CN112955711A - Position information determining method, apparatus and storage medium - Google Patents

Position information determining method, apparatus and storage medium Download PDF

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Publication number
CN112955711A
CN112955711A CN202080005645.8A CN202080005645A CN112955711A CN 112955711 A CN112955711 A CN 112955711A CN 202080005645 A CN202080005645 A CN 202080005645A CN 112955711 A CN112955711 A CN 112955711A
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China
Prior art keywords
target object
acquiring
imaging
distance
determining
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CN202080005645.8A
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Chinese (zh)
Inventor
应礼剑
邹文
夏斌强
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects

Abstract

The application provides a position information determining method, which comprises the steps of determining a target object to be detected through a distance measuring device (S101); acquiring an imaging range of a target object on an image acquisition device (S102); acquiring distance information between an imaging center and an imaging range of an image acquisition device (S103); position information of the target object is determined based on the imaging range and the distance information (S104). The accuracy of determining the position information of the target object is improved. The application also provides equipment and a storage medium for confirming the position information.

Description

Position information determining method, apparatus and storage medium
Technical Field
The present application relates to the field of data processing technologies, and in particular, to a method, a device, and a storage medium for determining location information.
Background
Along with the development of science and technology, the type and the function of camera are more and more abundant, for example, can carry out laser rangefinder through the laser module of camera, carry out infrared temperature measurement through infrared camera, search for the target through wide angle camera, and gather clear image etc. through long-focus camera. Taking the camera to perform laser ranging through the laser module as an example, the camera can be used for detecting the distance information of the target point, and cannot indicate the ranging target position, especially when the depth of field information near the target position is very rich, the target position cannot be displayed, the accuracy of further ranging can be affected, and the accuracy of determining the target position is reduced.
Disclosure of Invention
The embodiment of the application provides a position information determining method, device and storage medium, which can improve the accuracy of determining the position information of a target object.
In a first aspect, an embodiment of the present application provides a method for determining location information, including:
determining a target object to be detected through a distance measuring device;
acquiring an imaging range of the target object on image acquisition equipment;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
In a second aspect, an embodiment of the present application further provides a location information determining system, where the location information determining system includes:
the distance measuring device is used for determining a target object to be detected;
the image acquisition equipment is used for acquiring images;
a memory for storing a computer program;
a processor for invoking a computer program in the memory for performing:
determining a target object to be detected through the distance measuring device;
acquiring an imaging range of the target object on image acquisition equipment;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
In a third aspect, an embodiment of the present application further provides an imaging apparatus, including: the distance measuring device is used for determining a target object to be detected;
the image acquisition equipment is used for acquiring images;
a display device for displaying position information of the target object on the image;
a memory for storing a computer program;
a processor for invoking a computer program in the memory for performing:
determining a target object to be detected through the distance measuring device;
acquiring an imaging range of the target object on image acquisition equipment;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
In a fourth aspect, an embodiment of the present application further provides a holder, including:
a location information determination system;
a shaft arm for moving the position information determination system;
a memory for storing a computer program;
a processor for invoking a computer program in the memory to perform:
determining a target object to be detected through a distance measuring device carried by the position information determining system;
acquiring an imaging range of the target object on image acquisition equipment carried by the position information determining system;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
In a fifth aspect, an embodiment of the present application further provides a movable platform, including:
a holder;
the platform body is used for carrying the holder;
a memory for storing a computer program;
a processor for invoking a computer program in the memory to perform:
determining a target object to be detected through a distance measuring device carried by the holder;
acquiring an imaging range of the target object on image acquisition equipment carried by the holder;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
In a sixth aspect, an embodiment of the present application further provides a storage medium, where the storage medium is used to store a computer program, and the computer program is loaded by a processor to execute any one of the location information determining methods provided in the embodiments of the present application.
In a seventh aspect, an embodiment of the present application further provides a computer program, where the computer program is loaded by a processor to execute any one of the location information determining methods provided in the embodiment of the present application.
The embodiment of the application can determine the target object to be detected through the distance measuring device, acquire the imaging range of the target object on the image acquisition equipment, acquire the distance information between the imaging center and the imaging range of the image acquisition equipment, and then determine the position information of the target object according to the imaging range and the distance information. According to the scheme, the position information of the target object is accurately determined through the imaging range and the distance information between the imaging center and the imaging range, the indication accuracy of the position information of the target object is improved, the man-machine interaction is good, the user friendliness is higher, the operation is simple and convenient, and the accurate determination of the target position in the fields of surveying and mapping, navigation, security and the like is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a position information determination system provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of interaction of an aircraft, a control device, and a display device provided in an embodiment of the present application;
fig. 3 is a schematic flowchart of a method for determining location information according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a target object determination provided by an embodiment of the present application;
FIG. 5 is another schematic illustration of a target object determination provided by an embodiment of the present application;
fig. 6 is a schematic diagram of an imaging principle of a distance measuring device and an image acquisition apparatus provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of a position relationship between a distance measuring device and an image capturing apparatus according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a display of position information of a target object provided by an embodiment of the present application;
FIG. 9 is another schematic diagram of a display of position information for a target object provided by an embodiment of the present application;
FIG. 10 is a schematic diagram of an area where a target object is marked according to an embodiment of the present application;
FIG. 11 is another schematic diagram of an area where a target object is marked according to an embodiment of the present application;
FIG. 12 is a schematic diagram of a spatial geometry relationship between a distance measuring device and an image capturing apparatus provided in an embodiment of the present application;
fig. 13 is a schematic structural diagram of a position information determination system according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of an imaging apparatus provided in an embodiment of the present application;
fig. 15 is a schematic structural diagram of a pan/tilt head provided in the embodiment of the present application;
fig. 16 is a schematic structural diagram of a movable platform provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Embodiments of the present application provide a method, an apparatus, and a storage medium for determining position information, which are used to detect position information of a target object, and improve accuracy of determining the position information of the target object.
The device may include a position information determining system, an imaging apparatus, a cradle head, a movable platform, and the like, the storage medium is a computer-readable storage medium, types of the position information determining system, the imaging apparatus, the cradle head, the movable platform, and the like may be flexibly set according to actual needs, and specific contents are not limited herein. For example, the position information determining system may include a distance measuring device, an image collecting device, and the like, the distance measuring device may be a laser device, the type, number, setting position, and the like of the laser device may be flexibly set according to actual needs, for example, the laser device may be a continuous laser, a pulse laser, or the like, and the laser device may be one. The image acquisition equipment can be a video camera or a camera, and the like, and taking the camera as an example, the type of the camera, the number of the cameras, the setting position of the camera, the position relation between the camera and the laser device, and the like can be flexibly set according to actual needs. For example, the camera may be a super wide angle camera, a telephoto camera (i.e., a zoom camera), an infrared camera, a far infrared camera, an ultraviolet camera, a Time of Flight (TOF) depth camera (TOF depth camera for short), and the like. For example, as shown in fig. 1, the positional relationship between the image capturing apparatus S1 and the distance measuring device S2 may be on the same plane, in which the image capturing apparatus S1 and the distance measuring device S2 may be on the same straight line, or form a preset angle, or the like; of course, the distance measuring device and the image capturing device, especially the signal capturing point of the distance measuring device and the imaging plane of the image capturing device, may also be located on different planes, and at this time, the positional relationship between the distance measuring device and the image capturing device may be converted, as shown in fig. 12 and the related description.
The imaging device may include a distance measuring device, an image capturing device, a display device, and the like, the distance measuring device may include a distance measuring signal, and may further include a light source such as infrared or ultraviolet, so that the distance measuring device may generate a light spot and other signal sources for the image capturing device to image, and the display device may display position information of the target object on the image captured by the image capturing device. The pan/tilt head may include a position information determination system, a shaft arm, and the like, and the shaft arm may move the position information determination system, for example, control a distance measurement device and an image capture device, and the like on the position information determination system to move to a suitable position by the shaft arm, so as to determine a target object by the distance measurement device, and capture an image containing the target object by the image capture device. This movable platform can include cloud platform, platform body, range unit and image acquisition equipment etc. and this platform body can be used for carrying on the cloud platform, and this cloud platform can carry on range unit and image acquisition equipment to make the cloud platform can drive range unit and image acquisition equipment and remove.
In particular, the type of the movable platform can be flexibly set according to actual needs. For example, the movable platform may be a mobile terminal, an aircraft, a robot, a vehicle, or the like, the vehicle may be an unmanned vehicle, the aircraft may include drones, the drones may include rotor-type drones (e.g., quad, hexa, or octa-rotor drones, etc.), fixed-wing drones, or a combination of rotor-type and fixed-wing drones, without limitation.
As shown in fig. 2, taking a movable platform as an aircraft as an example, the aircraft is equipped with a distance measuring device, an image collecting device, and the like, and is further connected with a control device, a display device, and the like, where the control device may include one or more remote controllers for controlling the flight of the aircraft or executing corresponding actions, and acquiring corresponding motion information from the aircraft, where the motion information may include flight direction, flight attitude, flight altitude, flight speed, position information, and the like, and sends the acquired motion information to the display device, and the display device performs analysis and display. The control device can also be used for controlling a distance measuring device on the aircraft to perform distance measuring operation or controlling an image acquisition device to perform shooting operation and the like.
The display device may include a laptop, a tablet computer, a mobile phone, or the like, and may be configured to receive data (e.g., images or distance information, etc.) sent by a distance measuring device or an image capturing device, etc. on the aircraft and display the data in the display screen. The display equipment can also receive a control command input by a user, and correspondingly controls the distance measuring device or the image acquisition equipment on the aircraft based on the control command. For example, the display device may receive a shooting instruction or a ranging instruction and send the shooting instruction or the ranging instruction to the aircraft, and the aircraft may control the image acquisition device to shoot the acquired picture according to the shooting instruction, or control the ranging device to perform ranging on the target object according to the ranging instruction, and the like.
It should be noted that the device structures in fig. 1 and fig. 2 do not constitute a limitation on the application scenario of the location information determination method.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a method for determining location information according to an embodiment of the present application. The position information determining method can be applied to equipment such as a position information determining system, an imaging device, a holder, a movable platform and the like, and is used for accurately detecting the position information of the target object so as to improve the accuracy, efficiency and convenience of determining the position information of the target object. The following will describe in detail an example in which the position information determination method is applied to the position information determination system.
As shown in fig. 3, the method for determining location information may include steps S101 to S104, and may specifically include the following steps:
s101, determining a target object to be detected through a distance measuring device.
The target object can be flexibly selected or set according to actual needs, and specific contents are not limited herein. The target may be a complete object, or a point, etc., for example, the target may be any object such as a license plate, a person, an animal, a plant, a vehicle, a building, or a star, or even a non-solid, non-three-dimensional target such as a flame, a cloud, or a water body, etc., as long as the target can be imaged via one or more pixel points of the camera photosensitive element. There may be various examples of the image capturing device, and for example, a wide-angle camera or a telephoto camera or the like may be selected as the image capturing device.
The determination mode of the target object can be flexibly set according to actual needs, for example, the target object can be determined by receiving a selection instruction input by a user, or an area irradiated by a light spot of the ranging device is used as the target object; and so on.
In some embodiments, determining the target object to be detected by the ranging device may include: acquiring a light spot central point of a ranging signal of a ranging device, and setting the light spot central point as a target object to be detected; or acquiring a light spot central point of a ranging signal of the ranging device; and determining an object area where the central point of the light spot is located, and setting the object area as a target object.
In order to improve the accuracy and flexibility of target object determination, a center point of a ranging signal (e.g., a laser signal) of a ranging device (e.g., a laser device) may be obtained, for example, as shown in fig. 4, taking the laser device as an example, when the laser device emits the laser signal, a light spot may be generated, at this time, a light spot center point of the laser signal may be obtained, and the light spot center point may be set as a target object to be detected.
For another example, as shown in fig. 5, taking a laser device as an example, when the laser device emits a laser signal, a light spot may be generated, at this time, a position of a light spot center point of the laser signal may be obtained, and an object region where the light spot center point is located may be determined according to the position of the light spot center point, in fig. 5, an image with the light spot center point as a picture center may be collected by an image collecting device, and object recognition may be performed on the image through a preset recognition model, for example, feature extraction may be performed on the image to obtain target feature information, which may be flexibly set according to actual needs, for example, the target feature information may be feature information of a license plate, feature information of a certain animal, feature information of a certain plant, feature information of a certain person, or the like, and an object in the image and an object region where the object is located may be, in fig. 5, the areas where cows, grass, flowers, clouds, etc. are located can be identified. Therefore, the spot center point can be determined to be located in the area where the cow is located, and at the moment, the area where the cow is located can be set as the target object.
The preset recognition model may be a trained recognition model, and for example, may obtain a plurality of sample images containing objects of different types, and train the recognition model based on the plurality of sample images to obtain the trained recognition model.
It should be noted that, when the target object needs to be re-determined, the target object can be re-determined by adjusting the position of the ranging device to move the spot center point of the ranging signal.
S102, acquiring an imaging range of the target object on the image acquisition equipment.
S103, obtaining distance information between the imaging center and the imaging range of the image acquisition equipment.
The imaging range may be an imaging size of the object on the image capturing device, for example, a corresponding range of the object in an imaging area of the camera photosensitive element, the distance information may be a pixel distance between an imaging center of the image capturing device and the imaging range, and the distance information may include an abscissa position and an ordinate position of the imaging center, and the like.
In some embodiments, acquiring an imaging range of the target object on the image capturing device, and acquiring distance information between an imaging center of the image capturing device and the imaging range may include: acquiring the imaging size of a target object on image acquisition equipment, which is determined by a ranging signal of a ranging device; acquiring an imaging distance from a ranging signal to an imaging center; acquiring the pixel size of a sensor of image acquisition equipment; and determining the imaging range of the target object on the distance measuring device and the distance information between the imaging center of the image acquisition equipment and the imaging range according to the imaging size, the imaging distance and the pixel size.
In order to improve the reliability and accuracy of the imaging range and the acquisition of the distance information, for example, according to the principle of pinhole imaging, the imaging principle of the distance measuring device Z1 and the image acquisition apparatus Z2 is as shown in fig. 6, Z1 is the distance measuring device, Z2 is the image acquisition apparatus, and the imaging size of the target object on the image acquisition apparatus Z2 determined by the distance measuring signal of the distance measuring device Z1 can be acquired as I1I2 (i.e., I1I2 in fig. 6)1I2) Wherein I1 and I2 are two end points of the imaging range corresponding to the target object projected on the plane respectively, and I is a central point of the imaging center corresponding to the target object projected on the plane; and acquiring an imaging distance C of the ranging signal to an imaging center of the image pickup device Z2, and acquiring a pixel size u of the sensor of the image pickup device Z2, which may be a value taken by a characteristic of the sensor of the image pickup device Z2And (6) determining. At this time, the imaging range M of the target object on the distance measuring device Z1 can be determined from the imaging size I1I2 and the pixel size u1M2：
Figure BDA0003016763920000081
And determining distance information Mc between the imaging center and the imaging range of the image pickup device Z2 according to the imaging distance C and the pixel size u:
Figure BDA0003016763920000082
wherein, the imaging distance C from the ranging signal to the imaging center of the image acquisition device Z2 can be obtained based on the central point I of the imaging center corresponding to the target object projected on the plane:
Figure BDA0003016763920000083
in some embodiments, acquiring the range signal of the range finding device determines an imaging size of the target object on the image acquisition apparatus, and acquiring an imaging distance of the range finding signal to the imaging center may include: acquiring the area of a target object determined by the ranging signal; acquiring the shortest distance between the optical axis of the imaging center and the center of the target object; acquiring the focal length of the image acquisition equipment and the target object distance between the distance measuring device and the target object; and determining the imaging size of the target object on the image acquisition equipment and the imaging distance from the ranging signal to the imaging center according to the area, the shortest distance, the focal length and the distance of the target object.
In order to improve the accuracy and flexibility of imaging size and imaging distance acquisition, for example, as shown in fig. 6, the target area D determined by the ranging signal may be acquired, and the shortest distance between the optical axis of the imaging center and the target center, where the target center is the midpoint of O1O2, the shortest distance between the optical axis and the target center is (OO1+ OO2)/2, and OO2 is the farthest light spotThe distance (i.e. the distance between the potential field center O of the image capturing device and the farthest edge O2 of the object) is OO1 nearest spot distance (i.e. the distance between the potential field center O of the image capturing device and the nearest edge O1 of the object). And acquiring the focal length f of the image acquisition equipment, acquiring the target object distance L between the image acquisition equipment and the target object, and acquiring the width w of a divergent surface of a ranging signal of the ranging device. At this time, the imaging size I1I2 (i.e. I1I 2) of the target object on the image acquisition device determined by the ranging signal of the ranging device (i.e. I) can be determined according to the area D of the target object, the shortest distance between the optical axis of the imaging center and the center of the target object, the target object distance L between the image acquisition device and the target object, the width w of the divergent surface of the ranging signal of the ranging device, and the focal length f of the image acquisition device1I2)：
Figure BDA0003016763920000084
And determining an imaging distance C from the ranging signal to the imaging center according to the shortest distance between the optical axis of the imaging center and the center of the target object, the target object distance L between the image acquisition device and the target object, and the focal length f of the image acquisition device:
Figure BDA0003016763920000091
in some embodiments, obtaining the ranging signal to determine the area of the target object may include: acquiring a divergence angle of a ranging signal of a ranging device; acquiring a position difference between the image acquisition equipment and the distance measuring device; and determining the area of the target object according to the divergence angle, the position difference and the target object distance.
In order to improve the reliability and efficiency of the light spot region acquisition, the divergence angle R of the ranging signal of the ranging device, and the target distance L between the image pickup apparatus and the target object, and the position difference Δ L between the image pickup apparatus and the ranging device may be acquired, and at this time, the target area D may be determined according to the divergence angle R, the position difference Δ L, and the target distance L between the image pickup apparatus and the target object:
D＝R*(L+ΔL)
wherein, when Δ L is zero, the target object area D is: d ═ R × L.
In some embodiments, acquiring the shortest distance between the optical axis of the imaging center and the center of the target object may include: acquiring the width of a divergent surface of a ranging signal of a ranging device; acquiring the physical distances of the image acquisition device and the distance measuring device on the structure; and determining the shortest distance between the optical axis of the imaging center and the center of the target object according to the area of the target object, the width of the divergent surface and the physical distance.
In order to improve the accuracy of the shortest distance acquisition, for example, as shown in fig. 6, the width w of the divergent surface of the ranging signal of the ranging device, the physical distance D between the image acquisition device and the ranging device in the structure, and the target area D determined by the ranging signal may be acquired, and then the shortest distance between the optical axis of the imaging center and the target center may be determined according to the target area D, the width w of the divergent surface, and the physical distance D, where the shortest distance between the optical axis and the target center is (OO1+ OO2)/2, and the farthest spot distance OO2 is: OO2 is D + D/2+ w/2, and the closest spot distance OO1 is: OO1 ═ D-D/2-w/2.
In summary, when Δ L is zero, the imaging size I1I2 of the target object on the image acquisition device, which can be determined by the ranging signal of the ranging device, is:
Figure BDA0003016763920000092
the imaging distance C from the ranging signal of the ranging device to the imaging center of the image acquisition equipment is as follows:
Figure BDA0003016763920000093
imaging range M of target object on image acquisition equipment1M2Comprises the following steps:
Figure BDA0003016763920000094
the distance information Mc between the imaging center of the image acquisition device and the imaging range of the target object on the image acquisition device is as follows:
Figure BDA0003016763920000101
and S104, determining the position information of the target object according to the imaging range and the distance information.
The position information may be pixel coordinates of the target object in the image acquired by the image acquisition device. Obtaining the imaging range M of the target object on the image acquisition equipment1M2And the distance information Mc between the imaging center of the image acquisition equipment and the imaging range of the target object on the image acquisition equipment can be obtained according to the imaging range M1M2And the distance information Mc determines the position information (X, Y) of the target object. The distance information may include an abscissa position on the abscissa axis X and an ordinate position on the ordinate axis Y, etc., i.e., Mc (Xc, Yc). At this point it is possible to obtain:
X＝XC+M1M2
Y＝YC+M1M2
i.e. the position information (X) of the objectC+M1M2，YC+M1M2)。
When the target object is a single object, the center position, the center-of-gravity position, the vertex angle position, or the like of the target object may be used as the position information of the target object.
In some embodiments, the relative positions of the distance measuring device and the image acquisition device in the position information determination system are fixed, so that the complexity of the position information determination system can be reduced, and the calculation resource consumption of the position information determination system can be reduced. In some embodiments, the relative positions of the distance measuring device and the image capturing device in the position information determining system are variable, for example, the relative positions of the distance measuring device and the image capturing device can be adjusted according to actual needs, which can ensure better user experience.
In some embodiments, determining the position information of the target object according to the imaging range and the distance information may include: acquiring a position relation between the distance measuring device and the image acquisition equipment; and determining the position information of the target object according to the position relation, the imaging range and the distance information.
Because the distance measuring device and the image acquisition equipment may not be ensured to be on the same horizontal line, the position relation between the distance measuring device and the image acquisition equipment can be obtained in order to improve the accuracy of the position information determination of the target object, and the position relation can be an included angle between the distance measuring device and the image acquisition equipment.
In some embodiments, obtaining the positional relationship between the ranging apparatus and the image acquisition device may include: acquiring external parameters of a distance measuring device and image acquisition equipment; acquiring a central connecting line between the distance measuring device and the image acquisition equipment; and determining an included angle between the distance measuring device and the image acquisition equipment according to the external reference and the central connecting line to obtain a position relation.
When the position relationship is an included angle, in order to improve the accuracy and efficiency of obtaining the position relationship, the position relationship can be obtained through external parameters of the distance measuring device and the image acquisition equipment. Specifically, the external parameters of the distance measuring device and the image capturing device may be obtained, and the external parameters may be flexibly set according to actual needs, for example, the external parameters may include a reference coordinate system, as shown in fig. 7, a reference coordinate system of a plane where the distance measuring device S2 and the image capturing device S1 are located may be established, and the reference coordinate system is used as the external parameters. And acquiring a central connecting line between the distance measuring device S2 and the image acquisition equipment S1, acquiring an included angle between the central connecting line and a longitudinal axis of a reference coordinate system, and acquiring an included angle a between the distance measuring device S2 and the image acquisition equipment S1, namely acquiring a position relation.
Then, the position information of the target object can be determined based on the positional relationship, the imaging range, and the distance information.
In some embodiments, determining the position information of the target object according to the position relationship, the imaging range, and the distance information may include: acquiring the abscissa position and the ordinate position of the imaging center of the image acquisition equipment according to the distance information; acquiring a sine value and a cosine value of an included angle; determining the position of a transverse shaft of the target object on the transverse shaft according to the position of the transverse shaft, the imaging range and the sine value; determining the longitudinal axis position of the target object on the longitudinal axis according to the longitudinal coordinate position, the imaging range and the cosine value; the horizontal axis position and the vertical axis position are set as position information of the object.
Specifically, as shown in fig. 7, when the positional relationship between the distance measuring device S2 and the image pickup apparatus S1 is the angle a between the distance measuring device S2 and the image pickup apparatus S1, the abscissa position Xc on the abscissa axis between the imaging center and the object and the ordinate position Yc on the ordinate axis can be determined from the distance information Mc (Xc, Yc) between the imaging center of the image pickup apparatus S1 and the imaging range of the object on the image pickup apparatus S1. And acquiring a sine value sin (a) and a cosine value cos (a) of the included angle a. At this time, the imaging range M can be determined according to the abscissa position Xc1M2And a sine value sin (a) determining the horizontal axis position X of the object on the horizontal axis:
X＝XC+M1M2*sin(a)
and, the imaging range M can be determined according to the ordinate position Yc1M2And cosine value cos (a), determining the longitudinal axis position Y of the object on the longitudinal axis:
Y＝YC+M1M2*cos(a)
finally, the horizontal axis position and the vertical axis position may be set as the position information (X, Y) of the object.
In some embodiments, after determining the position information of the target object based on the imaging range and the distance information, the position information determining method may further include: and outputting the position information of the target object on the image acquired by the image acquisition equipment for the user to view.
After the position information of the target object is obtained, the position information of the target object can be output through voice or a display screen and the like so as to assist surveying and mapping personnel to carry out applications such as laser ranging and positioning and the like in order to facilitate the checking of users who need the position information. For example, an image of the target object can be acquired by the image acquisition device, the image and the position information of the target object are displayed in the display screen, or the position information of the target object is sent to the mobile terminal, and the mobile terminal is controlled to output the position information of the target object on the image acquired by the image acquisition device; and so on.
When the image capturing device is a camera of a specific type, in addition to capturing an image, other information of the target object, such as a distance of the target object from the image capturing device, a temperature of the target object, or height information of the target object, may be calculated or displayed accordingly, and in this case, in addition to the position information of the target object, information of the temperature or height of the target object may be output.
In some embodiments, outputting the position information of the target object on the image captured by the image capturing device may include: and sending the position information of the target object to the mobile terminal so that the mobile terminal outputs the position information of the target object on the image acquired by the image acquisition equipment.
The mobile terminal may include a mobile phone, a computer, or other terminals, and in order to improve convenience and flexibility of outputting the position information, after the position information of the target object is obtained, the position information system may actively send the position information of the target object to the mobile terminal, for example, may send a control instruction carrying information such as the position information and an image of the target object to the mobile terminal, and control the mobile terminal to display the image in the display screen based on the control instruction, and output the position information of the target object through voice, or display the position information of the target object on the image acquired by the image acquisition device through the display screen.
Or after obtaining the position information of the target object, the position information system may store the position information of the target object, and detect whether an acquisition request sent by the mobile terminal is received, and when the acquisition request sent by the mobile terminal is received, the position information of the target object may be sent to the mobile terminal based on the acquisition request, for example, a control instruction carrying information such as the position information and the image of the target object may be sent to the mobile terminal based on the acquisition request, and the mobile terminal may be controlled to display in a display screen or to broadcast the position information of the target object on the image acquired by the image acquisition device based on the control instruction.
In some embodiments, outputting the position information of the target object on the image captured by the image capturing device may include: outputting the position information of the target object on the image acquired by the image acquisition equipment through voice broadcasting; or, displaying the position information of the target object on the image acquired by the image acquisition equipment in a pop-up window in the display interface; or displaying an image acquired by image acquisition equipment where the target object is located in the display interface; and marking the area where the target object is located in the image, and displaying the position information of the target object in the display interface.
In order to improve the diversity of the position information output, for example, the position information determining system may output the position information of the target object on the image acquired by the image acquisition device in a voice broadcast manner through a preset voice module thereof, or the position information determining system may transmit the position information of the target object to an external voice module and control the voice module to output the position information of the target object on the image acquired by the image acquisition device in a voice broadcast manner.
For another example, as shown in fig. 8, the position information determining system may display the image captured by the image capturing device in its own display screen, and may display the position information of the target object on the image captured by the image capturing device in a pop-up manner (i.e., in a pop-up dialog display) in the display interface. Or, the position information determining system may send the position information of the target object to a peripheral display device (e.g., a mobile phone or a computer), and control the display device to display the image acquired by the image acquisition device in the display screen, and pop up to display the position information of the target object on the image acquired by the image acquisition device in the display interface.
For another example, as shown in fig. 9, the position information determining system may display, in the display interface of the display screen of the system itself, the image captured by the image capturing device where the target object is located, mark the area where the target object is located in the image, and display the position information of the target object in the area below or above the display interface. Or, the position information determining system may send the position information of the target object to an external display device (e.g., a mobile phone or a computer), and control the display device to display the image acquired by the image acquisition device in the display screen, mark the area where the target object is located in the image, and display the position information of the target object in the area below or above the display interface.
The output setting instruction input by the user may be received, and the setting may be performed according to the output mode of the position information of the target object of the output setting instruction.
In some embodiments, labeling the region in which the target object is located within the image may include: determining the central position of the target object in the image; drawing a polygon or a circle circumscribed with the target object according to the central position, setting the target color different from the background color of the target object in the image as the color of the polygon or the circle, and obtaining the area where the target object is located; or extracting the outline of the target object from the image, and marking the area where the target object is located with a preset color according to the outline.
In order to prominently display the area where the target object is located so that the user can quickly view the target object, for example, as shown in fig. 10, the center position of the target object, such as the center position of a ball, may be determined within the image, a polygon or a circle circumscribed with the target object may be drawn according to the center position of the target object, and a quadrangle circumscribed with the ball may be drawn in fig. 10, and the area where the target object is located may be obtained by setting the target color different from the background color of the target object within the image to the color of the polygon or the circle, where the target color may be flexibly set according to actual needs. Or, as shown in fig. 11, the outline of the target object may be extracted from the image, for example, the outline of the ball may be extracted in fig. 11, and the area where the target object is located may be marked with a preset color according to the outline, where the preset color may be flexibly set according to actual needs. The color setting instruction input by a user can be received in the setting interface, and the target color or the preset color can be set according to the color setting instruction.
In practical application, the identity information of the user can be determined according to the fingerprint information by collecting the fingerprint information of the user viewing the position information at present, or the face image of the user viewing the position information at present is collected by a camera, and the identity information of the user is determined by the face image. After the identity information of the user is determined, the usage habit (for example, the habit of marking the target object with red) or the characteristic (for example, whether the user is anerythrochloropsia or not) of the user can be determined according to the identity information of the user, and at this time, the color of the marking target object can be determined according to the usage habit or the characteristic of the user.
It should be noted that, in addition to the determination of the position information of the target object by the pinhole imaging principle, the position information of the target object may be determined by the object distance conversion, the image distance conversion, and the like. For example, the internal parameters and external parameters of the distance measuring device and the image acquisition device may be respectively calibrated, an internal parameter matrix K of the distance measuring device may be constructed according to the internal parameters of the distance measuring device, an external parameter matrix D of the distance measuring device may be constructed according to the external parameters of the distance measuring device, and an external parameter matrix P of the image acquisition device may be constructed according to the external parameters of the image acquisition device. As shown in FIG. 12, a relative transformation matrix of the distance measuring device S2 and the image capturing device S1 is calculated according to the space geometry relationship of the distance measuring device S2 and the image capturing device S1, and the object distance measured by the distance measuring device S2 is r (when the object is at the plane II)1The distance between the object and the target is r1 when the target is at plane n2The intra-temporal object distance is r2), the position of the center point of the spot of ranging device S2 (i.e., the target object) on image acquisition apparatus S1 can be calculated by the following formula, i.e., the relative transformation matrix of ranging device S2 and image acquisition apparatus S1 is:
Figure BDA0003016763920000141
by performing normalization processing on the coordinate point X obtained by the above calculation, the imaging plane point X of the image pickup device S1 is obtained as [ u, v,1]', and thus the position information X (u, v) of the target object can be obtained.
The embodiment of the application can determine the target object to be detected through the distance measuring device, acquire the imaging range of the target object on the image acquisition equipment, acquire the distance information between the imaging center and the imaging range of the image acquisition equipment, and then determine the position information of the target object according to the imaging range and the distance information. According to the scheme, the position information of the target object is accurately determined through the imaging range and the distance information between the imaging center and the imaging range, the indication accuracy of the position information of the target object is improved, the man-machine interaction is good, the user friendliness is higher, the operation is simple and convenient, and the accurate determination of the target position in the fields of surveying and mapping, navigation, security and the like is facilitated.
Referring to fig. 13, fig. 13 is a schematic block diagram of a position information determining system according to an embodiment of the present application. The position information determining system 11 may include a processor 111 and a memory 112, and the processor 111 and the memory 112 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the Processor 111 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 112 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk, and may be used to store a computer program.
The position information determining system 11 may further include an image capturing device 113 and a distance measuring device 114, and the like, and the types of the image capturing device 113 and the distance measuring device 114 may be flexibly set according to actual needs.
The processor 111 is configured to call a computer program stored in the memory 112, and when executing the computer program, implement the method for determining location information provided in the embodiment of the present application, for example, the following steps may be performed:
the target object to be detected is determined by the distance measuring device 114, the imaging range of the target object on the image acquisition equipment 113 is acquired, the distance information between the imaging center of the image acquisition equipment 113 and the imaging range is acquired, and the position information of the target object is determined according to the imaging range and the distance information.
In the above embodiments, the descriptions of the embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description of the position information determination method, and are not described herein again.
Referring to fig. 14, fig. 14 is a schematic block diagram of an imaging device according to an embodiment of the present application. The imaging device 12 may include a processor 121 and a memory 122, the processor 121 and the memory 122 being connected by a bus, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the Processor 121 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 122 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk, and may be used to store a computer program.
The imaging device 12 may further include an image capturing device 123, a distance measuring device 124, a display device 125, and the like, the types of the image capturing device 123 and the distance measuring device 124 may be flexibly set according to actual needs, the display device 125 may be configured to display position information of a target object on an image captured by the image capturing device 123, and the display device 125 may also display other information, and specific content is not limited herein.
The processor 121 is configured to call a computer program stored in the memory 122, and when the computer program is executed, implement the method for determining location information provided in the embodiment of the present application, for example, the following steps may be executed:
the target object to be detected is determined by the distance measuring device 124, the imaging range of the target object on the image acquisition equipment 123 is obtained, the distance information between the imaging center of the image acquisition equipment 123 and the imaging range is obtained, and the position information of the target object is determined according to the imaging range and the distance information.
In the above embodiments, the descriptions of the embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description of the position information determination method, and are not described herein again.
Referring to fig. 15, fig. 15 is a schematic block diagram of a pan/tilt head according to an embodiment of the present application. The cradle head 13 may include a processor 131 and a memory 132, and the processor 131 and the memory 132 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the Processor 131 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 132 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk, and may be used to store a computer program.
The pan/tilt head 13 may further include a position information determining system 133, a shaft arm 134, and the like, where the position information determining system 133 may include an image capturing device, a distance measuring device, and the like, types of the image capturing device and the distance measuring device may be flexibly set according to actual needs, and the shaft arm 134 may carry the position information determining system 133, so that the position information determining system 133 moves. For example, the distance measuring device and the image capturing apparatus and the like on the position information determination system 133 may be controlled by the shaft arm 134 to move to appropriate positions so as to determine the target object by the distance measuring device and capture an image and the like containing the target object by the image capturing apparatus.
The processor 131 is configured to call a computer program stored in the memory 132, and when executing the computer program, implement the method for determining location information provided in the embodiment of the present application, for example, the following steps may be performed:
the target object to be detected is determined by the ranging device carried by the position information determining system 133, the imaging range of the target object on the image acquisition equipment carried by the position information determining system 133 is obtained, the distance information between the imaging center and the imaging range of the image acquisition equipment is obtained, and the position information of the target object is determined according to the imaging range and the distance information.
In the above embodiments, the descriptions of the embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description of the position information determination method, and are not described herein again.
Referring to fig. 16, fig. 16 is a schematic block diagram of a movable platform according to an embodiment of the present application. The movable platform 14 may include a processor 141 and a memory 142, the processor 141 and the memory 142 being connected by a bus, such as an I2C (Inter-integrated Circuit) bus.
Wherein the movable platform 14 may comprise a mobile terminal, a drone, a robot or a drone vehicle, etc.
Specifically, the Processor 141 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 142 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk, and may be used to store a computer program.
This movable platform 14 can also include cloud platform 144, platform body 143, image acquisition equipment and range unit etc. and the type of image acquisition equipment and range unit can carry out nimble setting according to actual need, and image acquisition equipment and range unit can carry on movable platform's cloud platform 144, and platform body 143 is used for carrying on this cloud platform 144 to make cloud platform 144 can drive range unit and image acquisition equipment and remove.
The processor 141 is configured to call a computer program stored in the memory 142, and when the computer program is executed, implement the method for determining location information provided in the embodiment of the present application, for example, the following steps may be executed:
the target object to be detected is determined through the distance measuring device carried by the cradle head 144, the imaging range of the target object on the image acquisition equipment carried by the cradle head 144 is obtained, the distance information between the imaging center of the image acquisition equipment and the imaging range is obtained, and the position information of the target object is determined according to the imaging range and the distance information.
In the above embodiments, the descriptions of the embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description of the position information determination method, and are not described herein again.
The embodiment of the present application further provides a computer program, where the computer program includes program instructions, and a processor executes the program instructions to implement the method for determining location information provided in the embodiment of the present application.
In an embodiment of the present application, a storage medium is provided, where the storage medium is a computer-readable storage medium, and a computer program is stored in the storage medium, where the computer program includes program instructions, and a processor executes the program instructions, so as to implement the position information determining method provided in the embodiment of the present application.
The storage medium may be an internal storage unit of the position information determination system or the mobile platform according to any of the foregoing embodiments, for example, a hard disk or a memory of the mobile platform. The storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk provided on the removable platform, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like.
Since the computer program stored in the storage medium can execute any location information determining method provided in the embodiments of the present application, beneficial effects that can be achieved by any location information determining method provided in the embodiments of the present application can be achieved, and detailed descriptions are omitted herein for the foregoing embodiments.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (55)

1. A method for determining location information, comprising:
determining a target object to be detected through a distance measuring device;
acquiring an imaging range of the target object on image acquisition equipment;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
2. The method according to claim 1, wherein the determining the position information of the target object based on the imaging range and the distance information includes:
acquiring the position relation between the distance measuring device and the image acquisition equipment;
and determining the position information of the target object according to the position relation, the imaging range and the distance information.
3. The method according to claim 2, wherein the acquiring of the positional relationship between the distance measuring device and the image pickup apparatus includes:
acquiring external parameters of the distance measuring device and the image acquisition equipment;
acquiring a central connecting line between the distance measuring device and the image acquisition equipment;
and determining an included angle between the distance measuring device and the image acquisition equipment according to the external parameter and the central connecting line to obtain a position relation.
4. The method according to claim 3, wherein the determining the positional information of the target object based on the positional relationship, the imaging range, and the distance information includes:
acquiring the abscissa position and the ordinate position of the imaging center of the image acquisition equipment according to the distance information;
acquiring a sine value and a cosine value of the included angle;
determining a cross-axis position of the object on a cross axis according to the cross-axis position, the imaging range and the sine value;
determining the longitudinal axis position of the target object on the longitudinal axis according to the longitudinal coordinate position, the imaging range and the cosine value;
setting the position of the transverse axis and the position of the longitudinal axis as position information of the target object.
5. The method according to claim 1, wherein the acquiring an imaging range of the target object on an image capturing device and acquiring distance information between an imaging center of the image capturing device and the imaging range include:
acquiring the imaging size of the target object on the image acquisition equipment, which is determined by the ranging signal of the ranging device;
acquiring an imaging distance from the ranging signal to the imaging center;
acquiring the pixel size of a sensor of the image acquisition equipment;
and determining the imaging range of the target object on the distance measuring device and the distance information between the imaging center of the image acquisition equipment and the imaging range according to the imaging size, the imaging distance and the pixel size.
6. The method according to claim 5, wherein the acquiring of the imaging size of the target object on the image capturing device determined by the ranging signal of the ranging device, and the acquiring of the imaging distance of the ranging signal to the imaging center comprise:
acquiring the area of a target object determined by the ranging signal;
acquiring the shortest distance between the optical axis of the imaging center and the center of the target object;
acquiring the focal length of the image acquisition equipment and the target object distance between the distance measuring device and the target object;
and determining the imaging size of the target object on the image acquisition equipment and the imaging distance from the ranging signal to the imaging center according to the area of the target object, the shortest distance, the focal length and the target object distance.
7. The method according to claim 6, wherein the obtaining the area of the target object determined by the ranging signal comprises:
acquiring a divergence angle of a ranging signal of the ranging device;
acquiring a position difference between the image acquisition equipment and the distance measuring device;
and determining the area of the target object according to the divergence angle, the position difference and the distance of the target object.
8. The position information determination method according to claim 6, wherein said acquiring a shortest distance between an optical axis of the imaging center and the target center includes:
acquiring the width of a divergent surface of a ranging signal of the ranging device;
acquiring the physical distance between the image acquisition device and the distance measuring device on the structure;
and determining the shortest distance between the optical axis of the imaging center and the center of the target object according to the area of the target object, the width of the divergent surface and the physical distance.
9. The method according to any one of claims 1 to 8, wherein after determining the position information of the target object based on the imaging range and the distance information, the method further comprises:
and outputting the position information of the target object on the image acquired by the image acquisition equipment for a user to view.
10. The method according to claim 9, wherein the outputting the positional information of the object on the image captured by the image capturing apparatus includes:
and sending the position information of the target object to a mobile terminal so that the mobile terminal outputs the position information of the target object on the image acquired by the image acquisition equipment.
11. The method according to claim 9, wherein the outputting the positional information of the object on the image captured by the image capturing apparatus includes:
outputting the position information of the target object on the image acquired by the image acquisition equipment through voice broadcasting; alternatively, the first and second electrodes may be,
the position information of the target object on the image acquired by the image acquisition equipment is displayed in a pop-up window mode in a display interface; alternatively, the first and second electrodes may be,
displaying an image acquired by the image acquisition equipment where the target object is located in a display interface;
and marking the area of the target object in the image, and displaying the position information of the target object in a display interface.
12. The method according to claim 11, wherein the labeling of the region in which the target object is located within the image includes:
determining a center position of the target object within the image;
drawing a polygon or a circle circumscribed with the target object according to the central position, setting a target color different from a background color of the target object in the image as the color of the polygon or the circle, and obtaining an area where the target object is located; alternatively, the first and second electrodes may be,
extracting the outline of the target object from the image, and labeling the area where the target object is located with a preset color according to the outline.
13. The position information determination method according to any one of claims 1 to 8, wherein the determining of the target object to be detected by the distance measurement device includes:
acquiring a light spot central point of a ranging signal of the ranging device, and setting the light spot central point as a target object to be detected; alternatively, the first and second electrodes may be,
acquiring a light spot central point of a ranging signal of the ranging device;
and determining an object area where the central point of the light spot is located, and setting the object area as a target object.
14. A position information determination system, characterized by comprising:
the distance measuring device is used for determining a target object to be detected;
the image acquisition equipment is used for acquiring images;
a memory for storing a computer program;
a processor for invoking a computer program in the memory for performing:
determining a target object to be detected through the distance measuring device;
acquiring an imaging range of the target object on image acquisition equipment;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
15. The position information determination system according to claim 14, wherein, in determining the position information of the target object from the imaging range and the distance information, the processor further performs:
acquiring the position relation between the distance measuring device and the image acquisition equipment;
and determining the position information of the target object according to the position relation, the imaging range and the distance information.
16. The position information determination system according to claim 15, wherein the processor further performs, when acquiring the positional relationship between the ranging apparatus and the image pickup device:
acquiring external parameters of the distance measuring device and the image acquisition equipment;
acquiring a central connecting line between the distance measuring device and the image acquisition equipment;
and determining an included angle between the distance measuring device and the image acquisition equipment according to the external parameter and the central connecting line to obtain a position relation.
17. The position information determination system according to claim 16, wherein, in determining the position information of the target object from the positional relationship, the imaging range, and the distance information, the processor further performs:
acquiring the abscissa position and the ordinate position of the imaging center of the image acquisition equipment according to the distance information;
acquiring a sine value and a cosine value of the included angle;
determining a cross-axis position of the object on a cross axis according to the cross-axis position, the imaging range and the sine value;
determining the longitudinal axis position of the target object on the longitudinal axis according to the longitudinal coordinate position, the imaging range and the cosine value;
setting the position of the transverse axis and the position of the longitudinal axis as position information of the target object.
18. The position information determination system according to claim 14, wherein the processor further performs, when acquiring an imaging range of the object on an image pickup device, and acquiring distance information between an imaging center of the image pickup device and the imaging range:
acquiring the imaging size of the target object on the image acquisition equipment, which is determined by the ranging signal of the ranging device;
acquiring an imaging distance from the ranging signal to the imaging center;
acquiring the pixel size of a sensor of the image acquisition equipment;
and determining the imaging range of the target object on the distance measuring device and the distance information between the imaging center of the image acquisition equipment and the imaging range according to the imaging size, the imaging distance and the pixel size.
19. The position information determination system according to claim 18, wherein when acquiring the imaging size of the target object on the image acquisition apparatus determined by the ranging signal of the ranging device, and acquiring the imaging distance of the ranging signal to the imaging center include, the processor further performs:
acquiring the area of a target object determined by the ranging signal;
acquiring the shortest distance between the optical axis of the imaging center and the center of the target object;
acquiring the focal length of the image acquisition equipment and the target object distance between the distance measuring device and the target object;
and determining the imaging size of the target object on the image acquisition equipment and the imaging distance from the ranging signal to the imaging center according to the area of the target object, the shortest distance, the focal length and the target object distance.
20. The position information determination system according to claim 19, wherein the processor further performs, when acquiring the area of the target object determined by the ranging signal:
acquiring a divergence angle of a ranging signal of the ranging device;
acquiring a position difference between the image acquisition equipment and the distance measuring device;
and determining the area of the target object according to the divergence angle, the position difference and the distance of the target object.
21. The position information determination system according to claim 19, wherein, in acquiring the shortest distance between the optical axis of the imaging center and the center of the target object, the processor further performs:
acquiring the width of a divergent surface of a ranging signal of the ranging device;
acquiring the physical distance between the image acquisition device and the distance measuring device on the structure;
and determining the shortest distance between the optical axis of the imaging center and the center of the target object according to the area of the target object, the width of the divergent surface and the physical distance.
22. The position information determination system according to any one of claims 14 to 21, wherein after determining the position information of the target object based on the imaging range and the distance information, the processor further performs:
and outputting the position information of the target object on the image acquired by the image acquisition equipment for a user to view.
23. The position information determination system according to any one of claims 14 to 21, wherein the processor further performs, when determining the target object to be detected by the distance measuring device:
acquiring a light spot central point of a ranging signal of the ranging device, and setting the light spot central point as a target object to be detected; alternatively, the first and second electrodes may be,
acquiring a light spot central point of a ranging signal of the ranging device;
and determining an object area where the central point of the light spot is located, and setting the object area as a target object.
24. An image forming apparatus, comprising:
the distance measuring device is used for determining a target object to be detected;
the image acquisition equipment is used for acquiring images;
a display device for displaying position information of the target object on the image;
a memory for storing a computer program;
a processor for invoking a computer program in the memory for performing:
determining a target object to be detected through the distance measuring device;
acquiring an imaging range of the target object on image acquisition equipment;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
25. The imaging apparatus of claim 24, wherein in determining the position information of the target object based on the imaging range and the distance information, the processor further performs:
acquiring the position relation between the distance measuring device and the image acquisition equipment;
and determining the position information of the target object according to the position relation, the imaging range and the distance information.
26. The imaging apparatus according to claim 25, wherein in acquiring the positional relationship between the ranging apparatus and the image pickup device, the processor further performs:
acquiring external parameters of the distance measuring device and the image acquisition equipment;
acquiring a central connecting line between the distance measuring device and the image acquisition equipment;
and determining an included angle between the distance measuring device and the image acquisition equipment according to the external parameter and the central connecting line to obtain a position relation.
27. The imaging apparatus according to claim 26, wherein in determining the position information of the target object from the positional relationship, the imaging range, and the distance information, the processor further performs:
acquiring the abscissa position and the ordinate position of the imaging center of the image acquisition equipment according to the distance information;
acquiring a sine value and a cosine value of the included angle;
determining a cross-axis position of the object on a cross axis according to the cross-axis position, the imaging range and the sine value;
determining the longitudinal axis position of the target object on the longitudinal axis according to the longitudinal coordinate position, the imaging range and the cosine value;
setting the position of the transverse axis and the position of the longitudinal axis as position information of the target object.
28. The imaging apparatus according to claim 24, wherein in acquiring an imaging range of the object on the image capturing device and acquiring distance information between an imaging center of the image capturing device and the imaging range, the processor further performs:
acquiring the imaging size of the target object on the image acquisition equipment, which is determined by the ranging signal of the ranging device;
acquiring an imaging distance from the ranging signal to the imaging center;
acquiring the pixel size of a sensor of the image acquisition equipment;
and determining the imaging range of the target object on the distance measuring device and the distance information between the imaging center of the image acquisition equipment and the imaging range according to the imaging size, the imaging distance and the pixel size.
29. The imaging apparatus of claim 28, wherein when obtaining the range signal of the range finding apparatus determines an imaging size of the target object on the image capturing device, and obtaining the imaging distance of the range finding signal to the imaging center comprises, the processor further performs:
acquiring the area of a target object determined by the ranging signal;
acquiring the shortest distance between the optical axis of the imaging center and the center of the target object;
acquiring the focal length of the image acquisition equipment and the target object distance between the distance measuring device and the target object;
and determining the imaging size of the target object on the image acquisition equipment and the imaging distance from the ranging signal to the imaging center according to the area of the target object, the shortest distance, the focal length and the target object distance.
30. The imaging apparatus of claim 29, wherein in acquiring the target area determined by the ranging signal, the processor further performs:
acquiring a divergence angle of a ranging signal of the ranging device;
acquiring a position difference between the image acquisition equipment and the distance measuring device;
and determining the area of the target object according to the divergence angle, the position difference and the distance of the target object.
31. The imaging apparatus of claim 29, wherein in obtaining the shortest distance between the optical axis of the imaging center and the center of the target object, the processor further performs:
acquiring the width of a divergent surface of a ranging signal of the ranging device;
acquiring the physical distance between the image acquisition device and the distance measuring device on the structure;
and determining the shortest distance between the optical axis of the imaging center and the center of the target object according to the area of the target object, the width of the divergent surface and the physical distance.
32. The imaging apparatus of any of claims 24 to 31, wherein after determining the position information of the target object based on the imaging range and the distance information, the processor further performs:
and outputting the position information of the target object on the image acquired by the image acquisition equipment for a user to view.
33. The imaging apparatus of any of claims 24 to 31, wherein in determining the target object to be detected by the ranging apparatus, the processor further performs:
acquiring a light spot central point of a ranging signal of the ranging device, and setting the light spot central point as a target object to be detected; alternatively, the first and second electrodes may be,
acquiring a light spot central point of a ranging signal of the ranging device;
and determining an object area where the central point of the light spot is located, and setting the object area as a target object.
34. A head, comprising:
a location information determination system;
a shaft arm for moving the position information determination system;
a memory for storing a computer program;
a processor for invoking a computer program in the memory to perform:
determining a target object to be detected through a distance measuring device carried by the position information determining system;
acquiring an imaging range of the target object on image acquisition equipment carried by the position information determining system;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
35. A head according to claim 34, wherein said processor, in determining position information of said target object from said imaging range and said distance information, further performs:
acquiring the position relation between the distance measuring device and the image acquisition equipment;
and determining the position information of the target object according to the position relation, the imaging range and the distance information.
36. A head according to claim 35, wherein said processor, in acquiring the positional relationship between said distance measuring device and said image acquisition apparatus, further performs:
acquiring external parameters of the distance measuring device and the image acquisition equipment;
acquiring a central connecting line between the distance measuring device and the image acquisition equipment;
and determining an included angle between the distance measuring device and the image acquisition equipment according to the external parameter and the central connecting line to obtain a position relation.
37. A head according to claim 36, wherein said processor, in determining position information of said target object from said positional relationship, said imaging range and said distance information, further performs:
acquiring the abscissa position and the ordinate position of the imaging center of the image acquisition equipment according to the distance information;
acquiring a sine value and a cosine value of the included angle;
determining a cross-axis position of the object on a cross axis according to the cross-axis position, the imaging range and the sine value;
determining the longitudinal axis position of the target object on the longitudinal axis according to the longitudinal coordinate position, the imaging range and the cosine value;
setting the position of the transverse axis and the position of the longitudinal axis as position information of the target object.
38. A holder according to claim 34, wherein said processor, in acquiring an imaging range of said object on an image capturing device carried by said position information determining system, and acquiring distance information between an imaging center of said image capturing device and said imaging range, further performs:
acquiring the imaging size of the target object on the image acquisition equipment, which is determined by the ranging signal of the ranging device;
acquiring an imaging distance from the ranging signal to the imaging center;
acquiring the pixel size of a sensor of the image acquisition equipment;
and determining the imaging range of the target object on the distance measuring device and the distance information between the imaging center of the image acquisition equipment and the imaging range according to the imaging size, the imaging distance and the pixel size.
39. A tripod head according to claim 38, wherein, when acquiring the range signal of said range finding device determines the size of the image of said target on said image acquisition apparatus and acquiring the imaging distance of said range finding signal to said imaging center comprises, said processor further performs:
acquiring the area of a target object determined by the ranging signal;
acquiring the shortest distance between the optical axis of the imaging center and the center of the target object;
acquiring the focal length of the image acquisition equipment and the target object distance between the distance measuring device and the target object;
and determining the imaging size of the target object on the image acquisition equipment and the imaging distance from the ranging signal to the imaging center according to the area of the target object, the shortest distance, the focal length and the target object distance.
40. A head according to claim 39, wherein said processor, in acquiring the area of the target determined by said range finding signal, further performs:
acquiring a divergence angle of a ranging signal of the ranging device;
acquiring a position difference between the image acquisition equipment and the distance measuring device;
and determining the area of the target object according to the divergence angle, the position difference and the distance of the target object.
41. A head according to claim 39, wherein said processor, in acquiring a shortest distance between an optical axis of said imaging center and said target center, further performs:
acquiring the width of a divergent surface of a ranging signal of the ranging device;
acquiring the physical distance between the image acquisition device and the distance measuring device on the structure;
and determining the shortest distance between the optical axis of the imaging center and the center of the target object according to the area of the target object, the width of the divergent surface and the physical distance.
42. A head according to any one of claims 34 to 41, wherein said processor, after determining position information of said target object on the basis of said imaging range and said distance information, further performs:
and outputting the position information of the target object on the image acquired by the image acquisition equipment for a user to view.
43. A head according to any one of claims 34 to 41, wherein said processor, in determining an object to be detected by means of a ranging device carried by said position information determining system, further performs:
acquiring a light spot central point of a ranging signal of the ranging device, and setting the light spot central point as a target object to be detected; alternatively, the first and second electrodes may be,
acquiring a light spot central point of a ranging signal of the ranging device;
and determining an object area where the central point of the light spot is located, and setting the object area as a target object.
44. A movable platform, comprising:
a holder;
the platform body is used for carrying the holder;
a memory for storing a computer program;
a processor for invoking a computer program in the memory to perform:
determining a target object to be detected through a distance measuring device carried by the holder;
acquiring an imaging range of the target object on image acquisition equipment carried by the holder;
acquiring distance information between an imaging center of the image acquisition equipment and the imaging range;
and determining the position information of the target object according to the imaging range and the distance information.
45. The movable platform of claim 44, wherein the movable platform is a mobile terminal, an aircraft, a robot, or a vehicle.
46. The movable platform of claim 44, wherein in determining the position information of the target object based on the imaging range and the distance information, the processor further performs:
acquiring the position relation between the distance measuring device and the image acquisition equipment;
and determining the position information of the target object according to the position relation, the imaging range and the distance information.
47. The movable platform of claim 46, wherein in obtaining the positional relationship between the range-finding device and the image capture device, the processor further performs:
acquiring external parameters of the distance measuring device and the image acquisition equipment;
acquiring a central connecting line between the distance measuring device and the image acquisition equipment;
and determining an included angle between the distance measuring device and the image acquisition equipment according to the external parameter and the central connecting line to obtain a position relation.
48. The movable platform of claim 47, wherein in determining the position information of the target object based on the positional relationship, the imaging range, and the distance information, the processor further performs:
acquiring the abscissa position and the ordinate position of the imaging center of the image acquisition equipment according to the distance information;
acquiring a sine value and a cosine value of the included angle;
determining a cross-axis position of the object on a cross axis according to the cross-axis position, the imaging range and the sine value;
determining the longitudinal axis position of the target object on the longitudinal axis according to the longitudinal coordinate position, the imaging range and the cosine value;
setting the position of the transverse axis and the position of the longitudinal axis as position information of the target object.
49. The movable platform of claim 44, wherein in obtaining an imaging range of the target object on an image capture device carried by the pan/tilt head, and in obtaining distance information between an imaging center of the image capture device and the imaging range, the processor further performs:
acquiring the imaging size of the target object on the image acquisition equipment, which is determined by the ranging signal of the ranging device;
acquiring an imaging distance from the ranging signal to the imaging center;
acquiring the pixel size of a sensor of the image acquisition equipment;
and determining the imaging range of the target object on the distance measuring device and the distance information between the imaging center of the image acquisition equipment and the imaging range according to the imaging size, the imaging distance and the pixel size.
50. The movable platform of claim 49, wherein when acquiring the range signal of the range finder device determines an imaging size of the target object on the image capture device, and acquiring an imaging distance of the range signal to the imaging center comprises, the processor further performs:
acquiring the area of a target object determined by the ranging signal;
acquiring the shortest distance between the optical axis of the imaging center and the center of the target object;
acquiring the focal length of the image acquisition equipment and the target object distance between the distance measuring device and the target object;
and determining the imaging size of the target object on the image acquisition equipment and the imaging distance from the ranging signal to the imaging center according to the area of the target object, the shortest distance, the focal length and the target object distance.
51. The movable platform of claim 50, wherein in acquiring the target area determined by the ranging signal, the processor further performs:
acquiring a divergence angle of a ranging signal of the ranging device;
acquiring a position difference between the image acquisition equipment and the distance measuring device;
and determining the area of the target object according to the divergence angle, the position difference and the distance of the target object.
52. The movable platform of claim 50, wherein in obtaining the shortest distance between the optical axis of the imaging center and the center of the target object, the processor further performs:
acquiring the width of a divergent surface of a ranging signal of the ranging device;
acquiring the physical distance between the image acquisition device and the distance measuring device on the structure;
and determining the shortest distance between the optical axis of the imaging center and the center of the target object according to the area of the target object, the width of the divergent surface and the physical distance.
53. The movable platform of any one of claims 44-52, wherein after determining the position information of the target object based on the imaging range and the distance information, the processor further performs:
and outputting the position information of the target object on the image acquired by the image acquisition equipment for a user to view.
54. The movable platform of any one of claims 44-52, wherein the processor, in determining the target object to be detected by a range-finding device carried by the pan-tilt, further performs:
acquiring a light spot central point of a ranging signal of the ranging device, and setting the light spot central point as a target object to be detected; alternatively, the first and second electrodes may be,
acquiring a light spot central point of a ranging signal of the ranging device;
and determining an object area where the central point of the light spot is located, and setting the object area as a target object.
55. A storage medium for storing a computer program which is loaded by a processor to execute the position information determination method according to any one of claims 1 to 13.
CN202080005645.8A 2020-02-28 2020-02-28 Position information determining method, apparatus and storage medium Pending CN112955711A (en)

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