CN106033614B - A kind of mobile camera motion object detection method under strong parallax - Google Patents
A kind of mobile camera motion object detection method under strong parallax Download PDFInfo
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Abstract
本发明提出一种强视差下的移动相机运动目标检测方法。用旋转矩阵R和平移矩阵t描述两帧之间的相机运动,获得第二帧图像上的点与世界坐标系的关系,从而获得深度约束方程;将第二帧图像上所有匹配点的坐标和对应的深度信息带入深度约束方程,获得深度约束方程的Rt矩阵的最优解;利用深度约束方程计算的图像点坐标与对应的深度信息相乘;将该乘积和利用深度约束方程估计出来的结果分别作为两个三维坐标点,计算该两个三维坐标点之间的距离,并将距离归一化,若归一化距离大于设定的阈值,则判断该距离对应的点为运动目标,否则,该距离对应的点为背景。本发明能够解决在车载手持等移动平台下,三维场景会产生视差的问题,对运动目标进行实时高效的检测。
The present invention proposes a moving camera moving target detection method under strong parallax. Use the rotation matrix R and the translation matrix t to describe the camera motion between the two frames, and obtain the relationship between the points on the second frame image and the world coordinate system, so as to obtain the depth constraint equation; sum the coordinates of all matching points on the second frame image and The corresponding depth information is brought into the depth constraint equation, and the optimal solution of the Rt matrix of the depth constraint equation is obtained; the image point coordinates calculated by the depth constraint equation are multiplied by the corresponding depth information; the product sum is estimated by the depth constraint equation. The results are taken as two three-dimensional coordinate points respectively, the distance between the two three-dimensional coordinate points is calculated, and the distance is normalized. If the normalized distance is greater than the set threshold, the point corresponding to the distance is judged to be a moving target. Otherwise, the point corresponding to this distance is the background. The present invention can solve the problem of parallax generated in three-dimensional scenes on mobile platforms such as vehicle-mounted handhelds, and can perform real-time and efficient detection of moving objects.
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CN108759665B (en) * | 2018-05-25 | 2021-04-27 | 哈尔滨工业大学 | Spatial target three-dimensional reconstruction precision analysis method based on coordinate transformation |
CN109255803B (en) * | 2018-08-24 | 2022-04-12 | 长安大学 | Displacement calculation method of moving target based on displacement heuristic |
CN109495641B (en) * | 2018-10-24 | 2021-01-08 | 维沃移动通信有限公司 | Reminding method and mobile terminal |
CN109462746B (en) * | 2018-10-26 | 2020-11-06 | 北京双髻鲨科技有限公司 | Image stabilization method and device |
WO2020237441A1 (en) * | 2019-05-24 | 2020-12-03 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | User equipment and method of oblique view correction |
CN110798634B (en) * | 2019-11-28 | 2020-10-09 | 东北大学 | Image adaptive synthesis method, device and computer readable storage medium |
GB2593227A (en) * | 2020-03-20 | 2021-09-22 | Sony Corp | Image processing method and apparatus |
CN114596333A (en) * | 2020-12-03 | 2022-06-07 | 北京华航无线电测量研究所 | A Target Tracking Method Applicable to Vehicle Environment |
CN112950679A (en) * | 2021-01-28 | 2021-06-11 | 武汉博雅弘拓科技有限公司 | Automatic redundant point cloud eliminating method and system based on photogrammetry technology |
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US20080089556A1 (en) * | 2006-06-20 | 2008-04-17 | Garbis Salgian | Moving Target Detection in the Presence of Parallax |
CN103729857A (en) * | 2013-12-09 | 2014-04-16 | 南京理工大学 | Moving target detection method under movable camera based on secondary compensation |
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US20080089556A1 (en) * | 2006-06-20 | 2008-04-17 | Garbis Salgian | Moving Target Detection in the Presence of Parallax |
CN103729857A (en) * | 2013-12-09 | 2014-04-16 | 南京理工大学 | Moving target detection method under movable camera based on secondary compensation |
Non-Patent Citations (2)
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