Visual locating method and visual locating apparatus

A technology of visual positioning and linear equations, applied in the field of image processing, can solve problems such as the decline of measurement accuracy

Active Publication Date: 2017-05-31
THE THIRD RES INST OF CHINA ELECTRONICS TECH GRP CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the above algorithm is only suitable for scenarios with dozens or even hundreds of poi

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  • Visual locating method and visual locating apparatus
  • Visual locating method and visual locating apparatus
  • Visual locating method and visual locating apparatus

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Embodiment Construction

[0112] The following description serves to disclose the invention to enable those skilled in the art to carry out the invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.

[0113] It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element The quantity can be multiple, and the term "a" cannot be understood as a limitation on the quantity.

[0114] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the...

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Abstract

The invention relates to a visual locating method and a visual locating apparatus. The visual locating method comprises the steps of setting a plurality of marking points on an identification object; performing topological distinguishing on the marking points according to a position relationship among the marking points; establishing a linear equation set of three-dimensional coordinates of the marking points according to a topological relationship among the marking points, and solving the three-dimensional coordinates of the marking points; establishing a marking point coordinate system according to the three-dimensional coordinates of the marking points; and solving a rotary matrix of the marking point coordinate system to obtain pose information of the identification object. Through the visual locating method and the visual locating apparatus, real-time and high-precision locating of poses of the identification object free of remarkable natural features can be realized.

Description

technical field [0001] The present invention generally relates to the field of image processing, and in particular relates to a visual positioning method and a visual positioning device for visual positioning based on geometric constraints of recognized objects. Background technique [0002] In the field of automation equipment, more and more rely on visual positioning technology using machine vision. Different visual positioning technologies according to the target are distinguished according to the type of target, and can be divided into positioning technology based on cooperative targets and positioning technology based on non-cooperative targets. [0003] Cooperation targets can be divided into natural features and artificial marker features. Natural features mainly include regular geometric features such as included angles, straight lines, circles, rectangles, and triangles of the target itself. Artificial markers can be divided into point feature markers, line featur...

Claims

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Application Information

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IPC IPC(8): G06T7/73
Inventor 孙鹏飞
Owner THE THIRD RES INST OF CHINA ELECTRONICS TECH GRP CORP
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