The invention discloses a high-precision vehicle positioning device based on a pavement fingerprint and a method thereof. The device comprises a map acquisition vehicle and a vehicle to be positioned. A first data acquisition unit on the map acquisition vehicle acquires a pavement image in real time. A positioning module and an inertial navigation module synchronously collect positioning information and inertial navigation information. A first control display unit preprocesses data so as to acquire an atlas. A second data acquisition unit on the vehicle to be positioned acquires current positioning information and a current pavement image of the vehicle in real time. A second control display unit compares the current positioning information with the atlas so as to acquire a plurality of similar images of rough matching, selects one most similar pavement image according to pavement fingerprint information, and calculates and acquires an accurate positioning result of the current pavement image according to a relative position relation of the most similar pavement image and fingerprint information in the current pavement image. In the invention, positioning precision is high, cost is low, an error is small and a positioning process is not influenced by signal shielding.

High-precision vehicle positioning device based on pavement fingerprint and method thereof

The invention discloses an imaging coordinate correction method based on matching error inhibition The measurement image background area is manually marked, and matching point pairs are acquired; based on the matching point pairs, the iterative error method is utilized to model a geometric correction mapping matrix, and accuracy of the experimental result is improved; on the basis, the Euclideandistance and the threshold are utilized to detect and inhibit noise matching points; iterative error is reused to fit a new mapping matrix, and reference images are corrected; a measurement image is fused with an edge binary mask to acquire foot coordinates; the edge of a measurement image is fused with the reference images after geometric correction, and a foot-aligned reference image is acquiredthrough horizontal translation according to the foot point error The method is advantaged in that the method is visual and effective, strong robustness is realized, the scene fitness is high, not only can a problem that imaging coordinates are affected by the background information, the complex structure miscellaneous information and the foot neighbor structure information in alignment calibration be solved, but also a problem of inconsistency of the fitting results of the multiple reference images can be solved

Imaging coordinate correction method based on matching error inhibition

The invention discloses a method and a device for low-illumination image processing. The method for low-illumination image processing comprises the following steps: acquiring the feature points of a first image through an improved FAST algorithm; determining the main direction of the feature points; acquiring a feature point descriptor according to the main direction of the feature points; clustering the feature points through a clustering algorithm to remove noise points in the feature points; and carrying out feature point matching to get a calibrated image. The method for low-illumination image processing of the invention can improve the extraction speed of feature points, and improve the efficiency of imaging at low illumination. The method can further improve the efficiency of image acquisition at low illumination and make an image acquired more identifiable to meet the requirement on real-time performance.

Method and device for low-illumination image processing

The invention discloses a method and apparatus for determining target image location information. The method includes the following steps that: for each matching area, the score value of the matching area is determined according to each pixel in the matching area as well as the horizontal gradient value, vertical gradient value and gradient amplitude of each template pixel in a pre-stored template image; a target area is determined, pixels in the target area which are located in a first neighborhood are determined according to the gradient directions of the template pixels; a preset algorithm is adopted to determine the perspective matrix of the target area; and each edge line of the template image is corrected according to the perspective matrix, and target image location information in the target area is determined. According to the method and apparatus for determining the target image location information provided by the embodiments of the present invention, after the target area is determined, the perspective matrix of the target area is determined; the edge lines are corrected according to the perspective matrix; the target image location information in the target area is determined; and therefore, the accuracy of the determination of the target image location information under perspective deformation can be improved.

Method and apparatus for determining target image location information

The invention provides an airborne heterogeneous image matching method based on region division, belonging to the technical field of image matching. Firstly, the invention uses the standard deviationSTD of the direction histogram to determine the texture feature of the target image. In order to enrich the texture image, the target image and the real-time image are segmented by Meanshift image segmentation algorithm, and then several regions are segmented, and the corresponding mask images are generated. If it is a non-rich texture image, the real-time image is divided into several regional blocks. Then, the SIFT feature matching method is used to match each real-time image region with all the target image regions consistently. Finally, the evaluation function based on direction histogramis used to evaluate the matching results, and the best matching region is selected as the matching result. The invention solves the problem that the matching accuracy rate of the existing complex andheterogeneous airborne images is not high. The invention can be used for heterogeneous image matching of an unmanned aerial vehicle.

Airborne heterogeneous image matching method based on region partitioning

The invention provides a method and a system for quickly matching images on the basis of feature states and global consistency. The method includes utilizing detection angular points as to-be-matched feature points and identifying feature neighborhood states of the feature points by the aid of state templates; utilizing the feature points as centers and computing main directions of descriptors; turning the main directions, describing feature neighborhoods of the feature points, combining binary texture features and statistic features with one another and creating RBT-OGMH feature descriptors; matching the images for two types of different descriptors by the aid of different types of similarity measurement; quickly determining transformation matrixes by the aid of consistent features of spatial domains on the basis of error fluctuation amplitude minimization clustering, and eliminating error matching point pairs to obtain ultimate correct matching point pairs. According to the technical scheme, the method and the system have the advantages that the method and the system have rotational invariance and certain scale invariance, and problems of image blurring, illumination change, low contrast and image deformation can be effectively solved; the method and the system are high in matching speed and precision as compared with the prior art.

Method and system for quickly matching images on basis of feature states and global consistency

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Method and system for quickly matching images on basis of feature states and global consistency