会议专题

A METHOD OF FARMLAND 3D TERRAIN RECONSTRUCTION BASED ON UAV SEQUENCE IMAGES

  When the plant protection UAV on farmland spraying,the UAV need to always maintain a relative height of 1-2 m away from the crops to ensure uniform and efficient spraying of pesticides.At present,the commonly used highfixing schemes,such as GPS,barometer,ultrasound and so on,there are some deficiencies.Aiming at this problem,a method of reconstructing 3D terrain of farmland by UAV electro-optical payload taking sequence images is proposed,which can achieve the goal of UAV height-fixing.Firstly,the feature points selection module is established.The SILC image segmentation algorithm is adopted to segment the image and the centroid points of all the superpixel blocks are calculated.Then,the corner points are extracted by using Harris corner detector and these two parts of points are mixed together as the feature points.Secondly,the feature point matching module based on SAD algorithm is proposed.Finally,a three-dimensional reconstruction algorithm according to monocular sequence images,UAV position,attitude and camera pointing angle is derived.The results of the experiments demonstrated that this method can quickly and effectively reconstruct farmland terrain,which can provide a data base for UAV high-fixing and has important application value.

plant protection UAV SILC high-fixing terrain reconstruction

Xu Cheng Huang Daqing Han Wei

Research Institute of UAV,Nanjing University of Aeronautics and Astronautics,Nanjing,China College of Electronic Information Engineering,Nanjing University of Aeronautics and Astronautics,Nan

国内会议

第五届国际精准农业航空会议

广州

英文

17-22

2016-11-12(万方平台首次上网日期,不代表论文的发表时间)