Visual relative positioning method and device based on cooperation identification

Abstract

The invention provides a visual relative positioning method and device based on a cooperation identifier, and the method comprises the steps: carrying out the edge extraction of a cooperation identifier image, and obtaining a contour diagram of the cooperation identifier; detecting angular points of the contour map based on an angular point detection algorithm, and screening out positioning inner points of the cooperation identifier from the angular points according to geometric features of the cooperation identifier image; based on a projective geometry cross ratio invariance principle, establishing an image coordinate mapping relation between the positioning inner point and the positioning outer point of the cooperation identifier, and obtaining an initial image coordinate of the positioning outer point according to the image coordinate mapping relation and the image coordinate of the positioning inner point; optimizing the initial image coordinates of the positioning exterior points based on a sub-pixel refinement method to obtain optimized image coordinates of the positioning exterior points; and according to the optimized image coordinates of the positioning exterior points, obtaining pose information of a camera shooting the cooperative identification image by using a projection transformation principle. According to the invention, the precision of visual relative positioning in a complex scene is improved.

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