CN110378898A - A kind of method, apparatus, storage medium and the equipment of beacon positioning - Google Patents
A kind of method, apparatus, storage medium and the equipment of beacon positioning Download PDFInfo
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- CN110378898A CN110378898A CN201910683322.3A CN201910683322A CN110378898A CN 110378898 A CN110378898 A CN 110378898A CN 201910683322 A CN201910683322 A CN 201910683322A CN 110378898 A CN110378898 A CN 110378898A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present invention provides method, apparatus, storage medium and the equipment of a kind of positioning of beacon, wherein includes at least three not conllinear beacons in reference picture this method comprises: obtaining the reference picture of imaging device acquisition；It determines the actual distance between every two beacon, determines image coordinate of each beacon in the image coordinate system of reference picture, and determine image coordinate of the target point in image coordinate system；True coordinate of each beacon in the camera coordinates system of imaging device is determined according to the actual distance between the image coordinate and beacon of beacon；True coordinate of the target point in camera coordinates system is determined according to the image coordinate of the true coordinate of beacon and target point.Method, apparatus, storage medium and the equipment of the beacon positioning provided through the embodiment of the present invention, three-dimensional localization may be implemented using beacon, facilitate the subsequent mobile control to imaging device, and can realize precise image acquisition to target point, while the cost of imaging device can be reduced.
Description
Technical field
The present invention relates to the technical field of beacon positioning, the method, apparatus positioned in particular to a kind of beacon is deposited
Storage media and equipment.
Background technique
Currently, domestic second-hand automobile market is more and more hot, Second-hand Vehicle Transaction quantity occupies automobile entirety number of transaction
Ratio also constantly promoted, according to the Experience in Development of developed country, in following automobile market, Second-hand Vehicle Transaction will be increasingly becoming
The intermediate portions of vehicle transaction.In Second-hand Vehicle Transaction, the detection of vehicle condition is the most important thing again, and in being cycled at each, greatly
Partial automobile core system is all located in automobile engine nacelle, so the efficiently and accurately detection for car engine room is again automobile
Detect the core of work.
The mode of existing cabin detection is mainly by taking pictures to the fixed position of cabin, and appraiser is according to result of taking pictures
Component truth each for cabin makes an accurately judgement, to complete to detect.And traditional shooting style is all commented
Teacher of the estimate'ing hand-held camera is taken pictures, and this traditional approach was not only inefficient but also uncontrollable, and testing result is largely dependent on assessment
The level of taking pictures of teacher.
Summary of the invention
To solve the above problems, a kind of method, apparatus for being designed to provide beacon positioning of the embodiment of the present invention, storage
Medium and equipment.
In a first aspect, the embodiment of the invention provides a kind of methods of beacon positioning, comprising:
The reference picture of imaging device acquisition is obtained, includes at least three not conllinear beacons in the reference picture；
It determines the actual distance between beacon described in every two, determines each beacon in the image of the reference picture
Image coordinate in coordinate system, and determine image coordinate of the target point in described image coordinate system；
Determine each beacon described according to the actual distance between the image coordinate of the beacon and the beacon
True coordinate in the camera coordinates system of imaging device；
Determine the target point in the camera according to the image coordinate of the true coordinate of the beacon and the target point
True coordinate in coordinate system.
Second aspect, the embodiment of the invention also provides a kind of devices of beacon positioning, comprising:
Image collection module includes at least three in the reference picture for obtaining the reference picture of imaging device acquisition
A not conllinear beacon；
Image coordinate determining module determines each letter for determining the actual distance between beacon described in every two
The image coordinate being marked in the image coordinate system of the reference picture, and determine image of the target point in described image coordinate system
Coordinate；
First true coordinate determining module, between the image coordinate and the beacon according to the beacon it is true away from
True coordinate of the beacon each from determination in the camera coordinates system of the imaging device；
Second true coordinate determining module is determined according to the true coordinate of the beacon and the image coordinate of the target point
True coordinate of the target point in the camera coordinates system.
The third aspect, the embodiment of the invention also provides a kind of computer storage medium, the computer storage medium is deposited
Contain computer executable instructions, side of the computer executable instructions for the positioning of beacon described in above-mentioned any one
Method.
Fourth aspect, the embodiment of the invention also provides a kind of electronic equipment, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that the method that at least one described processor is able to carry out the positioning of beacon described in above-mentioned any one.
5th aspect, the embodiment of the invention also provides a kind of movable equipments, comprising: imaging device, mobile mechanism and
Electronic equipment as described above, the imaging device and the electronic equipment are arranged in the mobile mechanism；
The reference picture is sent to the electronic equipment for acquiring reference picture by the imaging device；
The electronic equipment generates the shifting for controlling the mobile mechanism for executing above-mentioned beacon localization method
Dynamic instruction, is sent to the mobile mechanism for the move；
The mobile mechanism is used to execute corresponding moving operation according to the move.
In the scheme that the above-mentioned first aspect of the embodiment of the present invention provides, multiple not conllinear beacons are preset, and in advance
Determine the distance between every two beacon, using the transformational relation between the image coordinate system and camera coordinates system of imaging device,
The true coordinate of beacon can be determined based on the actual distance between the image coordinate and beacon of beacon, and then determines target point
Three-dimensional true coordinate.The imaging device of the program is common camera, and three-dimensional localization may be implemented using beacon, convenient
The subsequent mobile control to imaging device, and precise image acquisition can be realized to target point；Meanwhile it not needing to utilize binocular phase
Machine is the three-dimensional coordinate that can determine target point, can reduce the cost of imaging device.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
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 shows a kind of flow chart of the method for beacon positioning provided by the embodiment of the present invention；
In the method positioned Fig. 2 shows beacon provided by the embodiment of the present invention, a kind of schematic diagram of reference picture；
Fig. 3 is shown in the method for the positioning of beacon provided by the embodiment of the present invention, camera coordinates system and image coordinate system
Between transformational relation schematic diagram；
Fig. 4 shows a kind of structural schematic diagram of the device of beacon positioning provided by the embodiment of the present invention；
Fig. 5, which is shown, to be shown provided by the embodiment of the present invention for executing the structure of the electronic equipment of the method for beacon positioning
It is intended to.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
The Image Acquisition to enging cabin is realized based on the equipment that can be automatically moved in the present embodiment, so as to avoid passing
Unite artificial shooting style the problem of.And the equipment needs automatically moved may be implemented to be automatically positioned, and automatically move at present
Equipment can by binocular camera acquire object depth information, to realize positioning；It can also be based on the ranging in equipment
The realizations such as sensor positioning.Existing equipment needs the binocular camera by more component or valuableness when realizing automatic positioning,
Higher cost.To solve the above problems, a kind of method of beacon positioning provided in an embodiment of the present invention, is executed by terminal device,
There is the terminal device common imaging device positioning can be realized.It is shown in Figure 1, this method comprises:
Step 101: obtaining the reference picture of imaging device acquisition, include at least three not conllinear letters in reference picture
Mark.
In the embodiment of the present invention, the terminal device for executing the beacon localization method includes imaging device, which uses
In acquisition image, i.e. reference picture.The imaging device specifically can be camera, camera etc., and the present embodiment does not limit this.
In the present embodiment, at least three not conllinear beacons are preset, the positioning to imaging device is realized based on the beacon.Specifically
, which can be the picture or object being additionally arranged, it is also possible to need to acquire some component of object of image itself,
The position of the component needs to be known.For example, the imaging device is used to acquire the image of vehicle engine compartments, then can send out
Multiple beacons are pasted around motivation cabin；Alternatively, using four angles of enging cabin as beacon.
Step 102: determining the actual distance between every two beacon, determine each beacon in the image coordinate of reference picture
Image coordinate in system, and determine image coordinate of the target point in image coordinate system.
In the embodiment of the present invention, in real world, the position of beacon can be determination, it can predefine true
The distance between two beacons, i.e. actual distance in the world.Meanwhile the imaging surface of imaging device can be equipped with image coordinate system,
I.e. reference picture can be as equipped with an image coordinate system；When having beacon in the collected reference picture of imaging device, base
It can determine coordinate of the beacon in image coordinate system, the i.e. image coordinate of beacon in the position of the beacon in a reference image.
Likewise, image coordinate of some target point in image coordinate system in reference picture can also be determined.Wherein, target point refers to
It is the point for needing to acquire image.For example, it is desired to acquire the image of storage battery in enging cabin, then it can be by storage battery in reference picture
Position is as target point.The position of the target point can be automatically determined based on image recognition technology, can also manually be chosen, this reality
Example is applied not limit this.
A kind of schematic diagram of reference picture is shown in Figure 2, is said for including three beacons in reference picture in Fig. 2
It is bright.In Fig. 2, o-xy indicates that image coordinate system, o point correspond to the optical center of imaging device, the generally central point of image；At this
In reference picture, three beacons are just respectively positioned in the reference axis of image coordinate system.A point in Fig. 2 indicates target point, that is, needs
The position of subsequent acquired image.In addition, the pickup area can be divided into several when beacon is located at the periphery for needing pickup area
A part acquires the image of corresponding portion nearby.As shown in Fig. 2, currently needing to acquire the image of enging cabin, and three beacons
It is respectively positioned on the surrounding of enging cabin, the corresponding pickup area of enging cabin can be divided into multi-section point at this time (to be divided into nine in Fig. 2
Illustrate for a part).
Step 103: determining each beacon in imaging device according to the actual distance between the image coordinate and beacon of beacon
Camera coordinates system in true coordinate.
In the embodiment of the present invention, imaging device also has three-dimensional camera coordinates system, shown in Figure 3, coordinate system OC-
XCYCZCIndicate the camera coordinates system of imaging device, OCPoint is the optical center of imaging device, and P point is a point in real world.Base
In image-forming principle it is found that the image coordinate system of imaging device and optical center OCThe distance between be imaging device focal length f；Imaging dress
Set the P point that can be acquired in real world, P point corresponding A point in formed image, P, A, O at this timeC3 points straight positioned at same
On line, i.e., there are specific transformational relations between the image coordinate system and camera coordinates system of imaging device.That is, for real world
In beacon, there is also specific relationship between the image coordinate of beacon and the true coordinate of beacon, based on it is believed that target image
Actual distance between coordinate and beacon can determine the true coordinate of beacon three-dimensional.
Specifically, above-mentioned steps " determine that each beacon exists according to the actual distance between the image coordinate and beacon of beacon
True coordinate in the camera coordinates system of imaging device ", comprising:
Step A1: determining the focal length f of imaging device, according to the actual distance between the image coordinate and beacon of three beacons
Establish equation group:
Wherein, the image coordinate of first beacon is (x1,y1), true coordinate is (X1,Y1,Z1)；The figure of second beacon
As coordinate is (x2,y2), true coordinate is (X2,Y2,Z2)；The image coordinate of third beacon is (x3,y3), true coordinate is
(X3,Y3,Z3)；D1Indicate the actual distance between first beacon and second beacon, D2Indicate second beacon and third
Actual distance between beacon, D3Indicate the actual distance between first beacon and third beacon.
Step A2: true coordinate of each beacon in the camera coordinates system of imaging device is determined according to equation group.
In the embodiment of the present invention, as shown in figure 3, A point is projected as C point in image coordinate system x-axis, P point is in camera coordinates
It is XCOCZCPlane is projected as B point, in ZCAxis is projected as D point, then Δ BDOCWith Δ CoOCIt is similar, Δ PBOCWith Δ ACOCPhase
Seemingly；Coordinate of the P point in camera coordinates system is (X0,Y0,Z0), corresponding A point is in image coordinate system in image coordinate system
Coordinate be (x0,y0), then:
That is fX0=x0Z0,fY0=y0Z0。
Therefore, for first beacon, the image coordinate in image coordinate system is (x1,y1), in camera coordinates system
True coordinate be (X1,Y1,Z1), then fX1=x1Z1,fY1=y1Z1.Likewise, fX2=x2Z2,fY2=y2Z2, fX3=x3Z3,
fY3=y3Z3.Meanwhile based on the distance between three-dimensional coordinate formula it is found that true between first beacon and second beacon
Distance D1ForSimilarly:
To sum up, based on the above-mentioned equation group containing nine equatioies, that is, nine unknown numbers therein be can determine；It therefore, can be with
Determine the true coordinate (X of three beacons1,Y1,Z1), (X2,Y2,Z2), and (X3,Y3,Z3).Meanwhile if three beacons are conllinear,
For the beacon in middle position, it may can determine whether two true coordinates of the beacon based on the actual distance between beacon, i.e., not
It can uniquely determine the true coordinate of middle position beacon, based on three not conllinear beacons in the present embodiment, can be asked to avoid this
Topic, it can uniquely determine the true coordinate of each beacon.
Step 104: determining target point in camera coordinates system according to the image coordinate of the true coordinate of beacon and target point
True coordinate.
In the embodiment of the present invention, the image coordinate of target point can be determined based on the position of target point in a reference image,
And then three-dimensional coordinate of the target point in camera coordinates system, the i.e. true seat of target point can be determined based on the true coordinate of beacon
Mark.According to the true coordinate of beacon and the image coordinate of target point determine true coordinate of the target point in camera coordinates system it
Afterwards, the relative positional relationship between target point and imaging device can also be determined according to the true coordinate of target point, and according to phase
Mobile processing is carried out to imaging device to positional relationship, the image at imaging device acquisition aiming spot after instruction is mobile.
In the present embodiment, since imaging device is considered as at the origin of camera coordinates system, i.e. point O in Fig. 3C,
Therefore after determining the true coordinate of the target point, can determine position between local imaging device and the target point or
Distance, so as to which mesh can be shot again after target point by mobile the distance between the imaging device and target point
Image at punctuate, so that the target point image of acquisition is more clear.In addition, it will be understood by those skilled in the art that can also be with
Using the transformational relation between camera coordinates system and world coordinate system, the true coordinate of target point is converted in world coordinate system
In coordinate, move imaging device again later.
A kind of method of beacon positioning provided in an embodiment of the present invention, presets multiple not conllinear beacons, and in advance
Determine the distance between every two beacon, using the transformational relation between the image coordinate system and camera coordinates system of imaging device,
The true coordinate of beacon can be determined based on the actual distance between the image coordinate and beacon of beacon, and then determines target point
Three-dimensional true coordinate.The imaging device of the program is common camera, and three-dimensional localization may be implemented using beacon, convenient
The subsequent mobile control to imaging device, and precise image acquisition can be realized to target point；Meanwhile it not needing to utilize binocular phase
Machine is the three-dimensional coordinate that can determine target point, can reduce the cost of imaging device.
On the basis of the above embodiments, three not conllinear beacons are located in approximately the same plane in real world, can
Target point setting on this plane, is determined roughly the true coordinate of target point.Optionally, in certain application scenarios, target
Point with the distance between beacon be it is fixed, at this time can be based on the accurate determining target of the actual distance between target point and beacon
The three-dimensional coordinate of point.For example, the position of each component is usually fixed in enging cabin for the vehicle of some model, if
Need to acquire the image of storage battery in enging cabin, i.e., using storage battery as target point, can determine between the storage battery and beacon away from
From.Specifically, above-mentioned steps 104 " determine that target point is sat in camera according to the image coordinate of the true coordinate of beacon and target point
True coordinate in mark system " specifically includes:
Determine the actual distance between target point and at least one beacon, according to the image coordinate of target point and target point with
Actual distance between beacon determines true coordinate of the target point in camera coordinates system.
In embodiments of the present invention, if image coordinate of the target point in image coordinate system is (x0,y0), target point is in phase
True coordinate in machine coordinate system is (X0,Y0,Z0), based on the relationship between image coordinate system and camera coordinates system it is found that fX0
=x0Z0,fY0=y0Z0。
Meanwhile the true coordinate of first beacon is (X1,Y1,Z1), if between target point and first beacon it is true away from
From for D0, then:It can determine target point based on above-mentioned equation
True coordinate (X0,Y0,Z0).Optionally, it may be predetermined that the actual distance between target point and multiple beacons, to improve
The finally accuracy of determining target point true coordinate.
On the basis of the above embodiments, when imaging device distance objective point farther out when, do not need at this time to target click through
Row Image Acquisition, so when can determine the distance between target point and imaging device roughly, it is smaller to distance between the two
When, precise positioning can be carried out to target point based on above-mentioned step 101-104 again at this time, and carry out Image Acquisition.Specifically,
" determine target point in camera coordinates system according to the image coordinate of the true coordinate of beacon and target point in above-mentioned steps 104
Before true coordinate ", this method further include:
It determines the actual length of beacon, and determines image length of the beacon in image coordinate system in real time；According to beacon
The image coordinate of actual length, image length and target point determines the distance between imaging device and target point, and mobile imaging
Device, until the distance between imaging device and target point are less than pre-determined distance.
In the embodiment of the present invention, the length of beacon is set, imaging device and target are determined come rough based on the length of beacon
The distance between point.As shown in Fig. 2, beacon is square shape, it at this time can be using the side length of beacon as the true length of beacon
Degree.Above-mentioned steps " determine imaging device and target point according to the image coordinate of the actual length of beacon, image length and target point
The distance between ", it specifically includes:
The focal length f for determining imaging device, according to the actual length L of beaconb, image length lbWith the image coordinate of target point
(x0,y0) determine the distance between imaging device and target point L:
In the embodiment of the present invention, as shown in figure 3, by beacon in camera coordinates system XCOCYCProjected length approximation in plane is worked as
Make the actual length L of beaconb.Similarity relation based on Fig. 3 intermediate cam shape it is found thatMeanwhile in Fig. 3, P point is
Point of the target point in real world, A point are the relative position of P point in a reference image, then
OCP is the distance between imaging device and target point P L.If the target point is generally aligned in the same plane with beacon, thenI.e.
Optionally, length of multiple beacons in image coordinate system can be determined, by multiple beacons in image coordinate system
Length average value as image length lb, accuracy when distance L is calculated to improve.
It, can be based on figure of the beacon in image coordinate system when the actual length of beacon is fixed in the embodiment of the present invention
Judge whether imaging device distance objective point is close enough as length, when distance L is larger between target point for imaging device,
Mobile imaging device, to reduce the distance between imaging device and target point L；When the distance between imaging device and target point
When L is less than pre-determined distance, illustrate that distance is close enough between imaging device and target point, the basic item with acquisition target point image
Part accurately determines the true coordinate of target point again based on above-mentioned step 104 at this time, carries out accurate movement to imaging device, makes
The image of target point can be acquired in place by obtaining imaging device.Meanwhile the same of target point true coordinate is determined accurate
When, the true coordinate for being also based on target point realizes the focusing of imaging device, so as to further increase acquisition target point
Clarity when image.
A kind of method of beacon positioning provided in an embodiment of the present invention, presets multiple not conllinear beacons, and in advance
Determine the distance between every two beacon, using the transformational relation between the image coordinate system and camera coordinates system of imaging device,
The true coordinate of beacon can be determined based on the actual distance between the image coordinate and beacon of beacon, and then determines target point
Three-dimensional true coordinate.The imaging device of the program is common camera, and three-dimensional localization may be implemented using beacon, convenient
The subsequent mobile control to imaging device, and precise image acquisition can be realized to target point；Meanwhile it not needing to utilize binocular phase
Machine is the three-dimensional coordinate that can determine target point, can reduce the cost of imaging device.Based on true between target point and beacon
Distance can more accurately determine the true coordinate of target point；Using the length of beacon can determine roughly imaging device with
The distance between target point, it is convenient that mobile control is carried out to imaging device.
The process of the method for beacon positioning is described in detail above, this method can also be realized by corresponding device, under
The structure and function of the device is discussed in detail in face.
A kind of device of beacon positioning provided in an embodiment of the present invention, it is shown in Figure 4, comprising:
Image collection module 41 includes at least in the reference picture for obtaining the reference picture of imaging device acquisition
Three not conllinear beacons；
Image coordinate determining module 42 determines each described for determining the actual distance between beacon described in every two
Image coordinate of the beacon in the image coordinate system of the reference picture, and determine figure of the target point in described image coordinate system
As coordinate；
First true coordinate determining module 43, for true between the image coordinate and the beacon according to the beacon
Distance determines true coordinate of each beacon in the camera coordinates system of the imaging device；
Second true coordinate determining module 44, the image coordinate according to the true coordinate of the beacon and the target point are true
Fixed true coordinate of the target point in the camera coordinates system.
On the basis of the above embodiments, which further includes mobile module；
In the second true coordinate determining module 44 according to the true coordinate of the beacon and the image of the target point
Coordinate determines the target point after the true coordinate in the camera coordinates system, and the mobile module is used for:
Determine that the relative position between the target point and the imaging device is closed according to the true coordinate of the target point
System, and relationship carries out mobile processing to the imaging device depending on that relative position, the imaging device after instruction is mobile
Acquire the image at the aiming spot.
On the basis of the above embodiments, the second true coordinate determining module 44 is according to the true coordinate of the beacon
True coordinate of the target point in the camera coordinates system is determined with the image coordinate of the target point, comprising:
It determines the actual distance between the target point and at least one described beacon, is sat according to the image of the target point
Mark and the actual distance between the target point and the beacon determine true coordinate of the target point in camera coordinates system.
On the basis of the above embodiments, which further includes apart from determining module；
In the second true coordinate determining module 44 according to the true coordinate of the beacon and the image of the target point
Coordinate determine the target point before the true coordinate in the camera coordinates system, it is described to be used for apart from determining module:
It determines the actual length of the beacon, and determines that image of the beacon in described image coordinate system is long in real time
Degree；The imaging device and institute are determined according to the image coordinate of the actual length of the beacon, image length and the target point
The distance between target point, and the mobile imaging device are stated, until the distance between the imaging device and the target point
Less than pre-determined distance.
On the basis of the above embodiments, described to be used for apart from determining module:
The focal length f for determining the imaging device, according to the actual length L of the beaconb, image length lbWith the target
Image coordinate (the x of point0,y0) determine the distance between the imaging device and the target point L:
On the basis of the above embodiments, the first true coordinate determining module 43 is according to the image coordinate of the beacon
Actual distance between the beacon determines true seat of each beacon in the camera coordinates system of the imaging device
Mark, comprising:
The focal length f for determining the imaging device, according to the actual distance and three beacons between the beacon
Image coordinate establishes equation group:
Wherein, the image coordinate of first beacon is (x1,y1), true coordinate is (X1,Y1,Z1)；The figure of second beacon
As coordinate is (x2,y2), true coordinate is (X2,Y2,Z2)；The image coordinate of third beacon is (x3,y3), true coordinate is
(X3,Y3,Z3)；D1Indicate the actual distance between first beacon and second beacon, D2Indicate described second
Actual distance between beacon and the third beacon, D3It indicates between first beacon and the third beacon
Actual distance；
True coordinate of each beacon in the camera coordinates system of the imaging device is determined according to the equation group.
A kind of device of beacon positioning provided in an embodiment of the present invention, presets multiple not conllinear beacons, and in advance
Determine the distance between every two beacon, using the transformational relation between the image coordinate system and camera coordinates system of imaging device,
The true coordinate of beacon can be determined based on the actual distance between the image coordinate and beacon of beacon, and then determines target point
Three-dimensional true coordinate.The imaging device of the program is common camera, and three-dimensional localization may be implemented using beacon, convenient
The subsequent mobile control to imaging device, and precise image acquisition can be realized to target point；Meanwhile it not needing to utilize binocular phase
Machine is the three-dimensional coordinate that can determine target point, can reduce the cost of imaging device.Based on true between target point and beacon
Distance can more accurately determine the true coordinate of target point；Using the length of beacon can determine roughly imaging device with
The distance between target point, it is convenient that mobile control is carried out to imaging device.
The embodiment of the invention also provides a kind of computer storage medium, the computer storage medium is stored with computer
Executable instruction, it includes the program of the method for executing above-mentioned beacon positioning, the computer executable instructions are executable
Method in above-mentioned any means embodiment.
Wherein, the computer storage medium can be any usable medium that computer can access or data storage is set
It is standby, including but not limited to magnetic storage (such as floppy disk, hard disk, tape, magneto-optic disk (MO) etc.), optical memory (such as CD,
DVD, BD, HVD etc.) and semiconductor memory (such as ROM, EPROM, EEPROM, nonvolatile memory (NAND
FLASH), solid state hard disk (SSD)) etc..
Fig. 5 shows the structural block diagram of a kind of electronic equipment of another embodiment of the invention.The electronic equipment
1100 can be the host server for having computing capability, personal computer PC or portable portable computer or end
End etc..The specific embodiment of the invention does not limit the specific implementation of electronic equipment.
The electronic equipment 1100 includes at least one processor (processor) 1110, communication interface
(Communications Interface) 1120, memory (memory array) 1130 and bus 1140.Wherein, processor
1110, communication interface 1120 and memory 1130 complete mutual communication by bus 1140.
Communication interface 1120 with network element for communicating, and wherein network element includes such as Virtual Machine Manager center, shared storage.
Processor 1110 is for executing program.Processor 1110 may be a central processor CPU or dedicated collection
At circuit ASIC (Application Specific Integrated Circuit), or it is arranged to implement the present invention
One or more integrated circuits of embodiment.
Memory 1130 is for executable instruction.Memory 1130 may include high speed RAM memory, it is also possible to also wrap
Include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Memory 1130 can also be with
It is memory array.Memory 1130 is also possible to by piecemeal, and described piece can be combined into virtual volume by certain rule.Storage
The instruction that device 1130 stores can be executed by processor 1110, so that processor 1110 is able to carry out in above-mentioned any means embodiment
Beacon positioning method.
The embodiment of the present invention also provides a kind of movable equipment, which includes imaging device, mobile mechanism and institute as above
State the electronic equipment for being able to carry out above-mentioned beacon localization method, and the imaging device and the electronic equipment be arranged at it is described
In mobile mechanism；Wherein, the imaging device is for acquiring reference picture, and the reference picture is sent to the electronics and is set
It is standby；
The electronic equipment generates the shifting for controlling the mobile mechanism for executing above-mentioned beacon localization method
Dynamic instruction, and the move is sent to the mobile mechanism；The mobile mechanism executes phase according to the move
The moving operation answered.
In the embodiment of the present invention, which refers to that beacon localization method can be based on the equipment of change of location
After determining aiming spot, itself can be moved to adjust position or the distance between target point.Specifically, this can
Mobile device can be aircraft, and electronic equipment is the controller of the aircraft, and imaging device is to be mounted on aircraft bottom
Camera, mobile mechanism are the propeller or duct of aircraft.It can be grasped based on the controller that above-mentioned beacon localization method can be performed
Aircraft is controlled, and realizes the acquisition to enging cabin target point image using the aircraft, takes pictures high-efficient, takes pictures result more
Accurately, the workload and work difficulty of appraiser be can reduce.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of method of beacon positioning characterized by comprising
The reference picture of imaging device acquisition is obtained, includes at least three not conllinear beacons in the reference picture；
It determines the actual distance between beacon described in every two, determines each beacon in the image coordinate of the reference picture
Image coordinate in system, and determine image coordinate of the target point in described image coordinate system；
Determine each beacon in the imaging according to the actual distance between the image coordinate of the beacon and the beacon
True coordinate in the camera coordinates system of device；
Determine the target point in the camera coordinates according to the image coordinate of the true coordinate of the beacon and the target point
True coordinate in system.
2. the method according to claim 1, wherein according to the beacon true coordinate and the target point
Image coordinate determine the target point after the true coordinate in the camera coordinates system, further includes:
The relative positional relationship between the target point and the imaging device is determined according to the true coordinate of the target point, and
Relationship carries out mobile processing to the imaging device depending on that relative position, and the imaging device after instruction is mobile acquires institute
State the image at aiming spot.
3. the method according to claim 1, wherein according to the true coordinate of the beacon and the target point
Image coordinate determines true coordinate of the target point in the camera coordinates system, comprising:
Determine the actual distance between the target point and at least one described beacon, according to the image coordinate of the target point and
Actual distance between the target point and the beacon determines true coordinate of the target point in camera coordinates system.
4. the method according to claim 1, wherein according to the beacon true coordinate and the target point
Image coordinate determine the target point before the true coordinate in the camera coordinates system, further includes:
It determines the actual length of the beacon, and determines image length of the beacon in described image coordinate system in real time；Root
The imaging device and the target are determined according to the image coordinate of the actual length of the beacon, image length and the target point
The distance between point, and the mobile imaging device, until the distance between the imaging device and the target point are less than in advance
If distance.
5. according to the method described in claim 4, it is characterized in that, according to the actual length of the beacon, image length and institute
The image coordinate for stating target point determines the distance between the imaging device and the target point, comprising:
The focal length f for determining the imaging device, according to the actual length L of the beaconb, image length lbWith the target point
Image coordinate (x0,y0) determine the distance between the imaging device and the target point L:
6. -5 any method according to claim 1, which is characterized in that according to the image coordinate of the beacon and the letter
Actual distance between mark determines true coordinate of each beacon in the camera coordinates system of the imaging device, comprising:
The focal length f for determining the imaging device, according to the image of actual distance and three beacons between the beacon
Coordinate establishes equation group:
Wherein, the image coordinate of first beacon is (x1,y1), true coordinate is (X1,Y1,Z1)；The image of second beacon is sat
It is designated as (x2,y2), true coordinate is (X2,Y2,Z2)；The image coordinate of third beacon is (x3,y3), true coordinate is (X3,Y3,
Z3)；D1Indicate the actual distance between first beacon and second beacon, D2Indicate second beacon with
Actual distance between the third beacon, D3Indicate between first beacon and the third beacon it is true away from
From；
True coordinate of each beacon in the camera coordinates system of the imaging device is determined according to the equation group.
7. a kind of device of beacon positioning characterized by comprising
Image collection module, for obtaining the reference picture of imaging device acquisition, in the reference picture not comprising at least three
Conllinear beacon；
Image coordinate determining module determines that each beacon exists for determining the actual distance between beacon described in every two
Image coordinate in the image coordinate system of the reference picture, and determine that image of the target point in described image coordinate system is sat
Mark；
First true coordinate determining module, it is true for the actual distance between the image coordinate and the beacon according to the beacon
Fixed true coordinate of each beacon in the camera coordinates system of the imaging device；
Second true coordinate determining module, according to the true coordinate of the beacon and the determination of the image coordinate of the target point
True coordinate of the target point in the camera coordinates system.
8. a kind of computer storage medium, which is characterized in that the computer storage medium is stored with computer executable instructions,
The method that the computer executable instructions require the positioning of beacon described in 1-6 any one for perform claim.
9. a kind of electronic equipment characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out the side of beacon positioning as claimed in any one of claims 1 to 6
Method.
10. a kind of movable equipment characterized by comprising imaging device, mobile mechanism and electricity as claimed in claim 9
Sub- equipment, the imaging device and the electronic equipment are arranged in the mobile mechanism；
The reference picture is sent to the electronic equipment for acquiring reference picture by the imaging device；
The electronic equipment generates the mobile finger for controlling the mobile mechanism for executing above-mentioned beacon localization method
It enables, the move is sent to the mobile mechanism；
The mobile mechanism is used to execute corresponding moving operation according to the move.
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