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Two-dimensional code positioning method and mobile robot positioning method based on two-dimensional code

A positioning method and two-dimensional code technology, which are applied in the fields of instruments, computer parts, electromagnetic radiation induction, etc., can solve the problems of affecting the recognition rate, increasing computing consumption, incomplete contour edge information, etc., to improve accuracy and speed. , to achieve precise positioning and reduce the amount of calculation

Pending Publication Date: 2021-04-13
WUHU HIT ROBOT TECH RES INST
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AI Technical Summary

Problems solved by technology

This scheme has the following problems: 1) Compared with the method of grayscale detection, the phase correlation method does not need to set a threshold and has a better effect. As a result, the calculation consumption of Fourier transform increases exponentially, which is not conducive to the requirements of fast positioning; 2) This scheme uses a four-threshold algorithm to determine the threshold to segment edge information when performing edge detection. This method cannot automatically select the best threshold and cannot Better screen real edges and reduce the loss of real edges, resulting in incomplete edge information of the segmented contours, affecting the recognition rate

Method used

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  • Two-dimensional code positioning method and mobile robot positioning method based on two-dimensional code
  • Two-dimensional code positioning method and mobile robot positioning method based on two-dimensional code
  • Two-dimensional code positioning method and mobile robot positioning method based on two-dimensional code

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Embodiment Construction

[0019] The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

[0020] figure 1 The flow chart of the positioning method of the two-dimensional code provided by the embodiment of the present invention, the method specifically includes the following steps:

[0021] S11. Preprocessing the two-dimensional code image: the preprocessing sequentially includes grayscale, denoising, downsampling and binarization;

[0022] Grayscale processing: the QR code image collected by the camera is a color image in RGB format. The purpose of image grayscale is to obtain a grayscale image. The weighted average method is used to grayscale the image. The calculation formula is:

[0023] Y=0.3R+0.59G+0.11R

[0024]...

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Abstract

The invention discloses a two-dimensional code positioning method, and the method comprises the steps: S11, carrying out the preprocessing of a two-dimensional code image, and obtaining a binary image; S12, coarse positioning of the two-dimensional code: calculating the contrast ratio of adjacent pixel points in the binarized image, and if the contrast ratio is close to a contrast ratio threshold value, determining that the adjacent pixel points are two-dimensional code areas, and completing coarse positioning of the two-dimensional code areas; and S13, fine positioning of the two-dimensional code: extracting an edge contour of the coarse positioning two-dimensional code image area, performing straight line fitting on the extracted edge contour, fitting into four straight lines, taking an intersection point of the four straight lines as an angular point of the two-dimensional code, and taking a connection line intersection point of two groups of diagonal angular points as a midline point of the two-dimensional code, thereby finishing fine positioning of the two-dimensional code. Two-dimensional code coarse positioning and two-dimensional code fine positioning are carried out in sequence, accurate positioning of two-dimensional code intersection points in an image is achieved, preliminary extraction of two-dimensional code contour coarse is achieved through contrast, contour lines are combined based on straight line fitting, and accurate positioning of two-dimensional code angular points in the image is achieved.

Description

technical field [0001] The invention belongs to the field of positioning technology, and more specifically, the invention relates to a two-dimensional code positioning method and a two-dimensional code-based mobile robot positioning method. Background technique [0002] Mobile robots have been widely used in post-disaster search and rescue, smart factories, smart e-commerce warehousing and other fields, and precise positioning technology is the key technology for mobile robots to accurately complete tasks. The positioning methods of mobile robots include odometer positioning method, magnetic strip positioning method and visual positioning method, etc. Among them, the odometer-based method uses the photoelectric encoder configured on the wheel of the mobile robot to record the number of rotations of the wheel, and The approximate pose of the mobile robot is estimated by the dead reckoning method, but the encoder method will cause errors due to wheel slippage, resulting in cum...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K7/14G06T3/40G06T5/00G06T5/30G01C21/20
CPCG06K7/1417G06K7/1443G06K7/1452G06T3/4007G06T5/30G01C21/20G06T5/70
Inventor 焦传佳江明徐劲松高云峰曹雏清
Owner WUHU HIT ROBOT TECH RES INST
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