Active vision positioning method

A positioning method and active vision technology, applied in the field of visual navigation, can solve the problems of image segmentation corner sorting, errors, and failure to consider the relationship between corners and edges, corners and color regions, etc.

Active Publication Date: 2015-04-08
ACAD OF OPTO ELECTRONICS CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

The cooperative target has certain advantages in detection, but when extracting the corner points of the cooperative target, the corner point is optimized by using the correlation between the corner point and the cooperative target inform

Method used

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Embodiment Construction

[0119] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0120] A high-precision positioning method for vehicles in underground scenes according to the present invention, such as Figure 13 shown, including the following steps:

[0121] Step 1. Make a cooperation target and set the cooperation target in the scene;

[0122] like figure 1 As shown, the cooperative object in the present invention takes into account the characteristics of easy identification, the designed cooperative object uses the idea of ​​layered structure, and the red pattern is used as the backboard and three square yellow patterns are used as the cooperation logo. The backboard adopts RGB The gray values ​​of the colors are (255, 0, 0) respectively, and the gray values ​​of the three square RGB colors are (255, 255, 0) respectively. There are also differences in the design of the three square patterns. The square logo located in the upper ...

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Abstract

The invention discloses an active vision positioning method. An adaptability design is carried out on a cooperative target to cause the shape and size of the cooperative target and relative positions among squares to be more favorable for detecting and identifying the cooperative target, wherein the edge distance of three squares is greater than the edge length of each square to effectively improve a classifying and sorting success rate of angular points; the cooperative target is jointly formed by that a red pattern is used as a back plate and three square yellow patterns are used as cooperative marks, so that the back plate and the cooperative mark can be more easily distinguished; the square mark positioned on a middle upper position is bigger, so that the cooperative mark exhibits good directivity, other two square patterns are independently positioned on two sides of the middle square pattern, and the three square patterns can be effectively distinguished according to the outline size of the square patterns in an image processing part; and the ratio of the three squares is designed into 4:3 to improve a detection rate. An angular point compensation algorithm is adopted to determine the position of a missed point and improve angular point detection accuracy. Meanwhile, more characteristic points are provided for a user to carry out positioning, and therefore, positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of visual navigation, in particular to an active visual positioning method. Background technique [0002] With the improvement of users' demand for navigation and positioning, due to the blockage of satellite signals, the traditional way of using GPS in the area where the signal is blocked has a positioning error of more than 30 meters, which cannot effectively inform the user of the current position and corresponding navigation information. [0003] The main idea of ​​the visual cooperative target positioning method is: first design the cooperative target, then obtain the current image of the cooperative target through the user's visual sensor, use the image processing technology to obtain the characteristic information of the cooperative target, that is, the corner coordinates, and finally The navigation position and posture required by the user are calculated by using the conversion relationship between t...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T7/13
Inventor 公续平魏东岩来奇峰张晓光陈夏兰李祥红徐颖袁洪
Owner ACAD OF OPTO ELECTRONICS CHINESE ACAD OF SCI
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