Bolt image preprocessing method based on camera motion model recovery and super-resolution

The invention discloses a bolt image preprocessing method based on camera motion model recovery and super-resolution. The method comprises the following steps: S1, assembling an unmanned aerial vehicle carrying an on-line detection airborne computer and an ultra-long focal length zoom aerial camera; s2, planning a flight route and a flight shooting mode of the unmanned aerial vehicle according to the bridge type and the detection parts, and collecting bolt images of the detection parts; s3, automatically calculating the displacement and direction of adjacent frames by adopting an optical flow algorithm, and screening out fuzzy frames; deblurring the blurred frame by adopting an inverse filtering method according to the calculated size and direction of the blurred kernel; and S4, the collected bolt images are processed through an adaptive scale segmentation method, and the bolt images shot at different distances are zoomed, so that the scale of a single bolt in the zoomed bolt images is close to the input size