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Three-dimensional positioning method of lightning based on stereoscopic vision

A technology of three-dimensional positioning and stereo vision, applied in the fields of computer vision and aerospace, can solve problems such as the occurrence and development process of difficult lightning

Active Publication Date: 2017-01-04
CHENGDU TOPPLUSVISION TECH CO LTD
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  • Application Information

AI Technical Summary

Problems solved by technology

At present, lightning location mainly adopts VLF and LF methods, which are difficult to directly observe the occurrence and development process of lightning

Method used

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  • Three-dimensional positioning method of lightning based on stereoscopic vision
  • Three-dimensional positioning method of lightning based on stereoscopic vision
  • Three-dimensional positioning method of lightning based on stereoscopic vision

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Effect test

Embodiment

[0123] 1) Camera calibration:

[0124] In this example, two CCD cameras of the same model are used, which are fixed on the optical platform. The lenses of the two cameras are on the same plane, and the distance between the two cameras is D. The value of D is based on the principle that the lightning can be imaged in the image. In this example, the checkerboard method is used for camera calibration, and the specific steps are as follows:

[0125] Step 1: Place the calibration board in front of the built binocular platform, so that the calibration board can be completely imaged by the two cameras. Six groups of images of the calibration board in different postures were taken by means of rotation and translation.

[0126] Step 2: Establish a world coordinate system with the optical center of the left camera as the origin, and use Zhang Zhengyou calibration to obtain the internal parameter matrix of the left and right cameras and the rotation and translation matrices relative to ...

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Abstract

The invention provides a three-dimensional positioning method of lightning based on stereoscopic vision, which is applicable to space reconstruction and three-dimensional positioning of lightning and relates to the fields of computer vision and aerospace and the like. The three-dimensional positioning method provided by the invention adopts a stereoscopic vision technology to carry out three-dimensional positioning on the lightning in the space and displays the development process of the lightning intuitively according to a two-dimensional image of the lightning so as to make further exploration and early warning for the lightning activity. The three-dimensional positioning method comprises the following steps of: (A) setting up a binocular stereoscopic-vision hardware system, and calibrating relevant parameters of a camera; (B) collecting and pre-processing lightning images; (C) segmenting and extracting a lightning skeleton line; (D) matching lightning sequence points of left and right images; (E) calculating a space three-dimensional coordinate of the lightning by utilizing a binocular stereoscopic-vision measurement model.

Description

technical field [0001] The invention proposes a lightning three-dimensional positioning method based on stereo vision, which is suitable for spatial reconstruction and three-dimensional positioning of lightning, and relates to the fields of computer vision, aerospace and the like. Background technique [0002] Lightning is an instantaneous strong discharge process in the atmosphere, which can be divided into ground lightning and cloud lightning according to whether it is grounded or not. Lightning is one of the most serious natural disasters in my country. Due to its characteristics of high current and strong electromagnetic radiation, it often causes forest fires, power supply interruptions, communication failures, equipment damage and other accidents, especially affecting the safety of aerial vehicles. According to conservative estimates, thousands of casualties are caused by lightning disasters in my country every year, and direct economic losses exceed hundreds of millio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T1/00G06T5/00
CPCG06T1/0007G06T2207/30192G06T2207/10012G06T5/80G06T5/90G06T5/70
Inventor 余勤力王时丽唐荣富周剑龙学军
Owner CHENGDU TOPPLUSVISION TECH CO LTD
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