Fish glasses head omnidirectional vision aiming method based on sequence dual-color dot matrix type navigation mark

A fisheye lens and dot-matrix technology, applied in two-dimensional position/course control, navigation calculation tools, character and pattern recognition, etc., can solve the problems of redundant resource allocation, inappropriate application of airborne systems, and large volume. Achieve optimized processing procedures, simple guidance strategies, and good recognition effects

Inactive Publication Date: 2009-06-10
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

However, the resource configuration is redundant and the v

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  • Fish glasses head omnidirectional vision aiming method based on sequence dual-color dot matrix type navigation mark
  • Fish glasses head omnidirectional vision aiming method based on sequence dual-color dot matrix type navigation mark
  • Fish glasses head omnidirectional vision aiming method based on sequence dual-color dot matrix type navigation mark

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Embodiment 1

[0031] Fisheye lens omnidirectional visual guidance method and system based on sequential two-color dot matrix navigation mark figure 1 As shown, the process consists of seven steps: the establishment of an omnidirectional vision system with a fisheye lens, the setting of the navigation mark, the initialization of the navigation mark recognizer, the pre-processing of the image, the identification of the current effective navigation mark, the switching of the sequence of the navigation mark, and the mobile body guidance strategy.

[0032] The following practical cases specifically illustrate the implementation steps and application effects of the present invention.

[0033] Step 1: The test environment is outdoors, use 8 light poles, each two are a pair, and each pair is composed of yellow and blue, respectively, to establish a series of light poles.

[0034] Step 2: Establish an omnidirectional visual image acquisition system with a fisheye lens FE185C046HA-1 and a Watec221S a...

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Abstract

The invention relates to a fish-eye lens omnidirectional vision guidance method based on a sequence double-color lattice fairway buoy. The method comprises the establishment of a fish-eye omnidirectional vision system, the construction of a fairway buoy, the initialization of a fairway buoy recognizer, the pretreatment of images, the identification of the current effective fairway buoy, the switching of a sequence fairway buoy and a guidance strategy of a moving body. The invention relates to application of fish-eye lens omnidirectional vision navigation, ingests the whole scene of the whole hemisphere field disposably, does not need to depend on rotation of a single camera or image synthesis of a plurality of vidicons and is greatly favorable for omnidirectional observation and independent guidance of the moving body; a sequence double-color lattice type fairway buoy mode has topological characteristic close to natural scenery in indoor and outdoor structural environment, is simple, practical, easy to set and maintain and can effectively improve automatic identification and tracking efficiency of the fairway buoy in a distorted image of a large fish-eye omnidirectional vision scene; and a specific fairway buoy multi-target recognizer is supported on an embedded type DSP hardware platform to form an omnidirectional vision vehicle guidance system which realizes the application target of independent guidance of the moving body.

Description

【Technical field】: [0001] The invention belongs to the technical field of autonomous guidance of mobile carriers, and in particular relates to a fisheye lens omnidirectional visual guidance method based on a sequence two-color dot matrix navigation mark. 【Background technique】: [0002] The imaging range of ordinary vision systems is narrow, and ordinary vision systems with fixed orientation have great application limitations. The super wide-angle field of view of omnidirectional vision is very conducive to all-round observation and has great application potential. The panoramic vision system constructed by the reflective panoramic camera has been widely used in the field of mobile robot navigation, while the application of the omnidirectional vision system obtained by using the fisheye lens has yet to be developed. The omnidirectional machine vision with the fisheye lens placed vertically upwards perpendicular to the horizontal plane can capture all the scenes in the entir...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20G06K9/00
Inventor 曹作良冯为嘉
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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