Monocular vision target positioning pattern, method, device and equipment
A monocular vision and target positioning technology, applied in the field of target positioning, can solve problems such as low precision and complex implementation
Active Publication Date: 2020-02-18
UBTECH ROBOTICS CORP LTD
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[0005] In view of this, the embodiment of the present application provides a monocular vision target positioning pattern, method, device and equipment to solve the problem in the prior art that the target positioning accuracy is not high and the realization is relatively complicated
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[0039] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
[0040] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.
[0041] figure 1 It is a schematic diagram of the target positioning pattern of monocular vision provided by the embodiment of the present application. Such as figure 1 As shown, the pattern includes 6 circles of a specified size with a specified co...
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A monocular vision target positioning method comprises the steps that a monocular vision color image is acquired, and a contour included in the color image is extracted; the contours are filtered through the ellipse parameters and the distances between the contours to obtain a first set of ellipse center points; the ellipse center points are filtered in the first set according to whether the number of parallelograms formed by the center points in the first set of the ellipse center points and other adjacent center points meets a preset range or not to obtain a second set with the number of theellipse center points being 6; and a rotation matrix and a translation matrix are calculated through a preset perspective projection equation. Through the preset target positioning pattern comprisingthe preset parallelogram number characteristic, target positioning is carried out by detecting the parallelogram number met by the center point of the ellipse in the image, and monocular vision target positioning can be accurately and effectively completed.
Description
technical field [0001] The present application belongs to the field of target positioning, and in particular relates to a monocular vision target positioning method, device and equipment. Background technique [0002] Monocular vision target positioning is used to determine the positional relationship between the target space coordinate system and the camera coordinate system, including determining the rotation parameter R and the translation parameter T. The method of monocular vision target positioning can be divided into the method with the mark point and the method without the mark point according to the method with or without the mark point. [0003] The sign point method is to design a sign structure or pattern with obvious features. For example, the current two-dimensional code is also a sign pattern, and the two-dimensional code is positioned by the square at its three corners. The advantages of marker point positioning are stability, accuracy, and speed. The disadv...
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IPC IPC(8): G06T7/73G06T7/13G06T7/60G06T7/66
CPCG06T7/73G06T7/13G06T7/60G06T7/66G06T2207/10024
Inventor 熊友军郭奎
Owner UBTECH ROBOTICS CORP LTD