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Target positioning method and device, electronic equipment and storage medium

A target positioning and target technology, which is applied in the field of devices, electronic equipment and storage media, and target positioning methods, can solve the problems of difficult real-time or quasi-real-time positioning of multiple targets, and long time consumption

Pending Publication Date: 2020-03-17
ACAD OF OPTO ELECTRONICS CHINESE ACAD OF SCI
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Problems solved by technology

[0003] Generally, the airborne optoelectronic platform adopts the single-point positioning method, and uses the attitude measurement / laser ranging positioning model to locate the target pointed by the crosshair in the center of the image; for positioning multiple targets, it is necessary to frequently change the spatial orientation of the airborne optoelectronic platform for multiple times. Positioning takes a long time, and it is difficult to implement real-time or quasi-real-time positioning for multiple targets at the same time

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  • Target positioning method and device, electronic equipment and storage medium
  • Target positioning method and device, electronic equipment and storage medium
  • Target positioning method and device, electronic equipment and storage medium

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Embodiment Construction

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

[0045] In one embodiment of the present invention, a target positioning method is provided, figure 1 It is a schematic diagram of the overall process flow of the target positioning method provided by the embodiment of the present invention, and the method includes:

[0046] Calculate the disparity map based on the left view and right view of the target to be located captured by the binocular camera;

[0047] Input the deep learning network after the training of the left...

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Abstract

The invention provides a target positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: calculating a disparity map based on a left view and a right view, which are captured by a binocular camera and contain a to-be-positioned target; inputting the left view into the trained deep learning network, and outputting a target mask in the left view;and based on the disparity map and the target mask in the left view, calculating three-dimensional space coordinates of the to-be-positioned target by using a three-dimensional reconstruction projection method. According to the invention, binocular stereo vision and deep learning are combined; the binocular camera is utilized to calculate position deviation between corresponding points of the leftview and the right view according to a triangulation principle; specific target recognition processing is carried out on the image by using a deep learning method, real-time positioning is carried out on a scene target in combination with three-dimensional reconstruction information on the basis of target recognition, a target positioning process is simplified, primary and secondary targets do not be distinguished, and all target positions in a view field are calculated at the same time; deep learning may expand the range of target positioning applications for specific targets and ordinary targets.

Description

technical field [0001] The invention belongs to the technical field of target positioning, and in particular relates to a target positioning method, device, electronic equipment and storage medium. Background technique [0002] The airborne optoelectronic imaging platform integrates high-precision measuring equipment such as visible light cameras, infrared thermal imaging cameras, TV trackers, laser range finders, and angle sensors, and is used to realize all-weather aerial reconnaissance, target aiming, tracking, positioning and other functions. Photoelectric reconnaissance equipment. [0003] Generally, the airborne optoelectronic platform adopts the single-point positioning method, and uses the attitude measurement / laser ranging positioning model to locate the target pointed by the crosshair in the center of the image; for positioning multiple targets, it is necessary to frequently change the spatial orientation of the airborne optoelectronic platform for multiple times. ...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/85G06T7/70G06T2207/20081
Inventor 李子申潘军道吴海涛李瑞东刘振耀
Owner ACAD OF OPTO ELECTRONICS CHINESE ACAD OF SCI
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