Method and system for eliminating visual perception perspective effect of working environment in front of agricultural machine

Abstract

The invention provides a method and system for eliminating the visual perception perspective effect of the working environment in front of an agricultural machine, and the method comprises the steps: carrying out camera calibration, and obtaining internal parameters of a camera and the installation parameters of the camera; constructing a single-point perspective coordinate conversion formula according to the internal parameters of the camera and the installation parameters of the camera; wherein the single-point perspective coordinate conversion formula is used for converting the coordinate of any point in the perspective picture into a coordinate corresponding to a world coordinate system and a coordinate corresponding to an inverse perspective drawing; in the agricultural machinery operation process, selecting ROI vertexes from perspective pictures collected by the camera, and determining an inverse perspective transformation matrix according to a single-point perspective coordinate transformation formula and ROI vertexes; and according to the inverse perspective transformation matrix, performing inverse perspective transformation on each single point in the region range determined by the ROI vertexes to obtain an inverse perspective drawing after the perspective effect is eliminated. Therefore, end-to-end direct conversion from the spatial ROI to the image ROI can be realized, and the image operand is significantly reduced.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a method and a system for eliminating the perspective effect of visual perception in an operation environment in front of an agricultural machine. Background technique [0002] Environmental perception in front of agricultural machinery is the basis for realizing unmanned operation of agricultural machinery, and vision technology is a common technology for environmental perception of agricultural machinery. Unlike general industrial applications where the imaging axis of the camera is perpendicular to the perceived object, in order to make the front-sight distance longer to collect the remote field conditions, the camera is installed at a certain height and pointed at the front with a certain overlooking angle when sensing the working environment in front of the agricultural machinery. Field, get the perspective image where the near is big and the far is small, a...

AI Technical Summary

Problems solved by technology

However, this method requires a large amount of data calculation and low processing efficiency.

Images