CN105890576A - System and method for achieving target identifying and positioning by means of light-reflecting material - Google Patents
System and method for achieving target identifying and positioning by means of light-reflecting material Download PDFInfo
- Publication number
- CN105890576A CN105890576A CN201510030243.4A CN201510030243A CN105890576A CN 105890576 A CN105890576 A CN 105890576A CN 201510030243 A CN201510030243 A CN 201510030243A CN 105890576 A CN105890576 A CN 105890576A
- Authority
- CN
- China
- Prior art keywords
- image sensing
- reflective material
- angle image
- angle
- identified
- 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
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the field of machine vision, and particularly relates to a system and method for achieving target identifying and positioning by means of a light-reflecting material. The method comprises the steps that a to-be-positioned object sticking with the light-reflecting material is identified, and relative coordinates of the to-be-positioned object in a large viewing angle image sensing device are calculated; rotating transverse and longitudinal angles of a dual-axis motion platform are controlled to enable a small viewing angle image sensing device to be aligned with the to-be-positioned object sticking with the light-reflecting material; the to-be-positioned object is identified in an image of the small viewing angle image sensing device, and relative coordinates of the to-be-identified object in the image of the small viewing angle image sensing device and an image of the large viewing angle image sensing device are calculated. The system and method for achieving target identifying and positioning by means of the light-reflecting material can be used for a target detection and target tracking system.
Description
Technical field
The invention belongs to field of machine vision, relate to a kind of system and method utilizing reflective material to carry out target recognition and location, more particularly to one
Plant and be suitable for the target recognition of wide-angle and distance and the system and method for location.
Background technology
The identification of target and the important research content that location is field of machine vision, its target recognition directly determines with reliability, the accuracy of location
The discrimination of the identification target that this system can reach and the degree of accuracy of location target.The system of common target recognition and location is by thing to be positioned
Body, lighting source, imageing sensor, image processing system form.
Target recognition based on stereoscopic vision and localization method are that target is extracted in the difference utilizing the distance between imageing sensor and target and background,
And calculating the space coordinates of target, it is high that this kind of method calculates cost, is suitable for angle little, is suitable for apart from short.Target recognition based on monocular vision with
The information such as localization method is the difference utilizing target with the gray scale of background, the difference of motion extract target, and this kind of method recognition accuracy is low, is subject to
The impact of illumination is very big, and the success rate of identification is the highest, the poor accuracy of location.
Therefore design a kind of novel illumination effect that is susceptible to, identify high with locating accuracy, be suitable for angle and have with apart from bigger system and method
Important using value.
Summary of the invention
The technical problem to be solved is, designs the system and method for a kind of target recognition and location, it is achieved in larger angle and distance,
Accurately identifying target with the relatively low cost that calculates and carry out the location of relative coordinate, for solving above-mentioned technical problem, the present invention proposes one can profit
The System and method for of target recognition and location is carried out, it is only necessary to reflective material be bonded to be identified and position on object, it becomes possible to accurately by reflective material
Ground is known by system and positions.
Target recognition of the present invention includes with the system of location:
The image sensing apparatus at one big visual angle；The image sensing apparatus of one small angle；Can drive in high precision can turn in horizontal and vertical angle
Two dynamic shaft platforms；The reflective material of high reflecting rate；Infrared lamp；Image processing system.
Target recognition of the present invention is as follows with localization method:
1. the reflectorized material with special shape is adhered on object to be identified.
2. infrared lamp is by infrared ray radiation to environment.
Thing the most to be identified imaging obtain the image of reflective thing of high-contrast in the image sensing apparatus at big visual angle.
4. image processing system passes through gray scale and the shape of target high contrast, identifies thing to be identified, and calculates thing to be identified at wide-angle image
The relative coordinate of sensor device.
5. image processing system is according to target relative coordinate in wide-angle image sensing equipment imaging, drives two-axis table to rotate laterally and longitudinally
Angle is directed at thing to be identified to correspondence position, the image sensing apparatus of the small angle carried by motion platform.
Thing the most to be identified imaging obtain the image of reflective thing of high-contrast in the image sensing apparatus of small angle.
7. image processing system passes through gray scale and the shape of target high contrast, identifies thing to be identified, and calculates thing to be identified at small angle image
Relative coordinate in sensing equipment.
The present invention with relatively low calculating cost, identifies exactly and is stained with special shape and gives out light the thing to be identified of material, and be precisely calculated to be identified
Thing in less space static or mobile time for the relative coordinate of two imaging systems.System and side relative to traditional target recognition and location
Method, has the advantage that
1. target recognition and the calculating low cost of location, the cost of system is less than the system of traditional target recognition with location.
2. the accuracy rate of target recognition is high, and the precision of target location is high.
3. target moves in the little ranged space, and system can be obtained by bigger relative coordinate and moves response accuracy.
4. target is difficult to limited relative to the angle and distance of system, and system can identify accurately in the distance of the biggest angle and position and wait to know
Other object.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic top plan view of patent system of the present invention.
Fig. 2 is the schematic side view of patent system of the present invention.
Fig. 3 is the schematic diagram of the thing to be identified relative position in wide-angle image sensing equipment.
Fig. 4 is thing to be identified at the motion platform schematic diagram to the relative position in defocused small angle image sensing apparatus.
In figure:
1, shell 2, wide-angle image sensing equipment
3, small angle image sensing apparatus 4, X-axis motion slide rail and micromachine
5, big visual angle infrared lamp 6, small angle infrared lamp
7, image processing system 8, Y-axis motion slide rail and micromachine
9, wide-angle image sensing equipment imaging 10, the thing to be identified imaging in wide-angle image sensing equipment
11, small angle image sensing apparatus imaging 12, the thing to be identified imaging in small angle image sensing apparatus
13, the object to be identified of the reflective material of special shape it is stained with
Detailed description of the invention
Below with reference to Figure of description, patent of the present invention is described in further detail.
As shown in Figure 1 and Figure 2, a kind of target recognition utilizing reflective material of the present invention and the system of location: shell 1, wide-angle image pass
Sense equipment 2, small angle image sensing apparatus 3, X-axis motion slide rail and micromachine 4, big visual angle infrared lamp 5, small angle infrared lamp 6, image
Processing system 7, Y-axis motion slide rail and micromachine 8, big visual angle infrared lamp 5 is fixed on wide-angle image sensing equipment 2, small angle infrared lamp
6 are fixed on small angle infrared sensing equipment 3, and small angle image sensing apparatus 3 is fixed on X-axis motion slide rail and micromachine 4 and Y-axis motion
On slide rail and micromachine 8, image processing system 7 is responsible for the process of view data.
Target recognition of the present invention is as follows with the method for location:
1. the reflectorized material with special shape is adhered on object 13 to be identified.
2. infrared lamp 5 is by infrared ray radiation to environment.
3. it is stained with object to be identified 13 imaging in the image sensing apparatus 2 at big visual angle of reflective material.
4. image processing system 7 passes through gray scale and the shape of target high contrast, identifies thing to be identified, and calculates thing to be identified in wide-angle image biography
The relative coordinate of sensor equipment 2.
5. image processing system 7 is according to the relative coordinate of target, drives X-axis motion slide rail and micromachine 4 and Y-axis motion slide rail and micromachine 8
Rotate laterally and longitudinally angle and, to correspondence position, the image sensing apparatus 3 of the small angle of lift-launch is directed at thing to be identified.
6. it is stained with object to be identified 13 imaging in the image sensing apparatus 3 of small angle of reflective material.
7. image processing system 7 passes through gray scale and the shape of target high contrast, identifies thing to be identified, and calculates the thing to be identified being stained with reflective material
The body 13 relative coordinate in small angle image sensing apparatus 3.
Fig. 3 and Fig. 4 gives the band identification object 13 being stained with reflective material imaging schematic diagram in wide-angle image sensing equipment 2, and viscous
There is the band identification object 13 of the reflective material imaging schematic diagram in small angle image sensing apparatus 3.System and method of the present invention can be to any material
Thing to be identified, be stained with reflective material, or coat reflecting coating, can accurately identify in system and obtain accurate relative coordinate, though object
Body moves with minimum displacement, and system remains to sensitive calculate target relative coordinate in systems.
Claims (8)
1. the target recognition utilizing reflective material and the system and method for location, it is characterised in that: described system comprises wide-angle image sensing and sets
Standby, small angle image sensing apparatus, the rotating platform of twin shaft angle, image processing system, reflective material, infrared lamp.
Reflective material the most as claimed in claim 1, it is characterised in that when light is irradiated in reflective material at any angle, can former road reflection light.
Reflective material the most as claimed in claim 1, it is characterised in that can be fabricated to reflecting coating, depends on the object of any material.
4. wide-angle image sensing equipment as claimed in claim 1, it is characterised in that imaged viewing angle is more than 70 degree.
5. small angle image sensing apparatus as claimed in claim 1, it is characterised in that imaged viewing angle is less than 30 degree.
6. the rotating platform of twin shaft angle as claimed in claim 1, it is characterised in that motion platform can be at wide-angle image sensing equipment imaging place
Plane carry out the rotation of horizontal and vertical angle.
7. the double-shaft moving platform as described in claim 1 and 3 and 4 and 5, it is characterised in that the biaxial movement carrying small angle image sensing apparatus is put down
Platform, can carry out horizontal and vertical rotation, by small angle image sensing according to target object in the relative coordinate of wide-angle image sensing equipment imaging
Equipment alignment target object.
8. target recognition as claimed in claim 1 and the system and method for location, it is characterised in that include subordinate's step: (1) is according to wide-angle image
The imaging of sensing equipment, identifies the object to be identified being stained with reflective material；(2) calculate and be stained with the object to be identified of reflective material and set in the imaging of big visual angle
Relative coordinate in Bei；(3) basis is stained with the object to be identified of reflective material relative coordinate in the imaging device of big visual angle, adjusts biaxial movement and puts down
The horizontal and vertical angle of platform, makes small angle image sensing apparatus alignment be stained with the object to be identified of reflective material；(3) according to small angle image sensing
The imaging of equipment, identifies the object to be identified being stained with reflective material；(4) calculate and be stained with the object to be identified of reflective material and set at small angle image sensing
Relative coordinate in Bei.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510030243.4A CN105890576A (en) | 2015-01-19 | 2015-01-19 | System and method for achieving target identifying and positioning by means of light-reflecting material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510030243.4A CN105890576A (en) | 2015-01-19 | 2015-01-19 | System and method for achieving target identifying and positioning by means of light-reflecting material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105890576A true CN105890576A (en) | 2016-08-24 |
Family
ID=56999591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510030243.4A Pending CN105890576A (en) | 2015-01-19 | 2015-01-19 | System and method for achieving target identifying and positioning by means of light-reflecting material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105890576A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114688992A (en) * | 2022-04-12 | 2022-07-01 | 上海快仓智能科技有限公司 | Identification method and device of light reflecting object, electronic equipment and storage medium |
-
2015
- 2015-01-19 CN CN201510030243.4A patent/CN105890576A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114688992A (en) * | 2022-04-12 | 2022-07-01 | 上海快仓智能科技有限公司 | Identification method and device of light reflecting object, electronic equipment and storage medium |
| CN114688992B (en) * | 2022-04-12 | 2024-03-12 | 上海快仓智能科技有限公司 | Method and device for identifying reflective object, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11604076B2 (en) | Vision augmented navigation | |
| CN106664776B (en) | Stadium lighting sighting system and method | |
| CN106767399A (en) | The non-contact measurement method of the logistics measurement of cargo found range based on binocular stereo vision and dot laser | |
| CN109472831A (en) | Obstacle recognition range-measurement system and method towards road roller work progress | |
| CN106896343B (en) | Servo follow-up machine vision device and dynamic tracking ranging method | |
| GB2506239A (en) | Projecting maintenance history using optical reference points | |
| CN105258710A (en) | High-precision camera principal point calibration method | |
| CN102221331A (en) | Measuring method based on asymmetric binocular stereovision technology | |
| CN109345542A (en) | A kind of wearable visual fixations target locating set and method | |
| CN105783880B (en) | A kind of monocular laser assisted bay section docking calculation | |
| CN114415736B (en) | Multi-stage visual accurate landing method and device for unmanned aerial vehicle | |
| Du et al. | Visual measurement system for roadheaders pose detection in mines | |
| CN102538793A (en) | Double-base-line non-cooperative target binocular measurement system | |
| CN106179885A (en) | A kind of complex part dispensing method guided based on stereoscopic vision and device | |
| CN109612430A (en) | A kind of transit survey method of view-based access control model guidance | |
| CN109212497A (en) | A kind of measurement of space six degree of freedom vehicle radar antenna pose deviation and interconnection method | |
| CN104006789A (en) | Device and method for measuring spatial dynamic angle | |
| CN107014293A (en) | A kind of photogrammetric survey method of camera scanning imaging | |
| CN207164367U (en) | AR glasses and its tracing system | |
| CN109541626B (en) | Target plane normal vector detection device and detection method | |
| CN107990825B (en) | High-precision position measuring device and method based on priori data correction | |
| CN208092360U (en) | A kind of quick punching device of high-precision optical camera lens | |
| Kim et al. | External vehicle positioning system using multiple fish-eye surveillance cameras for indoor parking lots | |
| CN105890576A (en) | System and method for achieving target identifying and positioning by means of light-reflecting material | |
| CN108761831A (en) | A kind of quick punching device and method of high-precision optical camera lens |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160824 |