Target depth measurement methodbased on observation height change
A technology of observation height and target depth, which is applied in measurement, target depth measurement based on observation height change, target tracking, and positioning fields. It can solve the problems of increasing data volume and sacrificing processing speed, etc., to achieve easy operation, avoid stereo matching process, Algorithm simple effect
Active Publication Date: 2021-09-28
ZHEJIANG UNIV OF TECH
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[0010] The present invention solves the problem that most technologies such as target tracking, positioning, and measurement in existing machine vision are realized by focusing on dual cameras or using a single camera plus non-visual sensor technology, and these two technologies sacrifice processing speed by increasing the amount of data. Disadvantages, the present invention proposes a target depth measurement method based on monocular vision based on changes in observation heights to achieve precise positioning of machine vision
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[0060] In order to better illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings through an embodiment.
[0061] A target depth measurement method based on the change of observation height, comprising the following steps:
[0062] Step 1. Prepare a steel pipe and camera to prepare for data collection, and use different camera heights as the observation height h. r Change the target learning data.
[0063] Step 2. The target height is h 0 The distance from the target to the camera is m is unknown, and it needs to be learned to obtain, and the camera height h r As is known, in this case, a target image is taken, and then the camera height is changed, the target is photographed again, and another target image is obtained. The camera change amount is Δh, and this change amount is a known number
[0064] Step 3. According to figure 1 , 2, 3 establish a mathematical model, est...
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A monocular target depth measurement method based on observation height change comprises the following steps: 1) preparing for data acquisition, and respectively adopting different camera heights as target learning data based on observation height hr change; (2) enabling the height h0 of the target and the distance m between the target and the camera to unknown and need to be obtained through learning, enabling the height hr of the camera to known, under the condition, shooting a target image, then changing the height of the camera, shooting the target, obtaining a target image, wherein the change amount of the camera is delta h, and the change amount is a known number; and 3) establishing a mathematical model according to a camera imaging principle and a basic principle of analog-to-digital conversion, establishing an equation set, and carrying out joint solution through the two images to obtain the height and the distance of the target. The method is simple in algorithm and easy to operate, and the production cost can be effectively reduced; the monocular depth measuring system is simple in structure and suitable for being used on a mobile phone and a network camera.
Description
technical field [0001] The invention relates to target tracking, positioning and measurement in the field of monocular vision, in particular to a target depth measurement method based on the change of observation height, and belongs to the field of computer vision target depth acquisition. Background technique [0002] In recent years, mobile robots have been widely used in various fields such as inspection and monitoring, visual navigation, automatic image interpretation, human-computer interaction, and virtual reality. Machine vision is to use a computer to simulate the visual function of the human eye, extract information from video sequences, and recognize the shape and motion of three-dimensional scenes and objects in the objective world. [0003] With the increasing demand of mobile robots in many fields such as industry and people's livelihood, machine vision has an important impact on the performance of robots. Due to the flexibility and adaptability of its algorithm...
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IPC IPC(8): G01C3/00G01C3/02
CPCG01C3/00G01C3/02
Inventor 潘涵彧毛家发王雯卿徐清宇许金山
Owner ZHEJIANG UNIV OF TECH