The Research And Design Of Aerial Image Reconstruction System Based On The Quadrotor

With the popularity of quadrotors,aerial photography by the quadrotor has been favored by more and more people;it is has been played an increasingly important role in many professional areas such as disaster relief,map mapping,fault exploration and the others.But the UAV aerial images have small field,which is not conducive to the overall observation.In order to solve the above problems,this paper designs an aerial image reconstruction system based on the quadrotor,including the aircraft control system and panoramic image splicing two parts.The main research work of this paper is as follows:First,this paper discuss the background and significance of the research,and introduces the current situation of image stitching theory at home and abroad.In this paper,the contents of this paper and the paper arrangement are explained.Secondly,this paper analysis and plans an aircraft control system.Based on the basic flight principle of aircraft,the hardware circuit and software program of the aircraft control system are designed.This paper fuses and solves the attitude of the aircraft attitude sensor data using complementary filtering algorithm,and calculates and outputs the control signal using the PID algorithm.Then,this paper selects the SIFT operator to extract the feature points in images through comparative analysis of advantage and disadvantage of different feature point extraction methods in the process of image stitching.Each feature point is represented in the form of vector which is called feature descriptor.The SIFT feature point extraction process is gradually realized using the host computer.This paper roughly matches the feature points and purifies eigenvector pairs for the images whose feature points have been extracted,and calculates the conversion matrix.The image fusion splicing is completes by the weighted average splicing method.Finally,the system integration is completed.Quadrotor shoots video automatically and stores the video in memory device.It completes the video to open,frame interception,frame image preservation,panoramic splicing and other steps using Visual Studio 2010.