Target positioning method based on binocular PTZ camera

Abstract

The invention relates to a target positioning method based on a binocular PTZ camera, which is characterized in that internal and external parameters of the binocular PTZ camera at any angle and focal length are calibrated, and three-dimensional positioning of a target is realized by using a least square method, and the method comprises the following specific steps: step 1, solving internal parameter matrixes Kl and Kr of the left and right cameras at any focal length; 2, solving rotation matrixes Rl and Rr and translation vectors Tl and Tr of the left and right cameras relative to a world coordinate system at any angle and focal length; 3, solving homography matrixes H1 and H2 from the world coordinate system to the left and right camera pixel coordinate systems, and according to the coordinates pl (ul, vl) and pr (ur, vr) of the homonymy points in the left and right pixel coordinate systems, solving the coordinate value of the target in the world coordinate system through a least square method. The beneficial effects of the invention are that the invention can achieve the three-dimensional positioning of a target in a larger range and a longer distance through the stereo vision formed by zooming and rotation of the binocular PTZ camera, and can greatly improve the perception capability of an intelligent unmanned platform.

Description

technical field [0001] The invention belongs to visual perception positioning technology, in particular to a target positioning method based on a binocular PTZ camera. Background technique [0002] At present, the sensors of the intelligent platform perception module mainly include lidar, camera, binocular camera and millimeter-wave radar. Point clouds in the distance are relatively sparse, have no texture information, and are easily affected by dust particles, heavy rain, etc.; the cost of the camera is low, and can provide rich texture information, but the monocular camera is limited by the small hole imaging principle and cannot directly obtain the target depth information , easily affected by lighting conditions and climate; although traditional binocular cameras can achieve stereo vision, but the short baseline leads to large long-distance ranging errors, and the field of view is fixed, the focal length and angle cannot be adjusted; the millimeter-wave radar has a large...

AI Technical Summary

Problems solved by technology

The binocular PTZ camera system can be used in video surveillance, unmanned driving and intelligent transportation systems, military reconnaissance and other fields. In recent years, the binocular PTZ camera vision system has been a research hotspot. and focal length values ​​are constantly changing, it is difficult to achieve real-time calibration of binocular PTZ cameras. Domestic research on static binocular cameras and single PTZ cameras has been very in-depth, but research on the calibration of binocular PTZ cameras is still relatively small

Images