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A marking point positioning method combining laser ranging and binocular camera

A binocular camera and laser ranging technology, applied in the field of computer vision, can solve the problem of low long-distance positioning accuracy of binocular stereo vision, and achieve the effect of improving three-dimensional positioning accuracy and high-precision three-dimensional positioning

Active Publication Date: 2019-11-05
陕西强偏振视觉科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to provide a marking point positioning method combining laser ranging and binocular camera to solve the problem of low binocular stereo vision long-distance positioning accuracy in the prior art and the laser rangefinder can only provide one-dimensional depth information problem

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  • A marking point positioning method combining laser ranging and binocular camera
  • A marking point positioning method combining laser ranging and binocular camera
  • A marking point positioning method combining laser ranging and binocular camera

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Embodiment Construction

[0023] The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0024] The invention provides a marking point positioning method combining laser ranging and binocular camera, such as figure 1 Shown is a high-precision cooperative marker point positioning device combined with a binocular camera 1 and a laser rangefinder 2. The laser rangefinder 2 is located in the middle of the baseline of the binocular camera 1, and the entire device is located on a high-precision mobile platform 3, which can realize The diagram shows the high-precision movement in the x-direction and direction. There are checkerboard markers on the target object, and the relative positions of the marker points and the target object are known.

[0025] The three-dimensional reconstruction principle of binocular stereo vision is as follows: figure 2 As shown, the horizontal direction is defined as the X axis, and...

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Abstract

The invention discloses a gauge point positioning method combining laser ranging with binocular camera. A range finder is disposed in the middle of the binocular camera. Acquisition is carried out at the same gauge point at the same time by the binocular camera to obtain left and right images. A rough position of the gauge point is calculated through the basic principle of binocular stereo vision. The laser range finder is guided according to the rough position to a platform position right toward the gauge point. Then, accurate depth information of the gauge point is acquired. The parallax of the gauge point is derived reversely through the accurate depth information. Thus, an accurate horizontal position and an accurate vertical position are solved through the accurate parallax. The invention solves the problems that the long distance positioning accuracy of binocular stereo vision is low and the laser range finder is only capable of providing one-dimensional depth information.

Description

【Technical field】 [0001] The invention belongs to the technical field of computer vision, and in particular relates to a marking point positioning method combining laser ranging and binocular cameras. 【Background technique】 [0002] Binocular stereo vision is an important branch of computer vision, widely used in positioning, ranging, robot navigation and other fields. The positioning error of traditional binocular stereo vision technology increases exponentially with the increase of distance, and the positioning accuracy drops significantly. The laser range finder can provide relatively high positioning accuracy in a large distance range. However, the laser range finder can only provide depth information, and cannot complete the three-dimensional positioning of the marking point. 【Content of invention】 [0003] The purpose of the present invention is to provide a marking point positioning method combining laser ranging and binocular camera to solve the problem of low bin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G01C3/00
CPCG01C3/00G06T7/80
Inventor 赵永强董欣明平茜茜张艳申凌皓
Owner 陕西强偏振视觉科技有限公司
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