Method and system for estimating camera position based on small amount of control point information

Abstract

The invention discloses a method and system for estimating the position of a camera based on a small amount of control point information and belongs to the technical field of machine vision. Accordingto the classic PnP method, the position of the camera can be solved only by information of at least three control points, coordinates of the camera can still be solved when the number of the controlpoints is smaller than three, and the method can be applied to occasions where the position of the camera needs to be determined when the number of the control points is smaller than three. Accordingto the classic PnP method, when only three pieces of control point information are adopted to solve the position of a camera, multiple solutions exist, and only when a triangle formed by control points is an isosceles triangle and the camera is located in some specific areas, a unique solution exists. Compared with a PnP method, the method is advantaged in that the specific requirements do not exist, and a unique solution can be solved under various quantities of control point information.

Description

technical field [0001] The invention belongs to the technical field of machine vision, and more particularly relates to a method and system for estimating camera positions based on a small amount of control point information. Background technique [0002] In some scenarios, such as UAVs, UAVs usually determine their own position through GPS positioning, but in the case of weak or disappearing GPS signals, GPS cannot be used for positioning. At this time, the camera position can be estimated , so as to determine the position of the UAV. [0003] When a camera is used to capture an image, when the world coordinates of several three-dimensional control points and the pixel coordinates of their projected pixel points in the image are known, the position of the camera when the image is captured can be estimated. The classic PnP algorithm is an algorithm that uses the three-dimensional space coordinates of n points in space and the pixel coordinates of their projected pixel point...

AI Technical Summary

Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a method and system for estimating the camera position based on a small amount of control point information. location, to solve technical problems with more stringent conditions

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