Inertia gyroscope combined real-time visual camera positioning system and method

Abstract

The invention discloses an inertia gyroscope combined real-time visual camera positioning system. The system comprises an upper computer, a communication transmission module, a wide-angle lens camera, an inertia gyroscope and calibration plates. The invention further discloses an inertia gyroscope combined real-time visual camera positioning method. The method includes: calibrating the wide-angle lens camera, and acquiring an internal parameter matrix and radial distortion parameters of the wide-angle lens camera; arranging the calibration plates and positioning the calibration plates; inputting the locations of the calibration plates into the upper computer; performing inertia gyroscope calibration; fixedly connecting the wide-angle lens camera with the inertia gyroscope; computing and storing current location and direction information of the wide-angle lens camera in real time. The positioning method has the advantages of wide positioning range, complete directions, high precision, high anti-jamming capability and the like, and is applicable to real-time positioning in various large-scale scenes.

Description

technical field [0001] The invention relates to a camera visual real-time positioning system and a positioning method, in particular to a camera visual real-time positioning system and positioning method combined with an inertial gyroscope. Background technique [0002] Camera positioning is the process of determining the relative position of the camera relative to the determined world coordinate system. [0003] The process of camera positioning involves such as figure 1 The four coordinate systems shown are pixel coordinate system, image coordinate system, camera coordinate system and world coordinate system. [0004] 1) Pixel coordinate system Ouv: the origin O is located at the upper left corner of the CCD image plane, the u-axis and v-axis are parallel to the pixel row and column of the CCD image plane, respectively, and (u, v) represent the position of the pixel in the image array. [0005] 2) Image coordinate system Oxy: the origin (i.e. principal point O) is define...

AI Technical Summary

Problems solved by technology

[0011] Purpose of the invention: the purpose of the present invention is to solve the problem that the camera positioning method in the prior art has a small lens field of view, cannot obtain sufficient positioning information, and the error cannot be effectively controlled; and methods such as infrared positioning and wireless radio frequency technology are easily affected by external Equipment interference, it is difficult to ensure the accuracy and reliability of positioning, and it cannot be applied to large scenes. A camera vision real-time positioning system and positioning method combined with an inertial gyroscope are provided.

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