CN107702714A - Localization method, apparatus and system - Google Patents
Localization method, apparatus and system Download PDFInfo
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- CN107702714A CN107702714A CN201710640426.7A CN201710640426A CN107702714A CN 107702714 A CN107702714 A CN 107702714A CN 201710640426 A CN201710640426 A CN 201710640426A CN 107702714 A CN107702714 A CN 107702714A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- 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
Abstract
The present invention provides a kind of localization method, apparatus and system, including step：Obtain the image of the reference identification for being arranged on predeterminated position of image device shooting.The location coordinate information of reference identification is obtained according to image.According to the location coordinate information of object distance in shooting image of the relative position relation of the position of reference identification in image and the center of image, image device and reference identification, the first position coordinate information of image device is obtained.The first angle that the focal plane of acquisition image device is formed with horizontal plane, and the relative altitude of image device and reference identification.According to first angle and relative altitude amendment first position coordinate information, the second place coordinate information of image device is obtained.Based on this, user can obtain accurate space orientation position in located space according to technical scheme provided by the present invention.
Description
Technical field
The present invention relates to space orientation technique field, more particularly to a kind of localization method, apparatus and system.
Background technology
The appearance and development of NAVSTAR, make people in the wide exterior space with it is unprecedented can
The current geographical position coordinates of things are obtained by property, accuracy, has solved and has been accurately positioned in the exterior space substantially
The problem of, and very extensive application is obtained in the fields such as military affairs, traffic, mapping and people's daily life.
But although technology performance, the precision are all very high, its signal can not penetrate building progress space orientation and lead
Boat, and along with the development of social economy, the improvement of people's living standards, it is increasing to the location navigation demand of interior.And
This demand becomes increasingly conspicuous in storage, exhibition, airport and other consumption and office space, and personnel, article are understanding itself institute
In the case of position, inter-related task can be arrived at and completed with faster efficiency.
Space orientation technique gradually emerges under this background, with highly developed outdoor satellite location navigation system
System is compared, and space orientation technique is not high also in ground zero stage, the positioning precision of traditional space orientation technique.
The content of the invention
Based on this, it is necessary to for traditional space orientation technique positioning precision it is not high the defects of, there is provided one kind positioning
Method, apparatus and system.
Technical scheme provided by the present invention is as follows：
A kind of localization method, including step：
Obtain the image of the reference identification for being arranged on predeterminated position of image device shooting.
The location coordinate information of the reference identification is obtained according to described image.
According to the relative position relation of the position of reference identification in described image and the center of described image, described
The location coordinate information of object distance and the reference identification of the image device when shooting described image, obtains the imager
The first position coordinate information of part.
Obtain the focal plane of the image device and first angle that horizontal plane is formed, and the image device with
The relative altitude of the reference identification.
According to first position coordinate information described in the first angle and the relative altitude amendment, the imaging is obtained
The second place coordinate information of device.
A kind of positioner, including：
Acquisition module is imaged, the image of the reference identification for being arranged on predeterminated position for obtaining image device shooting.
Coordinate identification module, for obtaining the location coordinate information of the reference identification according to described image.
First computing module, for the position according to reference identification in described image and the center of described image
The position coordinates letter of the object distance and the reference identification of relative position relation, the image device when shooting described image
Breath, obtain the first position coordinate information of the image device.
Auxiliary information acquisition module, first jiao formed for obtaining the focal plane of the image device and horizontal plane
Degree, and the image device and the relative altitude of the reference identification.
Second computing module, for the first position coordinate according to the first angle and the relative altitude amendment
Information, obtain the second place coordinate information of the image device.
A kind of alignment system, including image device, sensor and controller；
The controller includes memory and processor, and the processor connects the image device, the sensing respectively
Device and the memory；
The memory storage has computer program, on the computer program can be realized when being executed by processor
The step of stating localization method.
A kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the computer journey
The step of above-mentioned localization method is realized when sequence is executed by processor.
By technical scheme provided by the present invention, the reference in predeterminated position shot by obtaining image device is marked
Know image, the first position coordinate information of image device position can be obtained according to image, in combination with to first position
The amendment of coordinate information, obtain the second place coordinate information of more accurate image device.Based on this, user is empty in positioning
It is interior accurate space orientation position to be obtained according to technical scheme provided by the present invention.
Brief description of the drawings
Fig. 1 is the method flow diagram of localization method；
Fig. 2 is the geographical position coordinates information schematic diagram of reference identification；
Fig. 3 is the coordinate-system schematic diagram of image；
Fig. 4 is the localization method flow chart of an embodiment；
Fig. 5 is the localization method flow chart of another embodiment；
Fig. 6 is the three-dimensional geographical location coordinate information schematic diagram of reference identification；
Fig. 7 is the modification method flow chart of localization method；
Fig. 8 is the localization method flow chart of a preferred embodiment；
Fig. 9 is the apparatus module schematic diagram of positioner；
Figure 10 is the assembly assumption diagram of alignment system.
Embodiment
Purpose, technical scheme and technique effect for a better understanding of the present invention, below in conjunction with drawings and examples
Further explaining illustration is carried out to the present invention.To state simultaneously, embodiments described below is only used for explaining the present invention, and
It is not used in the restriction present invention.
In one embodiment, as shown in figure 1, method flow diagram for localization method, including step：
S101, obtain the image of the reference identification for being arranged on predeterminated position of image device shooting.
To realize space orientation, reference identification can be set on the predeterminated position of located space.Wherein, it is big at some
In the located space of type, such as exhibition, warehouse or market, predeterminated position can be arranged on to ceiling, on overhead or floor.
If predeterminated position is arranged on the nearer position of range Imaging device, the precision of positioning can be influenceed, it is preferable that set predeterminated position
The position in the range of range Imaging device 2m~15m is put, such as ceiling, facilitates image device to shoot reference identification.Wherein,
The mark that can select to be easy to identification is as reference identification, the lamp of such as different colours, the Quick Response Code with information.It is being imaged
After device photographs reference identification, processor can obtain the information of reference identification according to the imaging of reference identification, including advance
The location coordinate information for being used to position of the reference identification position of setting.Moreover, given by this specific embodiment
In technical scheme, a reference identification can be only set, space orientation can be achieved according to a reference identification.
Wherein, can be that indoor positioning space divides coordinate setting, coordinate is fixed for the ease of realizing that the interior space positions
The division of position includes diversified forms, can be divided according to existing coordinate-system, can also re-establish coordinate-system to carry out
Indoor positioning space divides.For ease of explaining the present invention, in this specific embodiment, using geographical coordinate as indoor positioning space
The location coordinate information of position.As shown in Fig. 2 for the geographical position coordinates information schematic diagram of reference identification, located space is determined
Geographical position coordinates corresponding to interior one or more reference identifications, the x-axis direction of coordinate system represent due east direction, y-axis direction
Direct north is represented, the predeterminated position where specific reference identification corresponds to specific geographical coordinate, as reference identification A is corresponding
Geographical coordinate be (Xa, Ya).
S102, the location coordinate information of reference identification is obtained according to image.
Processor can be identified in image after the image of image device shooting is got by image recognition technology
Reference identification, obtain the information of reference identification.The particular color such as pre-set, obtain position coordinates corresponding to particular color
Information.
S103, according to the relative position relation of the position of reference identification in image and the center of image, image device
The location coordinate information of object distance and reference identification in shooting image, obtain the first position coordinate information of image device.
As shown in figure 3, it is the coordinate-system schematic diagram of image, after image device gets the image of reference identification, often
Image also includes the coordinate-system of image itself, if coordinates of the reference identification A on image is (x1, y1), the center of image
The coordinate of position is (x0, y0).
Further, as shown in figure 4, localization method flow chart for an embodiment, step S103 also include step：
S201, according to object distance of the image device in shooting image, obtain amplification coefficient.
By taking the coordinate-system of Fig. 3 image as an example, coordinates of the reference identification A on image is (x1, y1), in image
The coordinate of heart position is (x0, y0), and the relative position relation of the center of reference identification A and image is i.e. as shown in figure 3, then
The alternate position spike such as following formula of the center of positions and image of the reference identification A on image：
Wherein, it is related to amplify object distance hs of the COEFFICIENT K h to image device in shooting image under general condition, it is determined that into
After object distance h of the device in shooting image, amplification coefficient h just can determine according to existing known optical relation.
S202, according to the product of relative position relation and amplification coefficient, obtain center and the reference identification of image
Actual relative position relation.
By taking the coordinate-system of Fig. 3 image as an example, coordinates of the reference identification A on image is (x1, y1), in image
The coordinate of heart position is (x0, y0), according to the alternate position spike of positions of the reference identification A on image and the center of image with
The product of amplification coefficient, the actual relative position relation such as following formula of acquisition：
Wherein, to improve the accuracy of the actual relative position relation of acquisition, the first correction factor, such as following formula are additionally added：
Wherein, a1 and a2 represents the first correction factor.
S203, obtained and be imaged according to the location coordinate information of the reference identification of reference identification and actual relative position relation
The first position coordinate information of device.
With reference to Fig. 2 geographical position coordinates and Fig. 3 image coordinate-system, if the geography of image device position
Coordinate, i.e. first position coordinate information are (Xc, Yc), then the acquisition process of first position coordinate information such as following formula：
(Xc, Yc)=(Xa+ Δs x, Ya+ Δ y)=(Xa+Kh (x1-x0), Ya+Kh (y1-y0))
Based on step S201~S202, the first position coordinate information of image device is obtained.
S104, obtains the focal plane of image device and first angle that horizontal plane is formed, and image device and reference
The relative altitude of mark.
In the motion process of image device, if image device run-off the straight, the focal plane of image device can be with level
Face shape at an angle, wherein, focal plane be and the center line of the taking lens of image device where plane and lens edge line institute
In the plane of plane parallel, horizontal plane refers to the plane perpendicular to gravity direction.The geographical position coordinates system established with Fig. 2
Exemplified by, the focal plane of image device and the angle thx of x-axis are gathered, the angle thy with y-axis, angle thx and thy represent the
One angle.Obtain relative altitude z simultaneously.
S105, according to first angle and relative altitude amendment first position coordinate information, obtain the second of image device
Put coordinate information.
Further, as shown in figure 5, localization method flow chart for another embodiment, step S105 include step：
S301, according to first position coordinate information and relative altitude, obtain the first correction.
By taking the geographical position coordinates system that Fig. 2 is established as an example, the first position coordinate information of image device is (Xc, Yc),
As shown in fig. 6, it is the three-dimensional geographical location coordinate information schematic diagram of reference identification, according to the focal plane of image device in artwork 2
Coordinate-system on establish Z axis, Z-direction represents the opposite direction of gravity direction, and the positive of Z axles represents image device and reference
The relative altitude of mark, the concept of three dimensions is introduced, then first position coordinate information is (Xc, Yc, z), the first correction Rx
With Ry calculating process such as following formula：
Wherein, a3 and a4 represents the second correction factor.
S302, according to first position coordinate information, the first correction and first angle, obtain the second correction.
By taking the geographical position coordinates system that Fig. 2 is established as an example, according to the function of some known acquisition corrections, such as line
Property function etc., obtain the second correction X and Y, such as following formula：
S303, according to first position coordinate information and the second correction sum, obtain the second place coordinate of image device
Information.
Wherein, according to first position coordinate information and the second correction sum, the second place coordinate of image device is obtained
The process of information, if second place coordinate information is (Xd, Yd), such as following formula：
Wherein, a5 and a6 represents the 3rd correction factor.Based on step S301~S303, the second of image device is obtained
It is (Xd, Yd) to put coordinate information.
Wherein, as shown in fig. 7, modification method flow chart for localization method, step 303 also include step：
S401, grid deviation value is determined according to second place coordinate information and first position coordinate information；
S402, if grid deviation value is more than preset value, according to the first correction and the second correction amendment first angle,
Obtain revised first angle；
S403, according to first position coordinate information, the first correction and revised first angle, obtain revised
Second correction；
S404, according to first position coordinate information and revised second correction sum, obtain revised imager
The second place coordinate information of part.
Wherein, after the second place coordinate information of revised image device is obtained, the revised second place is sat
Mark information and replace former second place coordinate information, repeated the above steps S401~S404, and an iteration repeatedly is realized based on this
Computing, until getting the second place coordinate letter for being less than or equal to preset value with the grid deviation value of first position coordinate information
Breath.
The modification method of the localization method provided by the present embodiment, further correct the image device that gets
Second place coordinate information, improve sterically defined accuracy.
The localization method provided by the present embodiment, the reference in predeterminated position shot by obtaining image device are marked
Know image, the first position coordinate information of image device position can be obtained according to image, in combination with to first position
The amendment of coordinate information, obtain the second place coordinate information of more accurate image device.Based on this, user is empty in positioning
Between accurate space orientation position can be obtained according to technical scheme provided by the present invention.
In a preferred embodiment, as shown in figure 8, localization method flow chart for a preferred embodiment, in addition to step
Suddenly：
S501, if reference identification is plane mark, obtain second jiao that the plane of focal plane and plane mark is formed
Degree.
By taking the geographical position coordinates system that Fig. 2 is established as an example, if reference identification A is plane mark, as Planar Mapping identifies
Deng obtaining the focal plane of image device and second angle θ that the plane of plane mark is formed.
Preferably, plane mark identifies including Quick Response Code, can set abundant information in Quick Response Code mark, meanwhile,
Quick Response Code mark also allows for identifying the information for obtaining reference identification by image device.Wherein, for the ease of acquisition image device
Focal plane and plane mark the second angle θ that is formed of plane, Quick Response Code can be identified and carry out image procossing, utilized
The treatment technology of image recognition Quick Response Code, the information for including Quick Response Code mark include second angle θ judgement information, i.e.,
Image device obtains the image of Quick Response Code mark in different angle, and the Quick Response Code identification image got according to different angle can
To identify different second angle θ, it is easy to obtain second angle θ.
Preferably, Quick Response Code mark can be long-range Quick Response Code mark, and image device is preferably imaged using high speed infrared
Machine, coordinate light compensating lamp to carry out light filling to high speed infrared video camera, reduce influence of the environmental factor to identification Quick Response Code mark, together
When can realize the mark identification of remote Quick Response Code.
S502, according to second angle and second place coordinate information, obtain the 3rd location coordinate information of image device.
By taking the geographical position coordinates system that Fig. 2 is established as an example, the second place coordinate information of image device is (Xd, Yd),
3rd location coordinate information of the image device then obtained is (Xd, Yd, θ).
The localization method provided by this preferred embodiment, in the case where reference identification is plane mark, introduce the
The second place coordinate information of image device of two angles to getting further is limited, and obtains more accurately being imaged
3rd location coordinate information of device, to improve sterically defined precision.
In one embodiment, as shown in figure 9, apparatus module schematic diagram for positioner, including：
Acquisition module 601 is imaged, the figure of the reference identification for being arranged on predeterminated position for obtaining image device shooting
Picture.
Coordinate identification module 602, for obtaining the location coordinate information of reference identification according to image.
First computing module 603, for the position and the relative position of the center of image according to reference identification in image
The location coordinate information of the object distance and reference identification of relation, image device in shooting image is put, obtains the of image device
One location coordinate information.
Wherein, the first computing module also includes：
Amplification coefficient acquisition module, for the object distance according to image device in shooting image, obtain amplification coefficient.
Actual relative position relation computing module, for the product according to relative position relation and amplification coefficient, is schemed
The center of picture and the actual relative position relation of reference identification.
First position coordinate information processing module, for the location coordinate information according to reference identification and actual relative position
Put the first position coordinate information of Relation acquisition image device.
Auxiliary information acquisition module 604, first jiao formed for obtaining the focal plane of image device and horizontal plane
Degree, and the relative altitude of image device and reference identification.
Second computing module 605, for according to first angle and relative altitude amendment first position coordinate information, obtaining
The second place coordinate information of image device.
Wherein, the second computing module 605 includes：
First correction computing module, for according to first position coordinate information and relative altitude, obtaining the first amendment
Amount.
Second correction computing module, for according to first position coordinate information, the first correction and first angle, obtaining
Take the second correction.
Second place coordinate information processing module, for according to first position coordinate information and the second correction sum, obtaining
To the second place coordinate information of image device.
The positioner provided by the present embodiment, the reference in predeterminated position shot by obtaining image device are marked
Know image, the first position coordinate information of image device position can be obtained according to image, in combination with to first position
The amendment of coordinate information, obtain the second place coordinate information of more accurate image device.Based on this, user is empty in positioning
Between accurate space orientation position can be obtained according to technical scheme provided by the present invention.
Preferably, the second computing module 605 also includes：
Deviation computing module, for determining that coordinate is inclined according to second place coordinate information and first position coordinate information
Difference.
First angle correcting module, for when grid deviation value is more than preset value, being repaiied according to the first correction and second
Positive quantity amendment first angle, obtains revised first angle.
Second correction correcting module, for according to first position coordinate information, the first correction and revised first
Angle, obtain revised second correction.
Second place coordinate information correcting module, for according to first position coordinate information and the revised second amendment
Sum is measured, obtains the second place coordinate information of revised image device.
The positioner provided by this preferred embodiment, in the case where reference identification is plane mark, introduce the
The second place coordinate information of image device of two angles to getting further is limited, and obtains more accurately being imaged
3rd location coordinate information of device, to improve sterically defined precision.
Preferably, positioner also includes：
Second angle computing module, for when reference identification is plane mark, obtain the flat of focal plane and plane mark
The second angle that face is formed.
3rd computing module, for according to second angle and second place coordinate information, obtaining the 3rd of image device
Put coordinate information.
The positioner of the preferred embodiment provided by the present embodiment, in the situation that reference identification is plane mark
Under, the second place coordinate information for introducing image device of the second angle to getting further is limited, and is more defined
3rd location coordinate information of true image device, to improve sterically defined precision.
In one embodiment, as shown in Figure 10, it is the assembly assumption diagram of alignment system, including：
Image device 701, sensor 702 and controller 703.
Controller 703 includes memory 7031 and processor 7032, and processor 7032 connects image device 701, passed respectively
Sensor 702 and memory 7031.
Memory 7031 is stored with computer program, and computer program can be realized above-mentioned when being executed by processor
The step of localization method.
The alignment system provided by the present embodiment, the reference in predeterminated position shot by obtaining image device are marked
Know image, the first position coordinate information of image device position can be obtained according to image, in combination with to first position
The amendment of coordinate information, obtain the second place coordinate information of more accurate image device.Based on this, user is empty in positioning
Between accurate space orientation position can be obtained according to technical scheme provided by the present invention.
Preferably, alignment system also includes light compensating lamp, and image device preferably uses high speed infrared video camera, coordinates and mends
Light lamp carries out light filling to high speed infrared video camera, reduces influence of the environmental factor to identification Quick Response Code mark.
Sensor 702 can select the sensor for being easy to obtain angle information, including angular transducer or inclination angle sensing
Device, to measure the change of pitch angle amount of the focal plane of image device and horizontal plane.
The present invention also provides a kind of computer-readable recording medium, is stored thereon with computer program, computer program quilt
The step of above-mentioned localization method is realized during computing device.In addition, the program being generally stored inside in a storage medium pass through it is straight
Connect and program is read out into storage medium or by program being installed or being copied to the storage device of data processing equipment (as firmly
Disk and/or internal memory) in perform.Therefore, such storage medium also constitutes the present invention.Storage medium can use any types
Recording mode, such as paper storage medium (such as paper tape), magnetic storage medium (such as floppy disk, hard disk, flash memory), optical storage
Medium (such as CD-ROM), magnetic-optical storage medium (such as MO) etc..
By storage medium provided by the invention, the reference identification in predeterminated position shot by obtaining image device
Image, the first position coordinate information of image device position can be obtained according to image, is sat in combination with to first position
The amendment of information is marked, obtains the second place coordinate information of more accurate image device.Based on this, user is in located space
Accurate space orientation position can be obtained according to technical scheme provided by the present invention.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, lance is not present in the combination of these technical characteristics
Shield, all it is considered to be the scope of this specification record.
Above example only expresses the several embodiments of the present invention, and its description is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of localization method, it is characterised in that including step：
Obtain the image of the reference identification for being arranged on predeterminated position of image device shooting；
The location coordinate information of the reference identification is obtained according to described image；
According to the relative position relation of the position of reference identification in described image and the center of described image, the imager
The location coordinate information of object distance and the reference identification of the part when shooting described image, obtains the first of the image device
Location coordinate information；
Obtain the focal plane of the image device and first angle that horizontal plane is formed, and the image device and the ginseng
Examine the relative altitude of mark；
According to first position coordinate information described in the first angle and the relative altitude amendment, the image device is obtained
Second place coordinate information.
2. localization method according to claim 1, it is characterised in that also including step：
If the reference identification is plane mark, second jiao that the plane of the focal plane and the plane mark is formed is obtained
Degree；
According to the second angle and the second place coordinate information, the 3rd position coordinates letter of the image device is obtained
Breath.
3. localization method according to claim 1, it is characterised in that the plane mark identifies including Quick Response Code.
4. localization method according to claim 1, it is characterised in that the position according to reference identification in described image
Object distance when shooting described image of relative position relation, the image device with the center of described image and described
The location coordinate information of reference identification, obtain the process of the first position coordinate information of the image device, including step：
According to object distance of the image device when shooting described image, amplification coefficient is obtained；
According to the product of the relative position relation and the amplification coefficient, center and the reference identification of described image are obtained
Actual relative position relation；
The of the image device is obtained according to the location coordinate information of the reference identification and the actual relative position relation
One location coordinate information.
5. localization method according to claim 1, it is characterised in that described according to the first angle and described relatively high
Degree corrects the first position coordinate information, obtains the process of the second place coordinate information of the image device, including step：
According to the first position coordinate information and the relative altitude, the first correction is obtained；
According to the first position coordinate information, first correction and the first angle, the second correction is obtained；
According to the first position coordinate information and the second correction sum, the second place for obtaining the image device is sat
Mark information.
6. localization method according to claim 5, it is characterised in that it is described according to the first position coordinate information with
The second correction sum, after obtaining the process of second place coordinate information of the image device, in addition to step：
Grid deviation value is determined according to the second place coordinate information and the first position coordinate information；
If the grid deviation value is more than preset value, first according to first correction and the second correction amendment
Angle, obtain revised first angle；
According to the first position coordinate information, first correction and the revised first angle, obtain after correcting
The second correction；
According to the first position coordinate information and the revised second correction sum, the revised imaging is obtained
The second place coordinate information of device.
A kind of 7. positioner, it is characterised in that including：
Acquisition module is imaged, the image of the reference identification for being arranged on predeterminated position for obtaining image device shooting；
Coordinate identification module, for obtaining the location coordinate information of the reference identification according to described image；
First computing module, for the position and the relative position of the center of described image according to reference identification in described image
The location coordinate information of the object distance and the reference identification of relation, the image device when shooting described image is put, is obtained
The first position coordinate information of the image device；
Auxiliary information acquisition module, the first angle that the focal plane for obtaining the image device is formed with horizontal plane, with
And the image device and the relative altitude of the reference identification；
Second computing module, for the first position coordinate information according to the first angle and the relative altitude amendment,
Obtain the second place coordinate information of the image device.
8. a kind of alignment system, it is characterised in that including image device, sensor and controller；
The controller includes memory and processor, the processor connect respectively the image device, the sensor and
The memory；
The memory storage has computer program, and the computer program can realize that right such as will when being executed by processor
The step of seeking the localization method described in 1-6 any one.
9. alignment system according to claim 8, it is characterised in that the image device includes high speed infrared video camera.
10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the computer program
The step of claim 1-6 any one methods describeds are realized when being executed by processor.
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| CN108709558A (en) * | 2018-05-24 | 2018-10-26 | 郑州辰维科技股份有限公司 | A kind of method of large scale workshop high accuracy positioning |
| CN109099891A (en) * | 2018-07-12 | 2018-12-28 | 广州维绅科技有限公司 | Space-location method, apparatus and system based on image recognition |
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