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Visual localization method based on color block and topological relationship thereof

A technology of visual positioning and topological relationship, applied in the field of positioning, can solve the problems of artificial road signs affecting the speed and accuracy of positioning, difficult processing, and image rotation, etc., to save positioning time, reduce the number of samples, and ensure the effect of positioning accuracy.

Active Publication Date: 2016-07-06
南京沃尔夫信息技术有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the selection of artificial landmarks is the basis of positioning. Although complex artificial landmarks contain more information, their processing is difficult and slow. The rationality of artificial landmarks affects the speed and accuracy of positioning.
During the positioning process, the image may be rotated or deformed due to the rotation or tilt of the camera

Method used

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  • Visual localization method based on color block and topological relationship thereof
  • Visual localization method based on color block and topological relationship thereof
  • Visual localization method based on color block and topological relationship thereof

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Embodiment Construction

[0029] Below in conjunction with specific embodiment, further illustrate the present invention, should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various equivalent forms of the present invention All modifications fall within the scope defined by the appended claims of the present application.

[0030] Such as figure 1 As shown, the visual positioning method based on color blocks and their topological relationships includes the following five parts:

[0031] 1) Environmental layout: Arrange artificial landmarks at certain intervals on a certain plane, set the location information corresponding to each landmark and establish a corresponding comparison table. When acquiring images, try to keep the distance from the visual sensor to the plane constant, and its optical axis is perpendicular ...

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Abstract

The present invention discloses a visual localization method based on a color block and a topological relationship thereof. An artificial road mark image consisting of color blocks is acquired by means of a visual sensor and identified, and corresponding location coordinates are acquired using a correspondence between a preset image and position. A given artificial road mark has uniqueness; the attribute is easy to be extracted; a constructed artificial road mark topological mode has certain robustness for rotation and twisting and the like of images; and a matching method of the artificial road mark topological mode is rapid and effective and is capable of meeting localization requirements.

Description

technical field [0001] The invention relates to a visual positioning method based on color blocks and their topological relationships, and belongs to the technical field of positioning. Background technique [0002] With the advancement of science and technology and the development of society, there is an increasing demand for location-based services. For example, the Global Positioning System (GPS) performs positioning according to satellite signals, and can provide accurate longitude, latitude, and time information. In addition to positioning based on wireless signals, there are also positioning based on ultrasound, laser and vision. With the improvement of the performance of image acquisition equipment and the development of image processing technology, people pay more and more attention to visual positioning. Visual positioning is to obtain images through visual sensors, and realize positioning according to the information contained in the images. [0003] According to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/60
CPCG06T2207/30204
Inventor 仲伟波关静冯友兵石婕
Owner 南京沃尔夫信息技术有限公司
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