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Real-time positioning method based on monocular vision

A technology of real-time positioning and monocular vision, which is applied in the directions of line-of-sight measurement, image analysis, distance measurement, etc., and can solve the problems of low real-time performance and high cost of positioning methods

Inactive Publication Date: 2014-09-10
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to propose a method for monocular vision real-time positioning in order to solve the problems of low real-time performance and high cost of some current positioning methods. Compared with multi-eye vision positioning, the structure of the present invention is simple and easy to implement; compared with other Compared with the monocular vision positioning of the present invention, the accuracy is high, and the real-time performance is strong

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with accompanying drawing.

[0037] The concrete technical scheme that the present invention adopts is as follows:

[0038] Fix an ordinary wide-angle camera on a small car, and let the camera face down at a certain depression angle, such as figure 1 . Measure the height h from the camera to the ground, the length l of the car, and the pitch angle of the camera γ 0 , the distance D from the reference point M directly in front of the car (here the intersection of the lowest vertical viewing angle of the camera and the center line of the car) to the car, and the horizontal viewing angle 2α and vertical viewing angle 2β of the camera. After obtaining the above parameters, it is assumed that the size of the picture taken by the camera is H×W, point P is p in the image, point M is m in the image, and the intersection point G of the optical axis of the camera and the ground is the main point g in the image...

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Abstract

The invention relates to a real-time positioning method based on monocular vision. The method comprises the following steps: firstly, calibrating a camera to obtain an inner parameter matrix R; and after calibrating the camera, solving a distance D1 from a ground specified point P to be detected to a reference point M and an angle between a vector (shown in the specification) and a center line of a trolley according a basic pin-hole imaging principle through geometric transformation. According to the method provided by the invention, on the basis of common geometric conversion positioning, a principal point of the camera is commonly not at the center of an image; the geometric correction is carried out and the measurement precision is improved.

Description

technical field [0001] The invention belongs to the field of computer geometry and is suitable for real-time measurement of the distance and angle from a target point to a reference point on a two-dimensional plane. Background technique [0002] Target positioning methods include laser ranging, GPS positioning, and image processing. In the active ranging method of laser ranging, the measurement accuracy is often low due to the irregular shape of the measured object, or the laser beam deviates from the measured object, which cannot be used in real life; although GPS positioning is relatively accurate, but The cost is relatively high, and a GPS system needs to be built on the measured object, which is not suitable for measuring the distance of unknown obstacles. In terms of image-based positioning, there are methods based on monocular vision positioning and multi-eye vision positioning. Multi-eye positioning is usually to match the feature point sequence of images captured b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/10G06T7/00
CPCG01C1/00G01C3/10
Inventor 戴国骏曾虹周天宝童辉郑嘉强
Owner HANGZHOU DIANZI UNIV
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