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Positioning method and system based on binocular vision

A positioning method and binocular vision technology, applied in the field of visual positioning, can solve problems such as low calculation efficiency, inaccurate parallax, complex calculation methods, etc., achieve the effect of small calculation and real-time distance measurement

Active Publication Date: 2020-04-10
SUZHOU ZHIJIA SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] 1. The obtained parallax is not accurate enough;
[0010] 2. The calculation method is complex and the calculation efficiency is low;
[0011] 3. Real-time ranging cannot be realized on high-resolution images;
[0012] 4. The images processed by the prior art are all processed single frame information, without considering the continuous frame information, and the final target trajectory is not smooth enough

Method used

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  • Positioning method and system based on binocular vision
  • Positioning method and system based on binocular vision

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] figure 1 A schematic flow chart of a positioning method based on binocular vision provided for an embodiment of the present invention; seefigure 1 , the method includes the following steps;

[0058] S100: Obtain the left image and the right image of the binocular camera;

[0059] S200: Obtain target obstacle information according to the left figure;

[0060] S300: Confirm the search area of ​​the target obstacle in the right picture according to the information of the target obstacle;

[0061] S400: Search for the target obstacle in the search area, and determine the precise parallax value of the target obstacle;

[0062] S500: Acquiring position information of the target obstacle according to the precise parallax value of the target obstacle;

[0063] S600: Updating the position information of the target obstacle according to the position information of the current target obstacle and the precise parallax value;

[0064] S700: Smoothing the updated position informa...

Embodiment 2

[0109] Figure 4 A positioning system based on binocular vision provided for an embodiment of the present invention, the system includes a first acquisition module, a second acquisition module, a confirmation module, a search module, a third acquisition module, an update module and an optimization module; wherein,

[0110] The first acquiring module is used to acquire the left image and the right image of the binocular camera;

[0111] The second acquisition module is used to acquire target obstacle information according to the left figure;

[0112] The confirmation module is used to confirm the search area of ​​the target obstacle in the right figure according to the information of the target obstacle;

[0113] The search module is used to search for the target obstacle according to the search area, and determine the precise parallax value of the target obstacle;

[0114] The third acquisition module is used to acquire the position information of the target obstacle accordi...

Embodiment 3

[0127] Figure 5 It is a structural schematic diagram of an embodiment of an electronic device of the present invention, see Figure 5 , in this embodiment, an electronic device is provided, including but not limited to smart phones, landline phones, tablet computers, notebook computers, wearable devices and other electronic devices, the electronic device includes: a processor and a memory, the memory Computer readable instructions are stored which, when executed by the processor, implement the method of the invention described above.

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Abstract

The invention provides a positioning method and system based on binocular vision. The positioning method comprises the following steps: acquiring a first image and a second image of a binocular camera; acquiring target obstacle information according to the first image; determining a search area of a target obstacle in the second image according to the target obstacle information; searching the target obstacle in the search area, and determining an accurate parallax value of the target obstacle; and acquiring the position information of the target obstacle according to the accurate parallax value of the target obstacle. According to the positioning method, the parallax of the target obstacle is calculated for the specific area in the image; and full-image calculation is not needed, and onlythe interested specific area is considered, so the calculation amount is small, and real-time processing can be carried out on a high-resolution image.

Description

technical field [0001] The invention belongs to the technical field of visual positioning, and in particular relates to a positioning method and system based on binocular vision. Background technique [0002] For more than a century, the emergence of automobiles has replaced traditional transportation methods, making people's lives more convenient. In recent years, with the development of science and technology, especially the rapid development of intelligent computing, research on autonomous vehicle technology has become a hot spot in various industries. McKinsey's "12 Frontier Technologies That Determine the Future Economy" report explores the impact of 12 cutting-edge technologies on the future economy and society, and analyzes and estimates the economic and social influence of the 12 technologies in 2025. Among them, self-driving cars Technology ranks 6th, and its influence in 2025 is estimated to be: the economic benefits are about 0.2-1.9 trillion US dollars per year,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70
CPCG06T7/70G06T2207/10012G06T2207/20016G06T2207/20228G06T2207/30241
Inventor 陈安江志浩崔迪潇周棉炜龚伟林
Owner SUZHOU ZHIJIA SCI & TECH CO LTD