The invention discloses a
monocular multi-target identification and positioning method based on artificial marks. The
monocular multi-target identification and positioning method based on artificial marks includes the following steps: according to set colors, performing binarization
processing on an original image so as to obtain a
binary image; extracting contours after performing preprocessing on the
binary image; performing
ellipse fitting on each contour, and rejecting the
ellipse which cannot satisfy the shape requirement; combining every two ellipses, and taking the endpoints of transverses as the apexes to form quadrangles; calculating the evaluation coefficient (i)e( / i) of each quadrangle; analyzing the evaluation coefficients, and performing multi-target selection; and taking four apexes of each quadrangle as the feature points, using an
iterative method to solve PnP, and successively obtaining the three dimensional
pose, of a camera, relative to each mark. The
monocular multi-target identification and positioning method based on artificial marks uses identification of transverses to replace identification of segments, and provides an evaluation coefficient aiming at multi targets, thus being able to effectively screening marked targets and solving the relative poses even in a complicated background, and having high robustness. Besides, the monocular multi-target identification and positioning method based on artificial marks has the advantages of being simple and practicable, having relatively lower
time complexity in the
algorithm, being able to obtain a calculation result with
high frame rate, and satisfying the requirement of high timeliness.