CN104197901A - Image distance measurement method based on marker - Google Patents
Image distance measurement method based on marker Download PDFInfo
- Publication number
- CN104197901A CN104197901A CN201410480386.0A CN201410480386A CN104197901A CN 104197901 A CN104197901 A CN 104197901A CN 201410480386 A CN201410480386 A CN 201410480386A CN 104197901 A CN104197901 A CN 104197901A
- Authority
- CN
- China
- Prior art keywords
- image
- marker
- camera head
- method based
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an image distance measurement method based on a marker. The method comprises the following steps: (S100) setting the marker meeting image acquisition requirements on a target object in advance; (S200) acquiring a target object image with the complete marker through a camera device, and extracting a marker image from the target object image by adopting an image processing technique; (S300) converting according to an imaging principle of the marker image by utilizing the marked camera device to complete distance measurement. The method is ingenious in design. By research on the imaging principle, the image processing process is introduced in monocular distance measurement; the method obtains accurate required data by setting the marker easy to identify and utilizing accurate extraction of a computer on the marker image, so that the high-precision distance measurement is easily and effectively realized. Compared with current multi-view distance measurement, the method significantly reduces the quantity and investment of the camera device, does not needs additional sensors and greatly reduces cost and power consumption of equipment. Compared with the current laser distance measurement, the method can still realize high-accuracy distance measurement without precise direction positioning.
Description
Technical field
The invention belongs to monocular ranging technology field, specifically, relate to a kind of in noncontact situation the image distance-finding method of the camera head based on having demarcated to the target object of tape identification thing.
Background technology
Monocular range finding, also claims one camera range finding, in its process, conventionally utilizes target sizes, according to the relation of image distance, object distance, target size, image size, obtains object distance, and as shown in Figure 1, following formula is the computing formula in general monocular ranging process to image-forming principle:
By above formula, can reach the process that object is found range.
Aspect existing contactless ranging technology, theory that should be with the most use and method mainly contain many range estimation distances and laser ranging.The quick parallax distance-finding method > > that keeps away barrier for SUAV (small unmanned aerial vehicle) mono-kind of the < of Wang Yifan < mentions, many range estimations are used a plurality of structures and the identical CCD(Charge-coupled Device of performance apart from (all take below three range estimations apart from be example)) be placed on horn and fuselage below is taken same object, three range estimations are apart from requiring three CCD optical axis coplines and parallel, then the method by geometry just can obtain this object at the coordinate in camera coordinate system, determined its relative position.Three range estimations are all less apart from the parameter word in calculating, and the result obtaining all error is larger, can only be for fuzzy measurement.Laser ranging is mainly to adopt laser range finder to carry out, and Sun Ting has specifically set forth principle and the method for laser range finder in the research > of < < hand-held laser rangefinder > mono-literary composition.Laser range finder is to utilize laser to carry out the Accurate Determining instrument of (claiming again laser ranging) to the distance of target.Laser range finder penetrates a branch of very thin laser to target when work, the laser beam being reflected by photovalve receiving target, and timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from observer.Although laser ranging precision is high, its directivity is very strong, and divergence is very low, and cost is relatively high.How to solve the problem that resource consumption is large, precision is not high enough existing in many range estimation distances simultaneously, and the problem that in laser ranging, Objective is too strong, divergence is too low, be the problem of those skilled in the art's primary study always, but also there are no breakthrough progress, announce at present.
Summary of the invention
In order to solve the problems that exist in above-mentioned prior art, the present invention puts forth effort on monocular ranging technology field, and a kind of novel, with low cost, simple and convenient effectively image distance-finding method based on marker is provided.
To achieve these goals, the technical solution used in the present invention is as follows:
Image distance-finding method based on marker, comprises the steps:
(S100) on object, arrange in advance and meet the marker that Image Acquisition requires;
(S200) by camera head, obtain the object image with full identity thing, and adopt image processing techniques to extract marker image from this object image;
(S300) utilize the camera head demarcated according to the range finding that converted of the image-forming principle of marker image.
Wherein, described camera head is monocular camera head.
For the ease of image recognition, extraction and range finding, marker arranges color, shape, the size that requires to comprise marker and the relative position of marker on object in described step (S100).
Further, the color of described marker be saturation degree high, distinguish obvious color with object and surrounding enviroment thereof, be preferably redness; It is shaped as be convenient to identification compared with regular shape, as rectangle, square, bar shaped etc.; Its size and relative position all can carry out suitably regulating and arranging according to the actual imaging ratio gathering in image in advance.
In order to gather better identification, extract marker image, described step (S200) comprising:
(S210) open and adjust camera head, can completely collect marker;
(S220) one in the image that extraction camera head collects specified static image constantly;
(S230) by processing this static image, extract marker image now.
Wherein, in described step (S220), when camera head is camera, this static image is for specifying the photo of constantly taking, and when camera head is video camera or camera, this static image is the two field picture that video middle finger is regularly carved.
Further, described step (S230) comprising:
(S231) forward this static image to HSV space, extract its S component, HSV (Hue wherein, Saturation, Value) be a kind of color space being created in 1978 by A. R. Smith according to the characteristic directly perceived of color, also claim hexagonal pyramid model (Hexcone Model), in this model, the parameter of color is respectively tone (H), saturation degree (S), brightness (V);
(S232) the S component extracting is expanded, make marker image cut apart because of step (231) region of fracture causing and be communicated with;
(S233) according to S component, determine the profile of marker image, and according to object imaging true area and true length breadth ratio in image, remove the connected region that surpasses 50% error, obtain marker image.
Accurate for the result that guarantees to find range, in described step (S300), need demarcate camera head, its concrete grammar is as follows:
(S311) adjusting camera head parameter meets the demands the image definition of its collection;
(S312) by the image acquisition and processing to known target thing, according to computing formula
, obtain the now image distance of camera head
v 1; Wherein, the known data of so-called known target thing at least comprise that its size and camera head distance is with it object distance, in this step, to the image acquisition and processing of known target thing, also can adopt the method for step (200), to obtain its image size;
(S313) keep the parameter of camera head to arrange constant, complete demarcation.
Specifically, the parameter of described camera head comprises focal length, enlargement factor.
The process of further, finding range by camera head in described step (S300) is as follows:
(321) according to the marker image measurement of step (200) gained, go out the image size of marker
l;
(322) according to step (100), obtain and image size
lcorresponding marker physical size
s;
(323) image distance that combination has been demarcated according to image-forming principle formula
v 1calculate the object distance of object to be measured
.
Compared with prior art, the present invention has following beneficial effect:
(1) the present invention is skillfully constructed, by the research to image-forming principle, in monocular range finding, introduce image processing process, by setting, be convenient to the marker of identification and utilize computing machine to obtain desired data accurately to the accurate extraction of marker image, realized simply and effectively high-precision range determination, compare existing many range estimation distances, quantity and the input of camera head have obviously been reduced, without additional sensors, greatly reduce cost and equipment power dissipation, compare existing laser ranging, range observation that also can pin-point accuracy without the location of direction accurately, for the research of this area provides a kind of novel unique mode of thinking, made breakthrough contribution.
(2) the present invention is widely used, can be in numerous areas application such as electric power, military affairs, automobile, unmanned planes, as it is applied to electric power line walking unmanned plane range finding field, not only precision is high, complexity is low, and in the situation that not increasing electric power any extra load of line walking unmanned plane and electric weight, can obtain real-time and efficiently the distance of making an inspection tour unmanned plane and marker, reach the object of keeping away barrier.Compare with keeping away barrier scheme with existing range finding, the flying power of unmanned plane itself is not maked an inspection tour in impact, and range finding is effectively simple, in electric power unmanned plane line walking, is with a wide range of applications.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of camera range finding in prior art.
Fig. 2 is the process flow diagram of the present invention-embodiment.
Fig. 3 is at the schematic diagram of the S of HSV spatial extraction component space in the present invention-embodiment.
Fig. 4 is the schematic diagram of the S component space after expanding in the present invention-embodiment.
Fig. 5 is the schematic diagram of the marker exterior contour that extracts in the present invention-embodiment.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described, and embodiments of the present invention include but not limited to the following example.
Embodiment
Be somebody's turn to do the image distance-finding method based on marker, involved equipment has camera head, transmitting device, display device, treating apparatus etc.Wherein camera head is monocular camera head, can be camera, video camera or makes a video recording first-classly, and it conventionally should be with online transport module, to meet real-time data acquisition demand; Transmitting device is according to different data transmission requirements, selects the method for wired connection or wireless connections to make to be communicated with and to carry out exchanges data between camera head and display device; Display device is generally the display of operating personnel's monitor data disposition; Treating apparatus is mainly the structure based on robot calculator, can deal with data also can make the data message of transmission show in display device.Each device thing that all can get a replacement in the prior art of realizing above-mentioned functions, therefore concrete structure of each device repeats no more in the present invention.
As shown in Figure 2, be somebody's turn to do the image distance-finding method based on marker, comprise the steps:
(S100) on object, arrange in advance and meet the marker that Image Acquisition requires; Wherein, for the ease of successive image identification, extract and range finding, this marker color, shape, the size that requires to comprise marker and the relative position of marker on object be set.
Particularly, the color of this marker be saturation degree high, distinguish obvious color with object and surrounding enviroment thereof; It is shaped as be convenient to identification compared with regular shape, as rectangle, square, bar shaped etc.; Its size and relative position all can carry out suitably regulating and arranging according to the actual imaging ratio gathering in image in advance.For explanation better, the present embodiment take that to measure electric power tower be example, and the marker of two red strips is preferably set on its body, and its spacing is set to 3 meters.
(S200) by camera head, obtain the object image with full identity thing, and adopt image processing techniques to extract marker image from this object image; Wherein, described camera head is monocular camera head, and concrete steps are as follows:
(S210) open and adjust camera head, can completely collect marker.
(S220) one in the image that extraction camera head collects specified static image constantly; Wherein, when camera head is camera, this static image is for specifying the photo of constantly taking, and when camera head is video camera or camera, this static image is the two field picture that video middle finger is regularly carved.For ease of explanation, the two field picture in the video image that the present embodiment extraction gathers is as processing object.
(S230) by processing this static image, extract marker image now:
(S231) forward a two field picture of this extraction to HSV space, extract its S component, the foundation that the marker color of take is main judgement identification, as shown in Figure 3;
(S232) the S component extracting is expanded, make marker image cut apart because of step (231) region of fracture causing and be communicated with, as shown in Figure 4; Wherein, so-called expansion refers to the processing of carrying out based on morphological dilations method in image is processed, be exactly simply that the edge of image is expanded by setting rule, thereby make some divided regions of fine clearance that exist be interconnected to form holistic connected domain, be convenient to subsequent treatment;
(S233) according to S component, determine the profile of marker image, and according to object imaging true area and true length breadth ratio in image, allow it to have 50% error, then remove the connected region that surpasses 50% error, obtain marker image, as shown in Figure 5.In this step, also relating to the judgement of the marker image to process obtaining,, with the comparing of the marker geomery of original start, removing the part of non-marker, thereby improving the accuracy of the image extracting.
(S300) utilize the camera head demarcated according to the range finding that converted of the image-forming principle of marker image, wherein, the method that camera head is demarcated is:
(S311) adjust camera head parameter the image definition of its collection is met the demands, wherein parameter mainly comprises focal length, enlargement factor etc.;
(S312) by the image acquisition and processing to known target thing, according to computing formula
, obtain the now image distance of camera head
v 1; Wherein, known target thing known substance distance and target size, also can adopt the method for above-mentioned steps (200) to the image acquisition and processing of known target thing in this step, to obtain image size;
(S313) keep the parameter of camera head to arrange constant, complete demarcation.
As camera head had carried out demarcation before this uses, can skip above-mentioned (S311) ~ (S313) step, directly adopt following steps to measure:
(321) according to the marker image measurement of step (200) gained, go out the image size of marker
l;
(322) according to step (100), obtain and image size
lcorresponding marker physical size
s; In this two step of practical application, there is not dividing of strict priority, only need to guarantee image size
land physical size
smutually corresponding;
(323) image distance that combination has been demarcated according to image-forming principle formula
v 1calculate the object distance of object to be measured
.
As can be seen here, procedure of the present invention is simple, complexity is low, and the precision that can reach is high, be with a wide range of applications, as it applies in electric power line walking unmanned plane ranging process, in the situation that not increasing electric power any extra load of line walking unmanned plane and electric weight, can obtain real-time and efficiently the distance of making an inspection tour unmanned plane and marker, thereby effectively keep away barrier.
Above-described embodiment is only the preferred embodiments of the present invention, and not limiting the scope of the invention, adopts design concept of the present invention in every case, and carries out non-creativeness work on this basis and the variation made, within all should belonging to protection scope of the present invention.
Claims (10)
1. the image distance-finding method based on marker, is characterized in that, comprises the steps:
(S100) on object, arrange in advance and meet the marker that Image Acquisition requires;
(S200) by camera head, obtain the object image with full identity thing, and adopt image processing techniques to extract marker image from this object image;
(S300) utilize the camera head demarcated according to the range finding that converted of the image-forming principle of marker image.
2. the image distance-finding method based on marker according to claim 1, is characterized in that, described camera head is monocular camera head.
3. the image distance-finding method based on marker according to claim 1, is characterized in that, marker arranges color, shape, the size that requires to comprise marker and the relative position of marker on object in described step (S100).
4. the image distance-finding method based on marker according to claim 3, is characterized in that, the color of described marker is red.
5. according to the image distance-finding method based on marker described in claim 1 ~ 4 any one, it is characterized in that, described step (S200) comprising:
(S210) open and adjust camera head, can completely collect marker;
(S220) one in the image that extraction camera head collects specified static image constantly;
(S230) by processing this static image, extract marker image now.
6. the image distance-finding method based on marker according to claim 5, it is characterized in that, in described step (S220), when camera head is camera, this static image is for specifying the photo of constantly taking, when camera head is video camera or camera, this static image is the two field picture that video middle finger is regularly carved.
7. the image distance-finding method based on marker according to claim 5, is characterized in that, described step (S230) comprising:
(S231) forward this static image to HSV space, extract its S component;
(S232) the S component extracting is expanded, make marker image cut apart because of step (231) region of fracture causing and be communicated with;
(S233) according to S component, determine the profile of marker image, and according to object imaging true area and true length breadth ratio in image, remove the connected region that surpasses 50% error, obtain marker image.
8. according to the image distance-finding method based on marker described in claim 1 ~ 4 any one, it is characterized in that, in described step (S300), the method that camera head is demarcated is as follows:
(S311) adjusting camera head parameter meets the demands the image definition of its collection;
(S312) by the image acquisition and processing to known target thing, according to computing formula
, obtain the now image distance of camera head
v 1;
(S313) keep the parameter of camera head to arrange constant, complete demarcation.
9. the image distance-finding method based on marker according to claim 8, is characterized in that, the process of finding range by camera head in described step (S300) is as follows:
(321) according to the marker image measurement of step (200) gained, go out the image size of marker
l;
(322) according to step (100), obtain and image size
lcorresponding marker physical size
s;
(323) image distance that combination has been demarcated according to image-forming principle formula
v 1calculate the object distance of object to be measured
.
10. the image distance-finding method based on marker according to claim 8, is characterized in that, the parameter of described camera head comprises focal length, enlargement factor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480386.0A CN104197901A (en) | 2014-09-19 | 2014-09-19 | Image distance measurement method based on marker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480386.0A CN104197901A (en) | 2014-09-19 | 2014-09-19 | Image distance measurement method based on marker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104197901A true CN104197901A (en) | 2014-12-10 |
Family
ID=52083229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410480386.0A Pending CN104197901A (en) | 2014-09-19 | 2014-09-19 | Image distance measurement method based on marker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104197901A (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241424A (en) * | 2015-09-25 | 2016-01-13 | 小米科技有限责任公司 | Indoor positioning method and intelligent management apparatus |
| CN106155091A (en) * | 2016-08-31 | 2016-11-23 | 众芯汉创（北京）科技有限公司 | A kind of unmanned plane barrier-avoiding method and device |
| CN106339691A (en) * | 2016-09-07 | 2017-01-18 | 四川天辰智创科技有限公司 | Method and device used for marking object |
| WO2017045326A1 (en) * | 2015-09-17 | 2017-03-23 | 深圳市十方联智科技有限公司 | Photographing processing method for unmanned aerial vehicle |
| CN107301367A (en) * | 2017-05-31 | 2017-10-27 | 深圳Tcl数字技术有限公司 | Distance detection and display methods, terminal, display device and storage medium |
| CN108074260A (en) * | 2017-11-15 | 2018-05-25 | 深圳市诺龙技术股份有限公司 | A kind of method and apparatus of target object object positioning |
| CN108088414A (en) * | 2017-12-05 | 2018-05-29 | 苏州天瞳威视电子科技有限公司 | A kind of monocular distance measuring method |
| CN106123864B (en) * | 2016-06-21 | 2018-10-12 | 徐贵力 | Image distance measuring method based on image-forming principle and Data Regression Model |
| CN108731596A (en) * | 2018-03-29 | 2018-11-02 | 海安智鹏自动化科技有限公司 | A kind of Simple underwater distance measuring method of view-based access control model identification |
| CN108846864A (en) * | 2018-05-29 | 2018-11-20 | 珠海全志科技股份有限公司 | A kind of position capture system, the method and device of moving object |
| CN108875529A (en) * | 2018-01-11 | 2018-11-23 | 北京旷视科技有限公司 | Face space-location method, device, system and computer storage medium |
| CN109141249A (en) * | 2018-08-07 | 2019-01-04 | 深圳Tcl数字技术有限公司 | Distance measurement method and computer readable storage medium |
| CN109489620A (en) * | 2019-01-12 | 2019-03-19 | 内蒙古农业大学 | A kind of monocular vision distance measuring method |
| CN109737917A (en) * | 2019-03-07 | 2019-05-10 | 东莞中子科学中心 | Image distance measuring instrument and measurement method |
| CN110322508A (en) * | 2019-06-19 | 2019-10-11 | 四川阿泰因机器人智能装备有限公司 | A kind of assisted location method based on computer vision |
| CN110458888A (en) * | 2019-07-23 | 2019-11-15 | 深圳前海达闼云端智能科技有限公司 | Distance measuring method, device, storage medium and electronic equipment based on image |
| CN110553639A (en) * | 2018-06-04 | 2019-12-10 | 百度在线网络技术（北京）有限公司 | Method and apparatus for generating location information |
| CN110672074A (en) * | 2019-10-24 | 2020-01-10 | 北京地平线机器人技术研发有限公司 | Method and device for measuring distance of target object |
| CN111147843A (en) * | 2019-12-20 | 2020-05-12 | 山东大学 | Dimension measuring method and system based on long and short focal length camera combination |
| CN111780715A (en) * | 2020-06-29 | 2020-10-16 | 常州市盈能电气有限公司 | Visual ranging method |
| CN113335184A (en) * | 2021-07-08 | 2021-09-03 | 合众新能源汽车有限公司 | Image generation method and device for automobile A column blind area |
| CN113358090A (en) * | 2021-05-23 | 2021-09-07 | 温州医科大学 | Distance measurement method based on single camera |
| US11637939B2 (en) | 2015-09-02 | 2023-04-25 | Samsung Electronics Co.. Ltd. | Server apparatus, user terminal apparatus, controlling method therefor, and electronic system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004163271A (en) * | 2002-11-13 | 2004-06-10 | Tokyo Denki Univ | Noncontact image measuring apparatus |
| CN101281022A (en) * | 2008-04-08 | 2008-10-08 | 上海世科嘉车辆技术研发有限公司 | Method for measuring vehicle distance based on single eye machine vision |
| US20110231035A1 (en) * | 2010-03-22 | 2011-09-22 | Lasermax,, Inc. | System and method for friend or foe identification |
| CN102506814A (en) * | 2011-11-10 | 2012-06-20 | 河北汉光重工有限责任公司 | Passive visible light monocular distance measuring device |
| CN102914294A (en) * | 2012-09-10 | 2013-02-06 | 中国南方电网有限责任公司超高压输电公司天生桥局 | System and method for measuring unmanned aerial vehicle electrical line patrol on basis of images |
| CN103034836A (en) * | 2011-09-29 | 2013-04-10 | 株式会社理光 | Road sign detection method and device |
-
2014
- 2014-09-19 CN CN201410480386.0A patent/CN104197901A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004163271A (en) * | 2002-11-13 | 2004-06-10 | Tokyo Denki Univ | Noncontact image measuring apparatus |
| CN101281022A (en) * | 2008-04-08 | 2008-10-08 | 上海世科嘉车辆技术研发有限公司 | Method for measuring vehicle distance based on single eye machine vision |
| US20110231035A1 (en) * | 2010-03-22 | 2011-09-22 | Lasermax,, Inc. | System and method for friend or foe identification |
| CN103034836A (en) * | 2011-09-29 | 2013-04-10 | 株式会社理光 | Road sign detection method and device |
| CN102506814A (en) * | 2011-11-10 | 2012-06-20 | 河北汉光重工有限责任公司 | Passive visible light monocular distance measuring device |
| CN102914294A (en) * | 2012-09-10 | 2013-02-06 | 中国南方电网有限责任公司超高压输电公司天生桥局 | System and method for measuring unmanned aerial vehicle electrical line patrol on basis of images |
Non-Patent Citations (1)
| Title |
|---|
| 赵志帅: "基于彩色图像处理的铁路信号灯识别及其测距技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11637939B2 (en) | 2015-09-02 | 2023-04-25 | Samsung Electronics Co.. Ltd. | Server apparatus, user terminal apparatus, controlling method therefor, and electronic system |
| WO2017045326A1 (en) * | 2015-09-17 | 2017-03-23 | 深圳市十方联智科技有限公司 | Photographing processing method for unmanned aerial vehicle |
| CN105241424A (en) * | 2015-09-25 | 2016-01-13 | 小米科技有限责任公司 | Indoor positioning method and intelligent management apparatus |
| CN105241424B (en) * | 2015-09-25 | 2017-11-21 | 小米科技有限责任公司 | Indoor orientation method and intelligent management apapratus |
| CN106123864B (en) * | 2016-06-21 | 2018-10-12 | 徐贵力 | Image distance measuring method based on image-forming principle and Data Regression Model |
| CN106155091A (en) * | 2016-08-31 | 2016-11-23 | 众芯汉创（北京）科技有限公司 | A kind of unmanned plane barrier-avoiding method and device |
| CN106339691A (en) * | 2016-09-07 | 2017-01-18 | 四川天辰智创科技有限公司 | Method and device used for marking object |
| CN107301367A (en) * | 2017-05-31 | 2017-10-27 | 深圳Tcl数字技术有限公司 | Distance detection and display methods, terminal, display device and storage medium |
| CN108074260A (en) * | 2017-11-15 | 2018-05-25 | 深圳市诺龙技术股份有限公司 | A kind of method and apparatus of target object object positioning |
| CN108088414A (en) * | 2017-12-05 | 2018-05-29 | 苏州天瞳威视电子科技有限公司 | A kind of monocular distance measuring method |
| CN108875529A (en) * | 2018-01-11 | 2018-11-23 | 北京旷视科技有限公司 | Face space-location method, device, system and computer storage medium |
| US10922527B2 (en) | 2018-01-11 | 2021-02-16 | Beijing Kuangshi Technology Co., Ltd. | Face spatial positioning method, face spatial positioning system, and non-transitory computer-readable recording medium |
| CN108731596A (en) * | 2018-03-29 | 2018-11-02 | 海安智鹏自动化科技有限公司 | A kind of Simple underwater distance measuring method of view-based access control model identification |
| CN108846864A (en) * | 2018-05-29 | 2018-11-20 | 珠海全志科技股份有限公司 | A kind of position capture system, the method and device of moving object |
| CN110553639B (en) * | 2018-06-04 | 2021-04-27 | 百度在线网络技术（北京）有限公司 | Method and apparatus for generating location information |
| CN110553639A (en) * | 2018-06-04 | 2019-12-10 | 百度在线网络技术（北京）有限公司 | Method and apparatus for generating location information |
| CN109141249A (en) * | 2018-08-07 | 2019-01-04 | 深圳Tcl数字技术有限公司 | Distance measurement method and computer readable storage medium |
| CN109489620B (en) * | 2019-01-12 | 2020-12-25 | 内蒙古农业大学 | Monocular vision distance measuring method |
| CN109489620A (en) * | 2019-01-12 | 2019-03-19 | 内蒙古农业大学 | A kind of monocular vision distance measuring method |
| CN109737917A (en) * | 2019-03-07 | 2019-05-10 | 东莞中子科学中心 | Image distance measuring instrument and measurement method |
| CN110322508A (en) * | 2019-06-19 | 2019-10-11 | 四川阿泰因机器人智能装备有限公司 | A kind of assisted location method based on computer vision |
| CN110322508B (en) * | 2019-06-19 | 2023-05-05 | 四川阿泰因机器人智能装备有限公司 | Auxiliary positioning method based on computer vision |
| CN110458888A (en) * | 2019-07-23 | 2019-11-15 | 深圳前海达闼云端智能科技有限公司 | Distance measuring method, device, storage medium and electronic equipment based on image |
| CN110672074A (en) * | 2019-10-24 | 2020-01-10 | 北京地平线机器人技术研发有限公司 | Method and device for measuring distance of target object |
| CN111147843A (en) * | 2019-12-20 | 2020-05-12 | 山东大学 | Dimension measuring method and system based on long and short focal length camera combination |
| CN111780715A (en) * | 2020-06-29 | 2020-10-16 | 常州市盈能电气有限公司 | Visual ranging method |
| CN113358090A (en) * | 2021-05-23 | 2021-09-07 | 温州医科大学 | Distance measurement method based on single camera |
| CN113335184A (en) * | 2021-07-08 | 2021-09-03 | 合众新能源汽车有限公司 | Image generation method and device for automobile A column blind area |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104197901A (en) | Image distance measurement method based on marker | |
| US11105638B2 (en) | Method, apparatus, and computer readable storage medium for updating electronic map | |
| CN109360240B (en) | Small unmanned aerial vehicle positioning method based on binocular vision | |
| WO2020135446A1 (en) | Target positioning method and device and unmanned aerial vehicle | |
| US20190206124A1 (en) | Method and apparatus for creating map and positioning moving entity | |
| CN102435174B (en) | Method and device for detecting barrier based on hybrid binocular vision | |
| EP3505868A1 (en) | Method and apparatus for adjusting point cloud data acquisition trajectory, and computer readable medium | |
| CN103424112B (en) | A kind of motion carrier vision navigation method auxiliary based on laser plane | |
| CN110073362A (en) | System and method for lane markings detection | |
| CN111862180B (en) | Camera set pose acquisition method and device, storage medium and electronic equipment | |
| CN106019264A (en) | Binocular vision based UAV (Unmanned Aerial Vehicle) danger vehicle distance identifying system and method | |
| CN113743391A (en) | Three-dimensional obstacle detection system and method applied to low-speed autonomous driving robot | |
| CN103852060A (en) | Visible light image distance measuring method based on monocular vision | |
| CN104865971A (en) | Power transmission line inspection unmanned plane control method and unmanned plane | |
| CN105974412B (en) | A kind of target's feature-extraction method for synthetic aperture radar | |
| WO2015197026A1 (en) | Method, apparatus and terminal for acquiring sign data of target object | |
| CN103198481B (en) | A kind of camera marking method | |
| CN102519434A (en) | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data | |
| CN114782626A (en) | Transformer substation scene mapping and positioning optimization method based on laser and vision fusion | |
| CN109697428B (en) | Unmanned aerial vehicle identification and positioning system based on RGB _ D and depth convolution network | |
| CN109523528A (en) | A kind of transmission line of electricity extracting method based on unmanned plane binocular vision SGC algorithm | |
| CN110889899A (en) | Method and device for generating digital earth surface model | |
| CN112967344A (en) | Method, apparatus, storage medium, and program product for camera external reference calibration | |
| CN103308000A (en) | Method for measuring curve object on basis of binocular vision | |
| CN111583342A (en) | Target rapid positioning method and device based on binocular vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141210 |
|
| RJ01 | Rejection of invention patent application after publication |