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A pattern, method, device and equipment for target positioning of monocular vision

A target positioning and monocular vision technology, applied in the field of target positioning, can solve the problems of complex implementation and low precision

Active Publication Date: 2022-08-05
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[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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  • A pattern, method, device and equipment for target positioning of monocular vision
  • A pattern, method, device and equipment for target positioning of monocular vision
  • A pattern, method, device and equipment for target positioning of monocular vision

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Embodiment Construction

[0039] In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those 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 the present application, the following specific embodiments are used for description.

[0041] figure 1 It is a schematic diagram of the target positioning of monocular vision provided by the embodiment of the present application. like figure 1 As shown, the pattern includes 6 circles of a specifie...

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Abstract

A monocular vision target positioning method includes: acquiring a monocular vision color image, extracting a contour included in the color image; filtering the contour through ellipse parameters and the distance between the contours to obtain an ellipse center point According to whether the number of parallelograms formed by the center point in the first set of ellipse center points and other adjacent center points satisfies the predetermined range, filter the ellipse center points in the first set to obtain The second set of 6 center points of the ellipse; the rotation matrix and the translation matrix are calculated by the preset perspective projection equation. The target positioning of monocular vision can be accurately and effectively completed by using a preset target positioning pattern including a predetermined number of parallelograms, and by detecting the number of parallelograms satisfied by the center point of the ellipse in the image.

Description

technical field [0001] The present application belongs to the field of target positioning, and in particular relates to a method, device and equipment for target positioning of monocular vision. 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, that is, including determining the rotation parameter R and the translation parameter T. The method of monocular vision target localization can be divided into the method with marker point and the method without marker point according to the method with or without marker point. [0003] The mark 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 of its three corners. The advantages of marking point positioning are that it is stable, accurate, a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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