Formal method, device, electronic equipment and storage medium for camera pose estimation

Abstract

The embodiment of the present disclosure discloses a camera pose estimation formalization method, device, electronic equipment, and storage medium. The camera pose estimation formalization method includes determining the number of selected control points on the object to be photographed in the space coordinate system The space coordinates under and the image point coordinates under the camera coordinates; according to the optical center coordinates of the camera in the space coordinate system, the space coordinates of a plurality of control points and the image point coordinates, the camera position based on high-level logic language is established. A pose estimation logic model; construct a logic proposition based on the camera pose estimation logic model, wherein the logic proposition describes attributes and / or kinematic constraints in the camera pose estimation logic model; verify based on a theorem prover The logic proposition is used to determine whether the camera pose estimation logic model is valid. By adopting a formal method, the technical solution avoids the impreciseness of manual proof and the possible errors caused by traditional analysis methods.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular to a formalization method, device, electronic equipment and storage medium for camera pose estimation. Background technique [0002] The camera pose estimation problem is to use the corresponding relationship between image pixels and three-dimensional space object points to estimate the position and attitude information of the camera. This problem is one of the research hotspots in the fields of computer vision, photogrammetry and computer graphics. It is the core problem to be solved in many theoretical research and practice, such as positioning and navigation, target tracking and recognition, virtual reality and camera calibration. [0003] At present, the analysis methods of camera pose estimation still use the traditional pen-and-paper technology and numerical simulation analysis methods. However, these informal methods are prone to errors, have limitations ...

AI Technical Summary

Problems solved by technology

[0003] At present, the analysis methods of camera pose estimation still use the traditional pen-and-paper technology and numerical simulation analysis methods. However, these informal methods are prone to errors, have limitations in areas with low error tolerance, and lack necessary assumptions can lead to erroneous design and analysis, while numerical simulation of algorithms with computer algebra systems is unreliable when dealing with boundary conditions and notation

Therefore, the current traditional analysis methods for camera pose estimation have problems such as complex calculations, unreliable designs, and inaccurate results.

Images