Three-dimensional space coordinate estimation method and device, terminal and storage medium

A three-dimensional space and coordinate technology, applied in the field of computer vision, can solve the problems of increased hardware cost, large practical limitations, poor estimation accuracy, etc., to achieve the effect of reducing hardware cost and improving accuracy

Active Publication Date: 2018-12-11
HISCENE INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, for the first estimation method, no matter whether the marker point in the 2D video is on the plane or not, the 3D space coordinates of the marker point will all fall on the forcedly fitted plane, so that the non-plane coordinates in the calculation screen When marking the three-dimensional space coordinates corresponding to the points, there will be a large deviation, and the estimation accuracy is poor
For example, if the application scene is on a desktop, since the desktop is not absolutely flat, there may be various furnishings, office utensils, etc. on the desktop. These objects all have depth information, so that the fitted plane often floats in the air. , resulting in a large deviation in the estimation of the three-dimensional space coordinates corresponding to the marker points in the two-dimensional video
[0005] For the second estimation method, since a depth camera needs to be added outside the RGB camera, the hardware cost is greatly increased
At the same time, on the existing hardware, if there is no depth camera, this method cannot be used, which makes the practical limitation of this method relatively large

Method used

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  • Three-dimensional space coordinate estimation method and device, terminal and storage medium
  • Three-dimensional space coordinate estimation method and device, terminal and storage medium
  • Three-dimensional space coordinate estimation method and device, terminal and storage medium

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Embodiment 1

[0032] figure 1 It is a flow chart of a method for estimating three-dimensional space coordinates provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of estimating three-dimensional space coordinates corresponding to marker points in two-dimensional image frames, especially for augmented reality In the scene of remote guidance, it can also be used in other application scenes that need to estimate three-dimensional space coordinates. The method can be executed by a device for estimating three-dimensional space coordinates, which can be realized by means of software and / or hardware, and integrated into a smart terminal, such as a smart phone, a tablet computer, smart glasses, and the like. The method specifically includes the following steps:

[0033] S110. Acquire 2D pixel coordinates corresponding to the marker points in the marker image frame of the 2D video.

[0034] Wherein, in this embodiment, a common RGB camera can be used ...

Embodiment 2

[0066] image 3 It is a flow chart of a method for estimating three-dimensional space coordinates provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments: when determining the target camera point, according to the three-dimensional world point cloud under the world coordinate system , and the second transformation relationship between the world coordinate system and the camera coordinate system is determined on the 3D camera point cloud in the camera coordinate system; according to the 3D camera point cloud and the first transformation relationship between the pixel coordinate system and the camera coordinate system, Determine the two-dimensional pixel point cloud in the pixel coordinate system, and record the correspondence between the three-dimensional camera point and the two-dimensional pixel point; determine the two-dimensional pixel according to the preset screening rules, two-dimensional pixel point ...

Embodiment 3

[0096] Figure 4 It is a flowchart of a three-dimensional space coordinate estimation method provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above embodiments: when determining the target camera point, according to the relationship between the world coordinate system and the camera coordinate system The second conversion relationship, as well as the 3D world point cloud in the world coordinate system, is determined on the 3D camera point cloud in the camera coordinate system; according to the preset filtering rules, the 3D camera point cloud and the first mapping line corresponding to the 2D pixel coordinates , determined at the target camera point in the camera coordinate system.

[0097] The optimized three-dimensional space coordinate estimation method includes the following steps:

[0098] S310. Acquire 2D pixel coordinates corresponding to the marker points in the marker image frame of the 2D video.

[0099] S320. Acco...

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Abstract

The embodiment of the invention discloses a three-dimensional space coordinate estimation method and device, a terminal and a storage medium. The method comprises the following steps: obtaining two-dimensional pixel coordinates corresponding to marker points in a marker image frame of a two-dimensional video; determining a first mapping straight line corresponding to two-dimensional pixel coordinates under the camera coordinate system according to a first conversion relationship between the pixel coordinate system and the camera coordinate system; according to the second transformation relation between the world coordinate system and the camera coordinate system, the preset screening rule and the three-dimensional world point cloud in the world coordinate system, determining the target camera point in the camera coordinate system; according to the preset estimation rule corresponding to the preset filtering rule, the first mapping straight line and the target camera point, determiningthe camera three-dimensional space coordinates corresponding to the mark points under the camera coordinate system. The technical scheme of the embodiment of the invention can improve the estimation accuracy of the three-dimensional space coordinates and reduce the hardware cost.

Description

technical field [0001] Embodiments of the present invention relate to computer vision technology, and in particular to a method, device, terminal and storage medium for estimating three-dimensional space coordinates. Background technique [0002] In the field of computer vision research, it is usually necessary to estimate the 3D space coordinates corresponding to a marker point on a 2D image frame in a 2D video. For example, in the remote guidance based on augmented reality, it is necessary to determine the three-dimensional space coordinates corresponding to the marked points of the instructor at the remote end on a certain two-dimensional image frame, so that the operator at the field end can see the three-dimensional marked points, which is convenient for accurate operation . [0003] Usually, two estimation methods are used to determine the three-dimensional space coordinates corresponding to the marker points. The first estimation method is: after creating a 3D point...

Claims

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Application Information

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IPC IPC(8): G06T7/70
CPCG06T7/70G06T2207/10016
Inventor李佩易周响南
OwnerHISCENE INFORMATION TECH CO LTD