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Multi-camera motion track detection method and device and storage medium

A motion detection and multi-camera technology, which is applied in image enhancement, image analysis, image data processing, etc., can solve problems such as large measurement deviation, limited measurement range, and measurement accuracy susceptible to noise interference, so as to improve measurement accuracy and reduce The effect of measurement bias

Active Publication Date: 2019-07-09
NEXTVPU SHANGHAI CO LTD
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Problems solved by technology

[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

Method used

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  • Multi-camera motion track detection method and device and storage medium
  • Multi-camera motion track detection method and device and storage medium
  • Multi-camera motion track detection method and device and storage medium

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Embodiment Construction

[0061] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0062] figure 1 It is a flow chart of the multi-lens motion trajectory monitoring method of the present invention. Such as figure 1 As shown, the method for multi-camera detection motion track of the present invention comprises the following steps:

[0063] S110 , setting a grid pattern on the ground, and establishing a ground-based ground coordinate system.

[0064] S120. Paste an asymmetric pattern on the top of the ...

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Abstract

The invention provides a multi-camera motion track detection method and device and a storage medium, and the method comprises the steps: setting a grid pattern on the ground, and building a ground coordinate system; pasting an asymmetric pattern on the top of the robot, establishing a pattern coordinate system, and obtaining coordinates of the angular points in the pattern coordinate system; establishing a plurality of cameras are arranged above the ground to shoot grid patterns and pictures of the robot, camera coordinate systems and acquiring pixel coordinates of angular points of the asymmetric patterns in the camera coordinate systems; obtaining a first type of homography matrix of each camera coordinate system relative to the ground coordinate system, a rotation amount and a translation vector between the first type of homography matrix and the ground coordinate system, and an equation of the ground under the camera coordinate system; calculating a rotation amount and a translation vector between the pattern coordinate system and the ground coordinate system; acquiring a second type of motion trajectory pattern of a robot by combining images of each camera. According to the invention, the measurement deviation is reduced, the measurement precision is improved, and the positioning range can be infinitely expanded.

Description

technical field [0001] The present invention relates to the field of detection of motion tracks, in particular to a method, device and storage medium for multi-camera detection of motion tracks. 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, device and storage medium for multi-camera detection of motion trajectories. Contents of the invention [0004] In view of the problems in the prior art, the object of the present invention is to provide a method, device and storage medium for multi-camera detection motion trajectory, to overcome the problem of limited measurement range and unstable measurement effect in robot motion trajec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T2207/30241G06T7/73
Inventor 朱镕杰周骥冯歆鹏
Owner NEXTVPU SHANGHAI CO LTD
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