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Method for detecting target protruding from plane based on double viewing fields without calibration

A calibration plane and target detection technology, applied in image data processing, instruments, calculations, etc., can solve problems that are difficult to meet the accuracy and real-time requirements of the 3D vision system

Inactive Publication Date: 2013-11-06
XIAN UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a non-calibration plane protruding target detection method based on dual-field of view, which solves the problem that it is difficult to meet the accuracy and real-time requirements of the three-dimensional vision system for target detection in the prior art

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  • Method for detecting target protruding from plane based on double viewing fields without calibration
  • Method for detecting target protruding from plane based on double viewing fields without calibration
  • Method for detecting target protruding from plane based on double viewing fields without calibration

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Embodiment Construction

[0072] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0073] The present invention proposes a non-camera calibration-based non-calibration plane protruding target detection method based on dual-field, through the homography transformation between two images, the pixels on the same plane are matched, and the pixels on different planes are A certain aberration is generated, and the planar protruding target is determined according to the aberration. The method is implemented according to the following steps:

[0074] Step 1. Setting of scene markers

[0075] Before collecting the image, first set four simple markers 3 on the plane 1 (such as the ground, the desktop) of the target to be detected. The markers 3 are selected from flake objects such as white paper strips that are different from the brightness of the plane. Marker 3 is set in the largest possible range within the effective field of vie...

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Abstract

The invention discloses a method for detecting a target protruding from a plane based on double viewing fields without calibration. The method is carried out in the following steps: setting a scene marker; collecting images; detecting and working out four corresponding point pairs of the marker; solving a homography matrix according to the four corresponding marking point pairs; carrying out homography transformation for a right view; adjusting illumination brightness, and then carrying out registration and superposition; and judging the object protruding from the plane, thus obtaining the final judgment result. By using the method provided by the invention, the object protruding form the plane in a three-dimensional space can be obtained from a binocular viewing field, or two viewing fields with transformed attitudes in a monocular camera, without calibrating the camera; and the detection method has a reasonable operational method, high computing speed, and can meet the requirement of a three-dimensional vision system on accuracy and instantaneity of target detection.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional target detection, and in particular relates to a method for detecting a protruding target without a calibration plane based on a dual-view field. Background technique [0002] 3D target detection is an important part of unmanned vehicle recognition obstacle detection, target positioning and recognition in robot vision. For 3D stereo vision, due to the large amount of processing data, it is difficult to accurately and quickly detect Stereo target. [0003] For cars or robots in automatic walking, the detection of three-dimensional obstacles protruding from the ground in the environment is generally realized by reducing the resolution and performing three-dimensional reconstruction. The purpose of reducing the resolution is to reduce the amount of data and improve the calculation speed, but for For more complex scenes, the calculation time cost of this type of algorithm is still very high...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06T7/70
Inventor 朱虹王栋程松王斌康凯俞帅男
Owner XIAN UNIV OF TECH
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