Targeted positioning method for delivery of hazardous chemicals accident treatment agent based on binocular vision

Abstract

The invention provides a hazardous chemical accident treatment agent delivery targeting positioning method based on binocular vision. The method comprises the following steps: for a detected hazardouschemical substance leakage target area of two images shot from different angles, obtaining pixel coordinates of a mass point position of the hazardous chemical substance leakage target area based ona momentum conservation theorem; calculating coordinates of the mass point position of the hazardous chemical substance leakage target area under an image coordinate system based on the pixel coordinates of the mass point position of the hazardous chemical substance leakage target area; calculating coordinates of the mass point position of the hazardous chemical substance leakage target area undera camera coordinate system based on the coordinates of the mass point position of the hazardous chemical substance leakage target area under an image coordinate system; and converting the coordinatesof the mass point position of the hazardous chemical substance leakage target area under a camera coordinate system into target coordinates of hazardous chemical substance accident treatment agent delivery. The method provided by the invention can accurately and efficiently determine the target coordinates of hazardous chemical accident treatment agent delivery.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a binocular vision-based targeted positioning method for delivery of hazardous chemical accident treatment agents. Background technique [0002] There are a large number of hazardous chemical reagents and fuels in hazardous chemical warehouses, launch site towers, and special combustion power test sites. If hazardous chemical leakage occurs and its exact location is not obtained in time, it will have a serious negative impact on the implementation of key tasks. . Therefore, when a hazardous chemical leak occurs, it is necessary to quickly locate the leak area of ​​the hazardous chemical, obtain its absolute coordinates in the world coordinate system, and deliver the target as an accident treatment agent. [0003] However, the existing target positioning methods based on binocular vision are all based on the premise that the target contour is clearly detected, without con...

AI Technical Summary

Problems solved by technology

[0004] 1) The leakage of hazardous chemicals is a liquid target, and there is no obvious edge boundary after the liquid area diffuses, which makes it difficult to accurately detect the edge of the leakage area of ​​hazardous chemicals;

[0005] 2) Due to the influence of noise, the geometric shapes of the hazardous chemical leakage target areas detected by the left and right cameras of the binocular vision system are inconsistent, which makes it difficult to select feature matching points in the two images;

[0006] 3) The precise delivery of accident treatment agents needs to be based on the accurate absolute coordinates of the leakage area of ​​hazardous chemicals. However, the targets detected by the binocular vision system are all based on the pixel coordinates of the camera itself. It is difficult to convert from the dual coordinate system of the eye to the unified world coordinate system

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