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Template-based Monocular Vision Object Spatial Localization System

A monocular vision, calibration system technology, applied in image analysis, instruments, computing and other directions, can solve the problems of poor feature stability, easy to be affected by environmental factors, target positioning failure, etc., to achieve the effect of highlighting the practical value of the project

Inactive Publication Date: 2019-02-15
DALIAN NATIONALITIES UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that when the existing target positioning method determines the spatial position of the target through target projection positioning, its color, texture, edge, optical flow and other visual features are easy to extract, but they are easily affected by environmental factors, and the feature stability is not good, which leads to the failure of target positioning. , The problem of low positioning accuracy

Method used

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  • Template-based Monocular Vision Object Spatial Localization System
  • Template-based Monocular Vision Object Spatial Localization System
  • Template-based Monocular Vision Object Spatial Localization System

Examples

Experimental program
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Embodiment 1

[0169] Embodiment 1: camera calibration, initial calibration parameters determination

[0170] This embodiment is a camera calibration process, where initial calibration parameters are determined, and the method proposed in the present invention is tested. In an outdoor environment, the camera is installed and fixed on the top of a robot or a tripod, shooting horizontally. This time, a cross-grid camera is used to automatically obtain the camera shooting. Within the field of view of the lens, the moving target holds the template from 0.5 meters to 5 meters. The camera starts to take pictures when the target distance is 0.5 meters, and the camera takes pictures every time the target distance increases by 0.5 meters. During the shooting process, ensure that the direction of the template is as close as possible to the camera, and ensure that the center of the template coincides with the center of the image captured by the camera.

[0171] Instance parameter description: image for...

Embodiment 2

[0173] Embodiment 2: Performance test of template-based monocular vision target positioning method

[0174] This embodiment is based on Embodiment 1, and uses a monocular camera to locate a target based on a template based on initial calibration parameters. In an indoor environment, the camera is installed and fixed on the top of a robot or a tripod to shoot horizontally. This time, a cross-grid camera is used to automatically obtain camera shots. Within the field of view of the lens, the moving target holds the template and moves according to the set distance and direction. , using the ground calibration ruler to determine the actual distance and actual angle of the target, using the method in this paper to detect the captured image, the technical distance error and angle error between the measured value and the actual value.

[0175] Instance parameter description: image format PNG, image size 1920×1080, and the number of calibrated images is 8. The positioning process of t...

Embodiment 3

[0176] Embodiment 3: Corridor environment, single target motion situation

[0177] In this embodiment, the present invention is applied to the motion positioning of a single target in a corridor under a static shooting state of a camera. Under this condition, the camera is installed and fixed on the top of a robot or a tripod, and the shot is taken horizontally. In the field of view of the lens, a character target is holding the template, and the direction of the template is as close as possible to the camera. Approach the camera from far to near. This example locates the moving target in the video based on the camera calibration process in Example 1.

[0178] Description of the parameters of the embodiment: the video format is MP4, the number of video frames is 160 frames, and the video image size is 1920×1080.

[0179] The positioning process of this example is as follows: Figure 11 As shown, take the 10th, 30th, 50th, 70th, 90th, 110th, 130th, and 150th frame as example...

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Abstract

A monocular vision objective space positioning system based on a template belongs to the field of spatial positioning technology and is used for settling problems of target positioning failure and low positioning accuracy. The monocular vision objective space positioning system is characterized by comprising the components of a calibration template which is used for calibrating a video camera and is used for detecting a spatial two-dimensional position of a calibration template image; a coordinate mapping module which performs mapping of a spatial two-dimensional coordinate system of the calibration template image to a three-dimensional spatial coordinate system; and a derivation module which derives distance and direction of the calibration template in a three-dimensional space according to projection of the calibration template in an image plane for performing calibration on a monocular vision object. The monocular vision objective space positioning system is advantageous in that the template is utilized for replacing a moving object for performing detection, orientation and ranging on the template, thereby realizing low calculation complexity and quick and effective positioning on the moving object.

Description

technical field [0001] The invention belongs to the technical field of space positioning, in particular to a template-based monocular vision target space positioning system. technical background [0002] Accurate target positioning plays a very important role in target recognition and image understanding and analysis. Target positioning in complex backgrounds has important applications in military, industrial monitoring, traffic control management and other fields. For the research on target positioning, JorgeLob et al. proposed a 3D reconstruction method combining inertial information and vision, using inertial sensors and binocular vision to restore the 3D parameters of the ground plane and the vertical line segment; Hao Yingming from Shenyang Institute of Automation, Chinese Academy of Sciences, etc. Preset some artificial marker points on the target, acquire the 3D information of the environment according to the binocular stereo vision, and calculate the positional relat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70
Inventor 杨大伟毛琳张汝波蔺蘭姬梦婷郭超
Owner DALIAN NATIONALITIES UNIVERSITY