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Object model position measurement method and device in real scene, storage medium and equipment

A technology of realistic scenes and measurement methods, which is applied in the directions of measurement devices, radio wave measurement systems, surveying and mapping and navigation, etc., and can solve problems such as establishment in advance

Pending Publication Date: 2021-02-26
山东产研信息与人工智能融合研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The inventor found that the current positioning still regards the target as a mass point, and the measurement of the position of the target entity is rarely studied in this field. The difficulty and the core is to measure the coordinates of each point on the surface of the target entity. The technical difficulty lies in the three-dimensional The target entity to be measured is segmented from the point cloud, and the coordinate transformation needs to establish a modeling position reference in advance

Method used

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  • Object model position measurement method and device in real scene, storage medium and equipment
  • Object model position measurement method and device in real scene, storage medium and equipment
  • Object model position measurement method and device in real scene, storage medium and equipment

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Embodiment 1

[0035] refer to figure 1 , a method for measuring the position of an object model in a real scene of the present embodiment, comprising:

[0036] S101: Acquire scene information, and generate 3D point clouds of the scene and different target entities in the scene.

[0037] In this step, scene information is acquired based on a non-contact method.

[0038] Specifically, the actual scene information is collected through cameras, laser scanners, lidar, millimeter wave and other equipment, and the 3D point cloud model of the scene is generated through images or lasers.

[0039] It can be understood here that for the generation method of the 3D point cloud of the scene, multiple images collected by a color camera can be reconstructed and generated. Typical methods include SFM (structure from motion), oblique photography, etc.; it can be directly obtained through a depth camera. Collect the depth image of the scene, and then calculate and generate point cloud information; the lase...

Embodiment 2

[0060] This embodiment provides a device for measuring the position of an object model in a real scene, which includes:

[0061] A point cloud generation module, which is used to obtain scene information, and generate three-dimensional point clouds of different target entities in the scene and the scene;

[0062] A point cloud segmentation module, which is used to segment three-dimensional point clouds of different target entities;

[0063] The point cloud coordinate acquisition module is used to construct the point cloud coordinate system of the scene according to the model position reference in the scene, and obtain the point cloud coordinates of different target entities in the point cloud coordinate system;

[0064] The mold position acquisition module is used to obtain the mold positions of different target entities in the actual scene based on the conversion relationship between the point cloud coordinate system of the scene and the actual scene coordinate system.

[00...

Embodiment 3

[0074] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps in the method for measuring the position of an object model in a real scene as described in the first embodiment above are implemented.

[0075] In this embodiment, each target entity is segmented by performing three-dimensional point cloud reconstruction on the scene; at the same time, a model position reference is established, and the conversion relationship between scene coordinates and point cloud coordinates is calculated; through the point cloud coordinates and coordinate conversion of the target entity relationship to get the module position of the target entity in the actual scene. The invention establishes a non-contact online measurement method to calculate the mold position of the unknown target entity in the space scene, and obtain the space occupation of the target entity; compared with the traditional poi...

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Abstract

The invention belongs to the field of object model position measurement, and provides an object model position measurement method and device in a real scene, a storage medium and equipment. The objectmodel position measurement method in a real scene comprises the steps of: acquiring scene information, and generating the scene and three-dimensional point clouds of different target entities in thescene; segmenting the three-dimensional point clouds of different target entities; constructing a point cloud coordinate system of the scene according to a model position reference in the scene to obtain point cloud coordinates of different target entities in the point cloud coordinate system; and based on the conversion relationship between the point cloud coordinate system of the scene and the coordinate system of the real scene, acquiring module positions of different target entities in the real scene. According to the method, representation of the position and space occupation informationof the target entity can be realized through the model position measurement, and precise control of the target entity can be realized by combining the space structure information of the surrounding environment.

Description

technical field [0001] The invention belongs to the field of measuring the position of an object model, and in particular relates to a method, a device, a storage medium and equipment for measuring the position of an object model in a real scene. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The positioning results in the traditional sense are mostly presented in the form of a two-dimensional or three-dimensional point coordinates. The module position in panoramic positioning no longer regards the target as a point, but regards it as the shape, volume, and occupied space of the target itself. The module position is equivalent to locating all the points that make up the target. The combination of all surface point positions belonging to the same target is the target’s module position information. The target’s module position information c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20G01S7/41G01S7/48G01S13/86G01S17/86G01S17/894G06T7/11G06T7/73
CPCG01C21/20G01C21/005G01S17/86G01S17/894G01S13/865G01S13/867G01S7/41G01S7/4802G06T7/73G06T7/11G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/10044
Inventor 陈小忠高桢王聪姚东王薇薇
Owner 山东产研信息与人工智能融合研究院有限公司
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