Spatial straight line orientation measurement method and device, computer equipment and storage medium

Abstract

The invention relates to a spatial straight line orientation measurement method and device, computer equipment and a storage medium. The method includes: acqcuiring an original image acquisition, extracting a straight line in the original image; calculating linear confidence, carrying out nonlinear transformation on each straight line to obtain a curve track of each straight line in a transformation image plane; updating the pixel value of the pixel point passed by each curve track according to the linear confidence coefficient to obtain an updated transformation image; carrying out convolution operation on the updated transformation image to obtain a convolution image; screening out convolution image coordinates of pixel points of which the pixel values meet intersection conditions from the convolution image as target convolution coordinates; according to the corresponding relationship between the convolution image coordinates and the original image coordinates of the original image,performing calculating to obtain an original image coordinate corresponding to the target convolution coordinate, taking the original image coordinate corresponding to the target convolution coordinate as a vanishing point coordinate, and determining the spatial orientation of a straight line corresponding to each vanishing point according to each vanishing point coordinate, thereby realizing automatic calculation.

Description

technical field [0001] The present application relates to the field of computer vision, and in particular to a method, device, computer equipment and storage medium for measuring the orientation of a straight line in space. Background technique [0002] With the development of the Internet, computer vision technology has been applied to various technical fields, such as UAV attitude measurement, balance car control, industrial measurement, building mapping, 3D reconstruction, etc. For a camera that can be simplified as a pinhole imaging model, the position of the point at infinity on the space line in the image is called the vanishing point of the line. Space lines parallel to each other have the same vanishing point. Once the vanishing point of one of the lines is determined on the image, the pose of the camera relative to that line can be calculated. If the vanishing points of more than two non-parallel straight lines can be determined, the direction of the straight line...

AI Technical Summary

Problems solved by technology

[0003] The current method of calculating the vanishing point of a straight line requires manual screening and grouping of the straight lines proposed in the image based on prior knowledge. When the content of the image is complex, it is difficult to group the straight lines, resulting in the failure of the calculation.

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