A method and system for positioning double circular markers based on monocular vision
A monocular vision and positioning system technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of being unable to determine the position of the circular mark, unable to obtain object surface information, and difficult to locate in real time
Active Publication Date: 2020-07-17
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology
[0002] Traditional object tracking is mostly based on pixel changes in the camera plane to track moving objects. To obtain the spatial position, binocular cameras are required. Object tracking based on circular markers cannot obtain object surface information, and it is no longer possible to accurately calculate the object position
At the same time, due to the complexity of calculation, it is difficult to achieve real-time positioning by traditional methods
[0003] In the prior art, refer to image 3 , when a single ring is used for spatial positioning, since the back projection of the projected contour curve in the camera plane has two sets of solutions that satisfy the equation, it is impossible to determine the position of the circular mark in space
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[0028] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0029] refer to figure 1 , The rapid positioning system for marking circular features based on monocular vision realized by the present invention includes: a development board, a marker, a two-dimensional PSD position sensor, an infrared LED, an A / D converter, a single-chip microcomputer and a camera.
[0030] The infrared LED is fixed on the plane of the marker. To facilitate the initial positioning of the marker, the LED can be fixed in the center of the marker; the two-dimensional PSD position sensor can form a place with relatively high energy on the receiving plane through the optical lens placed in front of it. At the high point, its output voltage changes with the movement of the energy point; the AD converter converts the output voltage of the PSD position sensor from an analog signal to a digital signal; the single-chip microcomputer controls the da...
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The present invention discloses a method for double-circle marker location based on monocular vision. The method can detect markers and calculate a planar normal vector and the central position of a circular mark in a camera coordinate system in real time. Aiming at two sets of solutions in the marker location through adoption the single circular features, the double-circle discrimination method is provided to remove false solutions, and in order to ensure the marker location timeliness, the method and system for the double-circle marker location based on monocular vision combines a PSD position sensor to reduce the detection range of the marker in a camera plane so as to reduce the total time of the location algorithm of the circular marker.
Description
technical field [0001] The invention relates to the field of object tracking and marking, in particular to a method and system for locating double circular markers based on monocular vision. Background technique [0002] Traditional object tracking is mostly based on pixel changes in the camera plane to track moving objects. To obtain the spatial position, binocular cameras are required. Object tracking based on circular markers cannot obtain object surface information, and it is no longer possible to accurately calculate the object position. At the same time, due to the complexity of calculation, it is difficult to achieve real-time positioning in traditional methods. [0003] In the prior art, refer to image 3 , when the spatial positioning is performed by a single ring, since there are two sets of solutions satisfying the equation when the projection contour curve in the camera plane is back-projected, the position of the circular mark in space cannot be determined. Co...
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IPC IPC(8): G06T7/70G06T7/80G06T7/13
CPCG06T7/13G06T7/70G06T7/85G06T2207/30244
Inventor 吴剑苏宇
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV