用于水下机器人导航的序列海底图像配准方法

为了增加深海海底图像匹配对应点的数量和正确率. 本文针对水下机器人导航的序列海底图像, 提出了基于图像信息和先验知识的带状对应点配准方法. 首先对深海海底图像进行适当的光照补偿和图像线性增强等预处理. 然后利用导航数据作为引导思想, 根据拍摄图像的物理位置偏移量, 计算邻接图像相似区域(即邻接图像带状区域). 以带状区...

Sequential Submarine Image Registration Method for Underwater Vehicle Navigation

In this study, regarding a sequence submarine image for underwater vehicle navigation, a ribbon matching method based on image information and prior knowledge is proposed to increase the number and accuracy of matching points of submarine images. First of all, the deep submarine image is pre-processed with proper light compensation and linear enhancement. Then with navigation data as a guide, adjacent image ribbon areas are calculated on the basis of the physical position offset of images. The global calculated feature points are replaced by the calculated features in the ribbon area to increase the number of image registration points and reduce the mismatching rate. In experiments on deep sea images with repeated and few textures, compared with registration rely solely on image information, this method improves the number and accuracy of corresponding points in image registration.