slam-based method for measuring planar polygonal objects and machine-readable storage medium

A measurement method and polygonal technology, applied in the field of photogrammetry, can solve the problems of complicated process of quadrilateral vertices, high environmental requirements, unfavorable real-time measurement, etc., achieve good AR experience, meet detection requirements, and improve robustness.

Active Publication Date: 2021-02-12
NANJING HUAJIE IMI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This measurement method has the following disadvantages: on the one hand, the process of detecting quadrilateral vertices in this patent is complicated, which is not conducive to real-time measurement; The actual measured value of the object takes a long time, has large errors, and has high requirements for the use environment, so the use area is narrow

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  • slam-based method for measuring planar polygonal objects and machine-readable storage medium
  • slam-based method for measuring planar polygonal objects and machine-readable storage medium
  • slam-based method for measuring planar polygonal objects and machine-readable storage medium

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Embodiment 1

[0056] A SLAM-based planar polygonal object measurement method, V-SLAM calculates the orientation of the camera in an unknown environment through the captured video information, and constructs an environmental map at the same time. In real-time video information, if you want to measure a plane polygonal object, you must first identify it and extract the vertex position information of the polygon, which specifically includes the following steps:

[0057] In the initialization of this embodiment, first set the number of vertices or the range of the number of vertices of the polygon to be detected. The range of the number of vertices set in this embodiment is 3-6, which can meet most of the measurement needs in life , and by limiting the range, it is possible to filter out the situation that there are too many inaccurate vertices in the contour extraction after the next contour extraction; if there is only a detection requirement for a certain polygon (such as a triangle or a quad...

Embodiment 2

[0101] This embodiment is basically the same as Embodiment 1, except that in step (5), the forwarding method of transforming the coordinates of each vertex in the image coordinate system into the coordinates in the camera coordinate system adopts a triangulation method.

[0102] In this embodiment, when the depth information is unknown, for example, the depth camera is not used from the beginning of step (1) or the depth camera is used, but the depth information provided by the depth camera has obvious errors or the shooting object exceeds the range of depth information that the depth camera can recognize When , step (5) enhances the robustness of depth information through triangulation.

[0103] In addition, when a machine first uses a depth camera for measurement or a suspected depth camera failure, the triangulation calculation method can also be used to calculate the depth information of the vertices and compare it with the depth information provided by the depth camera to ...

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Abstract

The invention discloses a SLAM-based method for measuring a plane polygonal object and a machine-readable storage medium. The pose information and depth information provided by V-SLAM are used to map the vertices to the world coordinate system in combination with the contour information of the video frame image. In this way, the length and area of ​​a plane polygonal object can be calculated, and online real-time measurement can be realized. It is more suitable for mobile terminals, and can be used in augmented reality and virtual modeling of mobile terminals, which can bring better AR experience to users and make it more convenient for people to use The need for measurement in everyday life. In addition, the triangulation method can be used to improve the robustness of depth information, and the two contour extraction methods and the iterative method are introduced to obtain a wider range of application, which can meet the detection requirements of pictures under different lighting scenarios, and the measurement accuracy is high. The result is accurate.

Description

technical field [0001] The invention relates to photogrammetry, in particular to a SLAM-based plane polygonal object measurement method and a machine-readable storage medium. Background technique [0002] SLAM (simultaneous localization and mapping, simultaneous positioning and map construction) originated in the field of robotics. Its goal is to reconstruct the three-dimensional structure of the environment in real time in an unknown environment and simultaneously position the robot itself. SFM (Structure from Motion) technology generates 3D point clouds and camera poses from images. In the early days, it was generally processed offline. Later, with the development of technology, real-time SFM technology appeared, which can be attributed to the scope of SLAM. V-SLAM technology infers the orientation of the camera in an unknown environment based on the captured video information, and builds an environmental map at the same time. Its basic principle is the principle of multi-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/62G06T7/64G06T7/13G06T7/136G06T5/30G06T5/00
CPCG06T5/002G06T5/30G06T2207/20032G06T2207/20036G06T7/13G06T7/136G06T7/62G06T7/64
Inventor 耿志远黄骏周晓军杜逢博李骊王行盛赞李朔杨淼
Owner NANJING HUAJIE IMI TECH CO LTD
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