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A pose measurement method combining initial pose measurement with target tracking

A technology of target tracking and pose measurement, applied in the field of target tracking

Pending Publication Date: 2019-05-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for irregularly moving targets, how to use visual information as the prior information of the moving target, combine the initial pose of the target with the target tracking method, and realize the real-time output of the pose parameters of the moving target in the video sequence has not given technical measures

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  • A pose measurement method combining initial pose measurement with target tracking
  • A pose measurement method combining initial pose measurement with target tracking
  • A pose measurement method combining initial pose measurement with target tracking

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specific Embodiment approach 1

[0097] Specific implementation mode one: this implementation mode combines Figures 1 to 4 , the pose measurement method of initial pose measurement combined with target tracking in the present invention is described as follows:

[0098] 1 Initial pose measurement of the target

[0099] The initial pose measurement of the target is used to start the subsequent target tracking and realize the real-time output of the pose parameters. The process of initial pose measurement of the target is essentially the process of detecting and locating the target in a three-dimensional environment.

[0100] (1) Measurement of reference pose

[0101] In order to measure the initial pose of the moving target, it is necessary to extract a frame of image as the reference image for the initial pose measurement, and use this reference image to measure the pose parameters of the target in the measured image. The present invention adopts the POSIT pose solving algorithm to solve the reference pose,...

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Abstract

The invention discloses a pose measurement method combining initial pose measurement with target tracking, and belongs to the field of computer vision. The invention aims to realize real-time output of pose parameters of a moving target in a video sequence for an irregular moving target. The method is technically characterized by comprising the steps that initial pose measurement of a target is conducted, the initial pose measurement of the target is used for starting follow-up target tracking, and real-time output of pose parameters is achieved. The method comprises the steps of reference pose measurement, feature point extraction and matching and pose measurement based on multi-point matching. Target tracking comprises searching and matching of edge features, tracking and matching of point features and nonlinear optimization solution of pose parameters. According to the method, the initial pose of the target is combined with a target tracking method, so that real-time output of the pose parameters of the moving target in a video sequence is realized; the method has a certain adaptive capacity to the change of the environment, and the pose of the object can be measured when the object is partially shielded.

Description

technical field [0001] The invention relates to a pose measurement method based on visual information, in particular to initial pose measurement, feature extraction and matching, and target tracking of a target, and belongs to the field of computer vision. Background technique [0002] When measuring the pose of a moving target, it is often impossible to obtain its accurate pose parameters due to the lack of reference objects and the inability to know its prior motion parameters, and the real-time performance is difficult to guarantee. In recent years, with the rapid development of robot technology, computer technology and sensor technology, the use of visual information to measure the pose of moving objects has become one of the research hotspots in the field of computer vision. [0003] The patent document with the document number CN104596502A discloses a method for measuring the pose of an object based on a CAD model and monocular vision. The motion relationship between t...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/70G06K9/46
Inventor 吴冬梅张龙至
Owner HARBIN INST OF TECH
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