WCSE 2022 Spring
ISBN: 978-981-18-5852-9 DOI: 10.18178/wcse.2022.04.064

Research on Visual Image Stitching Method of Micro Flapping Wing Flying Robot Based on Block Matching

Wei Ding, Zhaoming Liu, Hongwei Wang, Feng Zhang, Long Cui, Min Song

Abstract— In order to solve the problem of limited field of view and the inability to carry out wide-field navigation planning during the visual navigation of the flapping-wing flying robot, and realizing the widefield navigation planning of the flapping-wing flying robot, this paper proposes a visual image stitching method for the flapping-wing flying robot based on block matching. Block matching is used to perform image registration on the visual image data of the flapping-wing flying robot, and the image fusion algorithm is used to improve the image clarity. While ensuring the large field of view perception and navigation of the flapping-wing flying robot, the features of the flapping-wing flying robot's visual target are extracted through block matching, which provides technical support for the flapping-wing flying robot's target tracking based on dynamic vision. An experimental verification system was built with a flapping-wing flying robot system and an airborne camera. The visual image stitching method of the flapping-wing flying robot based on block matching is experimentally verified, and a series of experimental results verify the feasibility and effectiveness of the method in this paper. The innovation of this paper is embodied in two aspects, the visual image registration method of flapping-wing flying robot based on block matching and the visual image fusion method of flapping-wing flying robot based on wavelet transform.

Index Terms— flapping-wing flying robot, image stitching, block matching, image registration, image fusion

Wei Ding
College of Automation, Shenyang Institute of engineering
Zhaoming Liu
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
Hongwei Wang
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
Feng Zhang
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
Long Cui
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
Min Song
College of Automation, Shenyang Institute of engineering

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Cite: Wei Ding, Zhaoming Liu, Hongwei Wang, Feng Zhang, Long Cui, Min Song, " Research on Visual Image Stitching Method of Micro Flapping Wing Flying Robot Based on Block Matching, " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 541-553, Sanya, China, April 15-18, 2022.