UAV Low-Altitude Aerial Image Stitching Based on Semantic Segmentation and ORB Algorithm for Urban Traffic

Abstract

UAVs are flexible in action, changeable in shooting angles, and complex and changeable in the shooting environment. Most of the existing stitching algorithms are suitable for images collected by UAVs in static environments, but the images are in fact being captured dynamically, especially in low-altitude flights. Considering that the great changes of the object position may cause the low-altitude aerial images to be affected by the moving foreground during stitching, so as to result in quality problems, such as splicing misalignment and tearing, a UAV aerial image stitching algorithm is proposed based on semantic segmentation and ORB. In the image registration, the algorithm introduces a semantic segmentation network to separate the foreground and background of the image and obtains the foreground semantic information. At the same time, it uses the quadtree decomposition idea and the classical ORB algorithm to extract feature points. By comparing the feature point information with the foreground semantic information, the foreground feature points can be deleted to realize feature point matching. Based on the accurate image registration, the image stitching and fusion will be achieved by the homography matrix and the weighted fusion algorithm. The proposed algorithm not only preserves the details of the original image, but also improves the four objective data points of information entropy, average gradient, peak signal-to-noise ratio and root mean square error. It can solve the problem of splicing misalignment tearing during background stitching caused by dynamic foreground and improves the stitching quality of UAV low-altitude aerial images.

Keywords

• drone aerial
• image stitching
• semantic segmentation
• ORB algorithm