Template-based spatial positioning method, spatial positioning device, electronic equipment and computer readable storage medium
A space positioning and template technology, applied in computing, image data processing, instruments, etc., can solve problems such as difficult to meet the real-time requirements of space positioning, large amount of calculation, etc.
Active Publication Date: 2020-10-16
SUNNY OPTICAL ZHEJIANG RES INST CO LTD
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The calculation amount of the adaptive threshold is very large, and it is difficult to meet the real-time requirements of spatial positioning
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[0061] The following description serves to disclose the present application to enable those skilled in the art to carry out the present application. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the application defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the application.
[0062] Those skilled in the art should understand that, in the disclosure of the present application, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application a...
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The invention discloses a template-based spatial positioning method and a spatial positioning device. The spatial positioning method comprises the following steps: preprocessing an original image in manners of screenshot, downsampling and the like according to a detection result of a previous frame, and performing template detection and spatial positioning calculation on the preprocessed image; after template detection, designing two different modes for pose calculation, and performing selection according to the number of feature points; converting the internal reference of the camera according to different image preprocessing modes and different modes, and then performing pose calculation; under the condition that the template is not detected, performing spatial pose calculation on the full-resolution image and the down-sampling image according to a certain frequency alternating mode; and after the template is detected, performing adaptive threshold calculation on an area where the template is located to serve as a binarization threshold of the template of the next frame. In this way, the calculated amount of spatial positioning can be significantly reduced.
Description
technical field [0001] The present application relates to the field of machine vision, and in particular to a template-based spatial positioning method, a spatial positioning device, electronic equipment, and a computer-readable storage medium. Background technique [0002] Spatial positioning is an important research direction in the field of machine vision, and it is the basis of technologies such as automatic driving, intelligent robots, and augmented reality. The template-based spatial positioning technology is an environment perception technology that uses the known position of template feature points in the image acquired by the image acquisition device to calculate the relative pose relationship between the template and the image acquisition device. Because the template-based spatial positioning technology has the advantages of accurate positioning, fast calculation speed and low cost, it is widely used in the fields of automatic driving, intelligent robots and augmen...
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IPC IPC(8): G06T7/73
CPCG06T7/74G06T2207/20012
Inventor 王城特张本好倪志刚胡增新
Owner SUNNY OPTICAL ZHEJIANG RES INST CO LTD