Vanishing point estimation method based on convex quadrilateral principle

Abstract

The invention relates to a vanishing point estimation method based on a convex quadrilateral principle, and belongs to the technical field of visual sensors. The method comprises the following steps: carrying out image processing on an input image W in real time to obtain a contour image Q of a square object in the image; secondly, defining and extracting line segments in the image for Q based on the vanishing points, calculating straight line intersection points according to whether a convex quadrangle is formed by imaging in an image plane of an orthogonal parallel straight line pair or not, selecting the number of clustering clusters according to a threshold filter, and performing clustering estimation on the straight line intersection points by adopting a self-adaptive composite clustering method to obtain a vanishing point set. Compared with the prior art, the method has the advantages that the estimation calculation amount is reduced, the estimation precision is kept, the estimation time is saved, and the method is suitable for blanking point estimation of any shooting and camera shooting equipment and is also suitable for being applied to scenes needing dynamic real-time estimation of the attitude angle of the camera shooting equipment.

Description

technical field [0001] The invention relates to a method for estimating a vanishing point based on the principle of a convex quadrilateral, and belongs to the technical field of visual sensors. Background technique [0002] In Euclidean space, two parallel straight lines intersect at the point of infinity. Under the ideal small hole model, the projection of these two parallel straight lines through the camera is also a straight line, and in general, the projection lines intersect, and the intersection point is called the blanking point. (vanishpoint), which is the projection of the point at infinity on the image plane. Two sets of orthogonal parallel lines can form a group of vanishing points at right angles to the camera. The blanking contains the direction information of the straight line. By analyzing it, the structure and direction information of the three-dimensional space can be obtained. In the three-dimensional reconstruction , visual gyroscope, robot vision and cam...

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Problems solved by technology

[0007] The purpose of the present invention is to solve the problems of large amount of calculation, difficult filter design, incomplete noise processing, and non-normal outliers in the existing dynamic estimation method of vanishing point, aiming at the camera with the change of viewing angle and distance In the process of continuous attitude change, the location of dynamic vanishing point is determined, and a vanishing point estimation method based on the principle of convex quadrilateral is proposed

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