Active pose quick relocation method without camera calibration

A camera calibration and relocation technology, which is applied in complex mathematical operations, measuring devices, instruments, etc., can solve problems such as active pose relocation, and achieve insensitive lighting conditions, good real-time performance, and high flexibility Effect

Active Publication Date: 2017-08-01
TIANJIN UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0008] Although the above two technologies are relatively mature, they are only applied to image processing and cannot solve the problem of active pose relocation

Method used

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  • Active pose quick relocation method without camera calibration
  • Active pose quick relocation method without camera calibration
  • Active pose quick relocation method without camera calibration

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Embodiment Construction

[0043] An active pose fast relocation method without camera calibration of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

[0044] An active pose fast relocation method without camera calibration of the present invention, by calculating the homography transformation relationship between the captured image in the current state and the image in the previous state, and feeding back the movement control variables of six degrees of freedom, Instruct the operator or actuator to move in the correct direction.

[0045] Such as figure 1 As shown, an active pose fast relocation method without camera calibration of the present invention includes the following steps:

[0046] 1) Determine whether the set relocation standard is met. There is an end standard for this active camera pose fast relocation. At the beginning, it is necessary to compare the current state with the standard. If the relocation standard is met,...

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Abstract

An active pose quick relocation method without camera calibration comprises the steps of judging whether a relocation standard is met or not, if the relocation standard is met, finishing the flow; otherwise, entering the next step: calculating a homograph transformation matrix H, namely extracting matched feature point pairs of a current image and a reference image, and calculating the homograph transformation matrix H according to the extracted feature point pairs; dynamically updating an indicating box according to the solved homograph matrix H; according to the dynamically updated indicating box, obtaining an indicator for adjusting and controlling six degree of freedom motion of a camera, wherein the six degrees of freedom comprise rising / dropping, leftward turning / rightward turning, leftward swing / rightward swing, leftward moving / rightward moving, upward moving / downward moving, forward moving / backward moving; performing camera pose adjustment according to the indicator for adjusting and controlling the six degree of freedom motion of the camera; repeating the steps till the relocation standard is met, and finishing. The method provided by the invention is good in real time performance, high in flexibility, high in location accuracy, not sensitive to light conditions and suitable for various work environments indoors and outdoors.

Description

technical field [0001] The invention relates to a fast repositioning method for poses. In particular, it involves an active pose fast relocalization method without camera calibration. Background technique [0002] (1) SIFT: short for Scale Invariant Feature Transform, an algorithm in computer vision. It is used to detect and describe local features in images. It looks for extreme points in the spatial scale and extracts its position, scale, rotation invariant. The description and detection of local image features can help to identify objects. The SIFT feature is based on some local appearance points of interest on the object and has nothing to do with the size and rotation of the image. The tolerance to light, noise, and some viewing angle changes is also quite high. For these properties, they are highly significant and relatively easy to obtain. Using SIFT features to describe the detection rate of partial object occlusion is also quite high, and even more than 3 SIFT ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G06F17/12G06F17/16
CPCG01C11/00G06F17/12G06F17/16
Inventor 冯伟孙济洲田飞鹏张乾肖冬瑞
Owner TIANJIN UNIV
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