98 results about "Projection model" patented technology

The invention relates to the technical field of industrial Internet of Things and edge computing, in particular to an intelligent risk identification method and system for an energy increasing station. The method comprises the following steps: deploying a sensor network at an energy adding station and synchronously acquiring signals, extracting multi-scale time-frequency and physical response characteristics, mapping heterogeneous characteristics to energy flow fingerprints through a hybrid projection model, and performing self-calibration enhancement by using a differential baseline; energy flow fingerprints are decoded and mapped into semantic features, candidate abnormal modes are recognized through short-term trend analysis and multi-source cross correlation, and local abnormal scores are calculated; constructing a physical semantic constrained local causal network based on candidate anomalies, deducing an anomaly propagation path, quantifying node risk contribution, grading and positioning a key risk source; and packaging the risk information into a token matching strategy library, executing a transactional action chain according to a hierarchical intervention principle, monitoring an effect in real time and supporting rollback upgrading. According to the invention, real-time identification, causal deduction and intelligent dynamic response of the energy station risk are realized.

The invention relates to the technical field of mechanical manufacturing and machining, in particular to a dressing wheel and honing wheel design method for improving contact line stability in the gear honing machining process. Based on workpiece gear parameters, a left and right tooth surface mathematical model is established, a honing process space coordinate conversion relation is established, a conjugate meshing relational expression is derived by combining the relative slip speed of meshing contact points and a normal vector, and a tooth surface contact line model is established; and the calculation modeling of the two-dimensional projection of the left and right tooth surface contact lines, the projection intersection point position and the variation under the same rotation angle is realized. And a honing wheel dressing contact line model under dressing wheels with different tooth numbers and a tooth surface contact line intersection projection model in the dressing and honing process under the tooth number difference are established. A honing wheel and variable tooth number dressing wheel design method is provided, and geometric and technological parameters of the honing wheel and the variable tooth number dressing wheel are determined; and a trimming and honing two-degree-of-freedom conjugate meshing relation and a modified tooth surface numerical model are constructed and verified, discretization and point cloud processing are conducted on the model, high-precision tooth surface point cloud is obtained, and accurate machining of a trimming wheel and a honing wheel is guided.

The invention relates to the technical field of simulation optimization, and discloses a charging module heat dissipation optimization method based on temperature field simulation, and the method comprises the steps: firstly discretizing a heat dissipation space into voxel units, and collecting flow heat data; calculating the flow resistance sensitivity according to the relationship between the flow velocity vector and the main wind direction; calculating an effective convection potential energy density and a gradient vector thereof by combining a Reynolds number and a temperature difference; then, generating a chasing cold source driving vector based on the heat flux demand of the component; establishing a thermal wake flow cone projection model, and calculating a thermal wake flow rejection vector; generating a flow resistance avoidance vector in combination with the regional flow velocity direction; and finally, performing weighted synthesis on the three vectors to obtain optimized displacement, and updating coordinates of the component. According to the technical scheme, through multi-physics field coupling analysis, while a driving component finds a high cooling potential area, flow channel smoothness and thermal wake avoidance are effectively considered, and deterministic optimization of the charging module layout is realized.

The application discloses a 4D video generation method fusing monocular vision and terrain elevation data, comprising the following steps: acquiring video frame images and corresponding camera pose data collected by a monocular camera; acquiring terrain elevation data of a target area, and constructing a three-dimensional elevation network model; based on the camera pose data, establishing a ray projection model for pixels in the video frame images, calculating the intersection of the rays and the three-dimensional grid model, and obtaining the reference distance from the monocular camera to the ground surface corresponding to the pixels; generating an initial relative depth map of the video frame images by using a depth estimation model; selecting high-confidence ground pixels from the video frame images as reference points, taking the reference distance corresponding to the reference points as the true value, and performing absolute scale correction on the initial relative depth map to obtain an absolute depth map; performing back projection calculation on the absolute depth map, the camera pose data and pixel color information to generate a three-dimensional point cloud, mapping the three-dimensional point cloud to a real geographic coordinate system, and generating 4D video data in time sequence.

This invention discloses a video tag dynamic overlay anti-shake method and system based on AR, comprising: acquiring real-time video stream and device pose parameters at corresponding timestamps; constructing a dynamic perspective projection model based on the device pose parameters and calculating the initial pixel coordinates of the target AR tag in the current video frame; planning a local feature search window based on the initial pixel coordinates; calculating the average pixel displacement vector of image feature points in the local feature search window of the current and adjacent historical video frames; performing reverse displacement compensation on the average pixel displacement vector to obtain the target rendering coordinates, and rendering the target AR tag to the current video frame based on the target rendering coordinates. Compared with the prior art, this invention can overcome the shortcomings of large drift errors caused by simply relying on mechanical pose, high computational power consumption caused by global matching, and high-frequency jitter of tags caused by slight device vibrations, thereby improving tag mapping accuracy, reducing system computational power consumption, and improving the visual stability of video overlay.

This invention provides an automatic calibration method and apparatus for a ship panoramic surround view system based on UAV collaboration and 3D surface mapping. A virtual 3D surface projection model is established in the ship's coordinate system, and the surface normal vectors of sampling points on this model are mapped outwards to generate the UAV's flight trajectory. The UAV, equipped with an RTK positioning module, acts as a dynamic calibration target with precise three-dimensional coordinates as it flies along this trajectory, its spatial distribution naturally matching the geometry of the surface projection model. During flight, images from the UAV are simultaneously acquired by the ship's onboard camera, and pixel coordinates are extracted using a target detection algorithm. Simultaneously, the time synchronization data between the UAV and the ship's onboard RTK module is used to establish the correspondence between pixel coordinates and three-dimensional coordinates in the ship's coordinate system, minimizing reprojection errors and jointly calculating the extrinsic parameters of each camera. This eliminates the dependence on fixed planar references on shore, enabling automated calibration with precise adaptation to the 3D surface projection model in any water area.

The application discloses a parking assistance method and related equipment, the method comprises the following steps: when it is detected that a vehicle reaches a preset range of a parking space, starting a parking assistance function, and projecting a vehicle model of the vehicle according to the parking assistance function to obtain a vehicle projection model; the vehicle projection model is optimized and adjusted to obtain a target vehicle projection model, and the target vehicle projection model is combined with the parking space to obtain an occupancy situation; if it is confirmed according to the occupancy situation that the target vehicle projection model and the boundary of the parking space do not have an overlapping part, and the distance between the target vehicle projection model and the left and right adjacent vehicles of the parking space is greater than a predetermined safety value, it is determined that the parking space meets the safety parking requirement, and the driver is prompted to park. The application projects the vehicle projection corresponding to the vehicle in front of the vehicle, combines the virtual and the real with the parking space, and then enables the driver to project to accurately determine whether the parking space can be parked and facilitate opening the door, so as to improve the safety of parking.

The invention belongs to the field of aero-engine and gas turbine machining, and discloses a blade margin plate and adapter numerical control machining tool path generation method and a related device, and the method comprises the steps: building a projection part model of a blade; establishing a reference plane at a preset distance from the blade inner edge plate, generating an intersection curve, offsetting to obtain an offset curve, and constructing a driving curved surface through regular extension; the radius of the milling cutter is not larger than that of the switching fillet; and on the basis of the projection model, variable contour milling is conducted through the driving curved surface, and an integrated numerical control machining tool path of the margin plate and switching is generated. According to the method, the machining cutter connecting position is transferred to the blade body molded surface area from the sensitive transfer fillet, and the root molded surface thinning out-of-tolerance caused by polishing is prevented. And a standard cutter is adopted to process a qualified transfer fillet through cutter path control, so that the cutter customization cost is reduced. The finally generated tool path lines are uniform, transition is continuous, a smooth switching structure can be directly machined, dependence on polishing is remarkably reduced, and the machining quality and the percent of pass are improved.

This invention relates to the field of machine learning technology, and discloses a data processing method, apparatus, and medium based on model adapters in heterogeneous devices. The method includes: dividing a target model into several functional regions; sequentially selecting target functional regions from these regions using a least-last-updated algorithm; obtaining initial adapter parameters for each heterogeneous device corresponding to a target functional region based on a preset loss projection model, according to all target functional regions and the corresponding heterogeneous devices; obtaining target global adapter parameters for the target functional region based on all initial adapter parameters; and obtaining a global adapter parameter set based on all target global adapter parameters. By aggregating the optimal data processing strategies from all different heterogeneous devices, the global adapter parameter set can control the target model to use the optimal processing method for data from other devices, thereby reducing the computational burden on the model.

This invention discloses a dynamic monitoring and alarm system for electrical fire hazards based on big data analysis, belonging to the field of electrical safety monitoring and intelligent early warning technology. It includes modules for visual space modeling and interference prediction, temporal thermal anomaly extraction, structural contour recognition and consistency judgment, temperature disturbance assessment and credibility grading, composite credibility modeling and hotspot correction, and dynamic scoring and identification model update. The visual space modeling and interference prediction module acquires the field-of-view projection model of the thermal imaging monitoring area and establishes a high-risk pixel distribution model for reflection interference based on camera installation parameters and spatial geometric features. This invention constructs an intelligent identification closed-loop system from perception to decision-making, integrating spatial modeling, thermal behavior analysis, and dynamic credibility assessment to achieve accurate identification and continuous adjustment of false hotspots, effectively avoiding false alarms and missed alarms, and significantly improving the accuracy and system stability of electrical fire early warning.

This invention provides a final layer training method and apparatus for a learning model that utilizes text as a substitute for images, reduces annotation costs for data group information where class sets and pseudo-attribute sets are matched, does not require the collection of separate image datasets balanced between data groups, and mitigates bias in image classifiers. [Solution] The final layer learning method of a learning model, performed by the final layer learning device of a learning model, includes the step of inputting training text into the second learning model and training the final layer of the first learning model, based on a projection model that connects the first embedding space of the first learning model and the second embedding space of the second learning model.

The invention provides a surface mine slope deformation monitoring method based on sequential topographic parameters, and belongs to the technical field of slope deformation monitoring. According to the method, radar satellite images and unmanned aerial vehicle high-frequency DEM data of a mine side slope area are efficiently collected, and through data processing and feature calculation, one-dimensional deformation results in the LOS direction of rail ascending and rail descending radars and sequential topographic parameters including the gradient, the slope direction and the topographic curvature are obtained respectively; and dynamically updating time sequence terrain parameters based on a mining activity period, constructing a projection model of radar sight line direction deformation and surface adaptive deformation, solving a three-dimensional deformation result of the mine slope, and realizing dynamic monitoring. According to the method, the problem that the slope deformation monitoring precision is insufficient due to dynamic change of terrain parameters is solved, a slope deformation precise monitoring system from data acquisition, parameter updating to model solving is formed, the limitation of a traditional method in the aspects of precision and dynamic adaptability is broken through, and technical support is provided for safe operation of the surface mine slope.

This invention discloses a rapid calculation method for the rearward infrared radiation intensity of an S-curve nozzle, belonging to the field of infrared radiation characteristic simulation of aero-engine exhaust systems. The method comprises the following steps: determining the design parameters of the S-curve nozzle and exhaust mixer components; establishing projection models of the key shielding sections of the exhaust mixer and S-curve nozzle; calculating the projected area of ​​each component after shielding by the S-curve nozzle using an image method; calculating the flow field parameter distribution and component surface temperature of the S-curve nozzle; calculating the axial length and volume of the visible region of the exhaust gas in the S-curve nozzle; calculating the spectral transmittance and spectral radiance of the exhaust gas along the nozzle outlet centerline within the visible region of the exhaust gas, as well as the spectral radiance intensity of the exhaust gas; calculating the infrared spectral radiance intensity of the wall surface; and integrating the spectral radiance to obtain the total infrared radiation intensity. This method solves the problems of existing technologies where the simulation calculation of the infrared radiation characteristics of S-curve nozzles is complex and time-consuming, and rapid calculation methods are only applicable to axisymmetric nozzles and cannot simulate the shielding structural characteristics of S-curve nozzles.

The invention provides a depth estimation method, device and system, and relates to the technical field of image processing. The method comprises the following steps: acquiring a two-dimensional feature group (including a fisheye image and a pinhole image) of an image group; projecting the three-dimensional voxel space to the image group based on a forward projection model to obtain a two-dimensional projection coordinate set; performing interpolation sampling on two-dimensional projection coordinates in the two-dimensional projection coordinate set to obtain a three-dimensional voxel feature set; performing feature fusion on the three-dimensional voxel feature set to obtain fused voxel features; re-projecting the fused voxel features to the image group based on a back projection model to obtain a re-projected two-dimensional feature group; and determining a depth estimation result according to the re-projection two-dimensional feature group. Thus, cameras with any pose and different internal and external parameters can be supported to participate in feature fusion and depth estimation, no specific requirements for camera types, number and poses exist, and the applicability of depth estimation is improved.

This invention discloses a robust visual servo control method for robots based on an adaptive update law, comprising: associating the pixel coordinates of feature points with their 3D coordinates in the camera coordinate system according to a pinhole camera projection model, and establishing a global linear regression model containing unknown position parameter vectors; designing an adaptive update law for the estimated values ​​of the unknown position parameter vectors based on the global linear regression model, used to estimate the unknown depth information parameters of feature points in real time, and reconstructing the visual Jacobian matrix online based on the estimated depth information parameters; constructing a visual state observer to obtain smoothed image feature estimates; defining a joint space-assisted tracking error based on the smoothed image feature estimates based on the reconstructed visual Jacobian matrix; and designing an integral sliding mode robust feedback term based on the integral sliding mode in the robot joint driving torque expression based on the lumped disturbance in robot dynamics, combined with feedforward compensation, to generate the final joint driving torque to drive the robot to perform servo tracking tasks. This invention can achieve highly robust and high-precision asymptotic tracking of target feature points under complex working conditions.

This invention belongs to the field of visual 3D reconstruction technology and discloses a method, system, terminal, and storage medium for 3D Gaussian reconstruction of fisheye images. The method includes: acquiring a fisheye image; generating a sparse 3D point cloud corresponding to the fisheye image based on a motion recovery structure algorithm; optimizing the 3D Gaussian reconstruction algorithm based on a reversible residual network and an octahedral projection model; and reconstructing a 3D model of the fisheye image based on the optimized 3D Gaussian reconstruction algorithm and the sparse 3D point cloud. This invention reduces the 3D reconstruction error of fisheye images by simulating camera distortion parameters of a lens distortion model using a reversible residual network and incorporating these parameters into the 3D Gaussian reconstruction algorithm. Replacing the planar perspective model of the 3D Gaussian reconstruction algorithm with an octahedral projection model reduces stretching and image boundary distortion. The optimized 3D Gaussian reconstruction algorithm is used to generate the 3D model of the fisheye image, improving the realism of the 3D model reconstructed from the fisheye image.

The invention discloses a video-based intelligent vehicle speed reconstruction method. The method comprises the following steps: making a data set based on an intersection or roadside monitoring video; performing vehicle detection model training and rim segmentation model training on the data set, and performing rim geometric feature point coordinate extraction; performing collinear detection on the coordinates of the geometric feature points of the rim, performing adjustment processing to obtain corrected coordinates when collinear conditions are not met, approximately regarding a vehicle motion track between two adjacent frames as linear motion, and simplifying a mapping relation between an image plane and a physical space into a one-dimensional projection model; the positions of the feature points in the object space are obtained through forward calculation and reverse calculation; the vehicle speed reconstruction result comprises the following steps: calculating inter-frame displacement according to the position of the feature point in the object space to obtain average displacement, and obtaining the instantaneous speed by combining a video inter-frame time interval. According to the invention, intelligentization and high precision of video vehicle speed reconstruction are realized.

The invention relates to a laser radar-inertial odometer method and system based on an SP model and MSCIKF filtering, and belongs to the field of integrated navigation. The method comprises the steps that after a system is initialized, laser point cloud distortion is corrected, and plane / line features are extracted from point cloud; frame-map matching is executed to solve a relative pose, and a key frame is determined and inserted into a sliding window; parameterizing plane / line features extracted from a key frame in a sliding window based on a spherical pole projection model, and constructing a distance-angle weighted residual error in a spherical coordinate domain; fixing the pose of the sliding window so as to alternately estimate characteristic parameters and projection point parameters; linear residual errors of key frames in a sliding window are calculated, same-feature observation is stacked, two-stage projection is adopted to eliminate feature parameters, and pose constraints are reserved; and iteratively calculating gain and state update in the MSCIKF filtering framework, outputting an optimized pose and maintaining a sliding window. According to the method, the long-term drifting of the odometer can be effectively reduced while the relatively low calculation amount is kept.

This invention belongs to the technical field of magnetic levitation motion control and conveying systems. It provides a method and system for real-time distribution of six-degree-of-freedom generalized forces in a magnetic levitation planar motor. First, a physical model of the magnetic levitation planar motor is established, and the real-time position coordinates of the mover in the stator coordinate system are obtained. A constraint coefficient matrix representing the balance of the six-degree-of-freedom generalized forces is constructed. A quadratic convex optimization projection model is used, with minimizing coil copper loss as the objective function and generalized force balance as the constraint condition. Based on the Lagrange multiplier method, the forces on each coil in the model are optimized to obtain the minimum force on each coil group at any position of the mover throughout its stroke, thereby reducing the coil current and achieving low power consumption for the six-degree-of-freedom motion of the mover. This invention has the advantages of low computational complexity, real-time processing of force distribution tasks at any position of the mover throughout its stroke, and effective reduction of system heat dissipation.

The invention provides an intelligent adjusting method for the adsorption state of demolding cloth in vacuum-assisted forming, and relates to the technical field of demolding cloth adsorption state adjusting.The intelligent adjusting method comprises the steps that a to-be-adjusted mold surface 3D model is obtained, the first length is determined by presetting different grid side lengths, projecting the model to a grid and obtaining the curvature of cross points, and the complex evaluation index of the mold is calculated; a two-dimensional curved surface pressure distribution matrix is constructed by associating pressure values with grid positions; grid images in the adsorption process are collected to obtain a grid difference chart; the difference chart and the pressure matrix are input to a pressure vector calculation model; a grid node pressure vector is output; a negative pressure valve is used for primary node pressure regulation, a grid is used for secondary node detail regulation, a demolding cloth regulation model is constructed to cooperatively regulate the adsorption state, finally, the regulation state is judged according to a product quality evaluation index after demolding, and a pressure vector calculation model is fed back and optimized.

A method for calibrating a vehicle cabin camera having: a pitch, yaw and roll angle; and a field of view capturing vehicle cabin features which are symmetric about a vehicle longitudinal axis comprises: selecting points from within an image of the vehicle cabin and projecting the points onto a 3D unit circle in accordance with a camera projection model. For each of one or more rotations of a set of candidate yaw and roll rotations, the method comprises: rotating the projected points with the rotation; flipping the rotated points about a pitch axis; counter-rotating the projected points with an inverse of the rotation; and mapping the counter-rotated points back into an image plane to provide a set of transformed points. A candidate rotation which provides a best match between the set of transformed points and the locations of the selected points in the image plane is selected.

The invention provides a method for predicting spatial gene expression, electronic equipment and a medium. The method comprises the following steps: acquiring a to-be-detected pathological histological image; extracting a first visual feature of the to-be-detected pathological histological image; converting the first visual feature into a first visual feature vector based on a preset projection model; based on the first visual feature vector, searching in a preset gene feature library according to a preset matching model to obtain a first gene feature vector matched with the first visual feature vector; and obtaining space gene expression of the to-be-detected pathological histological image based on the first gene feature vector.

The application discloses a method for in-orbit attitude and rotation parameter inversion of a slow-rotating space target, comprising the following steps: acquiring an ISAR image sequence of radar echo data; modeling an ISAR projection model; constructing a training data set based on the ISAR projection model to train a pre-designed deep learning network, and using the trained network to extract a target region sequence from the ISAR image sequence; obtaining a projection region sequence corresponding to the ISAR image sequence based on the projection model, and establishing an optimization objective function in combination with the target region sequence; and solving the optimization objective function to obtain optimal target attitude parameters and rotation parameters. The method guarantees the network training quality, improves the accuracy of ISAR image target region extraction, and can jointly analyze the in-orbit attitude and rotation parameters of the target, realizes the in-orbit attitude and rotation parameter inversion of the slow-rotating space target, and has stronger feasibility and robustness in actual application.

The present application relates to the technical field of vehicle vision calibration, and discloses a DMS camera calibration method based on computer vision. The method comprises the following steps: collecting a multi-view original image sequence in the target vehicle cockpit, and synchronously acquiring the camera installation position, the visual angle inclination angle and the environmental light intensity parameter; after distortion correction is performed on the original image sequence, the edge features of the calibration reference in each frame of image are extracted through image recognition to generate an initial calibration matrix containing the mapping relationship between the pixel coordinates and the physical coordinates; a three-dimensional space projection model is constructed based on the initial calibration matrix, an iterative optimization algorithm is used to adjust the model rotation and translation parameters, so that the error between the virtual imaging position and the actual edge features is minimized; the intrinsic matrix and the extrinsic matrix of the optimized model are extracted and fused into the final calibration parameters, which are written into the DMS camera firmware storage area. The method improves the precision and environmental adaptability of the DMS camera calibration, and provides stable technical support for the driver state monitoring.

This invention discloses a coal identification method based on kernel bidirectional rank-order shared density space-preserving projection, which solves the problem of difficulty in capturing the inherent manifold structure of coal data and effectively improves the accuracy of coal identification. The specific implementation process is as follows: (1) Construct a kernel bidirectional rank module through kernel mapping, design a shared nearest neighbor density matrix, and finally integrate the space-preserving projection idea to form a kernel bidirectional rank-order shared density-preserving projection model; (2) Derive the analytical solution of the kernel rank shared density projection direction to obtain the projection matrix of the kernel bidirectional rank-order shared density space; (3) Obtain the kernel rank coal features with good discriminative power directly through the kernel rank shared density projection direction of randomly selected coal test samples, and input them into the classifier to obtain the final coal identification result. Compared with the prior art, the coal identification method of this invention is more accurate and robust.

The application provides a kind of mixed reality augmented display system and method, the system includes: structured light module, processing module;Structured light module includes camera, projector;Processing module is configured as: obtaining the point cloud of target object collected by structured light module;The registration of target object point cloud and target object model, and the same coordinate system of structured light module and target object model is unified;The pose parameter of the image shooting model is input to the projected model in the same coordinate system and the pose parameter of the projector, and the projected image is generated;The projected image is sent to the structured light module, to be projected to the target object by the projector.The mapping relationship of model space and real space is determined quickly and high-precisionly, the projected image is generated by image acquisition model, and is displayed on the real target object by the projector of structured light module, to achieve "virtual and real combination", to intuitively carry out surgical planning, surgical navigation, multi-person discussion, teaching and the like.

The application relates to video text cross-modal retrieval and relates to a video text cross-modal retrieval method based on pre-clustering guidance. When an unsupervised video text cross-modal retrieval model is trained on an unlabeled data set, the problem of weak supervision information caused by unreasonable sample pair construction exists. 1) Extracting video and text original features of the training data set; 2) splicing time-aligned normalized original features as unified features, setting a group of threshold values and performing DBSCAN clustering multiple times to generate multiple groups of clustering clusters; 3) calculating the mean value of the video and text features of each clustering cluster as the clustering center; 4) sampling a batch of training samples, for each group of clustering centers, finding the nearest center to construct a pseudo label for the video and text, and constructing a video text positive sample pair; 5) projecting the original features into a common space, calculating the loss of the positive sample corresponding to each group of centers, and updating the projection model through backward propagation; 6) repeating steps 4) to 5) until a predetermined number of training rounds is reached.

The application relates to a laser radar-inertial odometer method and system based on an SP model and an MSCIKF filter, and belongs to the field of integrated navigation. The method comprises the following steps: after system initialization, correcting laser point cloud distortion, extracting plane / line features from the point cloud, performing frame-map matching to solve a relative pose, determining a key frame and inserting the key frame into a sliding window, parameterizing plane / line features extracted from the key frame in the sliding window based on a spherical polar projection model, constructing distance-angle weighted residuals in a spherical coordinate domain, fixing the sliding window pose to alternately estimate feature parameters and projection point parameters, calculating linearized residuals for the key frame in the sliding window and stacking the same feature observations, adopting two-stage projection to eliminate feature parameters and reserve pose constraints, iteratively calculating gain and state updating in an MSCIKF filtering framework, outputting optimized poses and maintaining the sliding window. The application can effectively reduce long-term drift of an odometer while keeping a low calculation amount.

The invention discloses a real-time target tracking and labeling method and system, electronic equipment and a readable storage medium, and the method comprises the steps: firstly, receiving the frame selection of a target in a video initial frame by a user and the actual measurement distance of the target, and combining the real-time pan-tilt angle and focal length parameters of a camera, and solving the fixed coordinates of the target in the three-dimensional space through the imaging geometric model. And then, in a camera holder movement or zooming process, continuously acquiring updated pose parameters, and re-projecting the fixed space coordinates to an image plane which changes in real time by using the constructed geometric projection model, thereby calculating a predicted position of the target in a current picture and performing visual marking. According to the method, the traditional thought of image matching depending on target appearance features is abandoned, a pure geometric model is creatively adopted for calculation, and stable tracking which does not depend on sample training, is robust to target appearance and illumination change, is light in calculation and can predict precision is achieved.