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Random fluctuation vision localization research in multi-medium propagation

A visual positioning and random fluctuation technology, applied in photo interpretation, photogrammetry/video surveying, measuring devices, etc., can solve the problems of refractive index description, multi-media visual positioning accuracy affecting the implementation of engineering projects, random fluctuation of light, etc.

Inactive Publication Date: 2016-12-14
BEIJING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

At present, visual positioning in different media has not been effectively studied, so the accuracy of multi-media visual positioning is the key to the implementation of engineering projects
[0004] In addition, due to the mixing of various components in the water medium and air medium in the actual environment, the refractive index will also change at any time. There is no accurate mechanism formula to describe the refractive index in the actual environment.
For the random effect of the external environment, the propagation of light in the medium will also produce shape changes and random fluctuations, which will affect the accuracy of positioning information

Method used

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  • Random fluctuation vision localization research in multi-medium propagation
  • Random fluctuation vision localization research in multi-medium propagation
  • Random fluctuation vision localization research in multi-medium propagation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0090] Step 1, determining the distortion coefficient in the image coordinate system;

[0091] The experimental environment of visual positioning based on multimedia is as follows: image 3 As shown, the binocular camera resolution used in the simulation process is 640×480. According to the Brown model, the radial distortion and tangential distortion coefficients of the binocular camera can be obtained, as shown in Table 1:

[0092] Table 1 Radial and tangential distortion coefficients of binocular cameras

[0093]

[0094] Step 2, conversion from the image coordinate system to the camera coordinate system;

[0095] The internal parameter matrix of the binocular camera is calculated by using the Zhang Zhengyou calibration method, as shown in Table 2.

[0096] Table 2 Internal parameter matrix coefficients of binocular camera

[0097]

[0098] Step 3, the relative pose between cameras in the world coordinate system;

[0099] The coordinates of the binocular camera in t...

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Abstract

The invention discloses random fluctuation vision localization research in multi-medium propagation. In engineering application, light is prone to deviation in multi-medium propagation, media are mixed, and random fluctuation causes inaccurate vision localization under multimedia. The binocular camera vision localization technology under the multimedia is explored in random fluctuation vision localization research. The random fluctuation vision localization research includes the following steps 1, the distortion coefficient in an image coordinate system is determined; 2, the image coordinate system is converted into a camera coordinate system; 3, relative poses among cameras in a word coordinate system are determined; 4, the camera coordinate system is converted into the work coordinate system; 5, vision localization under medium conversion is carried out; 6, vision localization randomness is described based on a cloud model.

Description

technical field [0001] The present invention relates to a visual positioning research of random fluctuations in multi-media transmission. For the deviation problem of light propagating in multiple media that may occur in the field of visual positioning, the visual positioning formula in the case of multi-media conversion is derived, and the transmission medium is aimed at For the random fluctuation problem, a positioning model is proposed to describe and realize the precise positioning of the target object, which belongs to the engineering problem in the field of machine vision. Background technique [0002] With the development of society, industrial production is becoming increasingly mechanized and intelligent. Visual positioning technology, as a key technology to provide location information of target objects, is widely used in various fields such as industry, agriculture, and tourism. Visual positioning is an important branch of machine vision. It imitates the working p...

Claims

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Application Information

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IPC IPC(8): G01C11/34G01C11/08
CPCG01C11/08G01C11/34G01C11/36
Inventor 王松李睿凡胡燕祝马学思
Owner BEIJING UNIV OF POSTS & TELECOMM
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