CN110264521A - A kind of localization method and system based on binocular camera - Google Patents
A kind of localization method and system based on binocular camera Download PDFInfo
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- CN110264521A CN110264521A CN201910544328.2A CN201910544328A CN110264521A CN 110264521 A CN110264521 A CN 110264521A CN 201910544328 A CN201910544328 A CN 201910544328A CN 110264521 A CN110264521 A CN 110264521A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1443—Methods for optical code recognition including a method step for retrieval of the optical code locating of the code in an image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract
The embodiment of the invention provides a kind of localization method and system based on binocular camera, method include: to obtain at least three groups to be located at the images that the graphic code of different location obtains, the location information comprising encryption in graphic code using binocular camera shooting；Graphic code in every group of image is decoded, the location information of graphic code is obtained；Based on every group of image, calculating binocular camera is with this group of image at a distance from corresponding graphic code；Based at least three groups of binocular cameras at a distance from graphic code and the location information of graphic code, positioned.It can be realized precision height, positioning at low cost.
Description
Technical field
The present invention relates to fields of communication technology, more particularly to a kind of localization method and system based on binocular camera.
Background technique
Deriving technology of the location technology as the communications field, can greatly facilitate daily life.
Common location technology includes GPS (Global Positioning System, global positioning system) positioning skill
Art, and the location technology based on active beacon.
Wherein, in GPS positioning technology, GPS satellite receives the GPS signal that positioning device issues, and then returns to the positioning and sets
The latitude and longitude information at standby place.However, GPS positioning technology is easy by weather, geographical environment bring influences, and leads to positioning accurate
It spends not high.Such as under tunnel environment, GPS positioning technology is difficult to work normally.
In location technology based on active beacon, active beacon is distributed in around positioning device, positioning device receives
The location information of multiple active beacons, the location information based on active beacon are calculated, and own location information is obtained, and it is fixed to complete
Position.However, need to be arranged more active beacon in this location technology, and the finishing of active beacon and maintenance cost are higher,
And it is unsuitable for large scale deployment and long-term operation.
In view of this, needing to propose that a kind of positioning accuracy is higher, and lower-cost localization method.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of localization method and system based on binocular camera, to realize height
The positioning of precision, low cost.Specific technical solution is as follows:
To achieve the above object, the embodiment of the invention provides a kind of localization method based on binocular camera, the sides
Method includes:
It obtains at least three groups and is located at the image that the graphic code of different location obtains, the figure using binocular camera shooting
Location information comprising encryption in code；
Graphic code in every group of image is decoded, the location information of the graphic code is obtained；
Based on every group of image, the binocular camera is calculated with this group of image at a distance from corresponding graphic code；
Based at least binocular camera described in three groups at a distance from the graphic code and the position of the graphic code letter
Breath, is positioned.
Optionally, the graphic code in every group of image is decoded, and obtains the step of the location information of the graphic code
Suddenly, comprising:
Graphic code in every group of image is decoded, the mark of every group picture shape code is obtained；
The mark of the graphic code according to the pre-stored data and the corresponding relationship of location information, determine the position of the graphic code
Confidence breath.
Optionally, described to be based on every group of image comprising left image and right image in every group of image, calculate the binocular
Camera is with this group of image at a distance from corresponding graphic code, comprising:
Determine position deviation of the graphic code in the left image and right image of every group of image；
The binocular camera and every group picture are determined using binocular stereo vision algorithm based on the position deviation
As the distance of corresponding graphic code.
Optionally, it is described based at least binocular camera described in three groups at a distance from the graphic code and the figure
The location information of code, the step of positioning, comprising:
Based at least binocular camera described in three groups at a distance from the graphic code and the position of the graphic code letter
Breath, using triangulation location technology, is positioned.
Optionally, the graphic code is two dimensional code.
To achieve the above object, described the embodiment of the invention also provides a kind of positioning system based on binocular camera
System includes: binocular camera, visual processes equipment, host computer；
The binocular camera obtains at least three groups of images for shooting the graphic code that at least three groups are located at different location,
Location information comprising encryption in the graphic code；
The visual processes equipment obtains the position of the graphic code for being decoded to the graphic code in every group of image
Confidence breath, and it is based on every group of image, the binocular camera is calculated with this group of image at a distance from corresponding graphic code；
The host computer, at a distance from the graphic code and described based at least binocular camera described in three groups
The location information of graphic code, is positioned.
Optionally, the visual processes equipment, is specifically used for:
Graphic code in every group of image is decoded, the mark of every group picture shape code is obtained；
The mark of the graphic code according to the pre-stored data and the corresponding relationship of location information, determine the position of the graphic code
Confidence breath.
Optionally, described to be based on every group of image, the visual processes comprising left image and right image in every group of image
Equipment is specifically used for:
Determine the position deviation of left image and right image of the graphic code in every group of image；
The binocular camera and the graphic code are determined using binocular stereo vision algorithm based on the position deviation
Distance.
Optionally, the host computer, is specifically used for:
Based at least binocular camera described in three groups at a distance from the graphic code and the position of the graphic code letter
Breath, using triangulation location technology, is positioned.
To achieve the above object, the embodiment of the invention also provides a kind of electronic equipment, including processor, communication interface,
Memory and communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes any of the above-described method and step.
To achieve the above object, the embodiment of the invention also provides a kind of computer readable storage medium, the computers
Computer program is stored in readable storage medium storing program for executing, the computer program realizes any of the above-described method step when being executed by processor
Suddenly.
Using the localization method and system provided in an embodiment of the present invention based on binocular camera, binocular camera shoot to
The few three groups graphic codes for being located at different location obtain at least three groups of images, the location information comprising encryption in graphic code, at vision
Reason equipment is decoded the graphic code in every group of image, obtains the location information of graphic code, and be based on every group of image, calculates double
Mesh camera is with this group of image at a distance from corresponding graphic code；Host computer based at least three groups of binocular cameras and graphic code away from
From and graphic code location information, positioned.As it can be seen that not needing setting active beacon, it is only necessary to be pre-placed some figures
Shape code marker, due to graphic code marker be it is passive, installation maintenance cost is lower, and be suitable for various environment, to adopt
It can be realized the positioning of high-precision, low cost with the positioning system provided in an embodiment of the present invention based on binocular camera.
Certainly, implement any of the products of the present invention or method it is not absolutely required at the same reach all the above excellent
Point.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of the positioning system provided in an embodiment of the present invention based on binocular camera；
Fig. 2 is a kind of signal of the application scenarios of the positioning system provided in an embodiment of the present invention based on binocular camera
Figure；
Fig. 3 is a kind of flow chart of the localization method provided in an embodiment of the present invention based on binocular camera；
Fig. 4 is a kind of structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
For the positioning of high-precision, low cost, the embodiment of the invention provides a kind of positioning system based on binocular camera
System, referring to Fig. 1, Fig. 1 is a kind of structural schematic diagram of the positioning system provided in an embodiment of the present invention based on binocular camera, packet
Include binocular camera 101, visual processes equipment 102 and host computer 103.
In the embodiment of the present invention, binocular camera 101 and visual processes equipment 102 can be deployed on mobile carrier, on
Position machine 103 both may be mounted on mobile carrier, can also be independently of mobile carrier.
In the embodiment of the present invention, binocular camera 101 can be used for shooting at least three groups graphic codes for being located at different location
Obtain at least three groups of images, the location information comprising encryption in graphic code.
Wherein, graphic code can be two dimensional code etc., and graphic code, which can be, is artificially previously deployed at localization region, Mei Getu
Shape code all includes the own location information of encryption.
In position fixing process, binocular camera 101 can shoot at least three groups be located at different location image code obtain to
Lack three groups of images, includes two images in every group of image, the image of respectively left camera shooting and the figure of right camera shooting
Picture.For every group of image, left camera and right camera are identical at the time of shooting.
Then, at least three groups of images of shooting can be sent to visual processes equipment 102 by binocular camera 101.
Visual processes equipment 102 can be decoded the graphic code in every group of image, obtain the location information of graphic code,
And it is based on every group of image, calculating binocular camera 101 is with this group of image at a distance from corresponding graphic code.
In an embodiment of the present invention, visual processes equipment 102 is decoded the graphic code in every group of image, obtains
To the process of the location information of graphic code, following refinement step can specifically include:
Step 11: the graphic code in every group of image being decoded, the mark of every group picture shape code is obtained；
For every group of image, visual processes equipment 102 can be decoded the graphic code in image, wherein decoded side
Formula can be corresponding with cipher mode.After the completion of decoding, the mark of every group picture shape code is obtained.
Step 12: the mark of graphic code according to the pre-stored data and the corresponding relationship of location information determine the position of graphic code
Confidence breath.
In the embodiment of the present invention, the mark of graphic code and the relationship of location information can be stored in advance in visual processes equipment
In 102, after visual processes equipment 102 determines the mark of every group picture shape code, the group picture shape code can be determined according to corresponding relationship
Geographical location.
For example, binocular camera 101 has taken three groups of images, includes two images in every group of image, and every group picture
The geographical location of graphic code as in is identical, if vision processing module determines the mark difference of graphic code in three groups of images
It, then can be according to the corresponding of the geographical location of the mark and graphic code of graphic code for first identifier, second identifier and third mark
Relationship finds the geographical location of graphic code in three groups of images respectively.
In an embodiment of the present invention, left image and right image be may include in every group of image, left image is binocular
The left camera shooting of camera 101, right image is that the right camera of binocular camera 101 is shot, due to left image and
Right image is shot simultaneously, and there are position deviations for left and right camera, therefore shoot in obtained left image and right image and scheme
There is also certain deviations for the position of shape code, and the actual range of binocular camera 101 and graphic code can be calculated according to position deviation.
Specifically, visual processes equipment 102 can determine binocular camera 101 and graphic code by following refinement step
Distance:
Step 21: determining the position deviation of left image and right image of the graphic code in every group of image；
Due to the left image and right image in the corresponding one group of image of a graphic code, visual processes equipment 102 can be distinguished
Every group of image is handled, the position deviation of left image and right image of the graphic code in this group of image is obtained.
Step 22: being based on position deviation, using binocular stereo vision algorithm, determine binocular camera 101 and graphic code
Distance.
Wherein, binocular stereo vision algorithm is tested using imaging device from different position acquisitions based on principle of parallax
The two images of object, the method by calculating the position deviation between image corresponding points, to obtain object dimensional geological information.
For every group of image, visual processes equipment 102 can be with left image of the graphic code in this group of image and right image
Position deviation carries out binocular stereo vision operation, can obtain this group of image moment binocular of graphic code and shooting in this group of image
The actual range of 101 present position of camera.
After at least three groups of images carry out binocular stereo vision operation, visual processes equipment 102 can obtain at least three
The actual range of group picture shape code and 101 present position of binocular camera, wherein 101 institute of binocular camera when shooting every group of image
It is identical in position.
In an embodiment of the present invention, when visual processes equipment 102 obtains at least three group picture shape codes and binocular camera shooting
After the actual range of first 101 present position, location Calculation can be voluntarily carried out.
In another embodiment of the invention, it is contemplated that the hardware requirement of location Calculation is higher, visual processes equipment 102
The actual range of at least three group picture shape codes and 101 present position of binocular camera host computer 103 can be sent to handle.
To which host computer 103 can be based on the actual range of at least three groups binocular cameras 101 and graphic code, Yi Jitu
The location information of shape code is positioned using triangulation location technology.
Wherein, triangulation location is the positioning carried out based on mathematics geometrical principle, when acquisition binocular camera 101 and at least three
After the actual range of group picture shape code, and the actual geographic position of every group picture shape code be it is determining, binocular camera can be calculated
The location of the when 101 shooting image namely position of carrier.
Using the positioning system provided in an embodiment of the present invention based on binocular camera 101, binocular camera 101 is shot extremely
The few three groups graphic codes for being located at different location obtain at least three groups of images, the location information comprising encryption in graphic code, at vision
Reason equipment 102 is decoded the graphic code in every group of image, obtains the location information of graphic code, and be based on every group of image, meter
Calculation binocular camera 101 is with this group of image at a distance from corresponding graphic code；Host computer 103 is based at least three groups of binocular cameras
101 and graphic code distance and graphic code location information, positioned.As it can be seen that not needing setting active beacon, only need
Be pre-placed some graphic code markers, due to graphic code marker be it is passive, installation maintenance cost is lower, and is suitable for
Various environment, thus using the positioning system provided in an embodiment of the present invention based on binocular camera 101 can be realized high-precision,
The positioning of low cost.
In order to make it easy to understand, citing is illustrated below, Fig. 2 may refer to, Fig. 2 is provided in an embodiment of the present invention is based on
A kind of schematic diagram of the application scenarios of the positioning system of binocular camera.
As shown in Fig. 2, binocular camera may be mounted in robot, visual processes equipment also be can integrate in machine
People, host computer can be independent electronic equipment, and establishes and communicate to connect with visual processes equipment.
The binocular camera being installed in robot can carry out video acquisition or Image Acquisition to the graphic code in the visual field,
In collection process, the relevant optical parameter of adjustment that can be adaptive, for example (,) exposure rate, aperture etc..Binocular camera is simultaneously
Exposure is directed to the image of a certain graphic code to shoot, and the left image and right image comprising the graphic code is obtained, as one group of image.
After obtaining image, visual processes equipment identifies each group of image, and identification is to the image code in image
It is decoded, obtains the mark of graphic code, and the corresponding relationship of mark and geographical location according to the pre-stored data, determine each group
The geographical location of image code in image.
As shown in Fig. 2, visual processes equipment determines the first geographical location where graphic code 1, second where graphic code 2
Third geographical location where geographical location and graphic code 3.
The position deviation for the graphic code in left image and right image that visual processes equipment can include based on every group of image,
Using binocular stereo vision algorithm, the distance between robot and each graphic code are determined.
As shown in Fig. 2, visual processes equipment determines the first distance between robot and graphic code 1, robot and figure
The third distance between second distance and robot and graphic code 3 between code 2.
Subsequent visual processes equipment can be by above-mentioned first geographical location, the second geographical location, third geographical location and
First distance, second distance and third distance are sent to host computer, and host computer is based on above-mentioned data and carries out triangulation location calculating,
The position of robot can be obtained.
Corresponding to the positioning system provided in an embodiment of the present invention based on binocular camera, the embodiment of the invention also provides
A kind of localization method based on binocular camera, this method can be applied to electronic equipment, which can integrate double
Mesh camera.Referring to Fig. 3, method be may comprise steps of:
S301: at least three groups are obtained and is located at the image that the graphic code of different location obtains, figure using binocular camera shooting
Location information comprising encryption in shape code；
S302: the graphic code in every group of image is decoded, the location information of graphic code is obtained；
S303: it is based on every group of image, calculating binocular camera is with this group of image at a distance from corresponding graphic code；
S304: based at least three groups of binocular cameras at a distance from graphic code and the location information of graphic code, determined
Position.
In an embodiment of the present invention, the graphic code in every group of image is decoded, obtains the position of graphic code
The step of information, can specifically include:
Graphic code in every group of image is decoded, the mark of every group picture shape code is obtained；
The mark of graphic code according to the pre-stored data and the corresponding relationship of location information, determine the location information of graphic code.
In an embodiment of the present invention, include left image and right image in every group of image, be based on every group of image, calculate
Binocular camera with this group of image at a distance from corresponding graphic code the step of, can specifically include:
Determine position deviation of the graphic code in the left image and right image of every group of image；
Binocular camera figure corresponding with every group of image is determined using binocular stereo vision algorithm based on position deviation
The distance of code.
In an embodiment of the present invention, based at least three groups of binocular cameras at a distance from graphic code and figure
Code location information may include: the step of positioning
It is fixed using triangle based at least three groups of binocular cameras at a distance from graphic code and the location information of graphic code
Position technology, is positioned.
Using the localization method provided in an embodiment of the present invention based on binocular camera, obtains at least three groups and taken the photograph using binocular
As head shooting is located at the image that the graphic code of different location obtains, the location information comprising encryption in graphic code；To every group of image
In graphic code be decoded, obtain the location information of graphic code；Based on every group of image, binocular camera and this group of image are calculated
The distance of corresponding graphic code；Based at least three groups of binocular cameras at a distance from graphic code and the location information of graphic code,
It is positioned.As it can be seen that not needing setting active beacon, it is only necessary to some graphic code markers are pre-placed, due to graphic code mark
Will object be it is passive, installation maintenance cost is lower, and be suitable for various environment, to be based on using provided in an embodiment of the present invention
The positioning system of binocular camera can be realized the positioning of high-precision, low cost.
The embodiment of the invention also provides a kind of electronic equipment, as shown in figure 4, include processor 401, communication interface 402,
Memory 403 and communication bus 404, wherein processor 401, communication interface 402, memory 403 are complete by communication bus 404
At mutual communication,
Memory 403, for storing computer program；
Processor 401 when for executing the program stored on memory 403, realizes following steps:
At least three groups obtained images of graphic code for being located at different location using binocular camera shooting are obtained, in graphic code
Location information comprising encryption；
Graphic code in every group of image is decoded, the location information of graphic code is obtained；
Based on every group of image, calculating binocular camera is with this group of image at a distance from corresponding graphic code；
Based at least three groups of binocular cameras at a distance from graphic code and the location information of graphic code, positioned.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, Fig. 4, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), also may include non-easy
The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal
Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.
Using electronic equipment provided in an embodiment of the present invention, obtains at least three groups and be located at difference using binocular camera shooting
The image that the graphic code of position obtains, the location information comprising encryption in graphic code；Graphic code in every group of image is solved
Code, obtains the location information of graphic code；Based on every group of image, calculate binocular camera graphic code corresponding with this group of image away from
From；Based at least three groups of binocular cameras at a distance from graphic code and the location information of graphic code, positioned.As it can be seen that not
It needs that active beacon is arranged, it is only necessary to some graphic code markers are pre-placed, since graphic code marker is passive, installation
Maintenance cost is lower, and is suitable for various environment, thus using the positioning provided in an embodiment of the present invention based on binocular camera
System can be realized the positioning of high-precision, low cost.
It is mentioned according to the above-mentioned localization method embodiment based on binocular camera in the present invention based on identical inventive concept
In the another embodiment supplied, a kind of computer readable storage medium is additionally provided, is stored in the computer readable storage medium
Computer program realizes any of the above-described localization method step based on binocular camera when computer program is executed by processor.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for based on double
For the localization method of mesh camera, electronic equipment and computer readable storage medium embodiment, since it is substantially similar to
Positioning system embodiment based on binocular camera, so being described relatively simple, related place is referring to based on binocular camera
Positioning system embodiment part explanation.The above is merely preferred embodiments of the present invention, it is not intended to limit this
The protection scope of invention.Any modification, equivalent substitution, improvement and etc. done within the spirit and principles of the present invention, are wrapped
Containing within the scope of the present invention.
Claims (10)
1. a kind of localization method based on binocular camera, which is characterized in that the described method includes:
At least three groups obtained images of graphic code for being located at different location using binocular camera shooting are obtained, in the graphic code
Location information comprising encryption；
Graphic code in every group of image is decoded, the location information of the graphic code is obtained；
Based on every group of image, the binocular camera is calculated with this group of image at a distance from corresponding graphic code；
Based at least binocular camera described in three groups at a distance from the graphic code and the location information of the graphic code, into
Row positioning.
2. being obtained the method according to claim 1, wherein the graphic code in every group of image is decoded
To the graphic code location information the step of, comprising:
Graphic code in every group of image is decoded, the mark of every group picture shape code is obtained；
The mark of the graphic code according to the pre-stored data and the corresponding relationship of location information determine the position letter of the graphic code
Breath.
3. the method according to claim 1, wherein including left image and right image, institute in every group of image
It states based on every group of image, calculates the binocular camera with this group of image at a distance from corresponding graphic code, comprising:
Determine position deviation of the graphic code in the left image and right image of every group of image；
The binocular camera and every group of image pair are determined using binocular stereo vision algorithm based on the position deviation
The distance for the graphic code answered.
4. the method according to claim 1, wherein it is described based at least binocular camera described in three groups with it is described
The location information of the distance of graphic code and the graphic code, the step of positioning, comprising:
Based at least binocular camera described in three groups at a distance from the graphic code and the location information of the graphic code, adopt
With triangulation location technology, positioned.
5. method according to claim 1 to 4, which is characterized in that the graphic code is two dimensional code.
6. a kind of positioning system based on binocular camera, which is characterized in that the system comprises binocular camera, at vision
Manage equipment, host computer；
The binocular camera obtains at least three groups of images for shooting the graphic code that at least three groups are located at different location, described
Location information comprising encryption in graphic code；
The visual processes equipment obtains the position letter of the graphic code for being decoded to the graphic code in every group of image
Breath, and it is based on every group of image, the binocular camera is calculated with this group of image at a distance from corresponding graphic code；
The host computer, for based at least binocular camera described in three groups at a distance from the graphic code and the figure
The location information of code, is positioned.
7. system according to claim 6, which is characterized in that the visual processes equipment is specifically used for:
Graphic code in every group of image is decoded, the mark of every group picture shape code is obtained；
The mark of the graphic code according to the pre-stored data and the corresponding relationship of location information determine the position letter of the graphic code
Breath.
8. system according to claim 6, which is characterized in that include left image and right image, institute in every group of image
It states based on every group of image, the visual processes equipment is specifically used for:
Determine the position deviation of left image and right image of the graphic code in every group of image；
Based on the position deviation, using binocular stereo vision algorithm, determine the binocular camera and the graphic code away from
From.
9. system according to claim 6, which is characterized in that the host computer is specifically used for:
Based at least binocular camera described in three groups at a distance from the graphic code and the location information of the graphic code, adopt
With triangulation location technology, positioned.
10. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing
Device, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes any method and step of claim 1-5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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