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

Abstract

The invention provides a method and system for eliminating the perspective effect of visual perception in the working environment in front of agricultural machinery. The method includes: performing camera calibration to obtain camera internal parameters and camera installation parameters; and constructing a single-point perspective according to the camera internal parameters and camera installation parameters. Coordinate conversion formula; among them, the single-point perspective coordinate conversion formula is used to convert the coordinates of any point in the perspective picture into the coordinates corresponding to the world coordinate system, and the corresponding coordinates in the reverse perspective view; Select the ROI vertex in the perspective picture, and determine the inverse perspective transformation matrix according to the single-point perspective coordinate transformation formula and the ROI vertex; according to the inverse perspective transformation matrix, perform inverse perspective transformation on each single point in the area determined by the ROI vertex to obtain Inverse perspective view after removing perspective effects. In this way, the end-to-end direct conversion from the spatial ROI to the image ROI can be realized, and the amount of image computation can be significantly reduced.

Description

technical field [0001] The invention relates to the technical field of image processing, and in particular, to a method and system for eliminating the perspective effect of visual perception of a working environment in front of agricultural machinery. Background technique [0002] The perception of the environment in front of the agricultural machinery is the basis for realizing the unmanned operation of agricultural machinery, and the visual technology is a common technology for environmental perception of agricultural machinery. Different from the general industrial applications where the imaging axis of the camera is perpendicular to the object to be perceived, in order to make the front sight distance farther to collect the remote field conditions, the camera is installed at a certain height when sensing the working environment in front of the agricultural machinery and is aimed at the front at a certain top-down angle. Field, get a perspective image of the near big and ...

AI Technical Summary

Problems solved by technology

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

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