Target positioning method, target positioning device and auxiliary aiming system

Abstract

The present invention relates to the technical field of visual positioning, and particularly to a target positioning method, a target positioning device and an auxiliary aiming system. The target positioning method, the target positioning device and the auxiliary aiming system provided by the present invention are designed such that the first calibration point and the second calibration point have a preset relative position. Since the difference between the imaging position and the actual position is completely caused by the refraction of light between media, the relative refractive index can be determined according to the preset relative position and the difference in the imaging position. Further, target positioning is performed based on the relative refractive index, realizing the determination of the refractive index between media using only a single visual sensor, avoiding the problem of inability to perform target positioning or inaccurate positioning caused by the difference in the object image position due to the refraction of light, and achieving accurate positioning of targets across media layers.

Description

Technical Field

[0001] The present invention relates to the technical field of visual positioning, and particularly to a target positioning method, a target positioning device and an auxiliary aiming system. Background Art

[0002] Visual positioning technology is a kind of technology that determines the position of a target by analyzing and processing image data, and determines the actual position of an object by determining the position of an image through an optical sensor. Due to its intuitive use and low hardware cost, it is widely used in fields such as robot control, ranging, and auxiliary aiming systems.

[0003] Traditional visual positioning technologies usually rely on a single optical system. In an environment with different refractive indices of the medium, such as the influence of water surface or glass, the position of the target may deviate due to the refraction of light, resulting in the position of the image of the target being different from the actual position of the target, leading to the inability to perform target positioning or inaccurate positioning based on the position of the image; currently, usually through multi-sensor fusion technology, such as introducing sonar and other methods, to overcome the problem of inaccurate visual positioning caused by differences in the optical properties of the medium layer, but this will cause a significant increase in the volume and computing power consumption of the device, resulting in inconvenient use. Summary of the Invention

[0004] The present invention provides a target positioning method, a target positioning device and an auxiliary aiming system for accurately visually positioning a target in different medium layers.

[0005] The present invention provides a target positioning method, including:

[0006] Obtaining a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, and the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0007] Determining the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0008] Determining the position parameter of the target according to the relative refractive index.

[0009] According to the target positioning method provided by the present invention, the determining the relative refractive index of the first medium and the second medium according to the first image and the second image includes:

[0010] Determining a spatial distance parameter between the imaging position of the first calibration point and the imaging position of the second calibration point according to the first image and the second image;

[0011] Determining the relative refractive index of the first medium and the second medium according to the spatial distance parameter and the preset relative position.

[0012] According to the target positioning method provided by the present invention, determining the relative refractive index of the first medium and the second medium based on the spatial distance parameter and the preset relative position includes:

[0013] Determining the refraction angle of the imaging optical path of the second calibration point according to the spatial distance parameter and the preset relative position;

[0014] Determining the relative refractive index of the first medium and the second medium according to the refraction angle and the incident angle of the imaging optical path of the second calibration point; wherein, the incident angle is obtained according to the external parameters of the camera of the second image.

[0015] According to the target positioning method provided by the present invention, when the position parameter of the target is the azimuth angle of the target, the step of determining the position parameter of the target according to the relative refractive index includes:

[0016] Determining the azimuth angle of the target according to the azimuth angle corresponding to the imaging position of the target and the relative refractive index.

[0017] According to the target positioning method provided by the present invention, before acquiring the first image of the first calibration point and the second image of the second calibration point, it further includes:

[0018] Illuminating the first calibration point, and / or, the second calibration point.

[0019] According to the target positioning method provided by the present invention, the step of illuminating the first calibration point, and / or, the second calibration point includes:

[0020] Illuminating the first calibration point, and / or, the second calibration point with blue light.

[0021] The present invention also provides a target positioning device, including:

[0022] An image acquisition module, configured to acquire a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0023] A refractive index determination module, configured to determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0024] A position parameter determination module, configured to determine the position parameter of the target according to the relative refractive index.

[0025] The present invention also provides an auxiliary aiming system, including a calibration device, a camera, and a computing device, wherein:

[0026] The calibration device is used to determine a first calibration point and a second calibration point;

[0027] The camera is used to capture a first image of a first calibration point and a second image of a second calibration point;

[0028] The computing device is used to implement the target positioning method provided by the present invention.

[0029] The present invention further provides an auxiliary aiming system, which further includes a fill light. The fill light is fixedly arranged on the calibration device, and the fill light is used to illuminate the first calibration point and / or the second calibration point.

[0030] The present invention further provides an auxiliary aiming system, and the fill light includes a blue light fill light.

[0031] For the target positioning method, target positioning device and auxiliary aiming system provided by the present invention, by designing that the first calibration point and the second calibration point have a preset relative position, since the difference between the imaging position and the actual position is completely caused by the refraction of light between media, the relative refractive index can be determined according to the preset relative position and the difference in the imaging position. Further, target positioning is performed according to the relative refractive index, so that it is possible to determine the refractive index between media using only a single vision sensor, avoiding the problem that the target cannot be positioned or the positioning is inaccurate due to the difference in the object image position caused by the refraction of light, and realizing the accurate positioning of the target across the dielectric layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a schematic flowchart of the target positioning method provided by the present invention.

[0034] Figure 2 It is a schematic optical principle diagram of the target positioning method provided by the present invention.

[0035] Figure 3 It is a schematic structural diagram of the target positioning device provided by the present invention.

[0036] Figure 4 It is a schematic structural diagram of the auxiliary aiming system provided by the present invention.

[0037] Figure 5 It is a schematic optical principle diagram of the auxiliary aiming system provided by the present invention.

[0038] Figure 6 It is a schematic structural diagram of the electronic device provided by the present invention. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] The following combines Figures 1-4 to describe the target positioning method, target positioning device and auxiliary aiming system of the present invention.

[0041] Figure 1 is a flowchart of the target positioning method according to an embodiment of the present invention. As Figure 1 shown, it includes step 110-step 130, specifically:

[0042] Step 110: Obtain a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, and the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0043] Step 120: Determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0044] Step 130: Determine the position parameters of the target according to the relative refractive index.

[0045] In step 110 of the embodiment of the present invention, the first image of the first calibration point and the second image of the second calibration point may be the first image and the second image obtained by using a visible light sensor, such as a visible light camera, to photograph the first calibration point and the second calibration point; it may also be the first image of the first calibration point and the second image of the second calibration point obtained by using an active optical sensor, such as a lidar. In the embodiment of the present invention, the first image and the second image may be an image containing the first calibration point and the second calibration point obtained by simultaneously photographing the first calibration point and the second calibration point with the same optical sensor; it may also be the first image and the second image obtained by separately photographing the first calibration point and the second calibration point. It can be understood that whether the first image and the second image in the embodiment of the present invention are obtained by simultaneous photographing or separate photographing, and whether they are obtained by using any optical sensor for photographing, as long as the imaging of the first calibration point and the imaging of the second calibration point involve the optical process of refraction between media, the purpose of the present invention can be achieved.

[0046] In step 120 of the embodiment of the present invention, since the first calibration point and the second calibration point are in different media, and the imaging position of at least one of the first calibration point and the second calibration point does not coincide with the actual position. Since the first calibration point and the second calibration point have a preset relative position, the difference between the imaging position and the actual position can be obtained by an optical modeling method. Since the difference between the imaging position and the actual position is completely caused by the relative refractive index of the first medium and the second medium, the relative refractive index of the first medium and the second medium can be uniquely determined by the difference between the imaging position and the actual position.

[0047] In step 130 of the embodiment of the present invention, the position parameter of the target can be the azimuth angle of the target with the observer as the reference point, or the position parameter of the target including information such as the distance and depth of the target. It can be understood that as long as the relative refractive index of the first medium and the second medium is known, the actual position of the target can be determined only by using an optical sensor by using a mathematical method or an optical modeling method, without introducing a new sensing device.

[0048] In the embodiment of the present invention, the observer can be located in the first medium or in the second medium. When the observer is located in the first medium, the imaging position of the first calibration point coincides with the actual position of the first calibration point, and the imaging position of the second calibration point does not coincide with the actual position of the second calibration point; when the observer is located in the second medium, the imaging position of the first calibration point does not coincide with the actual position of the first calibration point, and the imaging position of the second calibration point coincides with the actual position of the second calibration point.

[0049] The first medium and the second medium of the target positioning method in the embodiment of the present invention can be any different media. For example, the first medium is air and the second medium is water; or the first medium is vacuum and the second medium is water; or the first medium is air and the second medium is glass. The types of the first medium and the second medium can be arbitrarily set according to the application scenario.

[0050] The target positioning method provided by the present invention designs that the first calibration point and the second calibration point have a preset relative position. Since the difference between the imaging position and the actual position is completely caused by the refraction of light between the media, the relative refractive index can be determined according to the preset relative position and the difference between the imaging positions, and further the target is positioned according to the relative refractive index, realizing that only a single vision sensor can be used to determine the refractive index between the media, avoiding the problem that the target cannot be positioned or the positioning is inaccurate due to the difference in the object image position caused by the refraction of light, and realizing the accurate positioning of the target across the media layer.

[0051] Further, step 120 of the embodiment of the present invention includes step 121 and step 122, specifically:

[0052] Step 121: Determine the spatial distance parameter between the imaging positions of the first calibration point and the second calibration point according to the first image and the second image;

[0053] Step 122: Determine the relative refractive index of the first medium and the second medium according to the spatial distance parameter and the preset relative position.

[0054] In step 121 of the embodiment of the present invention, the imaging position of the first calibration point can be obtained according to the position of the first calibration point in the first image, and the imaging position of the second calibration point can be obtained according to the position of the second calibration point in the second image. The spatial distance parameter between the imaging positions of the first calibration point and the second calibration point can be determined through the imaging positions of the first calibration point and the second calibration point. It can be understood that in the embodiment of the present invention, the spatial distance parameter between the imaging positions of the first calibration point and the second calibration point can be a physical parameter representing the actual spatial distance between the imaging positions of the first calibration point and the second calibration point, or a physical parameter that can directly determine the actual spatial distance between the imaging positions of the first calibration point and the second calibration point, such as the pixel distance, angular distance, etc. on the image.

[0055] In step 122 of the embodiment of the present invention, since the influence of object deformation due to medium differences is negligible, the preset relative position of the first calibration point and the second calibration point is the actual relative position of the first calibration point and the second calibration point, and it can be considered that the actual spatial distance between the first calibration point and the second calibration point is a constant value. Taking the observer being in the first medium as an example, at this time, the difference between the imaging position and the actual position of the second calibration point is the difference between the spatial distance between the imaging positions of the first calibration point and the second calibration point and the actual spatial distance between the first calibration point and the second calibration point.

[0056] Through the above steps 121 and 122 in the embodiment of the present invention, the difference between the imaging position and the actual position can be determined, and further the relative refractive index of the first medium and the second medium can be obtained.

[0057] Further, the embodiment of the present invention uses an optical modeling method to determine the relative refractive index of the first medium and the second medium. As Figure 2 shown, taking the first medium as air, the second medium as water, and the spatial distance parameter between the imaging positions of the first calibration point and the second calibration point representing the actual spatial distance between the imaging positions of the first calibration point and the second calibration point as an example, the object in water will be imaged at the position of the upper dotted line of the actual position. The preset distance between the first calibration point and the second calibration point is d, and the spatial distance between the imaging positions of the first calibration point and the second calibration point is h. At this time, the relative refractive index of the first medium and the second medium can be determined according to the following steps:

[0058] Determine the refraction angle of the imaging optical path of the second calibration point according to the spatial distance parameter and the preset relative position;

[0059] Determine the relative refractive index of the first medium and the second medium according to the refraction angle and the incident angle of the imaging optical path of the second calibration point; wherein, the incident angle is obtained according to the external parameters of the camera of the second image.

[0060] Specifically, in the imaging optical path of the second calibration point, there is a relationship between the difference k between the imaging position and the actual position of the second calibration point: , the incident angle α and the angle between the line connecting the imaging position of the second calibration point and the incident point and the water surface There is a relationship: , the angle between the line connecting the imaging position of the second calibration point and the incident point and the line connecting the second calibration point and the incident point can be obtained , so that the refraction angle of the imaging optical path of the second calibration point can be obtained ;

[0061] According to the law of refraction, there is , so that the relative refractive index of air-water can be obtained .

[0062] It can be understood that since the water surface is horizontal, the incident angle can be obtained according to the angle sensor on the camera, or the shooting angle of the fixed camera such as an angle meter can be used to determine the incident angle. In the case where the interface of the dielectric layer is not horizontal, the incident angle can still be determined according to the shooting parameters of the camera, for example, by first modeling the incident plane and then calculating the incident angle of the camera.

[0063] In step 130 of the embodiment of the present invention, the position parameter of the target is the azimuth angle of the target. The step of determining the position parameter of the target according to the relative refractive index includes:

[0064] Determine the azimuth angle of the target according to the azimuth angle corresponding to the imaging position of the target and the relative refractive index.

[0065] In some applications, such as auxiliary aiming, complete target positioning information is not required, so only the azimuth angle between the observer and the target can be calculated. In the embodiment of the present invention, according to the obtained refractive index information, the azimuth angle of the target at any aiming angle can be calculated , where is the aiming angle, and the aiming angle information can be provided by the angle sensor of the auxiliary aiming system.

[0066] Further, before step 110 of the embodiment of the present invention, the following steps are further included:

[0067] Illuminate the first calibration point and / or the second calibration point.

[0068] In the embodiments of the present invention, when the first image and the second image are acquired by a visible light camera, the recognition degrees of the first calibration point in the first image and the second calibration point in the second image are greatly affected by the environment. For example, in a night environment, an environment with low visibility, an environment with low water quality, etc., it is difficult for the visible light camera to accurately calibrate the imaging positions of the first calibration point and the second calibration point in the acquired first image and second image. Therefore, before acquiring the first image and the second image, the first calibration point and / or the second calibration point can be illuminated first to improve the image quality, reduce the uncertainty of calibrating the imaging positions of the first calibration point and the second calibration point, and thus improve the positioning accuracy.

[0069] Furthermore, when the target positioning method of the embodiments of the present invention is applied to air-water positioning, blue light is used to illuminate the first calibration point and / or the second calibration point. Since water absorbs less blue light, using blue light to illuminate the calibration point can improve the illumination effect and avoid the absorption of visible light by water.

[0070] It can be understood that the target positioning method of the embodiments of the present invention can design more calibration point numbers to adapt to multi-media layer scenarios. The calibration points in the embodiments of the present invention can be a data point, or a two-dimensional structure, a multi-dimensional structure or a combination thereof composed of multiple discrete data points and multiple continuous data points. The more data points are used for calibration, the more accurate the calculated relative refractive index is.

[0071] In summary, the target positioning method of the embodiments of the present invention designs the first calibration point and the second calibration point to have a preset relative position. Since the difference between the imaging position and the actual position is completely caused by the refraction of light between media, the relative refractive index can be determined according to the preset relative position and the difference in the imaging position. Further, target positioning is performed according to the relative refractive index, so that it is possible to determine the refractive index between media using only a single vision sensor, avoid the problem that the target cannot be positioned or the positioning is inaccurate due to the difference in the object image position caused by the refraction of light, and achieve accurate positioning of the cross-media layer target without introducing more hardware costs. Moreover, the parameters can be freely designed according to the application scenario, reducing the computing power overhead.

[0072] Figure 3 is a schematic structural diagram of a target positioning device provided by the present invention, as Figure 4 shown, including:

[0073] An image acquisition module 310, configured to acquire a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, and the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0074] The refractive index determination module 320 is configured to determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0075] The position parameter determination module 330 is configured to determine the position parameter of the target according to the relative refractive index.

[0076] It can be seen that the target positioning device according to the embodiment of the present invention can design the first calibration point and the second calibration point to have a preset relative position. Since the difference between the imaging position and the actual position is completely caused by the refraction of light between the media, the relative refractive index can be determined according to the difference between the preset relative position and the imaging position, and further the target is positioned according to the relative refractive index, so as to realize determining the refractive index between the media by using only a single vision sensor, and avoid the problem that the target cannot be positioned or the positioning is inaccurate due to the difference in the object image position caused by the refraction of light, and realize the accurate positioning of the target across the media layer.

[0077] Figure 4 is a schematic structural diagram of the auxiliary aiming system provided by the present invention, as Figure 4 shown, including a calibration device 410, a camera 420, and a computing device 430, where:

[0078] The calibration device 410 is configured to determine a first calibration point and a second calibration point;

[0079] The camera 420 is configured to capture a first image of the first calibration point and a second image of the second calibration point;

[0080] The computing device 430 is configured to implement the target positioning method provided by the embodiment of the present invention, including: obtaining a first image of the first calibration point and a second image of the second calibration point; the first calibration point is in the first medium, and the second calibration point is in the second medium; the first calibration point and the second calibration point have a preset relative position;

[0081] Determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0082] Determine the position parameter of the target according to the relative refractive index.

[0083] In the embodiments of the present invention, the first calibration point and the second calibration point are feature points on the calibration device 510. The calibration device in the embodiments of the present invention can be a solid device with a high surface reflectivity. The surface color of the calibration device in the embodiments of the present invention can be set to adapt to the application scenario. For example, when the auxiliary aiming system in the embodiments of the present invention is applied to air-water positioning, the surface color of the calibration device can be blue to reduce the absorption rate of the light reflected by the calibration points and improve the recognition rate of the calibration points in the first image and the second image captured by the camera. In another embodiment of the present invention, the first calibration point and the second calibration point on the calibration device 410 can be light-emitting units.

[0084] In the embodiments of the present invention, the auxiliary aiming system further includes a fill light, which is fixedly arranged on the calibration device, and the fill light is used to illuminate the first calibration point and / or the second calibration point.

[0085] When the camera 420 is a visible light camera, that is, in the case where the first image and the second image are captured by a visible light camera, the recognition rate of the first calibration point in the first image and the recognition rate of the second calibration point in the second image are greatly affected by the environment. For example, in a night environment, an environment with low visibility, an environment with low water quality, etc., it is difficult to accurately calibrate the imaging positions of the first calibration point and the second calibration point in the first image and the second image captured by the visible light camera. Therefore, by arranging a fill light on the calibration device, before capturing the first image and the second image, the first calibration point and / or the second calibration point can be illuminated first to improve the image quality, reduce the uncertainty of calibrating the imaging positions of the first calibration point and the second calibration point, and thus improve the positioning accuracy.

[0086] In the embodiments of the present invention, the fill light includes a blue fill light.

[0087] When the target positioning method in the embodiments of the present invention is applied to air-water positioning, the blue fill light is used to illuminate the first calibration point and / or the second calibration point. Since water absorbs less blue light, using blue light to illuminate the calibration points can improve the lighting effect, avoid the absorption of visible light by water, and further enhance the detectable depth in water.

[0088] In the embodiments of the present invention, a filter can be arranged on the camera 420, and the color of the filter corresponds to the color of the fill light and / or the surface color of the calibration device. For example, when the target positioning method in the embodiments of the present invention is applied to air-water positioning, the color of the fill light is blue and the surface color of the calibration device is blue. At this time, setting the filter to blue can reduce the stray light captured by the camera, improve the contrast of the first image and the second image, and improve the accuracy of calibrating the imaging positions of the first calibration point and the second calibration point.

[0089] Figure 5This is a schematic diagram of the optical principle of the auxiliary aiming system provided by the present invention. As Figure 5 shown, the auxiliary aiming system according to an embodiment of the present invention can be assembled in an auxiliary shooting system having a visual telescopic system, wherein the visual telescopic system is used to make the light reflected by a distant target object form an upright image on a display screen after passing through an imaging optical path.

[0090] As a specific embodiment, the imaging optical path of the visual telescopic system may include an objective lens, a turning prism, a display screen, and an eyepiece arranged along the principal optical axis. After the light of the target forms an image through the objective lens, the image is turned upside down by the turning prism, and finally forms an image on the display screen and is observed by the human eye through the eyepiece. The display screen is located at the image-side focal point of the objective lens, so that the azimuth angle of the image of the target coincides with the azimuth angle of the actual target.

[0091] It can be understood that the auxiliary shooting system may further include an angle sensor for measuring the visual angle and / or the shooting angle of the camera relative to the medium surface. Preferably, when the auxiliary shooting system is applied to air-water positioning, the optical axis of the light captured by the camera is parallel to the principal optical axis of the imaging optical path of the visual telescopic system, so that the visual angle is the same as the shooting angle of the camera relative to the medium surface.

[0092] The display screen of the auxiliary shooting system is communicatively connected to the computing device 430. When the position parameter of the auxiliary aiming system according to an embodiment of the present invention is the azimuth angle between the observer and the target, the corrected azimuth angle of the target can be displayed on the display screen of the auxiliary shooting system. Thus, it can be realized that whether in the air or in the water, the target position displayed on the display screen coincides with the actual target position, improving the usability of the auxiliary shooting system.

[0093] In summary, for the auxiliary aiming system according to an embodiment of the present invention, by designing that the first calibration point and the second calibration point have a preset relative position, since the difference between the imaging position and the actual position is completely caused by the refraction of light between media, the relative refractive index can be determined according to the preset relative position and the difference between the imaging positions. Further, target positioning is performed according to the relative refractive index, realizing that only a single visual sensor can be used to determine the refractive index between media, avoiding the problem that the target cannot be positioned or the positioning is inaccurate due to the difference in the object-image position caused by the refraction of light, and realizing the accurate positioning of the target across the media layer.

[0094] Figure 6 Illustrates a schematic diagram of the physical structure of an electronic device. As Figure 6As shown in the figure, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communications interface 620, and the memory 630 complete communication with each other through the communication bus 640. The processor 610 may call logical instructions in the memory 630 to execute a target positioning method, including:

[0095] Obtain a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, and the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0096] Determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0097] Determine the position parameters of the target according to the relative refractive index.

[0098] In addition, when the logical instructions in the above-mentioned memory 630 are implemented in the form of software function units and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0099] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the target positioning method provided by the above-mentioned various methods, including:

[0100] Obtain a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, and the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0101] Determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0102] Determine the position parameter of the target according to the relative refractive index.

[0103] On the other hand, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the target positioning method provided by the above-mentioned various methods, including:

[0104] Obtain a first image of a first calibration point and a second image of a second calibration point; the first calibration point is in a first medium, and the second calibration point is in a second medium; the first calibration point and the second calibration point have a preset relative position;

[0105] Determine the relative refractive index of the first medium and the second medium according to the first image and the second image;

[0106] Determine the position parameter of the target according to the relative refractive index.

[0107] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A target positioning method, characterized in that, Including: Obtaining a first image of a first calibration point and a second image of a second calibration point; The first calibration point is within a first medium, and the second calibration point is within a second medium; The first calibration point and the second calibration point have a preset relative position; Determining a relative refractive index of the first medium and the second medium according to the first image and the second image; Determining a position parameter of the target according to the relative refractive index; Wherein, the determining the relative refractive index of the first medium and the second medium according to the first image and the second image includes: Determining a spatial distance parameter between an imaging position of the first calibration point and an imaging position of the second calibration point according to the first image and the second image; Determining the relative refractive index of the first medium and the second medium according to the spatial distance parameter and the preset relative position; The determining the relative refractive index of the first medium and the second medium according to the spatial distance parameter and the preset relative position includes: Determining a refraction angle of the imaging light path of the second calibration point according to the spatial distance parameter and the preset relative position; Determining the relative refractive index of the first medium and the second medium according to the refraction angle and the incident angle of the imaging light path of the second calibration point; wherein, the incident angle is obtained according to the external camera parameters of the second image.

2. The target positioning method according to claim 1, wherein The position parameter of the target is the azimuth angle of the target. The step of determining the position parameter of the target according to the relative refractive index includes: Determining the azimuth angle of the target according to the azimuth angle corresponding to the imaging position of the target and the relative refractive index.

3. The target positioning method according to claim 1, wherein, Before obtaining the first image of the first calibration point and the second image of the second calibration point, it further includes: Illuminating the first calibration point, and / or, the second calibration point.

4. The target positioning method according to claim 3, characterized in that The step of illuminating the first calibration point, and / or, the second calibration point includes: Illuminating the first calibration point, and / or, the second calibration point with blue light.

5. A target positioning device, characterized in that, Including: An image acquisition module for obtaining a first image of a first calibration point and a second image of a second calibration point; The first calibration point is within a first medium, the second calibration point is within a second medium; the first calibration point and the second calibration point have a preset relative position; A refractive index determination module for determining a relative refractive index of the first medium and the second medium according to the first image and the second image; A position parameter determination module for determining a position parameter of the target according to the relative refractive index; Wherein, the refractive index determination module determines a spatial distance parameter between an imaging position of the first calibration point and an imaging position of the second calibration point according to the first image and the second image, and determines a refraction angle of the imaging light path of the second calibration point according to the spatial distance parameter and the preset relative position, and determines the relative refractive index of the first medium and the second medium according to the refraction angle and the incident angle of the imaging light path of the second calibration point; wherein, the incident angle is obtained according to the external camera parameters of the second image.

6. An auxiliary aiming system, characterized in that, Including a calibration device, a camera and a computing device, wherein: The calibration device is used to determine the first calibration point and the second calibration point; The camera is used to capture a first image of the first calibration point and a second image of the second calibration point; The computing device is used to implement the target positioning method according to any one of claims 1-4.

7. The auxiliary aiming system according to claim 6, wherein The auxiliary aiming system further includes a fill light, the fill light is fixedly arranged on the calibration device, and the fill light is used to illuminate the first calibration point and / or the second calibration point.

8. The auxiliary aiming system according to claim 7, characterized in that, The fill light includes a blue light fill light.

Images