Multi-camera positioning and tracking method and system

Abstract

The invention discloses a multi-camera positioning and tracking method and a multi-camera positioning and tracking system. The method comprises the following steps of: continuously acquiring image signals of a measured object from different directions in real time by using a plurality of cameras; performing two-dimensional (2D) coordinate interpolation on image position 2D coordinates of the measured object in each camera at different times by an optimization algorithm; and calculating spatial three-dimensional coordinates of the measured object by performing a three-dimensional coordinate positioning algorithm on a plurality of spatial lines, in different planes, formed by a plurality of two-dimensional plane coordinates of all camera image planes. In the multi-camera positioning and tracking method and the multi-camera positioning and tracking system provided by the invention, a system measurement error caused by internal and external parameter errors of the cameras and other factors such as illumination and the like are overcome to the maximum by utilizing the characteristic of information redundancy of multi-camera imaging; high positioning accuracy can be realized, namely thepositioning accuracy of 5 to 20 mm can be achieved; a measurement result is the three-dimensional coordinate information of a target to be measured; and the three-dimensional spatial coordinate measurement of a target is realized.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a multi-camera positioning and tracking method and system. Background technique [0002] In the 1980s, Marr of the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology proposed a visual computing theory based on two two-dimensional plane images with parallax to generate stereo graphics with depth information, which established the theory of computer stereo vision development. Base. Compared with other stereo vision methods, such as holography, projected 3D display and lens plate 3D imaging, computer stereo vision technology simulates the way human eyes process scenes, and the measurement is simple and reliable, and has application value in many fields. [0003] At present, the more popular computer stereo vision measurement technology is the three-dimensional measurement technology based on binocular stereo vision. The principle of binocular v...

AI Technical Summary

Problems solved by technology

Therefore, the existing measurement technology based on binocular vision has the disadvantages of low measurement accuracy, poor stability, and susceptibility to external noise interference.

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