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Position parameter estimation method based on P3P algorithm

A parameter estimation and parameter technology, applied in the field of computer vision, can solve the problem of pose calculation error, the algorithm cannot perform self-checking, etc., to achieve the effect of improving accuracy, overcoming multiple solutions and low computational efficiency

Inactive Publication Date: 2017-07-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, if there is a feature point extraction error in the image processing stage, resulting in a pose calculation error, the algorithm cannot perform self-checking

Method used

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  • Position parameter estimation method based on P3P algorithm
  • Position parameter estimation method based on P3P algorithm
  • Position parameter estimation method based on P3P algorithm

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Embodiment Construction

[0046] Below in conjunction with accompanying drawing of description, the present invention will be further described.

[0047] The present invention provides a kind of location parameter estimation method based on P3P algorithm, comprises the following steps:

[0048] 1) Calibrate the camera used to obtain the internal parameters of the camera used to calculate the internal parameter model of the camera. The internal parameters of the camera include the focal length of the camera and the coordinates of the optical center; the calibration uses Zhang Zhengyou's calibration method, that is, Zhang's calibration method.

[0049] 2) Under the current pose of the camera, image 4 feature points in space to obtain an imaging image, establish a world coordinate system with any one of the 4 feature points as the origin, and obtain the coordinates of the 4 feature points World coordinates and their image coordinates in the imaging image; among them, the four feature points meet the requi...

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Abstract

The present invention discloses a position parameter estimation method based on a P3P algorithm. The position parameter estimation method comprises the steps of calibrating a used camera to obtain a camera parameter; under the current used pose of the camera, imaging four characteristic points in the space and obtaining the world coordinates and the image coordinates of the four characteristic points; grouping the four characteristic points into two groups, taking the two characteristic points at the diagonal positions as the public characteristic points to form the rest two characteristic points and the public characteristic points as two sets of P3P characteristic points separately; according to the world coordinates and the image coordinates of the characteristic points in each set of P3P characteristic points, utilizing the P3P algorithm to solve a set of real solutions of the position parameters of the public characteristic points, and obtaining the two sets of real solutions corresponding to the two sets of P3P characteristic points; selecting two solutions having the largest position parameter similarity from the two sets of real solutions and verifying, and finally determining the position parameters of the public characteristic points. By determining and verifying the unique solution, the position parameter solution efficiency and accuracy are improved.

Description

technical field [0001] The invention relates to a position parameter estimation method, in particular to a position parameter estimation method based on a P3P algorithm, which belongs to the technical field of computer vision. Background technique [0002] Vision-based pose estimation technology is one of the research hotspots in the field of computer vision, and it is an important part of visual positioning and navigation technology. Vision-based pose estimation technology captures images of space cooperation targets through cameras, and solves camera pose parameters through image processing and pose estimation algorithms. It has the characteristics of moderate accuracy, low cost, independent and flexible use, and anti-electromagnetic interference. [0003] As a commonly used pose measurement method, the PnP algorithm uses n (n ≥ 3) points with known relative positions in space as feature points, collects an image by the camera, and calculates the pose information of the ca...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70
Inventor 徐贵力谢瑒程月华姜斌郭瑞鹏陈茂武
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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