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Monocular Vision Positioning and Pose Fixing Method Using Wall Advertisements Containing Positioning QR Codes

A technology of positioning and attitude determination and monocular vision, which is applied to the recording carrier used by the machine, image analysis, instruments, etc., can solve the problems of limited combination, limited use, and satellite positioning failure, so as to improve the promotion efficiency and deployment cost Low, cost reduction effect

Active Publication Date: 2022-02-01
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Satellite positioning is the most widely used positioning technology in daily life, but satellite positioning depends on the reception of satellite signals. In environments where signals are obscured, such as indoors or tunnels, satellite positioning will fail.
Common indoor positioning technologies include: Wi-Fi, Bluetooth, infrared, ultra-wideband, RFID and ultrasonic. Among them, WIFI and Bluetooth positioning are easily interfered by other signals, and the stability of positioning results is poor. The deployment cost of infrared, ultra-wideband and ultrasonic positioning systems High, unable to be popularized in daily life, RFID positioning is limited by its combination with mobile devices, which also limits the use of this technology

Method used

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  • Monocular Vision Positioning and Pose Fixing Method Using Wall Advertisements Containing Positioning QR Codes
  • Monocular Vision Positioning and Pose Fixing Method Using Wall Advertisements Containing Positioning QR Codes
  • Monocular Vision Positioning and Pose Fixing Method Using Wall Advertisements Containing Positioning QR Codes

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] 1. The specific steps of advertising map layout are as follows:

[0089] S110 generates an advertisement image template T according to the advertisement image provided by the merchant and the two-dimensional code template, and extracts the feature descriptor of the advertisement image template T, and combines the feature descriptor, the corresponding advertisement image, the merchant information of the advertisement image, and the adopted two-dimensional The two-dimensional code coding specification, the two-dimensional code template generation rules, the actual size of the advertisement picture, the standard size of the advertisement picture and other information are uploaded to the advertisement picture database.

[0090] The actual size of the advertising picture refers to the actual size of the combined overall advertising picture displayed on the carrier in the indoor coordinate system. The carrier can be an electronic billboard or a paper advertisement posted at a ...

Embodiment 2

[0162] For the positioning and posture determination method provided in Embodiment 1, every time the merchant updates the advertisement image content, it is necessary to change the advertisement image database. If the merchant does not change the layout location, the actual size of the advertisement map, or the content of the QR code code, but only replaces the content of the advertisement image part in the advertisement map locally, but does not update the corresponding advertisement image in the advertisement map database in time. In this case, the correct advertising image template cannot be searched in the advertising image database. In view of the shortcomings in Embodiment 1, this embodiment provides a positioning and posture determination method that does not depend on the advertisement image, and uses the features of the positioning two-dimensional code image to search to determine the approximate position of the advertisement image in the environment image.

[0163] I...

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Abstract

The invention discloses a monocular vision positioning and attitude determination method using a wall advertisement containing a positioning two-dimensional code. The method includes: collecting an environment image M0 containing an advertisement map, and the advertisement map is combined by an advertisement image and a positioning two-dimensional code image Synthesize; preprocess the environment image M0; search for the image contour Cx and image area of ​​the advertisement image in the environment image M0; fit the edge of the advertisement image according to Cx, and calculate the position of the corner point of the advertisement image in the environment image; according to the advertisement image The position of the corner point in the environment image is used to obtain the image area corresponding to the advertisement map; the positioning QR code image is extracted from the image area corresponding to the advertisement map, and the three-dimensional position of the corner point of the advertisement map is obtained after decoding; combined with the corner point of the advertisement map in the environment The position in the image and its three-dimensional position are used for positioning and pose determination. The invention has simple operation, low deployment cost, is not easily disturbed by the environment, does not destroy the existing environmental characteristics, has good stability, and is easy to popularize.

Description

technical field [0001] The invention belongs to the technical field of positioning and posture determination, in particular to a monocular vision positioning and posture determination method using wall advertisements containing positioning two-dimensional codes. Background technique [0002] A two-dimensional code is a graphic symbol that uses a specific geometric model to arrange on a two-dimensional plane according to a specified coding method to realize information storage. The two-dimensional code has the advantages of high information content, high reliability, and good security, and is widely used in in daily production and life. [0003] Satellite positioning is the most widely used positioning technology in daily life, but satellite positioning depends on the reception of satellite signals, and satellite positioning fails in environments where signals are obscured, such as indoors or tunnels. Common indoor positioning technologies include: Wi-Fi, Bluetooth, infrared...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06T7/13G06T3/00G06K19/06
CPCG06K19/06046G06T7/13G06T7/73G06K2019/06262G06T3/02
Inventor 牛小骥葛雯斐吴宜斌李团旷俭
Owner WUHAN UNIV
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