Target Location Determination Method, Device, Electronic Device and Storage Medium

Abstract

An embodiment of the present invention discloses a method, device, electronic device and storage medium for determining a target position. The method includes determining a reference spatial position and a reference pitch angle of a reference imaging device whose imaging field of view faces a target to be measured; constructing a trigonometric function equation set to be solved under the reference imaging device according to the spatial position parameter to be measured of the target to be measured, the reference spatial position and the reference pitch angle through a preset trigonometric function equation template; determining the value of the spatial position parameter to be measured by solving the trigonometric function equation set to be solved constructed under at least three reference imaging devices. By adopting the solution of the present application, the ranging range of target positioning is no longer limited by space, and the spatial coordinates of any target within the visible range can be obtained, ensuring that the distance scenario of target positioning is no longer limited, improving the adaptability of the target positioning scenario. At the same time, a large amount of pre-calibration work does not need to be carried out for the camera in advance, reducing the construction difficulty and the maintenance and installation workload, and improving the long-term reliability of the system.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of camera positioning, and in particular, to a method, device, electronic device, and storage medium for determining a target position. Background Art

[0002] Spherical / PTZ camera devices can not only achieve large-field-of-view target search but also small-field-of-view target observation and tracking. However, in practical applications, it is often necessary to obtain the position or distance information of specific targets in space to improve the response efficiency. In related technologies, in many cases, the targets to be measured cannot be directly contacted for measurement, and non-contact measurement methods need to be used. Commonly used methods include ultrasonic ranging, lidar ranging, and vision ranging. However, ultrasonic ranging has low resolution, the reflecting surface is flat, and the applicable scenarios are relatively few. Lidar has a high cost, a large power consumption for long-distance ranging, and there is a risk of causing fires and burning personnel in dry environments; in addition, when the baseline distance of a binocular camera is determined, the range of video ranging is fixed, the applicable scenarios are limited, and long-distance ranging cannot be achieved. Therefore, how to quickly and safely perform target positioning becomes particularly important. Summary of the Invention

[0003] Embodiments of the present invention provide a method, device, electronic device, and storage medium for determining a target position to simply and quickly obtain the three-dimensional coordinates of a spatial target through multi-camera combination.

[0004] In a first aspect, embodiments of the present invention provide a method for determining a target position, the method comprising:

[0005] Determining the reference spatial position and reference pitch angle of a reference imaging device whose imaging field of view faces the target to be measured;

[0006] According to the spatial position parameters to be measured of the target to be measured, the reference spatial position, and the reference pitch angle, constructing a system of trigonometric equations to be solved under the reference imaging device through a preset trigonometric equation template; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter;

[0007] By solving the system of trigonometric equations to be solved constructed under at least three reference imaging devices, determining the values of the spatial position parameters to be measured as the spatial position coordinates of the target to be measured.

[0008] In a second aspect, embodiments of the present invention further provide a device for determining a target position, the device comprising:

[0009] A target parameter determination module, configured to determine the reference spatial position and reference pitch angle of a reference imaging device whose imaging field of view faces the target to be measured;

[0010] An equation system construction module, configured to construct a trigonometric function equation system to be solved under a reference imaging device according to the spatial position parameters to be measured of a target to be measured, the reference spatial position, and the reference pitch angle; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter;

[0011] A target position solving module, configured to determine the value of the spatial position parameters to be measured by solving the trigonometric function equation system to be solved constructed under at least three reference imaging devices, and use the value as the spatial position coordinates of the target to be measured.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0013] One or more processing devices;

[0014] A storage device, configured to store one or more programs;

[0015] When the one or more programs are executed by the one or more processing devices, the one or more processing devices implement any of the target position determination methods in the embodiments of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processing device, it implements any of the target position determination methods in the embodiments of the present invention.

[0017] An embodiment of the present invention provides a target position determination method, which determines the reference spatial position and the reference pitch angle of a reference imaging device whose imaging field of view faces the target to be measured, constructs a trigonometric function equation system to be solved under the reference imaging device according to the spatial position parameters to be measured of the target to be measured, the reference spatial position, and the reference pitch angle; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter; furthermore, by solving the trigonometric function equation system to be solved constructed under at least three reference imaging devices, the value of the spatial position parameters to be measured is determined and used as the spatial position coordinates of the target to be measured.

[0018] Adopting the solution of the present application, the ranging range of target positioning is no longer limited by space, the spatial coordinates of any target within the visible range can be obtained, the distance scene of target positioning is no longer limited, the adaptability of the target positioning scene is improved, and at the same time, a large amount of pre-calibration work for the camera is not required, reducing the construction difficulty and the maintenance and installation workload, and improving the long-term reliability of the system; at the same time, without the azimuth angle of the camera, only by obtaining the spatial positions and pitch angles of multiple cameras, the three-dimensional coordinates of the spatial target can be simply and quickly obtained through multi-camera combination, avoiding the introduction of an azimuth angle sensor that is vulnerable to external magnetic field interference and has an accumulation effect, resulting in the ranging accuracy of the target position being affected.

[0019] The above summary of the invention is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the content of the specification. And in order to make the above and other objects, features and advantages of the present invention more obvious and understandable, the following specific embodiments of the present invention are given. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered as limiting the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0021] Figure 1 is a flowchart of a method for determining a target position provided in an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of determining a target position in a two-dimensional coordinate system provided in an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of determining a target position based on a preset trigonometric function equation template in a three-dimensional world coordinate system provided in an embodiment of the present invention;

[0024] Figure 4 is a flowchart of another method for determining a target position provided in an embodiment of the present invention;

[0025] Figure 5 is a structural block diagram of a device for determining a target position provided in an embodiment of the present invention;

[0026] Figure 6 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention and not for limiting the present invention. In addition, it should be noted that, for the sake of convenience of description, only the parts related to the present invention are shown in the drawings instead of all the structures.

[0028] Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts depict operations (or steps) as sequential processes, many of the operations (or steps) may be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may also have additional steps not included in the figures. The process may correspond to a method, function, procedure, subroutine, subprogram, etc.

[0029] Figure 1 is a flowchart of a method for determining a target position provided in an embodiment of the present invention. This embodiment is applicable to the situation of measuring the target position in a certain area scene, such as the situation of measuring the target position in scenarios such as border and coastal defense monitoring, port monitoring, airport control, forest fire prevention, and urban high-altitude observation. This method can be executed by a target position determination device, which can be implemented in software and / or hardware and integrated on any electronic device with network communication functions. As Figure 1 shown, the method for determining a target position in an embodiment of the present application may include the following steps:

[0030] S110. Determine the reference spatial position and reference pitch angle of a reference imaging device whose imaging field of view faces the target to be measured.

[0031] In related solutions, target ranging can be based on the horizontal plane, but there are few absolutely horizontal scenes, and even fewer scenes that ensure horizontality over long distances. It is thus very difficult to perform ranging based on the horizontal plane, especially in the face of complex terrains such as high mountains and deep valleys where the horizontal plane cannot be determined; at the same time, there is also the problem that the ranging range is fixed and the applicable scenarios are limited. In addition, some solutions require the introduction of more calculation parameters, such as information on parallax, baseline, focal length, etc., and even azimuth angles, etc. This will make the ranging process particularly complex, and because the introduction of more parameters requires extremely high design precision and a large amount of pre-calibration to be used normally, the construction cost increases. For this reason, from the perspective of reducing calculation complexity and improving scene adaptability, the present application avoids using parameters in too many dimensions during ranging to reduce calculation complexity, and no longer limits the ranging range to be able to achieve the positioning of both short-distance and long-distance targets.

[0032] For the position positioning of the target to be measured, each imaging device captures the target to be measured, so that the imaging angle of the imaging device faces the target to be measured. At this time, the spatial position and pitch angle of the imaging device when its imaging field of view faces the target to be measured will be determined, so as to perform target positioning and ranging by means of the spatial position and pitch angle of the imaging device. Among them, the imaging fields of view of the respective imaging devices face the same target to be measured. At the same time, in order to reduce the cost of spatial positioning and ranging of the target and avoid a large number of parameter calibrations of the imaging device before ranging, at least three of the imaging devices can all use monocular cameras. In this way, when the imaging device has GPS positioning or Beidou positioning functions, it can be directly used without calibrating the imaging device; when the imaging device does not have GPS positioning or Beidou positioning functions, only a simple installation position calibration of the monocular camera is required, and a large number of engineering parameter calibrations do not need to be carried out in advance, reducing the installation workload of the imaging device. At the same time, the cost of common cameras is almost the same, and only an accelerometer with extremely low cost is added, reducing the cost of the imaging device.

[0033] S120. According to the to-be-measured spatial position parameters, reference spatial position, and reference pitch angle of the to-be-measured target, a system of trigonometric equations to be solved under the reference imaging device is constructed through a preset trigonometric equation template.

[0034] Among them, the spatial position parameters include the horizontal axis position parameter, vertical axis position parameter, and vertical axis position parameter.

[0035] To facilitate the understanding of calculating the spatial position of the to-be-measured target based on the spatial position and pitch angle of the imaging device whose imaging field of view faces the to-be-measured target, here, first, a scheme for calculating the planar position of the to-be-measured target based on the planar position and pitch angle of the imaging device whose imaging angle faces the to-be-measured target in a two-dimensional plane coordinate system is described, and then it is extended from the two-dimensional planar positioning scheme to the three-dimensional stereoscopic positioning scheme for description.

[0036] See Figure 2, in a two-dimensional plane, assume that the coordinates of the target point to be measured are (x0, y0), and the coordinates of the two imaging devices with imaging perspectives facing the target to be measured are (x1, y1) and (x2, y2) respectively. The pitch angles (downward angles) of the two imaging devices with imaging perspectives facing the target to be measured are α and β respectively. Based on the above position parameters and pitch angles, two right triangles can be assumed to be constructed in the two-dimensional plane coordinate system. On this basis, taking the imaging device with known plane position coordinates (x1, y1) and the target to be measured with plane position coordinates (x0, y0) to be solved as an example, the distance from the imaging device to the horizontal axis where the target to be measured is located is denoted as (x1 - x0), and the distance from the imaging device to the vertical axis where the target to be measured is located is denoted as (y1 - y0). At the same time, the pitch angle α when the imaging perspective of the imaging device is facing the target to be measured is known. At this time, a binary linear equation based on trigonometric function relationships can be constructed: x1 - x0 = tanα * (y1 - y0).

[0037] In the same way, taking the imaging device with known plane position coordinates (x2, y2) and the target to be measured with plane position coordinates (x0, y0) to be solved as an example, a binary linear equation based on trigonometric function relationships can also be constructed: x2 - x0 = tanβ * (y2 - y0). In this way, the two binary linear equations can form a system of binary linear equations including the horizontal axis position parameter x0 and the vertical axis position parameter y0 of the plane position coordinates to be solved. By solving the system of equations, the values of the horizontal axis position parameter x0 and the vertical axis position parameter y0 can be obtained, that is, the coordinates (x0, y0) of the target point to be measured in the two-dimensional plane coordinate system are considered to be obtained.

[0038] Similarly, in a three-dimensional world coordinate system, if the spatial positions and pitch angles of at least three imaging devices with imaging fields facing the target to be measured are known, then at least three right triangles can be assumed to be constructed in the three-dimensional coordinate system based on the above position parameters and pitch angles. For example Figure 3 shows the situation where three right triangles are respectively constructed based on the position parameters and pitch angles of three imaging devices. Since the plane position coordinates to be solved are (x0, y0, z0), at least three ternary linear equations based on trigonometric function relationships can be constructed, and the specific coordinates of (x0, y0, z0) can be obtained by solving this system of equations.

[0039] As an alternative, in the three-dimensional world coordinate system, the preset trigonometric function equation template used to construct at least one set of linear equations with three unknowns based on trigonometric function relationships may include the following items: a first calculation term formed by the horizontal and vertical axis position parameters in the spatial position parameters of the imaging device and the horizontal and vertical axis position parameters in the spatial position parameters to be measured, a second calculation term formed by the vertical axis position parameter in the spatial position parameters of the imaging device and the vertical axis position parameter in the spatial position parameters to be measured, and a third calculation term formed by performing trigonometric calculations based on the pitch angle of the imaging device.

[0040] Optionally, the first calculation term is used to indicate the distance from the reference imaging device to the vertical axis of the target to be measured. For example, the principle is to project the reference imaging device onto a projection point obtained by passing through the target to be measured and parallel to the xOy plane, and then obtain the distance from the projection point to the target to be measured based on the vertical axis position parameter in the spatial position parameters of the imaging device and the vertical axis position parameter in the spatial position parameters to be measured; the second calculation term is used to indicate the projection distance from the reference imaging device to the plane formed by the vertical axis and the horizontal axis of the target to be measured. For example, the distance from the reference imaging device to the projection point is obtained based on the vertical axis position parameter in the spatial position parameters of the imaging device and the vertical axis position parameter in the spatial position parameters to be measured; the third calculation term is used to indicate the corresponding trigonometric function value at the pitch angle of the imaging device whose shooting field of view faces the target to be measured.

[0041] As an alternative, the formula for the preset trigonometric function equation template used to construct at least three sets of linear equations with three unknowns based on trigonometric function relationships is as follows:

[0042]

[0043] Among them, (x0, y0, z0) represents the predefined spatial position parameters to be measured for the target to be measured, θ i represents the pitch angle of the imaging device i whose shooting field of view faces the target to be measured, and (xi, yi, zi) represents the spatial position parameters of the imaging device i whose shooting field of view faces the target to be measured.

[0044] For example, referring to Figure 3 , assuming that the spatial position coordinate parameters of the target to be measured are denoted as (x0, y0, z0), and the reference spatial position coordinates of the three reference imaging devices whose shooting fields of view face the target to be measured are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively, and the declination angle parameters of the reference pitch angles of the three reference imaging devices whose shooting fields of view face the target to be measured are denoted as α, β, and γ respectively. On this basis, the following three sets of equations are constructed by substituting the above parameters into the preset trigonometric function equation template:

[0045]

[0046]

[0047]

[0048] Among them, (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) are the reference spatial position coordinates of three reference shooting devices whose shooting fields are oriented towards the target to be measured, and the downward angles α, β, and γ are all known parameters. (x0, y0, z0) is the spatial position coordinate parameter of the target to be measured. There are 3 unknowns and 3 equations. Therefore, by solving this system of equations, the values of x0, y0, and z0 can be obtained, that is, the specific spatial position coordinate (x0, y0, z0) of the target point to be measured can be obtained.

[0049] S130. By solving the system of trigonometric function equations to be solved constructed under at least three reference shooting devices, determine the value of the spatial position parameter to be measured as the spatial position coordinate of the target to be measured.

[0050] Optionally, when obtaining the system of trigonometric function equations to be solved constructed under three reference shooting devices, solve the system of trigonometric function equations to be solved under the three reference shooting devices to obtain the value of the spatial position parameter to be measured as the spatial position coordinate of the target to be measured.

[0051] Optionally, when obtaining the system of trigonometric function equations to be solved constructed under more than three reference shooting devices, three trigonometric function equations to be solved can be selected to form a system of linear equations with three variables. Different systems of linear equations with three variables can be obtained through multiple screenings. By solving different systems of linear equations with three variables as the system of trigonometric function equations to be solved respectively, different values of the spatial position parameter to be measured can be obtained. Furthermore, by taking the average value as the spatial position coordinate of the target to be measured.

[0052] According to the target position determination method provided in the embodiment of the present invention, the ranging range of target positioning is no longer fixed. It can not only achieve the positioning and ranging of short-distance targets, but also achieve the positioning and ranging of long-distance targets, ensuring that the distance scenario of target positioning is no longer limited and improving the adaptability of the target positioning scenario. At the same time, a large amount of pre-calibration work for the camera is not required, reducing the installation workload. At the same time, without the azimuth angle of the camera, only by obtaining the spatial positions and pitch angles of multiple cameras can the three-dimensional coordinates of the spatial target be simply and quickly obtained through multi-camera combination, avoiding the introduction of azimuth angle sensors that are vulnerable to external magnetic field interference and have an accumulation effect, resulting in the ranging accuracy of the target position being affected.

[0053] Figure 4It is a flowchart of another method for determining the target position provided in the embodiments of the present invention. The embodiments of the present invention are further optimized on the basis of the above embodiments, and the embodiments of the present invention can be combined with each optional solution in one or more of the above embodiments. As Figure 4 shown, the method for determining the target position provided in the embodiments of the present application may include the following steps:

[0054] S410. Search for the target to be measured through a reference imaging device based on the rough direction where the target to be measured is located.

[0055] S420. Lock the field of view of the target to be measured through the reference imaging device so that the target to be measured is located at the center of the shooting field of view of the reference imaging device.

[0056] There are at least three imaging devices arranged in the area where the target to be measured is located. The shooting areas of the imaging devices correspond to the three-dimensional space areas in the monitored environment. The entire shooting area is divided into multiple smaller three-dimensional areas by performing three-dimensional space division on the shooting area. Control the imaging devices to perform mobile searches in each three-dimensional area to find the rough direction of potential targets to be measured in the shooting area. Among them, the three-dimensional areas where each imaging device moves to search for potential targets are different, that is, to avoid the same three-dimensional area being searched by multiple imaging devices, so that it can be ensured that the imaging devices will not perform multiple mobile searches on the same area, saving the search resources of the imaging device cluster. After determining the rough direction of the potential target to be measured, at least three surrounding imaging devices can be linked to search for and lock the target to be measured according to the rough direction. At the same time, control the shooting angles of each imaging device to face the key parts of the target to be measured, and make the target to be measured located at the center of the shooting field of view of the reference imaging device, so as to obtain an accurate pitch angle subsequently.

[0057] As an optional solution, the importance of each sub-area can be divided into priorities, and the mobile search order of each imaging device can be set through the priorities of each three-dimensional area, so as to discover and lock the target in time when an abnormality occurs in an important area. Optionally, increase the mobile search frequency of the imaging device for the three-dimensional area with a high priority. For example, the higher the priority of the three-dimensional area, the higher the frequency of the three-dimensional area being searched by the imaging device; the lower the priority of the three-dimensional area, the lower the frequency of the three-dimensional area being searched by the imaging device.

[0058] S430. Determine the reference spatial position and reference pitch angle of the reference imaging device when the target to be measured is located at the center of the shooting field of view of the reference imaging device.

[0059] As an optional solution, determining the reference spatial position of the reference imaging device may include the following steps:

[0060] Obtain the reference spatial position of the reference shooting device at the current moment by referring to the positioning device configured on the shooting device; or, read the reference spatial position of the reference shooting device pre-written in the debugging stage.

[0061] As an alternative solution, determining the reference pitch angle of the reference shooting device may include the following steps:

[0062] Obtain the absolute downward tilt angle of the shooting device through the accelerometer configured on the reference shooting device as the reference pitch angle; or, obtain the downward tilt angle of the reference shooting device by rotating the belt configured on the reference shooting device as the reference pitch angle.

[0063] S440. According to the to-be-measured spatial position parameters, reference spatial position, and reference pitch angle of the to-be-measured target, construct a system of trigonometric equations to be solved under the reference shooting device through a preset trigonometric equation template.

[0064] Among them, the spatial position parameters include the horizontal axis position parameter, vertical axis position parameter, and vertical axis position parameter.

[0065] S450. Determine the value of the to-be-measured spatial position parameters by solving the system of trigonometric equations to be solved constructed under at least three reference shooting devices, so as to be used as the spatial position coordinates of the to-be-measured target.

[0066] According to the target position determination method provided in the embodiments of the present invention, the ranging range of target positioning is no longer fixed. It can not only achieve the positioning and ranging of short-distance targets, but also achieve the positioning and ranging of long-distance targets, ensuring that the distance scenario of target positioning is no longer restricted and improving the adaptability of the target positioning scenario. At the same time, it is not necessary to perform a large amount of calibration work on the camera in advance, reducing the construction difficulty and the workload of maintenance and installation, and improving the long-term reliability of the system; and using a simple monocular camera, without the need to perform complex multi-camera parameter calibration work on site; at the same time, there is no need to obtain the azimuth angle of the camera. Only by obtaining the spatial positions and pitch angles of multiple cameras can the three-dimensional coordinates of the spatial target be simply and quickly obtained through the cooperation of multiple cameras, avoiding the introduction of azimuth angle sensors that are vulnerable to external magnetic field interference and have an accumulation effect, resulting in the ranging accuracy of the target position being affected; and, the multi-camera network is flexible, without the need to add additional hardware such as active emission radars. Software upgrade can achieve target positioning and ranging, and can adapt to complex terrains to obtain accurate three-dimensional coordinates of the target.

[0067] Figure 5It is a structural block diagram of a target position determination device provided in an embodiment of the present invention. This embodiment is applicable to the situation of measuring the target position in a certain area scene, such as the situation of measuring the target position in scenarios such as border and coastal defense monitoring, port monitoring, airport control, forest fire prevention, and urban high-altitude lookout. The device can be implemented in a software and / or hardware manner and integrated on any electronic device with network communication function. As Figure 5 shown, the target position determination device in the embodiment of the present application may include the following: a target parameter determination module 510, an equation system construction module 520, and a target position solution module 530. Among them:

[0068] The target parameter determination module 510 is configured to determine the reference spatial position and reference pitch angle of a reference shooting device whose shooting field of view faces the target to be measured.

[0069] The equation system construction module 520 is configured to construct a trigonometric function equation system to be solved under the reference shooting device according to the spatial position parameters to be measured of the target to be measured, the reference spatial position, and the reference pitch angle; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter.

[0070] The target position solution module 530 is configured to determine the value of the spatial position parameters to be measured by solving the trigonometric function equation system to be solved constructed under at least three reference shooting devices, so as to use it as the spatial position coordinates of the target to be measured.

[0071] Based on the above embodiment, optionally, determining the reference spatial position and reference pitch angle of the reference shooting device whose shooting field of view faces the target to be measured includes:

[0072] Search for the target to be measured through the reference shooting device based on the rough direction where the target to be measured is located;

[0073] Lock the field of view of the target to be measured through the reference shooting device so that the target to be measured is located at the center of the shooting field of view of the reference shooting device;

[0074] When the target to be measured is located at the center of the shooting field of view of the reference shooting device, determine the reference spatial position and reference pitch angle of the reference shooting device.

[0075] Based on the above embodiment, optionally, determining the reference spatial position of the reference shooting device includes:

[0076] Obtain the reference spatial position of the reference shooting device at the current moment through the positioning device configured on the reference shooting device; or read the reference spatial position of the reference shooting device pre-written in the debugging stage.

[0077] Based on the above embodiments, optionally, determining the reference pitch angle of the reference shooting device includes:

[0078] Obtaining the absolute downward tilt angle of the shooting device through the accelerometer configured on the reference shooting device as the reference pitch angle; or obtaining the downward tilt angle of the shooting device by rotating the belt configured on the reference shooting device as the reference pitch angle.

[0079] Based on the above embodiments, optionally, the preset trigonometric equation template includes: a first calculation term formed by the horizontal and vertical axis position parameters in the spatial position parameters of the shooting device and the horizontal and vertical axis position parameters in the spatial position parameters to be measured, a second calculation term formed by the vertical axis position parameter in the spatial position parameters of the shooting device and the vertical axis position parameter in the spatial position parameters to be measured, and a third calculation term formed by performing trigonometric calculations based on the pitch angle of the shooting device.

[0080] Based on the above embodiments, optionally, the preset trigonometric equation template is as follows:

[0081]

[0082] Among them, (x0, y0, z0) represents the spatial position parameters to be measured predefined for the target to be measured, θ i represents the pitch angle of the shooting device i whose shooting field of view is directed at the target to be measured, and (xi, yi, zi) represents the spatial position parameters of the shooting device i whose shooting field of view is directed at the target to be measured.

[0083] Based on the above embodiments, optionally, at least three shooting devices are arranged in the area where the target to be measured is located, and the at least three shooting devices are monocular cameras.

[0084] The target position determination device provided in the embodiments of the present invention can execute the target position determination method provided in any of the above embodiments of the present invention, and has the corresponding functions and beneficial effects for executing the target position determination method. For technical details not described in detail in the above embodiments, reference can be made to the target position determination method provided in any embodiment of the present application.

[0085] Figure 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. As Figure 6 shown in the structure, the electronic device provided in the embodiment of the present invention includes: one or more processors 610 and a storage device 620; the processor 610 in the electronic device can be one or more, Figure 6Taking a processor 610 as an example; a storage device 620 is used to store one or more programs; the one or more programs are executed by the one or more processors 610, so that the one or more processors 610 implement the target position determination method described in any one of the embodiments of the present invention.

[0086] The electronic device may further include: an input device 630 and an output device 640.

[0087] The processor 610, the storage device 620, the input device 630 and the output device 640 in the electronic device may be connected by a bus or other means. Figure 6 Taking connection by bus as an example.

[0088] The storage device 620 in the electronic device, as a computer-readable storage medium, can be used to store one or more programs. The programs can be software programs, computer-executable programs and modules, such as the program instructions / modules corresponding to the target position determination method provided in the embodiments of the present invention. The processor 610 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the storage device 620, that is, implements the target position determination method in the above method embodiments.

[0089] The storage device 620 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the storage device 620 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the storage device 620 may further include a memory remotely set relative to the processor 610, and these remote memories may be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0090] The input device 630 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the electronic device. The output device 640 may include a display device such as a display screen.

[0091] And when one or more programs included in the above electronic device are executed by the one or more processors 610, the programs perform the following operations:

[0092] Determine the reference spatial position and reference pitch angle of the reference shooting device whose shooting field of view is oriented towards the target to be measured;

[0093] According to the to-be-measured spatial position parameters of the to-be-measured target, the reference spatial position and the reference pitch angle, a system of trigonometric equations to be solved under the reference imaging device is constructed through a preset trigonometric equation template; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter;

[0094] By solving the system of trigonometric equations to be solved constructed under at least three reference imaging devices, the value of the to-be-measured spatial position parameters is determined as the spatial position coordinates of the to-be-measured target.

[0095] Of course, those skilled in the art can understand that when one or more programs included in the above electronic device are executed by the one or more processors 1110, the programs can also perform the relevant operations in the target position determination method provided in any embodiment of the present invention.

[0096] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it is used to execute a target position determination method, and the method includes:

[0097] Determine the reference spatial position and the reference pitch angle of the reference imaging device whose imaging field of view is directed at the to-be-measured target;

[0098] According to the to-be-measured spatial position parameters of the to-be-measured target, the reference spatial position and the reference pitch angle, a system of trigonometric equations to be solved under the reference imaging device is constructed through a preset trigonometric equation template; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter;

[0099] By solving the system of trigonometric equations to be solved constructed under at least three reference imaging devices, the value of the to-be-measured spatial position parameters is determined as the spatial position coordinates of the to-be-measured target.

[0100] Optionally, when the program is executed by the processor, it can also be used to execute the target position determination method provided in any embodiment of the present invention.

[0101] The computer storage medium of the embodiments of the present invention may employ any combination of one or more computer-readable media. The computer-readable media may be computer-readable signal media or computer-readable storage media. The computer-readable storage media may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. The computer-readable storage media may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0102] The computer-readable signal media may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal media may also be any computer-readable media other than the computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0103] The program code contained on the computer-readable media may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0104] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0106] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining a target position, characterized in that The method includes: Determining the reference spatial position and reference pitch angle of a reference imaging device whose imaging field is directed towards the target to be measured; According to the spatial position parameters to be measured of the target to be measured, the reference spatial position and the reference pitch angle, constructing a system of trigonometric equations to be solved under the reference imaging device through a preset trigonometric equation template; the spatial position parameters include a horizontal axis position parameter, a vertical axis position parameter, and a vertical axis position parameter; wherein, the preset trigonometric equation template includes: a first calculation term formed by the horizontal and vertical axis position parameters in the spatial position parameters of the imaging device and the horizontal and vertical axis position parameters in the spatial position parameters to be measured, a second calculation term formed by the vertical axis position parameter in the spatial position parameters of the imaging device and the vertical axis position parameter in the spatial position parameters to be measured, and a third calculation term formed by performing trigonometric calculations based on the pitch angle of the imaging device; By solving the system of trigonometric equations to be solved constructed under at least three reference imaging devices, determining the value of the spatial position parameters to be measured, and using it as the spatial position coordinates of the target to be measured.

2. The method according to claim 1, wherein Determining the reference spatial position and reference pitch angle of a reference imaging device whose imaging field is directed towards the target to be measured includes: Searching for the target to be measured through the reference imaging device based on the rough direction where the target to be measured is located; Performing field-of-view locking on the target to be measured through the reference imaging device, so that the target to be measured is located at the center of the imaging field of the reference imaging device; When the target to be measured is located at the center of the imaging field of the reference imaging device, determining the reference spatial position and reference pitch angle of the reference imaging device.

3. The method according to claim 2, wherein Determining the reference spatial position of the reference imaging device includes: Obtaining the reference spatial position of the reference imaging device at the current moment through a positioning device configured on the reference imaging device; or, reading the reference spatial position of the reference imaging device pre-written during the debugging stage.

4. The method according to claim 2, wherein Determining the reference pitch angle of the reference imaging device includes: Obtaining the absolute downward inclination angle of the imaging device through an accelerometer configured on the reference imaging device as the reference pitch angle; or, obtaining the downward inclination angle of the imaging device by rotating a belt configured on the reference imaging device as the reference pitch angle.

5. The method according to claim 1, wherein The preset trigonometric equation template is as follows: ； Among them, (x0, y0, z0) represents the predefined spatial position parameters of the target to be measured, represents the pitch angle of the imaging device i whose imaging field of view faces the target to be measured, and (xi, yi, zi) represents the spatial position parameters of the imaging device i whose imaging field of view faces the target to be measured.

6. The method according to claim 1, characterized in that At least three imaging devices are arranged in the area where the target to be measured is located, and the at least three imaging devices are monocular cameras.

7. A target position determination device, characterized in that, The device includes: A target parameter determination module, configured to determine the reference spatial position and reference pitch angle of a reference imaging device whose imaging field is directed towards the target to be measured; An equation set construction module, configured to construct a trigonometric function equation set to be solved under a reference shooting device according to the spatial position parameter to be measured of the target to be measured, the reference spatial position and the reference pitch angle; the spatial position parameter includes a horizontal axis position parameter, a vertical axis position parameter and a vertical axis position parameter; wherein, the preset trigonometric function equation template includes: a first calculation item formed by the horizontal and vertical axis position parameters in the spatial position parameter of the shooting device and the horizontal and vertical axis position parameters in the spatial position parameter to be measured, a second calculation item formed by the vertical axis position parameter in the spatial position parameter of the shooting device and the vertical axis position parameter in the spatial position parameter to be measured, and a third calculation item formed by performing trigonometric function calculation based on the pitch angle of the shooting device. A target position solving module, configured to determine the value of the spatial position parameter to be measured by solving the trigonometric function equation set to be solved constructed under at least three reference shooting devices, so as to be used as the spatial position coordinates of the target to be measured.

8. An electronic device, characterized in that, Comprising: One or more processing devices; A storage device, configured to store one or more programs; When the one or more programs are executed by the one or more processing devices, the one or more processing devices implement the target position determination method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processing device, the target position determination method according to any one of claims 1-6 is implemented.

Images