KR101634878B1 - Apparatus and method for matching aviation image using swarm filght of unmanned vehicle - Google Patents

Abstract

Disclosed is an apparatus and method for matching an aviation image using a cluster flight of an unmanned aerial vehicle.
The aviation image matching apparatus includes: a step of receiving aerial images taken by a plurality of unmanned aerial vehicles swarming in a swarm flight; Identifying location information of the unmanned aerial vehicles; And generating the matching image by matching the aerial images based on the position information of the unmanned aerial vehicles.

Description

[0001] APPARATUS AND METHOD FOR MATCHING AVIATION IMAGE USING SWARM FILGHT OF UNMANNED VEHICLE [0002]

The present invention relates to an apparatus and method for matching an aviation image, and more particularly, to an apparatus and method for matching aerial images captured by a plurality of unmanned aerial vehicles.

In recent years, technologies for providing aerial images of the ground using an unmanned aerial vehicle have been developed.

Aerial images using unmanned aerial vehicles are lower in cost than aerial images using conventional airplanes or helicopters, and thus are used for broadcasting, mapping, or tracking specific objects. At this time, there is a limit to the range that the unmanned aerial vehicle can shoot. Therefore, in the case of an event held in a large area such as a marathon, the ground is photographed using plural unmanned aerial vehicles.

However, if images taken by unmanned aerial vehicles overlap each other, the number of tracked objects may be confused with the location. Also, when an unmanned aerial vehicle captures an image while maintaining an interval of a predetermined distance or more, there may be an area where shooting can not be performed between images.

Accordingly, there is a demand for a method of generating and providing an image without overlapping regions or images that are not photographed by matching images captured by unmanned aerial vehicles.

The present invention can provide an apparatus and method for generating an image including a region that is wider or longer than an area that each of the unmanned aerial vehicles can photograph, by generating a matching image by matching the aerial images photographed by the plurality of unmanned aerial vehicles .

In addition, the present invention can provide an apparatus and method for improving an abnormal point retrieval speed by extracting overlapping regions in an area taken by each of the unmanned aerial vehicles and searching for an abnormal point due to redundancy in the extracted region.

According to another aspect of the present invention, there is provided an aviation image matching method comprising: receiving aviation images taken by a plurality of swarm-flying unmanned aerial vehicles; Identifying location information of the unmanned aerial vehicles; And generating the matching image by matching the aerial images based on the position information of the unmanned aerial vehicles.

The step of generating the matching image of the aviation image matching method according to an embodiment of the present invention may include a step of generating a matching image by using the position information of the aviation images received from the different unmanned aerial vehicles and the different unmanned aerial vehicles Extracting redundant regions; And matching the aerial images by processing the overlapping area.

The step of extracting the overlapping area of the aviation image matching method according to an embodiment of the present invention may include extracting an overlap area of the aviation image based on the altitude of the unmanned air vehicles and the angle of view of the camera Identifying an area of the included area; Identifying a location of an area included in the aerial image by applying an area of the identified area to the location information of the unmanned aerial vehicles; And comparing the positions of the regions included in the aerial images received from the different unmanned aerial vehicles to extract the overlapped region from the plurality of aerial images.

The step of identifying the location information of the aviation image matching method according to an embodiment of the present invention includes: identifying a horizontal position of the unmanned air vehicles using RTK (Real-Time Kinematic) GPS; And identifying altitudes of the unmanned aerial vehicles using altimeters or RTKs of the unmanned aerial vehicles.

According to an embodiment of the present invention, the unmanned aerial vehicle of the present invention extracts feature points from an image captured by a camera, generates an aerial image by minimizing the size of the captured image using the camera, Feature points can be transmitted.

According to an embodiment of the present invention, the unmanned aerial vehicles of the airborne image matching method can fly at predetermined altitudes, and can photograph aerial images by photographing the ground with a camera.

The aerial image matching method according to an embodiment of the present invention may further include changing the size of the matching image according to the bandwidth of the network and transmitting the size of the matching image to the user terminal.

According to another aspect of the present invention, there is provided an aviation image matching method including the steps of: identifying an unmanned aerial vehicle corresponding to a specific area when receiving an enlargement request of a specific area of the matching image from the user terminal; Requesting an enlarged image having an increased size to an unmanned aerial vehicle corresponding to the specific area; Receiving an enlarged image from an unmanned aerial vehicle corresponding to the specific area; And transmitting the enlarged image to the user terminal.

According to another aspect of the present invention, there is provided a method of transmitting a registered image, the method comprising: receiving aerial images taken by a plurality of unmanned aerial vehicles; Generating a matching image by matching the aerial images based on the position information of the unmanned aerial vehicles; And changing the size of the matching image according to the bandwidth of the network and transmitting the size of the matching image to the user terminal.

The step of generating the matching image of the matching image transmission method according to an embodiment of the present invention may include a step of generating a matching image by using the position information of the unmanned aerial vehicles and the aerial images received from the different unmanned aerial vehicles, Extracting redundant regions; And matching the aerial images by processing the overlapping area.

According to an embodiment of the present invention, the unmanned aerial vehicles of the matching image transmission method extract feature points from an image captured by a camera, generate an aerial image by minimizing the size of the captured image using the camera, And feature points can be transmitted.

According to an embodiment of the present invention, the unmanned aerial vehicles of the matching image transmission method can fly at predetermined altitudes, and can photograph aerial images by photographing the ground with a camera.

According to another aspect of the present invention, there is provided a method of transmitting a registered image, the method comprising: identifying an unmanned aerial vehicle corresponding to a specific area when receiving a request for enlarging a specific area of the matching image from the user terminal; Requesting an enlarged image having an increased size to an unmanned aerial vehicle corresponding to the specific area; Receiving an enlarged image from an unmanned aerial vehicle corresponding to the specific area; And transmitting the enlarged image to the user terminal.

According to another aspect of the present invention, there is provided an aircraft image matching apparatus including: a receiver for receiving aerial images taken by a plurality of unmanned aerial vehicles; And a processor for matching the aerial images based on the position information of the unmanned aerial vehicles to generate a matching image.

The processor of the aviation image matching apparatus according to an embodiment of the present invention extracts overlapping overlapping regions in the aerial images using the aerial images received from different unmanned aerial vehicles and the location information of different unmanned aerial vehicles , And the overlapping region may be processed to match the aerial images.

The processor of the aviation image matching apparatus according to an embodiment of the present invention identifies the area of the area included in the aerial image on the basis of the altitude of the unmanned aerial vehicles and the angle of view of the camera, The position of the area included in the aerial image is identified by applying the width of the identified area to the position information of the unmanned aerial vehicle, the positions of the areas included in the aerial images received from the different unmanned aerial vehicles are compared, It is possible to extract redundant regions from the aerial image.

The processor of the aviation image matching apparatus according to an embodiment of the present invention identifies the horizontal position of the unmanned aerial vehicles using the RTK GPS and identifies the altitude of the unmanned aerial vehicles using the altimeter or the RTK of the unmanned aerial vehicles .

The unmanned aerial vehicles of the aviation image matching device according to the embodiment of the present invention extracts feature points from the images taken using the cameras, generates the aerial images by minimizing the sizes of the images taken using the cameras, Feature points can be transmitted.

The unmanned aerial vehicles of the aviation image matching apparatus according to the embodiment of the present invention can fly the predetermined altitude and shoot the ground with the camera to generate the aerial image.

The processor of the aviation image matching apparatus according to an embodiment of the present invention includes:

The aviation image matching apparatus according to an embodiment of the present invention may further include a transmitter for changing the size of the matching image according to the bandwidth of the network and transmitting the size of the matching image to the user terminal.

The transmitter of the aviation image matching apparatus according to an exemplary embodiment of the present invention transmits an enlarged image having an increased size to an unmanned aerial vehicle corresponding to a specific area when the receiver receives a request for enlarging a specific area of the matching image from the user terminal And may transmit an enlarged image received from the unmanned aerial vehicle corresponding to the specific area to the user terminal.

According to another aspect of the present invention, there is provided an aircraft image matching apparatus including: a receiver for receiving aerial images taken by a plurality of unmanned aerial vehicles; A processor for matching the aerial images based on position information of the unmanned aerial vehicles to generate a matching image; And a transmitter for changing the size of the matching image according to the bandwidth of the network and transmitting the size of the matching image to the user terminal.

According to an embodiment of the present invention, the plurality of unmanned aerial vehicles can generate an image including a region that is wider or longer than an area that each of the unmanned aerial vehicles can shoot by matching the aerial images respectively captured by the plurality of unmanned aerial vehicles .

In addition, according to an embodiment of the present invention, it is possible to improve an abnormal point searching speed by extracting overlapping regions in an area to be photographed by the unmanned aerial vehicles and searching for abnormal points due to overlapping in the extracted area.

1 is a view showing a relationship between an aviation image matching device and an unmanned aerial vehicle according to an embodiment of the present invention.
2 is a view showing an aerial image matching apparatus according to an embodiment of the present invention.
FIG. 3 is an example of a process of extracting overlapping regions by the aviation image matching apparatus according to an embodiment of the present invention.
FIG. 4 is an example of a process of processing an overlapping area by the aviation image matching apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a method of transmitting a registered image according to an exemplary embodiment of the present invention.
6 is a flowchart showing an aerial image matching method according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a process of identifying a location information of an aerial image matching method according to an exemplary embodiment of the present invention.
FIG. 8 is a flowchart illustrating a matching image generation process of the aerial image matching method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. An aerial image matching method according to an embodiment of the present invention may be performed by an aerial image matching apparatus.

1 is a view showing a relationship between an aviation image matching device and an unmanned aerial vehicle according to an embodiment of the present invention.

A plurality of unmanned vehicles 110 according to an embodiment of the present invention can photograph the ground 100 in a swarm flight manner as shown in FIG. The unmanned air vehicles 110 may generate an aerial image based on the image of the ground 100 and transmit the aerial image to the ground station 121, respectively. For example, the unmanned aerial vehicle 110 may be an unmanned aerial vehicle (UAV), or a drone.

At this time, the unmanned air vehicles 110 may include a camera for photographing the ground 100 at the bottom, a transmitter for transmitting an aerial image to the ground station 121, and a GPS for identifying the location of the unmanned air vehicle 110 have. The unmanned aerial vehicles 110 maintain the horizontal state using the information of the inertial measurement unit (IMU), and can shoot aerial images by photographing the ground 100 with a camera. At this time, the unmanned air vehicles 110 can fly at predetermined altitudes. Specifically, the unmanned aerial vehicles 110 can measure their altitudes using altimeters, respectively. And, the unmanned air vehicles 110 can maintain the altitude of the unmanned air vehicles 110 constantly by changing the flight altitude according to the measured altitudes. The predetermined altitude is applied to all the unmanned aerial vehicles 110 in the same manner, thereby allowing the unmanned aerial vehicles 110 to photograph the ground 100 at the same altitude.

In addition, the unmanned air vehicle 110 extracts feature points from the image of the ground 110 using a camera, generates an aerial image by minimizing the size of the image taken by the camera, The aerial image and the minutiae point can be transmitted to the image matching apparatus 120. [

The aerial image matching apparatus 120 included in the ground station 121 can generate a matching image by matching the aerial images received from the unmanned aerial vehicles 110.

For example, the first unmanned aerial vehicle 111 can photograph the area 112 of the ground 100 to generate a first aerial image. In addition, the second UAV 113 can photograph the area 114 of the ground 100 to generate a second aerial image. At this time, the first and second aerial images 115 and 115 may overlap. Accordingly, the aviation image matching apparatus 120 can generate the matching image including the region 112 and the region 114 by processing the region 115 by matching the first and second aerial images.

At this time, since the matching image includes a larger area than the aerial image, the size of each area displayed in the matching image may be small. That is, although the size of the aerial image is small, the size of the matched image generated by matching the aerial image may not be small. When the unmanned air vehicles 110 simultaneously transmit the aviation image to the aviation image matching apparatus 120, a high bandwidth may be required. Accordingly, the unmanned aerial vehicle 110 can minimize the bandwidth required for the aerial image transmission by transmitting the aerial image having the minimized size of the image taken on the ground to the aviation image matching device 120. [

In addition, a user who is provided with the matching image can request enlargement of a specific region in the matching image through the user terminal. At this time, the aviation image matching apparatus 120 can request an enlarged image of an increased size to the at least one unmanned aerial vehicle 110 corresponding to a specific area. The unmanned aerial vehicle 110 receiving the request from the aviation image matching device 120 can transmit the grounded image to the aviation image matching device 120 as an enlarged image without minimizing the size of the image. When the size of the enlarged image requested by the aviation image matching device 120 is larger than that of the ground, the unmanned aerial vehicle 110 enlarges the image of the ground or enlarges the ground using the zoom function of the camera. And transmits the photographed image to the aviation image matching apparatus 120 as an enlarged image.

Next, the aviation image matching device 120 may provide the user with an image enlarged in a specific region in the matching image by providing the user terminal with the image received from the unmanned air vehicle 110. [

The aviation image matching device 120 may change the size of the matching image according to the bandwidth of the network between the ground station 121 and the user terminal and transmit the same to the user terminal.

The aviation image matching device 120 generates a matching image by matching the aerial images photographed by the plurality of the unmanned air vehicles 110 to thereby generate an image including a region wider than the area that each of the unmanned air vehicles 110 can photograph can do.

2 is a view showing an aerial image matching apparatus according to an embodiment of the present invention.

Referring to FIG. 2, an aerial image matching apparatus 100 according to an exemplary embodiment of the present invention may include a receiver 210, a processor 220, and a transmitter 230.

The receiver 210 can receive the aerial images taken by the unmanned aerial vehicles 110 respectively.

The processor 220 may identify the position information of the unmanned aerial vehicles 110 and may generate a matching image by matching the aerial images received by the receiver 210 based on the position information of the unmanned air vehicles 110.

Specifically, the processor 220 can extract redundant overlapping regions in the aerial images using the aerial images received from the different unmanned aerial vehicles by the receiver 210 and the location information of the different unmanned aerial vehicles. The processor 220 may then process the extracted overlapping regions to match the aerial images.

At this time, the processor 220 can identify the area of the area included in the aerial image based on the altitude of the unmanned air vehicles 110 and the angle of view of the camera where the unmanned aerial vehicles 110 have photographed the aerial image . The processor 220 can identify the location of the area included in the aerial image by applying the width of the identified area to the location information of the unmanned aerial vehicles 110. In addition, the processor 220 can extract the overlapping regions from the plurality of aerial images by comparing the positions of the regions included in the aerial images received from the different unmanned aerial vehicles.

Then, the processor 220 can identify the horizontal position of the unmanned aerial vehicles 110 using RTK (Real-Time Kinematic) GPS. Also, the processor 220 can identify the altitude of the unmanned aerial vehicles 110 using at least one of the barometer of the unmanned aerial vehicles 110, the altimeter of the unmanned aerial vehicles 110, and the RTK.

The transmitter 230 may change the size of the matching image generated by the processor 220 according to the bandwidth of the network between the ground station 121 and the user terminal, and may transmit the changed size to the user terminal. For example, the transmitter 230 may stream video to the user's terminal in real time using the video resizing technique, such as the adaptive streaming transmission capacity changing technique, to the matching image generated by the processor 220. [

When the transmitter 230 receives an enlargement request of a specific area of the matching image from the user terminal, the processor 220 can identify the unmanned air vehicle 110 corresponding to the specific area. Then, the transmitter 230 may transmit a signal requesting an enlarged enlarged image to the unmanned air vehicle 110 corresponding to a specific area. At this time, the unmanned air vehicle 110 may transmit an enlarged image of a larger size as requested.

The transmitter 230 may transmit the enlarged image received by the receiver 210 from the unmanned air vehicle 110 corresponding to the specific area to the user terminal.

FIG. 3 is an example of a process of extracting overlapping regions by the aviation image matching apparatus according to an embodiment of the present invention.

The region 311 that the first UAV 310 can capture can be determined according to the angle of view θ of the camera installed on the first UAV 310 and the altitude of the first UAV 310. For example, when the altitude of the first UAV 310 is increased, the height of the triangle representing the region 311 is increased and the angle is fixed, so that the base of the triangle may be longer. Therefore, the region 311 can be widened. Further, when the angle of view? Mounted on the first unmanned aerial vehicle 310 is widened, the region 311 which can be photographed by the camera can be widened.

That is, the aviation image matching apparatus 120 can estimate the area of the area 311 according to the angle of view θ of the camera installed on the first UAV 310 and the altitude of the first UAV 310.

The area 321 that the second unmanned aerial vehicle 320 can capture can also be determined according to the angle of view of the camera installed on the second unmanned aerial vehicle 320 and the altitude of the second unmanned aerial vehicle 320. At this time, the altitude of the second unmanned aerial vehicle 320 may be the same as the altitude of the first unmanned aerial vehicle 310, or may be different from a predetermined error range. The angle of view of the camera installed on the second unmanned aerial vehicle 320 may be the same as the angle of view of the camera installed on the first unmanned aerial vehicle 310.

The aviation image matching apparatus 120 can estimate the area of the area 321 according to the angle of view of the camera installed on the second unmanned aerial vehicle 320 and the altitude of the second unmanned aerial vehicle 320.

3, the aviation image matching apparatus 120 includes a region 311 and a region 321 based on the horizontal position of the first UAV 310 and the horizontal position of the second UAV 320, The region 311 and the region 330 overlapping in the region 321 can be extracted.

FIG. 4 is an example of a process of processing an overlapping area by the aviation image matching apparatus according to an embodiment of the present invention.

The first aerial image generated by the first UAV 310 by photographing the area 311 with the camera may include an area 410. In addition, the second aerial image generated by photographing the area 321 by the second unmanned aerial vehicle 320 with the camera may include the area 420.

At this time, the aviation image matching apparatus 120 can identify the position of the area 410 included in the first aerial image based on the horizontal position of the first unmanned aerial vehicle 310, as shown in FIG. 4, the aviation image matching apparatus 120 may identify the position of the area 420 included in the second aerial image based on the horizontal position of the second unmanned aerial vehicle 320.

The aviation image matching apparatus 120 can search the overlapping region 330 extracted in FIG. 3 and the region 430 in which the region 410 and the region 420 are overlapped.

At this time, the aviation image matching device 120 can extract the searched area 430 as an overlap area between the first and second aerial images.

The aviation image matching apparatus 120 processes the area 430 using an ICP (Iterative Closest Point) algorithm to remove the outliers in which the minutiae are misaligned to include the area 410 and the area 420 The matching image can be generated.

As shown in FIG. 3, the aviation image matching apparatus 120 may first extract an overlapping region 330 in an area photographed by the first and second unmanned aerial vehicles 310 and 320. 4, the aviation image matching apparatus 120 can search the extracted region 330 including the anomaly point due to the duplication. Accordingly, the aviation image matching apparatus 120 can improve the point search speed more than the conventional technique of searching an anomaly point in the area 410 included in the first aerial image and the area 420 included in the second aerial image .

5 is a flowchart illustrating a method of transmitting a registered image according to an exemplary embodiment of the present invention.

In step 510, the receiver 210 may receive the aerial images taken by the unmanned aerial vehicles 110 respectively.

In step 520, the processor 220 identifies the position information of the unmanned aerial vehicles 110 and generates a matching image by matching the aerial images received in step 510 based on the position information of the unmanned air vehicles 110 .

Specifically, the processor 220 can extract overlapping overlapping regions in the aerial images using the aerial images received from the different unmanned aerial vehicles by the receiver 210 and the location information of the different unmanned aerial vehicles. The processor 220 may then process the extracted overlapping regions to match the aerial images.

In step 530, the transmitter 230 may change the size of the matching image generated in step 520 according to the bandwidth of the network between the ground station 121 and the user terminal, and transmit the changed size to the user terminal.

In step 540, the receiver 210 may determine whether the request for enlargement of a specific area of the matching image has been received from the user terminal. If the request for enlargement of a particular area of the matching image is not received from the user terminal, the receiver 210 may repeat step 540. [ In addition, when receiving an enlargement request of a specific area of the matching image from the user terminal, the receiver 210 may perform step 550.

In step 550, the transmitter 230 may transmit an enlarged image of increased size according to the enlargement request received in step 540 to the user terminal. In particular, the processor 220 may identify the unmanned aerial vehicle corresponding to the particular area received in step 540. The processor 220 can request an enlarged image of an increased size to the unmanned aerial vehicle corresponding to the specific area through the transmitter 230. Next, the receiver 210 may receive an enlarged image from the unmanned aerial vehicle corresponding to the specific area. Finally, the transmitter 230 may transmit the enlarged image received by the receiver 210 to the user terminal.

6 is a flowchart showing an aerial image matching method according to an embodiment of the present invention. At this time, steps 620 and 630 of FIG. 6 may be included in step 520 of FIG.

In step 610, the receiver 210 may receive the aerial images taken by the unmanned aerial vehicles 110 respectively.

In step 620, the processor 220 may identify the location information of the unmanned air vehicles 110 that transmitted the aerial images in step 610.

In step 630, the processor 220 may generate a matching image by matching the aerial images received in step 610 based on the location information of the unmanned aerial vehicles 110 identified in step 620. [ Specifically, the processor 220 can extract redundant overlapping regions in the aerial images using the aerial images received from the different unmanned aerial vehicles by the receiver 210 and the location information of the different unmanned aerial vehicles. The processor 220 may then process the extracted overlapping regions to match the aerial images.

FIG. 7 is a flowchart illustrating a process of identifying a location information of an aerial image matching method according to an exemplary embodiment of the present invention. At this time, steps 710 and 720 of FIG. 7 may be included in step 620 of FIG.

In step 710, the processor 220 can identify the horizontal position of the unmanned air vehicles 110 using Real-Time Kinematic (RTK) GPS.

The processor 220 may identify the altitude of the unmanned aerial vehicles 110 using at least one of the barometer of the unmanned aerial vehicles 110, the altimeter of the unmanned aerial vehicles 110, and the RTK.

In this case, steps 710 and 720 may be performed in reverse order or simultaneously in parallel.

FIG. 8 is a flowchart illustrating a matching image generation process of the aerial image matching method according to an embodiment of the present invention. At this time, steps 810 and 840 of FIG. 8 may be included in step 630 of FIG.

In step 810, the processor 220 determines whether the unmanned object 110 has received an aviation image in step 610 based on the angle of view of the camera that the unmanned air vehicles 110 have photographed and the altitude of the unmanned air vehicles 110, The width of the area included in the image can be identified.

The processor 220 identifies the position of the area included in the aerial image by applying the width of the area identified in step 810 to the horizontal position information of the unmanned aerial vehicles 110 identified in step 710 can do.

In step 830, the processor 220 may compare the positions of the areas included in the aerial images received from the different unmanned aerial vehicles in step 610 to extract the overlapping areas from the plurality of aerial images.

In step 840, the processor 220 may search for an anomaly due to duplication in the area extracted in step 830. [ In addition, the processor 220 can generate a matched image by matching the aerial images by removing outliers in which feature points are mismatched with the ICP algorithm.

According to the present invention, the plurality of unmanned aerial vehicles are respectively matched with the aerial images photographed to generate the matched images, so that the images including the areas wider or longer than the areas that the unmanned aerial vehicles can photograph can be generated.

Also, according to the present invention, it is possible to improve an abnormal point retrieval speed by extracting overlapping regions in an area to be photographed by the unmanned aerial vehicles and searching for abnormal points due to overlapping in the extracted region.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

110: unmanned aerial vehicle
120: Aerial image matching device

Claims (22)

Receiving aerial images taken by a plurality of unmanned aerial vehicles swarming each other;
Identifying location information of the unmanned aerial vehicles;
Identifying the area of the area included in the aerial image based on the altitude of the unmanned aerial vehicles and the angle of view of the camera of the aerial images of the unmanned aerial vehicles;
Identifying a location of an area included in the aerial image by applying an area of the identified area to the location information of the unmanned aerial vehicles;
Extracting redundant regions from a plurality of aerial images by comparing positions of the regions included in aerial images received from different unmanned aerial vehicles; And
Processing the overlapping region to match the aerial images
And an aerial image matching method. delete delete The method according to claim 1,
Wherein identifying the location information comprises:
Identifying a horizontal position of the unmanned aerial vehicle using RTK (Real-Time Kinematic) GPS; And
Identifying altitudes of the unmanned aerial vehicles using altimeters or RTKs of the unmanned aerial vehicles
And an aerial image matching method. The method according to claim 1,
The unmanned air vehicles,
An aerial image matching method for extracting feature points from a video image captured by a camera, generating an aerial image by minimizing the size of the captured image using the camera, and transmitting the aerial image and the feature point. The method according to claim 1,
The unmanned air vehicles,
A method of aerial image matching that creates an aerial image by photographing the ground with a camera by flying a predetermined altitude. The method according to claim 1,
Changing the size of the registered image generated by matching the aerial images according to the bandwidth of the network and transmitting the changed size to the user terminal
Further comprising the steps of: 8. The method of claim 7,
Identifying an unmanned aerial vehicle corresponding to a specific area when receiving an enlargement request of a specific area of the matching image from the user terminal;
Requesting an enlarged image having an increased size to an unmanned aerial vehicle corresponding to the specific area;
Receiving an enlarged image from an unmanned aerial vehicle corresponding to the specific area; And
Transmitting the enlarged image to the user terminal
Further comprising the steps of: Receiving aerial images captured by a plurality of unmanned aerial vehicles in a cluster;
Identifying the area of the area included in the aerial image based on the altitude of the unmanned aerial vehicles and the angle of view of the camera of the aerial images of the unmanned aerial vehicles;
Identifying a location of an area included in the aerial image by applying an area of the identified area to the location information of the unmanned aerial vehicles;
Extracting redundant regions from a plurality of aerial images by comparing positions of the regions included in aerial images received from different unmanned aerial vehicles; And
Processing the overlapping region to generate a matched matching image of the aerial images; And
Changing the size of the matching image according to the bandwidth of the network and transmitting the size of the matching image to the user terminal
And an aerial image matching method. delete 10. The method of claim 9,
The unmanned air vehicles,
An aerial image matching method for extracting feature points from a video image captured by a camera, generating an aerial image by minimizing the size of the captured image using the camera, and transmitting the aerial image and the feature point. 10. The method of claim 9,
The unmanned air vehicles,
A method of aerial image matching that creates an aerial image by photographing the ground with a camera by flying a predetermined altitude. 10. The method of claim 9,
Identifying an unmanned aerial vehicle corresponding to a specific area when receiving an enlargement request of a specific area of the matching image from the user terminal;
Requesting an enlarged image having an increased size to an unmanned aerial vehicle corresponding to the specific area;
Receiving an enlarged image from an unmanned aerial vehicle corresponding to the specific area; And
Transmitting the enlarged image to the user terminal
Further comprising the steps of: A receiver for receiving aerial images captured by a plurality of unmanned aerial vehicles in a cluster; And
Wherein the controller identifies the area of the area included in the aerial image based on the altitude of the unmanned aerial vehicles and the angle of view of the camera of the aerial image taken by the unmanned aerial vehicles, A method for identifying a location of an area included in an aerial image, extracting overlapping areas from a plurality of aerial images by comparing positions of the areas included in the aerial images received from different unmanned aerial vehicles, A processor that matches aerial images
And an aerial image registration device. delete delete 15. The method of claim 14,
The processor comprising:
The aerial image registration device identifies the horizontal position of the unmanned aerial vehicles using the RTK GPS and identifies the altitude of the unmanned aerial vehicles using the altimeter of the unmanned aerial vehicles or the RTK. 15. The method of claim 14,
The unmanned air vehicles,
An airborne image registration device for extracting feature points from a video image captured by a camera, generating an aerial image by minimizing the size of the captured image using the camera, and transmitting the aerial image and the feature point. 15. The method of claim 14,
The unmanned air vehicles,
An aerial image registration device that creates an aerial image by photographing the ground with a camera by flying a predetermined altitude. 15. The method of claim 14,
A transmitter for changing the size of the registered image generated by matching the aerial images according to the bandwidth of the network,
Further comprising: 21. The method of claim 20,
The transmitter comprises:
Wherein when the receiver receives an enlargement request of a specific region of the matching image from the user terminal, the receiver requests an enlarged image of an increased size to the unmanned aerial vehicle corresponding to the specific region, And transmits the image to the user terminal. A receiver for receiving aerial images captured by a plurality of unmanned aerial vehicles in a cluster;
Wherein the controller identifies the area of the area included in the aerial image based on the altitude of the unmanned aerial vehicles and the angle of view of the camera of the aerial image taken by the unmanned aerial vehicles, A method for identifying a location of an area included in an aerial image, extracting overlapping areas from a plurality of aerial images by comparing positions of the areas included in the aerial images received from different unmanned aerial vehicles, A processor for generating aerial images with matched matching images; And
A transmitter for changing the size of the matched image according to the bandwidth of the network and transmitting the size of the matched image to the user terminal
And an aerial image registration device.

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