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.

利用矩运算完成图象的配准

目的探讨利用图象本身信息完成配准的方法。方法运用一阶矩和惯性矩找出图象的质心和主轴，进而完成图象的平移和旋转。结果可将大鼠脑部的连续解剖切片配准。结论研究大脑结构，对大脑的解剖切片或活体CT、MRI等扫描图象进行三维重构，以及对不同来源的多模图象进行融合时，利用矩运算完成配准不失为一种比较直接、快速、简洁的方法。