The invention discloses a ship panoramic look-around image acquisition method and system and a medium, and belongs to the field of ships. According to the invention, the periodic surrounding motion of the unmanned calibration ship around the main ship is controlled, and world coordinates in a world coordinate system correspond to pixel coordinates in an image coordinate system through the feature balls carried on the unmanned calibration ship and the image segmentation and recognition technology. And solving an optimal projection transformation matrix of the Patch region by solving a proper target point to minimize a re-projection error. Homography matrixes among the Patch areas are obtained through image feature point extraction, filtering, constraint matching and the like, and splicing under a certain view angle is achieved. Feature point extraction, filtering and constraint matching are carried out on the overlapping area of the N views to obtain a homography matrix between different views, and finally the area where the ship body is located is covered with icons. According to the method, the aerial view and all-round view images of the ship under the emperor view angle can be continuously obtained.
本发明公开了一种船舶全景环视影像获取方法、系统及介质,属于船舶领域。本发明控制无人标定船绕主体船的周期围捕运动,通过其上搭载的特征小球及图像分割识别等技术,将世界坐标系下的世界坐标与图像坐标系下的像素坐标对应,再通过求取合适目标点使重投影误差最小求得该Patch区域的最佳投射变换矩阵。通过图像特征点提取、过滤、约束匹配等方式求得各Patch区域间的单应性矩阵实现某一视图视角下的拼接。对N个视图的重叠区域进行特征点提取、过滤、约束匹配求得不同视图间的单应性矩阵,最后对船体自身所在区域使用图标覆盖。通过上述方法实现持续获取船舶的上帝视角下的鸟瞰环视图像。
Ship panoramic look-around image acquisition method and system, and medium
一种船舶全景环视影像获取方法、系统及介质
2024-01-16
Patent
Elektronische Ressource
Chinesisch
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