A Vanishing Point Estimation Method Based on Convex Quadrilateral Principle

Abstract

The invention relates to a method for estimating a vanishing point based on the principle of a convex quadrilateral, belonging to the technical field of visual sensors; the method obtains a contour image Q of a square object in the image by performing image processing on an input image W in real time, and then calculates Q based on vanishing The point definition extracts the line segments in the image, and calculates the intersection point of the lines according to whether the orthogonal parallel line pairs form a convex quadrilateral in the image plane or not, and selects the number of clusters according to the threshold filter, and adopts the method of adaptive composite clustering. Cluster estimation is performed on the intersection points of straight lines to obtain a set of vanishing points. Compared with the prior art, the present invention reduces the calculation amount of estimation, maintains the estimation accuracy, and saves the estimation time at the same time. It is not only suitable for the estimation of the blanking point of any shooting and imaging equipment, but also suitable for applications that require dynamic real-time estimation of the attitude angle of the imaging equipment. scene.

Description

technical field [0001] The invention relates to a method for estimating a vanishing point based on the principle of a convex quadrilateral, and belongs to the technical field of visual sensors. Background technique [0002] In Euclidean space, two parallel straight lines intersect at the point of infinity. Under the ideal small hole model, the projection of these two parallel straight lines through the camera is also a straight line, and in general, the projection lines intersect, and the intersection point is called the blanking point. (vanishpoint), which is the projection of the point at infinity on the image plane. Two sets of orthogonal parallel lines can form a group of vanishing points at right angles to the camera. The blanking contains the direction information of the straight line. By analyzing it, the structure and direction information of the three-dimensional space can be obtained. In the three-dimensional reconstruction , visual gyroscope, robot vision and cam...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problems of large amount of calculation, difficult filter design, incomplete noise processing, and non-normal outliers in the existing dynamic estimation method of vanishing point, aiming at the camera with the change of viewing angle and distance In the process of continuous attitude change, the location of dynamic vanishing point is determined, and a vanishing point estimation method based on the principle of convex quadrilateral is proposed

Images