Active optical positioning method, device and system

Abstract

The invention relates to a multi-camera internal and external parameter calibration method, device and system based on a single-point calibration object. Specifically, the method is characterized in that, in any positioning space, infrared cameras are distributed according to actual requirements of the positioning space; an object wears a Tracker; LED marker points, which can be coded and can emitinfrared light, are attached on the surface of the Tracker; the system controls camera exposure and LED marker flicker synchronization through a wireless and wired communication mode; image information of the positioning space is obtained in real time through the infrared cameras; codes of the Marker points are identified according to the image information and space location information of the marker points is obtained; and space location information of the Tracker, that is, the space location information of the object, is calculated according to the space location information of the marker points, thereby realizing real-time location tracking of the object. The beneficial effects are that, through the active optical positioning technology, the method is higher in anti-interference performance than a passive optical positioning scheme and is better in robustness, and can be pushed to outdoor scenes; and in the active optical positioning scheme, working distance of cameras is large, sothat the number of the cameras to be installed per unit area is small, and cost is greatly reduced.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to an active optical positioning method, device and system Background technique [0002] Camera calibration technology uses the 2D image of the calibrated object to recover the internal and external parameters of the camera, and then reconstructs the 3D information of the scene. It is a key step in the field of computer vision and has wide applications in industry, aerospace, cultural creativity and other fields. In recent years, with the vigorous development of virtual reality, the perspective of a single camera cannot meet people's expectations for a large-scale three-dimensional space, and multi-camera combination and calibration have gradually become a new research hotspot. However, the existing multi-camera calibration methods often require the calibration object to move in the common field of view of all cameras at the same time, which increases the difficulty of actual operatio...

AI Technical Summary

Problems solved by technology

The disadvantages of this solution are obvious: the cameras should be prevented from directly illuminating each other to avoid mutual interference of infrared light, so the installation and configuration of the cameras are strict; the smooth surface can easily reflect infrared light, so more interference points are likely to occur in the scene Poor performance; passive light is restricted by reflection, and the working distance is limited (for example, no more than 5 meters)

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