Monocular video based real-time posture estimation and distance measurement method for three-dimensional rigid body object

Abstract

The invention discloses a monocular video based real-time posture estimation and distance measurement method for a three-dimensional rigid body object, comprising the following steps: collecting the observation video of the object through an optical observation device; feeding the image sequence obtained from collection into an object segmentation module to obtain an two-value segmentation image and an contour image of the object; extracting the characteristic vectors of contour points of the target to generate a multiple-characteristic drive distance image; establishing the tentative homonymic characteristic correspondence between an input two-dimensional image sequence and the objective three-dimensional model; inverting the three-dimensional posture and distance parameters of the object in the image; feeding back the three-dimensional posture and distance parameters of the object obtained from inversion; and correcting and updating the tentative homonymic characteristic correspondence between the two-dimensional image sequence and the objective three-dimensional model until the correspondence meets the iteration stop condition. The method does not need three-dimensional imaging devices, and has the advantages of no damage to observed objects, good concealment, low cost and high degree of automation.

Description

technical field [0001] The invention belongs to the technical field of target pose estimation and ranging, and in particular relates to a method for real-time three-dimensional rigid body target pose estimation and ranging based on monocular video. Background technique [0002] The attitude and distance parameter measurement of three-dimensional rigid body target is a basic problem in many application fields, and it has important application value in computer graphics, photogrammetry, robot navigation, building construction, traffic control, and military reconnaissance. Traditional measurement methods mainly include the following two types: one is manual measurement, which is limited by the measurement site and equipment, and generally can only be used in relatively simple occasions, with large application restrictions and low precision; the other is the use of lasers, sonar In addition to the high cost of this measurement method, the measured target will be affected by some...

AI Technical Summary

Problems solved by technology

[0004] At present, the research on the target measurement method based on monocular observation is still focused on the measurement of the two-dimensional plane scene and the three-dimensional rigid body target measurement under the condition that the same name of the target is known. Low, requiring the user to manually calibrate the feature information of the same name of the target; there are few studies on the measurement of 3D rigid body targets under the condition of unknown target features of the same name in advance, and this is what is most needed in practical applications

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