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面向飞行器对地面目标的匹配系统应用,提出一种惯导信息辅助的模板校正方法。根据目标位置以及摄像机位姿信息,建立目标透视成像模型以及不同摄像机位姿下的模板校正方程;通过分析目标任意点与形心的景深关系,对校正方程进行转化并给出完整的模板校正算法。最后通过基于视景仿真技术搭建的目标模拟平台,截取不同摄像机位姿下的目标成像,并与本文校正结果进行对比,结果表明校正后的模板图与实时图在尺度、旋转、视角具有良好的一致性。使用校正后的模板做目标匹配可以有效地抑制漂移,提升系统的匹配性能。
Aiming at the application of matching system to ground targets in aircraft, a new method of template correction for INS guidance is proposed. According to the target location and camera pose information, the target perspective imaging model and the template correction equation under different camera pose are established. By analyzing the relationship between the target depth and the centroid, the calibration equation is transformed and a complete template correction algorithm is given . Finally, based on the scene simulation platform to build the target simulation platform, the interception of the target camera under different camera pose was compared with the results of the correction. The results show that the corrected template and real-time images have good performance in scale, rotation and viewing angle consistency. Using the corrected template as the target matching can effectively suppress the drift and improve the matching performance of the system.