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Visual tracking and navigating method of parallel line cluster in three-dimensional space

A parallel line, three-dimensional space technology, applied in the field of visual tracking and navigation, can solve the problem of inability to track multiple parallel line clusters.

Active Publication Date: 2015-07-22
GUANGXI UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a visual tracking and navigation method for clusters of parallel lines in three-dimensional space, thereby overcoming the disadvantage that the existing line tracking technology cannot simultaneously track multiple clusters of parallel lines

Method used

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  • Visual tracking and navigating method of parallel line cluster in three-dimensional space
  • Visual tracking and navigating method of parallel line cluster in three-dimensional space
  • Visual tracking and navigating method of parallel line cluster in three-dimensional space

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Embodiment Construction

[0015] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0016] Such as figure 2 As shown, a visual tracking and navigation method for clusters of parallel lines in three-dimensional space according to a specific embodiment of the present invention includes the following steps:

[0017] Step S100: Determine the parameters of the parallel lines in the frame image in the parameter space Θ L The functional relationship F of the parameter points in ;

[0018] First, if figure 1 As shown, establish the camera coordinate system, and use it as the reference coordinate system, transform it so that it coincides with the plane where the parallel line is located, and obtain the coordinate system of the plane where the parallel line is located, that is, the parallel line coordinate s...

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Abstract

The invention discloses a visual tracking and navigating method of parallel line cluster in a three-dimensional space, which comprises the following steps: 1) determining the function of a parameter point, which is in the parameter space, of a straight line parameter of a parallel line in an image, 2) selecting a seed point set sum function parameter seed point; 3) carrying out tracking to the straight line parameter point set of the parallel line to be tracked in the image; 4) carrying out tracking to the coordinate point of the obtained function, which is in the function parameter space; 5) obtaining a position of a photographic device, which is in a three-dimensional space relative to a parallel line. The method can carry out tracking and guiding to multiple parallel lines in the three-dimensional space, and obtain the position information of the photographic device, which is in the three-dimensional space relative to the parallel line cluster to be tracked, especially for the height information.

Description

technical field [0001] The invention relates to the fields of computer vision, target tracking and navigation, in particular to a visual tracking and navigation method for clusters of parallel straight lines in three-dimensional space. Background technique [0002] Today, drones are used more and more widely, and their convenience, mobility, and low cost make them have great advantages in promotion. The line tracking technology of UAVs can make UAVs be applied in a wider range of fields. At present, vision-based line tracking technology is applied to automatic driving of automobiles. The target line it tracks is a single line, and the relationship between multiple lines is not used. The camera moves in a plane, and the distance between the camera and the line to be tracked is The plane is very close. The disadvantage is that this technology cannot be applied to the control object moving in three-dimensional space. The position information obtained by tracking is only in th...

Claims

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Application Information

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IPC IPC(8): G06T7/20
Inventor 林靖宇孙实超卢子广龙军
Owner GUANGXI UNIV
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