Parameter calibration method for moving containers on ports

A parameter calibration and positioning system technology, applied in the direction of measuring devices, image data processing, optical devices, etc., can solve problems such as roughness, large errors, and difficult calibration of unknown parameters

Inactive Publication Date: 2008-07-09
SHANGHAI MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

These constraints make it difficult to calibrate unknown parameters. If an approximate and rough calibration method is used, the error will be large

Method used

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  • Parameter calibration method for moving containers on ports
  • Parameter calibration method for moving containers on ports
  • Parameter calibration method for moving containers on ports

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Embodiment Construction

[0110] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further explained below in conjunction with specific drawings.

[0111] Such as figure 1 As shown, a method for parameter calibration of a port movement container positioning system is divided into a pre-calibration step and a real-time calibration step. The pre-calibration step is set to be performed only once after the positioning system is installed and before real-time measurement. The real-time calibration process is The actual measurement is performed once before each measurement; the next measurement starts from real-time calibration.

[0112] Pre-calibration includes the following steps:

[0113] 1] Select a plane calibration reference object; design and make a plane calibration reference object, also called a target. The target plane is printed with patterns that are convenient for image processing soft...

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Abstract

The invention discloses a parameter calibration method of a port mobile container position system, comprising the following steps of detecting and positioning container trucks on the move at a container terminal; realizing the 3D information perception to an object via a monocular vision system by using the containers' width and length as the known gauge information and demarcating all the unknown parameters expediently, rapidly and accurately; being divided into a pre-demarcated step to perform once before the real time survey after the completion of installation of the position system and a real time demarcated step to perform once before each survey in the real time survey; starting the next survey from the real time demarcation. The invention has the advantages of convenient application without any additional requirements for container and the movement of the containers, flexible and accurate calculation of the distance from the container on the move at any height to the right parking space, being applicable to the similar vision inspection tasks, etc.

Description

Technical field [0001] The invention relates to a parameter calibration method in monocular vision detection technology, in particular to a method used in a port movement container positioning system, which uses the known standard width and length information of the container to realize the three-dimensional space size and position measurement required Parameter calibration method of port motion container positioning system based on parameter calibration. Background technique [0002] The so-called monocular vision refers to a single image of an object taken by a camera from an angle, and the perception of the object is realized by the information contained in the single image. Since only one camera is used, this visual method has its limitations. It can only perceive the information in the 2-dimensional space of the object, but cannot correctly perceive the information in the third dimension in the depth direction of the line of sight. Therefore, the calibration of monocular vis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G01B11/00G01B11/02G01B11/03
Inventor 贺俊吉史立宓为建宓超
Owner SHANGHAI MARITIME UNIVERSITY
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