Real-time splicing method and device for aerial images of unmanned aerial vehicle

The invention relates to the field of aerial photography image splicing, and discloses an unmanned aerial vehicle aerial photography image real-time splicing method and device, and the method comprises the steps: accumulating unmanned aerial vehicle aerial photography image key frames, and starting real-time splicing; carrying out filtering processing on key frame map points of the aerial photography image, and constructing a point cloud range frame; according to the filtered aerial image key frame map points, generating a dynamic Delou internal triangulation grid, performing point cloud adding and deleting operation on the point cloud in real time, and completing updating and orthorectification of the dynamic Delou internal triangulation grid; determining a mapping transformation coefficient from the point cloud range frame to a geographic point cloud range frame, and performing transformation; according to the point cloud position coordinate information mapped into the point cloud range frame by the geograp