Monocular vision attitude determination method and system

Abstract

The embodiment of the present invention provides a monocular vision attitude determination method and system. By using the world coordinates and pixel coordinates of each feature unit as initial information, based on the EPNP algorithm, the initial posture information of the cooperative stereo target is determined, so that the obtained initial posture information can be closer to the obtained real-time posture information. At this time, that initial posture information is taken as an iterative initial value, the real-time attitude information of the cooperative stereo target is determined by SoftPOSIT algorithm, thereby being able to make the real-time posture information more accurate, effectively avoid the SoftPOSIT algorithm diverging or converging to the wrong posture, improve the convergence performance and accuracy of attitude solution, achieve real-time posture measurement, and have a good application prospect.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of computer vision measurement, and more specifically, to a monocular vision attitude determination method and system. Background technique [0002] At present, the monocular vision attitude measurement method only uses one camera. Compared with the multi-eye vision measurement method, the measurement range is large, the structure is simple, and the difficulty of stereo matching is avoided, and it has wide applicability. Therefore, it is widely used in robot tracking and navigation, Aircraft docking, visual navigation and other fields. However, due to the fact that each spatial point has one and only one perspective projection line corresponding to it, and the depth information of the spatial point is lacking, additional constraints are required to realize the conversion from two-dimensional image coordinates to three-dimensional spatial coordinates. The most commonly used method is Us...

AI Technical Summary

Problems solved by technology

However, in the prior art, when using the SoftPOSIT algorithm to determine the attitude, the initial pose of the given measured target or the initial pose of the measured target obtained by multiple random initializations is usually used as the iterative initial value to iteratively solve the problem. In this case, if the initial pose of the measured target deviates too much from the real pose, it is very likely that the final determined pose of the measured target will diverge or converge to a wrong pose, which limits the application of the algorithm.

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