A new navigation approach of terrain contour matching based on 3-D terrain reconstruction from onboard image sequence

This article presents a passive navigation method of terrain contour matching by reconstructing the 3-D terrain from the image sequence(acquired by the onboard camera).To achieve automation and simultaneity of the image sequence processing for navigation,a correspondence registration method based on control points tracking is proposed which tracks the sparse control points through the whole image sequence and uses them as correspondence in the relation geometry solution.Besides,a key frame selection method based on the images overlapping ratio and intersecting angles is explored,thereafter the requirement for the camera system configuration is provided.The proposed method also includes an optimal local homography estimating algorithm according to the control points,which helps correctly predict points to be matched and their speed corresponding.Consequently,the real-time 3-D terrain of the trajectory thus reconstructed is matched with the referenced terrain map,and the result of which provides navigating information.The digital simulation experiment and the real image based experiment have verified the proposed method.

在微机上实现脑结构三维重构的技术

目的 利用平面图像序列完成脑结构的三维重构技术一般都需在工作站上进行，随着微机性能的提高，在微机上完成医学图像的三维重构已成为可能。方法 将连续解剖切片依次按如下步骤加以处理：①扫描获取初始图像；②边界跟踪获取图像边界线；③完成图像与坐标系的配准；④重组数据并完成三维显示。结果 通过上述步骤可在微机上完成大鼠脑断层的三维重构。结论 本文所讨论的方法对于处理连续图像的三维重构不失为一条较为快速、方便的路径，并可推广用于ＭＲＩ、ＣＴ等平面图像的三维重构处理。