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Plane feature point navigation and positioning method and device

A technology of navigation positioning and feature points, which is applied in navigation, measuring devices, surveying and navigation, etc., can solve the problems of image feature extraction, unfavorable recognition, non-orthographic projection, image noise, etc., and achieve great flexibility and universality. Accurate results and high positioning and navigation accuracy

Inactive Publication Date: 2015-07-08
JIANGSU GUODIAN AUTHENTICATION OF ARTWORKS TECH CO LTD
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Problems solved by technology

In the actual imaging process, on the one hand, because the imaging equipment and the imaging object may be different, the resulting image may have noise, distortion, and even some information loss; on the other hand, due to the distance and orientation of the imaging system and the target, The imaging is not an orthographic projection, and the resulting image is perspective instead of a front view, which is very unfavorable for subsequent processing such as image feature extraction and recognition. Sometimes it is necessary to use perspective transformation to correct the image into an orthographic projection; In addition, in order to obtain the geometric dimension vision measurement of the plane object is also one of the key technologies of the system

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  • Plane feature point navigation and positioning method and device
  • Plane feature point navigation and positioning method and device
  • Plane feature point navigation and positioning method and device

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Embodiment Construction

[0032] In order to describe the purpose, technical solutions and realized functions of the present invention in more detail, the present invention will be further described below in combination with specific embodiments and with reference to the accompanying drawings.

[0033] The present invention mainly includes two major aspects: 1. Image standardization and feature point selection and measurement; 2. Feature point matching and navigation positioning.

[0034] The flow chart of the first part is as follows figure 1 , including the following steps:

[0035] S1: Complete the calibration of the camera according to Zhang Zhengyou's calibration method, and obtain the internal and external parameters of the camera;

[0036] S2: Acquire the image taken by the calibrated camera;

[0037] S3: performing distortion correction on the captured image;

[0038] S4: Select a rectangular area of ​​interest in the rectified image, perform perspective transformation on the selected rectan...

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Abstract

The invention discloses a plane feature point navigation and positioning method. The method includes the steps that firstly, a plane target is placed on a working table, a coordinate system is set, and a calibration point is selected from the target to calibrate a camera; distortion correction is conducted on a shot picture, an interesting rectangular area is selected to perform perspective transformation, and a standardized picture is obtained; an interesting feature point is selected, coordinates of the selected point are stored, and a non-contact type visual measurement is completed; next, a transformational matrix between two picture is calculated according to SIFT features of the images, then a matching point of the selected point in the other image is calculated, then the matching point is reprojected to a world coordinate system to obtain real position coordinates, and finally the functions of measurement and navigation and positioning are achieved. The invention further discloses a plane feature point navigation and positioning device. The plane feature point navigation and positioning method and device can achieve navigation and positioning of the plane feature point, and have the advantages of being simple and flexible in operation, accurate in measurement, high in positioning and navigation accuracy and wide in application range.

Description

technical field [0001] The invention relates to a plane feature point navigation and positioning method and device, which belong to the field of computer vision and image processing. Background technique [0002] The navigation and positioning of feature points has always been the focus of research in the field of photogrammetry and computer vision. It is a key technical problem that needs to be solved in applications such as 3D reconstruction, target recognition, robot positioning and navigation, and industrial inspection. In particular, some application scenarios need to use different cameras to image the same object, and some application scenarios need to use the same camera to image similar (different) objects, and then find the matching in the resulting image; some scenarios synthesize In the first two cases, it is necessary to use different cameras to image similar (different) images, then find the matching in the resulting image, locate the matching point, and perform...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01C21/00
Inventor 王桥徐凯
Owner JIANGSU GUODIAN AUTHENTICATION OF ARTWORKS TECH CO LTD
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