Method and device for visually locating markers
A technology of visual positioning and marking objects, applied in the field of computer vision, can solve problems such as inaccurate camera positioning, and achieve the effects of simple production, fast speed, high precision and robustness
Active Publication Date: 2020-07-28
INST OF AUTOMATION CHINESE ACAD OF SCI
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[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of inaccurate camera positioning caused by existing signs in the prior art, the present invention provides a method for visually locating markers, including:
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[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention
[0032] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.
[003...
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The invention belongs to the field of computer vision, and in particular relates to a method and device for visually locating markers. The invention aims to solve the problem of inaccurate camera positioning caused by the existing identification in the prior art. The present invention provides a method for visually locating markers, comprising acquiring a current frame image of an input video, extracting edge image points of the current frame image; performing cluster analysis on the edge image points, and performing quadratic curve fitting according to different classes; Calculate the epipolar line of the current frame image based on the quadratic curve, and obtain the intersection point of the quadratic curve and the epipolar line; calculate the camera pose parameters of the current frame image according to the pre-acquired camera internal parameters and intersection points of the current frame image to achieve alignment Marker positioning. The method of the invention has the advantages of simplicity, high speed, small memory occupation and high precision and robustness.
Description
technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a method and device for visually locating markers. Background technique [0002] With the rapid development of virtual reality, augmented reality and robotics, the tracking and calculation of camera position as an indispensable technology has received a lot of attention and research from academia and industry. One of the most effective methods for calculating camera position in the prior art is based on plane markers. On the basis of concentric circle markers, color and scale information are added, and then ring markers and markers containing A matrix of simple graphics and textures, a square logo, a logo with four circles located at the four corners of a rectangle, a black rectangle with black and white blocks, and many other logos, but the logos designed in the prior art require multiple spaces Points and image points are matched, and then the camera position is calc...
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IPC IPC(8): G06T7/73G06K9/62G06T7/13
CPCG06T7/13G06T7/73G06F18/23
Inventor 吴毅红
Owner INST OF AUTOMATION CHINESE ACAD OF SCI