CN103115613A - Three-dimensional space positioning method - Google Patents
Three-dimensional space positioning method Download PDFInfo
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- CN103115613A CN103115613A CN2013100575432A CN201310057543A CN103115613A CN 103115613 A CN103115613 A CN 103115613A CN 2013100575432 A CN2013100575432 A CN 2013100575432A CN 201310057543 A CN201310057543 A CN 201310057543A CN 103115613 A CN103115613 A CN 103115613A
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Abstract
The invention provides a three-dimensional space positioning method. The method comprises a setting process and a positioning process, wherein a corresponding relationship between image pixel coordinates and mapping point space coordinates on a calibration panel is established in the setting process, and mapping points on the calibration panel are defined as intersection points of actual space points imaged on a camera and lines of the camera on the calibration panel; two-dimensional coordinates of a target object can be identified by an image processing technology in the positioning process, and three-dimensional coordinates of the mapping points on the calibration panel can be calculated according to the corresponding relationship; and the camera and the mapping points on the calibration panel are connected to form two space lines, and the intersection point of the two space lines is a target object. The method provided the invention can be applied to a situation not requiring high accuracy to realize the three-dimensional space positioning of the object; and the corresponding relationship is established by manually moving the calibration panel, and the target object is positioned by combining certain measurement data, so that a complicated camera calibration process can be avoided, and the positioning method is simple and direct and is easy to implement.
Description
Technical field
The present invention relates to that image is processed and the machine vision technique field, particularly a kind of spatial three-dimensional positioning method that utilizes two cameras realizations.
Background technology
Utilize two cameras to realize that the spatial three-dimensional positioning method of object adopts technique of binocular stereoscopic vision usually, by the two width images of imaging device from different position acquisition testees, obtain the object dimensional geological information by the position deviation between the computed image corresponding point.Relate to the localization method under perfect condition as 200910108185.7 " a kind of object dimensional positioning method and video cameras ", 201210075073.8 " a kind of space three-dimensional location technology operating system ", suppose that namely two cameras are identical, has identical focal length, optical axis is fully parallel, there is not image deformation in camera lens, according to similar triangle theory, utilize the image coordinate p of object on two camera imaging planes
1(x
l, y
l), p
2(x
r, y
r), the distance b between camera focal distance f, two cameras, can try to achieve object dimensional coordinate (x
w, y
w, z
w):
In fact, complete parallel can't the accomplishing of optical axis that allows two cameras, so there is larger error in the location of realizing under perfect condition.In order to improve precision, technique of binocular stereoscopic vision is first demarcated camera usually, namely determine object and its position corresponding relation between the picture point on the imaging plane of camera in world coordinate system, gathered simultaneously again the location drawing picture of target object by two cameras, the camera inside and outside parameter of being obtained by demarcation is completed the three-dimensional localization of object, as Liu of Central China University of Science and Technology Jingjing Master's thesis " based on the three-dimensional localization techniques research of binocular stereo vision ", 201110390863.0 " based on the space-location methods of binocular stereo vision ".Camera calibration is to obtain the key link of three-dimensional information from two dimensional image, and precision is high, but algorithm is too complicated, operates too loaded down with trivial details.
Summary of the invention
The present invention is for avoiding the existing weak point of above-mentioned prior art, a kind of method that realizes the object space three-dimensional localization that can be suitable in the not high occasion of accuracy requirement is provided, avoid complicated camera calibration process, determine the corresponding relation between the mapping point volume coordinate on image pixel coordinate and scaling board by manual mobile scaling board, and utilize described corresponding relation and some measurement data to realize the space three-dimensional location of testee.
Technical solution problem of the present invention adopts following technical scheme:
A kind of spatial three-dimensional positioning method of the present invention comprises setting up procedure and position fixing process two parts, and described setting up procedure comprises the steps:
(1) prepare the identical alternate scaling board of black and white lattice of image resolution ratio length breadth ratio that a length breadth ratio and camera are shot;
(2) two cameras are installed, are made its optical axis substantially parallel, measure and record two distances between camera;
(3) respectively two cameras are done following same treatment: open camera, move described scaling board and observe the image that described camera is taken along the camera optical axis, guarantee that the scaling board center is on the picture centre position, mobile scaling board measures and records the distance between scaling board and camera this moment until scaling board is filled the image that described camera is taken fully;
(4) set up respectively the corresponding relation between the mapping point volume coordinate on pixel coordinate and corresponding scaling board on the image that each camera takes, on described scaling board, mapping point is defined as the real space point of imaging on camera and the intersection point of camera line friendship scaling board;
Described position fixing process comprises the steps:
(1) open simultaneously two cameras, take the target object image that comprises the needs location;
(2) identify target object by image processing techniques, and calculate the two-dimensional coordinate of target object;
(3) corresponding relation on the pixel coordinate on the image that the camera of setting up according to described setting up procedure is taken and corresponding scaling board between the mapping point volume coordinate, by the two-dimensional coordinate of target object in two width images, calculate respectively the three-dimensional coordinate of mapping point on two scaling boards;
(4) connect two space lines of mapping point formation on camera and corresponding scaling board;
(5) calculate the intersection point of two space lines, as the three-dimensional coordinate of target object.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, a kind of spatial three-dimensional positioning method of the present invention is by setting up the corresponding relation localizing objects object between the mapping point volume coordinate on image pixel coordinate and scaling board, and localization method is simply direct, easy to understand;
2, a kind of spatial three-dimensional positioning method of the present invention has been avoided complicated loaded down with trivial details camera calibration process, determines the corresponding relation between the mapping point volume coordinate on image pixel coordinate and scaling board by manual mobile scaling board, and easy operating is realized.
Description of drawings
Fig. 1 is the scaling board that a kind of spatial three-dimensional positioning method of the present invention uses.
Fig. 2 is the 3 d space coordinate system that a kind of spatial three-dimensional positioning method of the present invention is set.
Fig. 3 be in a kind of spatial three-dimensional positioning method of the present invention mobile scaling board until the scaling board image that scaling board is shot when filling the image that described camera takes fully.
Fig. 4 is that a kind of spatial three-dimensional positioning method of the present invention moves the scaling board schematic diagram.
Fig. 5 is a kind of spatial three-dimensional positioning method schematic diagram of the present invention.
Fig. 6 is a kind of spatial three-dimensional positioning method schematic diagram of the present invention.
Symbol in figure:
Between camera C1, camera C2, camera C1 and camera C2 apart from d
Cam1_com2, mobile scaling board until scaling board when filling the image that described camera takes fully between scaling board and camera C1 and C2 apart from d
cb1And d
cb2, corresponding scaling board plane B2, the P of target object P, camera C1 imaging plane V1, scaling board plane B1, camera C2 that camera C2 imaging plane V2, camera C1 are corresponding and the line of C1 hand over imaging plane V1 in a P
1', the line of P and C1 hands over scaling board plane B1 in a P
1", the line of P and C2 hands over imaging plane V2 in a P
2', the line of P and C2 hands over scaling board plane B2 in a P
2".
Below pass through embodiment, and the invention will be further described by reference to the accompanying drawings, but embodiments of the present invention are not limited to this.
Embodiment
A kind of spatial three-dimensional positioning method of the present embodiment comprises setting up procedure and position fixing process two parts, and described setting up procedure comprises the steps:
(1) prepare the identical alternate scaling board of black and white lattice of image resolution ratio length breadth ratio that a length breadth ratio and camera are shot;
If the resolution of camera photographic images is M * N, the wide height of scaling board is respectively BoardWidth and BoardHeight, requirement
The resolution of the present embodiment camera photographic images is 1024 * 768, and scaling board referring to Fig. 1, is 8 * 6 the alternate cardboard of black and white lattice, and wide height is respectively 40cm and 30cm, satisfies formula (1).
(2) two cameras are installed, are made its optical axis substantially parallel, measure and record between two cameras apart from d
Com1_com2
For sake of convenience, set up rectangular coordinate system in space, referring to Fig. 2, horizontal direction is Z axis, vertical direction is Y-axis, perpendicular to the YZ plane be X-axis, take the position at camera C1 place as true origin O (0,0,0), camera C2 position coordinate is (0, d
Com1_com2, 0).
(3) respectively two cameras are done following same treatment: open camera, move described scaling board and observe the image that described camera is taken along the camera optical axis, guarantee that the scaling board center is on the picture centre position, mobile scaling board is until scaling board is filled the image that described camera is taken fully, referring to Fig. 3, this moment measure and record between scaling board and camera apart from d
cb1And d
cb2, referring to Fig. 4.
(4) set up respectively the corresponding relation between the mapping point volume coordinate on pixel coordinate and corresponding scaling board on the image that each camera takes, on described scaling board, mapping point is defined as the real space point of imaging on camera and the intersection point of camera line friendship scaling board;
Take camera C1 as example, what camera adopted is and the similar perspective projection imaging model of human visual system.Referring to Fig. 5, basic perspective projection model is made of viewpoint and view plane two parts, and viewpoint position can be regarded as the position that camera is placed, and view plane has infinite a plurality of.The imaging plane V1 of camera is a view plane, in described setting up procedure, when scaling board moved along the camera optical axis, plane, scaling board place was all view plane, until scaling board is when filling the image that described camera takes fully, scaling board place plane B1 is a view plane equally.Hand over imaging plane place view plane V1 in a P for the line of any point P in real world and viewpoint C1
1', P
1' be the imaging point of P on imaging plane; The line of P and viewpoint C1 hands over scaling board place view plane B1 in a P
1", P
1" be mapping point on described scaling board.
For camera C1, the pixel of choosing the lower left of image is initial point O1, and the horizontal sides direction of image is the x1 axle, and the perpendicular edge direction of image is the y1 axle.By the mode of the table of comparisons, record when not having lens distortion the corresponding relation on the image pixel coordinate that described camera C1 takes and scaling board between the mapping point volume coordinate, P
1Pixel two-dimensional coordinate on the image that ' expression camera C1 takes, P
1" mapping point three-dimensional coordinate on the expression scaling board.
P
1′(0，0)→P
1″(-BoardWidth/2，-BoardHeight/2，d
cb1)
P
1′(M/8，0)→P
1″(-BoardWidth/2+BoardWidth/8，-BoardHeight/2，d
cb1)
P
1′(M/4，0)→P
1″(-BoardWidth/2+BoardWidth/4，-BoardHeight/2，d
cb1)
P
1′(3*M/4，0)→P
1″(-BoardWidth/2+3*BoardWidth/8，-BoardHeight/2，d
cb1)
P
1′(M/2，0)→P
1″(0，-BoardHeight/2，d
cb1)
P
1′(0，N/6)→P
1″(-BoardWidth/2，-BoardHeight/2+BoardWidth/6，d
cb1)
P
1′(M/8，N/6)→P
1″(-BoardWidth/2+BoardWidth/8，-BoardHeight/2++BoardHeight/6，d
cb1)
......
The resolution of the present embodiment camera photographic images is 1024 * 768, the wide height of scaling board is respectively 40cm and 30cm, when not having lens distortion, the table of comparisons on the pixel two-dimensional coordinate on the image that described camera C1 takes and scaling board between the mapping point three-dimensional coordinate is as follows:
P
1′(0，0)→P
1″(-20，-15，d
cb1)
P
1′(128，0)→P
1″(-15，-15，d
cb1)
P
1′(256，0)→P
1″(-10，-15，d
cb1)
P
1′(384，0)→P
1″(-5，-15，d
cb1)
P
1′(512，0)→P
1″(0，-15，d
cb1)
P
1′(0，128)→P
1″(-20，-10，d
cb1)
P
1′(128，128)→P
1″(-15，-10，d
cb1)
......
But all there is distortion in the image that general camera is taken, actual P
1' (x, y) can be obtained by the Corner Detection Algorithm of image processing techniques.The corresponding relation of mapping point three-dimensional coordinate on the angle point two-dimensional coordinate on the image of camera C1 shooting and scaling board is designated as f
1: P
1' (x, y) → P
1" (x, y, z).
Described position fixing process comprises the steps:
(1) open simultaneously two cameras, take the target object image that comprises the needs location;
(2) identify target object by image processing techniques, and calculate the two-dimensional coordinate of target object;
(3) corresponding relation on the pixel coordinate on the image that the camera of setting up according to described setting up procedure is taken and corresponding scaling board between the mapping point volume coordinate, by the two-dimensional coordinate of target object in two width images, calculate respectively the three-dimensional coordinate of mapping point on two scaling boards;
Corresponding relation f on pixel coordinate on the image that the camera C1 that utilizes formula (2) to set up according to described setting up procedure takes and scaling board between the mapping point volume coordinate
1, obtain on the image that camera C1 takes the three-dimensional coordinate P of mapping point on the corresponding scaling board of target object
1" (x ", y ", z ").Wherein, (x ', y ') be the two-dimensional coordinate of target object in the image that camera C1 takes, (x '
Near, y '
Near) be from the nearest angular coordinate of detected target object (x ', y '), f
1x(x '
Near, y '
Near) be the x coordinate of mapping point on scaling board, f
1y(x '
Near, y '
Near) be the y coordinate of mapping point on scaling board.
In like manner, the corresponding relation f on the pixel coordinate on the image that the camera C2 that utilizes formula (3) to set up according to described setting up procedure takes and scaling board between the mapping point volume coordinate
2, obtain on the image that camera C2 takes the three-dimensional coordinate P of mapping point on the corresponding scaling board of target object
2" (x ", y ", z "):
(4) connect two space lines of mapping point formation on camera and corresponding scaling board;
Referring to Fig. 6, connect C1 and P
1", C2 and P
2" form respectively two space lines.
(5) calculate the intersection point of two space lines, as the three-dimensional coordinate of target object.
Article two, the space line intersection point is the object position, and due to the existence of error, two space lines may be without intersection point, therefore with the perpendicular bisector mid point of two space lines three-dimensional coordinate as target object.Described two space line perpendicular bisector mid-point computation methods are how much categories of space multistory, no longer describe in detail.
In described setting up procedure, the chequered with black and white grid of scaling board is more, and setting accuracy is higher.
Claims (1)
1. a spatial three-dimensional positioning method, comprise setting up procedure and position fixing process two parts, and described setting up procedure comprises the steps:
(1) prepare the identical alternate scaling board of black and white lattice of image resolution ratio length breadth ratio that a length breadth ratio and camera are shot;
(2) two cameras are installed, are made its optical axis substantially parallel, measure and record two distances between camera;
(3) respectively two cameras are done following same treatment: open camera, move described scaling board and observe the image that described camera is taken along the camera optical axis, guarantee that the scaling board center is on the picture centre position, mobile scaling board measures and records the distance between scaling board and camera this moment until scaling board is filled the image that described camera is taken fully;
(4) set up respectively the corresponding relation between the mapping point volume coordinate on pixel coordinate and corresponding scaling board on the image that each camera takes, on described scaling board, mapping point is defined as the real space point of imaging on camera and the intersection point of camera line friendship scaling board;
Described position fixing process comprises the steps:
(1) open simultaneously two cameras, take the target object image that comprises the needs location;
(2) identify target object by image processing techniques, and calculate the two-dimensional coordinate of target object;
(3) corresponding relation on the pixel coordinate on the image that the camera of setting up according to described setting up procedure is taken and corresponding scaling board between the mapping point volume coordinate, by the two-dimensional coordinate of target object in two width images, calculate respectively the three-dimensional coordinate of mapping point on two scaling boards;
(4) connect two space lines of mapping point formation on camera and corresponding scaling board;
(5) calculate the intersection point of two space lines, as the three-dimensional coordinate of target object.
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| CN103471500A (en) * | 2013-06-05 | 2013-12-25 | 江南大学 | Conversion method of plane coordinate and space three-dimensional coordinate point in vision of monocular machine |
| CN103593658A (en) * | 2013-11-22 | 2014-02-19 | 中国电子科技集团公司第三十八研究所 | Three-dimensional space positioning system based on infrared image recognition |
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| CN103471500A (en) * | 2013-06-05 | 2013-12-25 | 江南大学 | Conversion method of plane coordinate and space three-dimensional coordinate point in vision of monocular machine |
| CN103471500B (en) * | 2013-06-05 | 2016-09-21 | 江南大学 | A kind of monocular camera machine vision midplane coordinate and the conversion method of 3 d space coordinate point |
| CN103593658A (en) * | 2013-11-22 | 2014-02-19 | 中国电子科技集团公司第三十八研究所 | Three-dimensional space positioning system based on infrared image recognition |
| CN103940407A (en) * | 2014-02-13 | 2014-07-23 | 鲁东大学 | Method used for gully erosion extraction based on landform and remote sensing image fusion technology |
| CN103940407B (en) * | 2014-02-13 | 2016-09-07 | 鲁东大学 | One extracts coombe method based on landform and Remote Sensing Image Fusion technology |
| CN105865327A (en) * | 2015-01-22 | 2016-08-17 | 成都飞机工业（集团）有限责任公司 | Zoom photograph-based relative position measurement method |
| CN104776832A (en) * | 2015-04-16 | 2015-07-15 | 浪潮软件集团有限公司 | Method, set top box and system for positioning objects in space |
| CN108616753B (en) * | 2016-12-29 | 2020-08-04 | 深圳超多维科技有限公司 | Naked eye three-dimensional display method and device |
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| CN108731644B (en) * | 2017-09-12 | 2020-08-11 | 武汉天际航信息科技股份有限公司 | Oblique photography mapping method and system based on vertical auxiliary line |
| CN109751992B (en) * | 2017-11-03 | 2021-07-20 | 北京凌宇智控科技有限公司 | Indoor three-dimensional space-oriented positioning correction method, positioning method and equipment thereof |
| CN109751992A (en) * | 2017-11-03 | 2019-05-14 | 北京凌宇智控科技有限公司 | The positioning correction method of three-dimensional space, localization method and its equipment in faced chamber |
| CN108648237A (en) * | 2018-03-16 | 2018-10-12 | 中国科学院信息工程研究所 | A kind of space-location method of view-based access control model |
| CN108648237B (en) * | 2018-03-16 | 2022-05-03 | 中国科学院信息工程研究所 | Space positioning method based on vision |
| CN109341530A (en) * | 2018-10-25 | 2019-02-15 | 华中科技大学 | Object point positioning method and system in a kind of binocular stereo vision |
| CN110670860A (en) * | 2019-10-15 | 2020-01-10 | 广东博智林机器人有限公司 | Laying method, laying robot and storage medium |
| WO2021073458A1 (en) * | 2019-10-15 | 2021-04-22 | 广东博智林机器人有限公司 | Laying method and laying robot |
| CN112066950A (en) * | 2020-07-24 | 2020-12-11 | 北京空间机电研究所 | Multi-optical-axis parallel mapping camera single-center projection conversion method |
| WO2022188733A1 (en) * | 2021-03-08 | 2022-09-15 | Hangzhou Taro Positioning Technology Co., Ltd. | Scenario triggering and interaction based on target positioning and identification |
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