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Real time vision positioning method of monocular camera

A monocular camera and real-time vision technology, applied in the field of computer vision, can solve the problems of high cost of binocular vision positioning system, difficult stereo matching algorithm, poor accuracy, etc., achieve high accuracy, reduce system complexity and cost , the effect of small amount of calculation

Inactive Publication Date: 2009-05-27
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

The cost of the binocular vision positioning system is high, and the stereo matching algorithm is difficult and computationally intensive
However, the existing monocular vision positioning system is easily affected by the parameters of the camera, and the accuracy is poor, and the camera pose is often required to be fixed (Guo Lei, Xu Youchun, Li Keqiang, etc.; Research on real-time ranging methods based on monocular vision, Chinese graphic image Journal, 2006, 11(1): 74-81)

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  • Real time vision positioning method of monocular camera

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Embodiment Construction

[0019] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] Such as figure 1 Shown, the concrete flow process of method of the present invention is as follows:

[0021] 1. The target image is obtained through the Harris-SIFT (Distinctive image features from scale-invariant keypoints [J]. International Journal on Computer Vision, 2004, 60(2): 91-110.) feature extraction method to obtain a set of feature points. The method is composed of Harris-SIFT feature extraction operator, which extracts the set of feature points through the invariant feature in the image and stores them in the target database.

[0022] The target image can be loaded in advance, or can be acquired by the camera in real time.

[0023] 2. According to the target category, the target image information including depth information and geometric structure information is written into the database file and stored i...

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Abstract

The invention relates to a method for real-time vision positioning for a monocular camera, which belongs to the field of computer vision. The method comprises the following steps: firstly, acquiring an object image characteristic point set to establish an object image database and perform real-time trainings; secondly, modeling the camera to acquire model parameters of the camera; and thirdly, extracting a real-time image characteristic point set by the camera, matching real-time image characteristic points with the characteristic point set in the object database, and removing error matching and performing an affine inspection to acquire characteristic point pairs and object type information. The characteristic point pairs and the object type information are used to perform characteristic tracking, and accurate tracking characteristic points of the object image are combined with the model parameters of the camera so as to acquire three-dimensional poses of the camera. The method can achieve the functions of self-positioning and navigation by using a single camera only, thus the system complexity and the cost are reduced.

Description

technical field [0001] The invention relates to a method for real-time visual positioning of a monocular camera, which uses the monocular camera as a main sensing means to realize real-time visual self-positioning of a moving object. in the field of computer vision. Background technique [0002] In recent years, with the rapid development of robot technology, how to obtain the pose of environmental objects in real time and how to determine the current position of the robot itself has become a hot research issue. These are collectively referred to as positioning problems. The positioning technology used in the field of navigation, navigation and other fields mainly includes: laser, sonar, infrared and visual positioning technology and other related sensor positioning technology; the use of GPS satellite positioning technology, etc. [0003] More and more positioning systems use vision sensors, because the vision image contains rich information of the target, such as color, t...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06K9/00H04N5/232
Inventor 王景川胡仕煜陈卫东
Owner SHANGHAI JIAO TONG UNIV
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