Indoor scene monocular vision space recognition method in terrestrial gravity field environment

Abstract

The invention discloses an indoor scene monocular vision space recognition method in a terrestrial gravity field environment. The method is characterized by comprising the following steps that first, ultra-pixel image segmentation based on pixel colors and spatial positions is carried out on an image; second, further clustering is carried out on the ultra-pixel image through a color space spectral clustering method based on human vision multi-scale perception characteristics, spectral clustering based on profiles and forms is carried out on color classification image blocks, initial space classification of an indoor scene is carried out through an outdoor gravity field blurred vision distribution density function, the image blocks with strong facade profile characteristics are classified into facades through the Manhattan strength characteristic, the boundaries between a ceiling and the facades and boundaries between the ground and the facades are searched for on the basis of the indoor scene perspective principle, indoor scene image space recognition is carried out through the indoor gravity field blurred vision distribution density function, and indoor space is marked on the basis of the ground and ceiling perspective principle to generate a depth graph. The indoor scene monocular vision space recognition method in the terrestrial gravity field environment is high in practicability and robustness.

Description

technical field [0001] The invention relates to a monocular visual space recognition method for indoor scene images that can be widely used in fields such as machine vision indoor space navigation, target measurement, target tracking and positioning, especially a method that combines gravity field, perspective projection principle and visual space Scale is an important clue for machine vision space recognition, and it is a method to realize the visual space recognition of indoor scene images, specifically a monocular visual space recognition method for indoor scenes in a ground-like gravity field environment. Background technique [0002] The present invention only relates to the scene under the environment of the terrestrial gravity field, so it is necessary to give a necessary definition to the environment of the terrestrial gravity field. The so-called terrestrial gravity field in this method refers to the composition of the surface of a star with silicate rock as the main...

AI Technical Summary

Problems solved by technology

[0011] The purpose of the present invention is to solve the problems of low precision and large error rate in existing various indoor scene image space recognition methods, and to invent a method for indoor scene monocular visual space recognition in a similar gravity field environment. On the basis of the "Thinking Inside the Box" (Thinking Inside the Box), by analyzing the characteristics of the indoor environment space in the gravity field, the method of constructing fuzzy functions is used to construct the visual space recognition model of the indoor scene in the gravity field, which does not depend on the indoor scene Vanishing point information in the image

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