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Non-mirror symmetrical two-dimensional code logo graphic verification and layout method for monocular vision positioning

A technology of monocular vision and layout method, which is applied to the recording carrier used by the machine, image analysis, image data processing, etc. It can solve the problems of positioning error, unrecognizable, low camera precision, etc., and achieve the increase of the number of bits and the layout method Simple and intuitive, convenient for manual data inspection and verification

Active Publication Date: 2020-05-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the existing problems in the prior art that there are too many data bits when the camera has low precision, cannot be recognized, cannot be manually checked and verified, and the two-dimensional code forms an error under mirror conditions (that is, it conforms to the coding rules but is not consistent with the expected Assuming that two-dimensional codes with different coding values ​​lead to positioning errors, a non-mirror symmetrical two-dimensional code logo graphic verification and layout method for monocular vision positioning is proposed

Method used

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  • Non-mirror symmetrical two-dimensional code logo graphic verification and layout method for monocular vision positioning
  • Non-mirror symmetrical two-dimensional code logo graphic verification and layout method for monocular vision positioning
  • Non-mirror symmetrical two-dimensional code logo graphic verification and layout method for monocular vision positioning

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specific Embodiment approach 1

[0031] Embodiment 1: The non-mirror symmetrical two-dimensional code logo graphic verification and layout method for monocular vision positioning includes the following steps:

[0032] Step 1: Divide the two-dimensional code logo graphic into 7×7 rectangular code units, that is, divide the two-dimensional code logo graphic into 7 rows and 7 columns, a total of 49 rectangular code units, and each rectangular code unit is represented by (i, j), i represents the row number, j represents the column number, and the rectangular ring formed by the rectangular code elements of i=1, i=7, j=1 and j=7 is called the rectangular identification ring; the code elements except the rectangular identification ring form the code domain; the coding domain is made up of 25 rectangular code elements, that is, 25 coding bits; each coding bit has two states of 0 or 1, and each state is filled with a color (all states are the same color for 0, and all states are 1 has the same color, 0 and 1 have diff...

specific Embodiment approach 2

[0050] Specific embodiment 2: the difference between this embodiment and specific embodiment 1 is that the code elements located at (2, 2), (2, 6) and (6, 6) and located at (6, 2) in the step 4 The different code element states are as follows:

[0051] If the symbol state at (2, 2), (2, 6) and (6, 6) is set to 1, then the symbol state at (6, 2) is 0; if the state at (2, 2 ), (2, 6) and (6, 6) are set to 0, then the code state at (6, 2) is 1; that is, at (2, 2), (2, 6) and The symbol at (6,6) is filled with a different color than the symbol at (6,2).

[0052] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0053] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is: according to the code selected in step five in the described step six, the check digit is calculated, and the specific process of filling the check digit color is:

[0054] Step six one: Divide the codes selected in step five into two groups, (2,3), (2,4), (2,5), (3,6), (4,6) and (5,6) is the first group, (6,5), (6,4), (6,3), (5,2), (4,2) and (3,2) are the second group;

[0055] Step 62: arbitrarily insert 5 binary supplementary codes into the first group and the second group of codes, and lengths are respectively amplified to 11 bits; judge whether the two groups of codes amplified to 11 bits are mirror image symmetric codes, if not mirror images For symmetrical codes, perform step six and three, if it is a mirror image symmetrical code, then return to step five to reselect one of the 4096 codes;

[0056] The definition of the mirror imag...

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Abstract

The invention relates to a non-mirror-symmetry two-dimensional code marking figure verification and layout method for monocular vision location. The problems that in the prior art, when there are toomany data bits and a camera is low in precision, recognition can not be conducted, data inspection and verification can not be manually conducted, and dislocation caused by wrong two-dimensional codesare formed under the mirror condition are solved. Compared with two-dimensional code marking figures obtained through other methods, the method is simple in layout and easy to implement, data codes and verification codes are separated, and manual inspection and verification are convenient; meanwhile, the number of bits of data codes is increased, and the total number of available codes in the system is greatly increased. Two-dimensional code marking figures produced through the method have non-mirror-symmetry and are suitable for the environment with large-area mirror reflection conditions. The method is used for the field of monocular camera vision location.

Description

technical field [0001] The invention relates to the field of visual positioning of a monocular camera, in particular to a non-mirror-symmetrical two-dimensional code logo graphic verification and layout method. Background technique [0002] Currently, monocular camera visual positioning is mainly used in augmented reality (Augmented Reality, AR) and virtual reality (Virtual Reality, VR) systems. In the AR or VR system, by estimating the position and posture of the marker, the virtual 3D image is transformed and fused with the captured image to achieve the goal of augmented reality or virtual reality. [0003] ARToolKit is an open source AR software that has been widely used in the past ten years. The logo graphics used are custom identification models (Identifiable Patterns) placed in a square box of known size. The identification models can be text or pictures, and then use The way of template matching (Template Matching) recognizes the logo graphics in the captured image....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K19/06G06T7/73
Inventor 魏振楠伊国兴徐泽远
Owner HARBIN INST OF TECH
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