Method, system, device and storage medium for multi-camera motion trajectory monitoring
A motion trajectory, multi-lens technology, used in image analysis, image enhancement, instruments, etc., can solve the problems of limited measurement range and unstable measurement effect, and achieve the effect of improving measurement accuracy, reducing measurement deviation, and expanding measurement range.
Active Publication Date: 2021-01-15
NEXTVPU SHANGHAI CO LTD
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[0004] In view of the problems in the prior art, the object of the present invention is to provide a multi-lens trajectory monitoring method, system, device and storage medium, which can overcome the limited measurement range and unstable measurement effect in robot trajectory measurement. The present invention can expand The measurement range reduces the measurement deviation and improves the measurement accuracy
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[0073] Such as figure 2 As shown, the grid pattern 1 is set on the ground to establish a ground-based ground coordinate system. The grid pattern 1 in the present invention can be a grid drawn on the ground with a pen, or a grid pattern formed by joints of floor tiles or bottom plates, but it is not limited thereto. A plurality of cameras 31, 32, 33, 34, 35, 36, 37, 38, 39 are hoisted on the bottom surface of the ceiling above the ground, and the lenses of the cameras are all located on the same imaging plane, and the cameras can also form an array, and each camera shoots independently Photo grid pattern. Obviously, the wider the range of the camera is, the larger the range of track detection in the present invention will be. The more camera ranges are set, the higher the accuracy of trajectory detection in the present invention. The lens of the camera is one of the following lenses: a wide-angle lens with a focal length of 24mm to 38mm; an ultra-wide-angle lens with a foca...
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The invention provides a multi-lens motion track monitoring method, system and device and a storage medium, and the method comprises the steps: setting a grid pattern on the ground, setting a plurality of cameras based on the ground, detecting a plurality of angular points in an image based on a picture, and obtaining the coordinate position of the angular point of the image of each camera coordinate system; performing image distortion correction on the picture, and establishing a plane mapping relation between the corrected image corner point and a ground corner point of a ground coordinate system; setting a first matrix for expressing the image angular points after distortion correction in a camera coordinate system, expressing a second matrix for mapping the image angular points after distortion correction to a ground coordinate system, enabling each lens to have a homography matrix Hi, and obtaining a homography matrix Hi between each lens and the ground; and establishing a spatialmapping sequence about each ground corner point, and optimizing a homography matrix Hi of each lens according to the spatial mapping sequence. According to the invention, the measurement range in movement track monitoring of the walking robot is expanded, the measurement deviation is reduced, and the measurement precision is improved.
Description
technical field [0001] The present invention relates to the field of hand-eye calibration, in particular to a multi-lens motion trajectory monitoring method, system, device and storage medium. Background technique [0002] When the robot is moving, the requirements for trajectory accuracy are getting higher and higher. The robot trajectory accuracy has become an important indicator to measure the performance of the robot. Limited, the measurement deviation is large, and the measurement accuracy is easily disturbed by noise. [0003] Therefore, the present invention provides a method, system, device and storage medium for monitoring motion trajectory of multiple cameras. Contents of the invention [0004] In view of the problems in the prior art, the object of the present invention is to provide a multi-lens trajectory monitoring method, system, device and storage medium, which can overcome the limited measurement range and unstable measurement effect in robot trajectory m...
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IPC IPC(8): G06T7/292G06T7/246G06T5/00
Inventor 朱镕杰周骥冯歆鹏
Owner NEXTVPU SHANGHAI CO LTD