、C 2 And D 2 。
5. The method for splicing the low-altitude images of the mountain tea garden by taking the quadrangular land blocks as the reference objects according to claim 1, wherein the method comprises the following steps: in the fourth step, when the scaling of the sub-image is calculated, the diagonal A is calculated respectively 1 C 1 、B 1 D 1 、A 2 C 2 And B 2 D 2 Length of (d), then A 1 C 1 ：A 2 C 2 And B 1 D 1 ：B 2 D 2 The average of (d) is used as a scaling of the sub-graph.
6. The method for splicing the low-altitude images of the mountain tea garden by taking the quadrangular land blocks as the reference objects according to claim 1, wherein the method comprises the following steps: in the fourth step, when the rotation angle of the secondary graph is calculated, A is used firstly 1 C 1 And A 2 C 2 The angle in the image coordinate system is theta 1 Then with B 1 D 1 And B 2 D 2 The angle in the image coordinate system is theta 2 Then at theta 1 And theta 2 The average value of (a) is used as the rotation angle of the sub-map.
7. A square shaped parcel as claimed in claim 1The splicing method of the low-altitude images of the mountain tea garden as a reference object is characterized by comprising the following steps of: in the fifth step, if the sub-image view is on the left, the rotated image from the leftmost to A is selected 1 The point area is used as the part of the sub-image participating in the splicing, if the sub-image visual field is right, the rightmost side of the rotated image is selected to be C 1 The region of points serves as a part of the sub-map participating in the stitching.
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