A Pose Measurement Method Based on Semantic Segmentation and Kalman Filter under Monocular Vision

A Kalman filter and semantic segmentation technology, applied in the field of visual measurement, can solve the problem of uneconomical solution of the pose measurement of the set card, high installation difficulty of the camera, easy installation errors and other problems, achieving low installation difficulty, low cost, The effect of fast and accurate card positioning

Active Publication Date: 2022-02-15
ZHEJIANG UNIV OF TECH
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Problems solved by technology

The disadvantage of this solution is that the cost of using a binocular camera is higher than that of a monocular camera, and the other is that the installation of the camera is more difficult and prone to installation errors
Invention patent (publication number: CN101096262A, name: container crane truck alignment system and method) uses the camera to capture the truck image and compares it with the crane spreader profile to complete the rough positioning, and then uses the laser to scan the truck for precise positioning. The solution is low in efficiency and high in cost
[0004] To sum up, the current solutions have certain limitations, and cannot accurately and economically solve the problem of truck pose measurement on the basis of simple installation

Method used

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  • A Pose Measurement Method Based on Semantic Segmentation and Kalman Filter under Monocular Vision
  • A Pose Measurement Method Based on Semantic Segmentation and Kalman Filter under Monocular Vision
  • A Pose Measurement Method Based on Semantic Segmentation and Kalman Filter under Monocular Vision

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and examples in the description.

[0031] Such as Figure 1-5 As shown, a pose measurement method based on semantic segmentation and Kalman filter under monocular vision of the present invention, specifically includes the following steps:

[0032] Step 1: Customize a sheet according to the actual site size figure 1 As shown in the calibration board composed of square black and white grids, place the calibration board boundary parallel to the parking line on the ground to be tested, fix the camera to take 20 images, and use Zhang’s calibration method to obtain the camera’s internal parameter matrix K, external parameter matrix R and T, and select one of the clear images to calculate the conversion matrix M from the image coordinates of the camera corresponding to the image to the ground coordinates to be measured;

[0033] Step 2: If figure 2As shown, the world coordin...

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Abstract

The present invention proposes a pose measurement method based on semantic segmentation and Kalman filtering under monocular vision, which includes calibrating the measurement site; taking pictures of the measurement objects and making data sets for semantic segmentation training; the trained model Realize image positioning, and combine the mathematical model in this paper to realize position and attitude measurement. The invention is based on monocular vision measurement and semantic segmentation, and can adapt to various objects with known width and unknown height, and related parameters are optimized by Kalman filter, so that positioning can be realized quickly and accurately.

Description

technical field [0001] The invention relates to the technical field of visual measurement, in particular to a method for measuring the position and attitude of a target object relative to a reference object based on semantic segmentation and Kalman filtering under monocular vision. Background technique [0002] Visual measurement is based on computer vision, which is the precise measurement of the geometric size, position or attitude of objects. It has the characteristics of non-contact, high measurement accuracy and fast speed, and has broad applications in many fields such as quality monitoring, robot navigation, assisted parking and port automation. In recent years, inter-regional exchanges and cooperation have become increasingly close. As the circulation carrier of global trade, ports play an important role in regional economic development. Faced with the continuous growth of port container throughput, container terminals have higher and higher requirements for loadin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C3/00
CPCG01C3/00
Inventor 高飞邱琪葛一粟卢书芳翁立波
Owner ZHEJIANG UNIV OF TECH
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