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A visual positioning method based on circular marker placement

A visual positioning and mark point technology, applied in the field of visual positioning, can solve the problems of complex visual positioning methods and susceptibility to external interference

Active Publication Date: 2019-01-25
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It solves the problem that the visual positioning method is too complicated and susceptible to external interference

Method used

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  • A visual positioning method based on circular marker placement
  • A visual positioning method based on circular marker placement
  • A visual positioning method based on circular marker placement

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Experimental program
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Embodiment Construction

[0053] Please combine Figure 1-5 , the present invention provides a visual positioning method based on circular marker point layout.

[0054] The simulation and calculation process is carried out on a computer with a main frequency of 3.00Ghz and a memory of 16.0GB, and Matlab R2018a under the Win10 operating system. Using the Vrealm virtual display toolbox that comes with Matlab, an aerial refueling simulation environment is established, in which the marker points on the surface of the drogue dragged by the tanker are arranged in a circle, and the oil receiver measures the relative position of the drogue and the drogue through the camera.

[0055] (1) the present invention utilizes the Vrealm virtual display tool box that Matlab carries to simulate the relative position of measuring taper sleeve and taper pipe, and this method specifically comprises the following steps:

[0056] Step 1: Obtain virtual camera parameters

[0057] Since the camera is a virtual camera, there i...

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Abstract

The invention relates to a visual positioning method based on circular mark point layout, comprising the following steps: step 1, obtaining camera internal parameters; 2, obtaining the position of theknown object; 3, using that camera to obtain the coordinates of the mark points in the image; Step 4: obtaining the relative position of the annular object and the known object. The invention solvesthe problem that the traditional vision positioning method is too complex and is easy to be disturbed by the outside, can directly obtain the relative position of the object to be measured and the known object, and has important significance and practical value.

Description

technical field [0001] The invention relates to a visual positioning method based on the layout of circular marker points, which belongs to the measurement technology in the field of visual positioning. Background technique [0002] At present, the visual positioning method has a very wide range of applications, and can easily obtain the relative position information between different objects. The relative distance between them can accurately land in a specific area. However, for the traditional visual positioning method, the layout of the marker points is more complicated, and the measurement process is easily disturbed by the external environment, and the practical value is not high. Therefore, it is very important and meaningful to propose a visual positioning method with distinctive marker features and high robustness. of. Contents of the invention [0003] The purpose of the present invention is to provide a visual positioning method based on the layout of circular ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80
CPCG06T7/73G06T7/80G06T2207/10004
Inventor 全权戴训华高岩蔡开元
Owner BEIHANG UNIV