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Stereo vision positioning method based on centroid characteristic points and neighborhood gray cross correlation

A technology of neighborhood grayscale and cross-correlation, applied in image data processing, instrumentation, calculation, etc., can solve the problem of multiple candidate points or the absence of matching points.

Inactive Publication Date: 2018-06-15
广州映博智能科技有限公司
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Problems solved by technology

Effectively solves the problem that there may be multiple candidate points or no matching points when feature matching is looking for corresponding matching points

Method used

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  • Stereo vision positioning method based on centroid characteristic points and neighborhood gray cross correlation
  • Stereo vision positioning method based on centroid characteristic points and neighborhood gray cross correlation
  • Stereo vision positioning method based on centroid characteristic points and neighborhood gray cross correlation

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Embodiment Construction

[0015] The present invention will be described in more detail and complete below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0016] refer to figure 2 , a stereoscopic vision positioning method based on the cross-correlation between centroid feature points and neighborhood gray levels according to an embodiment of the present invention, the specific process includes:

[0017] S1, calibrate the binocular camera and perform image acquisition;

[0018] In order to achieve precise positioning of the target object, the camera needs to be calibrated first. This embodiment adopts the Zhang Zhengyou checkerboard calibration method. During calibration, the camera model adopts the pinhole model, which is defined as follows:

[0019] sm=A[R t]M (1)

[0020] which is

[0021]

[0022] In the formu...

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Abstract

The invention discloses a stereo vision positioning method based on centroid characteristic points and neighborhood gray cross correlation. The method comprises steps that a binocular camera is calibrated, and image acquisition is carried out; S2, image processing and area positioning are carried out; S3, stereo matching of left and right images is carried out; and S4, the three-dimensional coordinate information of a target object is acquired. The method is advantaged in that the matching method based on the centroid characteristic points and neighborhood gray cross correlation is utilized, target matching is realized in a coarse to fine mode, polar line constraints and parallax range constraints are imposed in the centroid characteristic point matching process, and a problem of possibleexistence of multiple candidate points or no matching point during corresponding matching point search for characteristic matching is solved.

Description

technical field [0001] The invention belongs to the field of robot vision positioning, and relates to a stereo vision positioning method based on the cross-correlation between centroid feature points and neighborhood gray levels. Background technique [0002] The intelligent robot can effectively obtain the information of the environment and its own position and posture through the sensors carried by itself, and at the same time complete the detection of obstacles and targets in the environment, and autonomously plan the path from the starting position to the target position, so as to realize the operation of the target object . It has complete perception, analysis, decision-making and execution modules, and can independently engage in production activities in the environment like humans. [0003] The commonly used robot 3D object detection method is the binocular stereo vision method, which mainly consists of two cameras. The internal and external parameters of the binocu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/33G06T7/11G06T7/194G06T7/136
CPCG06T2207/20016G06T2207/20036G06T2207/30244
Inventor 覃争鸣陈墩金杨旭
Owner 广州映博智能科技有限公司
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