The invention discloses a multi-camera cooperative state
estimation method based on
active infrared visual features, and belongs to the technical field of
image processing and
computer vision. The existing
visual marking technology depends on ambient light and is poor in performance under dark light or complex illumination, the observation visual field of a
single camera or a fixed camera is limited,
distortion exists, and consequently the
pose resolving precision and robustness are insufficient. According to the method,
active infrared visual feature marking is adopted, dependence on ambient light is avoided, and feature point information is stably provided. And efficient and accurate feature point identification and matching are realized through multi-camera collaborative observation in combination with binarization
processing of dynamic threshold adjustment, geometric
feature screening and a matching
algorithm. And carrying out
pose calculation by using a PnP
algorithm, and checking the
goodness of fit between the axis and the gravity direction. Meanwhile, multiple cameras are dynamically scheduled to rotate cooperatively according to the observation quality, and the observation view is expanded. The method is mainly used for accurate positioning of targets such as an unmanned aerial vehicle, significantly improves the environmental adaptability and observation stability of the
system, reduces the deployment cost, and improves the
pose calculation precision and robustness.