Camera pose estimation formalization method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a camera pose estimation formalization method and device, electronic equipment and a storage medium. The camera pose estimation formalization method comprises: determining spatial coordinates of multiple control points selected on a shot object under a spatial coordinate system and image point coordinates under camera coordinates; establishing a camera pose estimation logic model based on a high-order logic language according to the optical center coordinates of the camera in the space coordinate system, the space coordinates of a plurality of control points and the image point coordinates; constructing a logic proposition based on the camera pose estimation logic model, the logic proposition describing attributes and / or kinematics constraint conditions in the camera pose estimation logic model; and verifying the logic proposition based on a theorem attestation device to determine whether the camera pose estimation logic model is established or not. According to the technical scheme, through the adoption of a formal method, the unpreciseness of manual proof and errors possibly caused by a traditional analysis method are avoided.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular, to a formalized method, device, electronic device and storage medium for camera pose estimation. Background technique [0002] The camera pose estimation problem is to use the correspondence between image pixels and three-dimensional space object points to estimate the position and attitude information of the camera. This problem is one of the research hotspots in the fields of computer vision, photogrammetry and computer graphics. Positioning and navigation, target tracking and recognition, virtual reality and camera calibration are the core problems to be solved by many theoretical researches and practices. [0003] At present, the analysis methods of camera pose estimation still use traditional pen-and-paper technology and numerical simulation analysis methods. However, these informal methods are prone to errors, have limitations in the fields with low error...

AI Technical Summary

Problems solved by technology

[0003] At present, the analysis methods of camera pose estimation still use the traditional pen-and-paper technology and numerical simulation analysis methods. However, these informal methods are prone to errors, have limitations in areas with low error tolerance, and lack necessary assumptions can lead to erroneous design and analysis, while numerical simulation of algorithms with computer algebra systems is unreliable when dealing with boundary conditions and notation

Therefore, the current traditional analysis methods for camera pose estimation have problems such as complex calculations, unreliable designs, and inaccurate results.

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