CN110378898B - Beacon positioning method, device, storage medium and equipment - Google Patents
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Abstract
The invention provides a method, a device, a storage medium and equipment for positioning a beacon, wherein the method comprises the following steps: acquiring a reference image acquired by an imaging device, wherein the reference image comprises at least three non-collinear beacons; determining the real distance between every two beacons, determining the image coordinates of each beacon in the image coordinate system of the reference image, and determining the image coordinates of the target point in the image coordinate system; determining real coordinates of each beacon in a camera coordinate system of the imaging device according to the image coordinates of the beacons and the real distances between the beacons; and determining the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point. By the beacon positioning method, the beacon positioning device, the storage medium and the equipment, three-dimensional positioning can be realized by using the beacon, the follow-up movement control of the imaging device is facilitated, accurate image acquisition can be realized for a target point, and the cost of the imaging device can be reduced.
Description
Technical Field
The present invention relates to the technical field of beacon positioning, and in particular, to a method, an apparatus, a storage medium, and a device for beacon positioning.
Background
At present, domestic used-car trading markets are increasingly exploded, the proportion of used-car trading quantity to the whole automobile trading quantity is continuously improved, and used-car trading in future automobile markets gradually becomes the key part of automobile trading according to development experiences of developed countries. In the second-hand vehicle transaction, the detection of the vehicle condition is important, and in each riding, most of the core systems of the vehicle are located in the engine compartment of the vehicle, so that the efficient and accurate detection of the engine compartment of the vehicle is also the core part of the detection work of the vehicle.
The existing cabin detection mode is mainly characterized in that a fixed position of a cabin is photographed, and an evaluator makes an accurate judgment on the real condition of each component of the cabin according to the photographing result, so that the detection is completed. The traditional shooting mode is that an evaluator holds a camera to shoot, the traditional mode is inefficient and uncontrollable, and the detection result greatly depends on the shooting level of the evaluator.
Disclosure of Invention
To solve the above problem, embodiments of the present invention provide a method, an apparatus, a storage medium, and a device for beacon positioning.
In a first aspect, an embodiment of the present invention provides a method for beacon positioning, including:
acquiring a reference image acquired by an imaging device, wherein the reference image comprises at least three non-collinear beacons;
determining the real distance between every two beacons, determining the image coordinates of each beacon in the image coordinate system of the reference image, and determining the image coordinates of the target point in the image coordinate system;
determining real coordinates of each beacon in a camera coordinate system of the imaging device according to the image coordinates of the beacons and real distances between the beacons;
and determining the real coordinate of the target point in the camera coordinate system according to the real coordinate of the beacon and the image coordinate of the target point.
In a second aspect, an embodiment of the present invention further provides an apparatus for beacon positioning, including:
the device comprises an image acquisition module, a signal acquisition module and a signal processing module, wherein the image acquisition module is used for acquiring a reference image acquired by an imaging device, and the reference image comprises at least three non-collinear beacons;
the image coordinate determination module is used for determining the real distance between every two beacons, determining the image coordinate of each beacon in the image coordinate system of the reference image, and determining the image coordinate of the target point in the image coordinate system;
a first real coordinate determination module, configured to determine a real coordinate of each beacon in a camera coordinate system of the imaging apparatus according to an image coordinate of the beacon and a real distance between the beacons;
and the second real coordinate determination module is used for determining the real coordinate of the target point in the camera coordinate system according to the real coordinate of the beacon and the image coordinate of the target point.
In a third aspect, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, where the computer-executable instructions are used in any one of the above methods for beacon location.
In a fourth aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method of beacon location as described in any one of the above.
In a fifth aspect, an embodiment of the present invention further provides a mobile device, including: the imaging device, the moving mechanism and the electronic equipment are arranged on the moving mechanism;
the imaging device is used for acquiring a reference image and sending the reference image to the electronic equipment;
the electronic equipment is used for executing the beacon positioning method, generating a movement instruction for controlling the moving mechanism and sending the movement instruction to the moving mechanism;
and the moving mechanism is used for executing corresponding moving operation according to the moving instruction.
In the solution provided by the foregoing first aspect of the embodiments of the present invention, a plurality of non-collinear beacons are preset, a distance between every two beacons is predetermined, and a real coordinate of a beacon can be determined based on an image coordinate of the beacon and a real distance between the beacons by using a conversion relationship between an image coordinate system of an imaging device and a camera coordinate system, so as to determine a three-dimensional real coordinate of a target point. The imaging device of the scheme can be a common camera, three-dimensional positioning can be realized by utilizing the beacon, the follow-up movement control of the imaging device is convenient, and accurate image acquisition can be realized for a target point; meanwhile, the three-dimensional coordinates of the target point can be determined without using a binocular camera, so that the cost of the imaging device can be reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart illustrating a method for beacon positioning according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a reference image in the beacon positioning method according to the embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a conversion relationship between a camera coordinate system and an image coordinate system in the beacon positioning method according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating a beacon locating apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device for performing a method for beacon positioning according to an embodiment of the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
But realize the image acquisition to the engine compartment based on automatic mobile's equipment in this embodiment to can avoid the problem that exists in the traditional artifical mode of shooing. The automatic moving equipment needs to realize automatic positioning, and the current automatic moving equipment can acquire the depth information of an object through a binocular camera so as to realize positioning; positioning may also be based on ranging sensors or the like in the device. The existing equipment needs more parts or expensive binocular cameras when realizing automatic positioning, and the cost is higher. In order to solve the above problem, an embodiment of the present invention provides a method for beacon positioning, which is performed by a terminal device that has a common imaging device to perform positioning. Referring to fig. 1, the method includes:
step 101: and acquiring a reference image acquired by the imaging device, wherein the reference image comprises at least three non-collinear beacons.
In the embodiment of the present invention, the terminal device executing the beacon positioning method includes an imaging device, and the imaging device is used for acquiring an image, i.e., a reference image. The imaging device may be a camera, a video camera, and the like, which is not limited in this embodiment. In this embodiment, at least three non-collinear beacons are set in advance, and positioning of the imaging device is realized based on the beacons. Specifically, the beacon may be an additionally provided picture or an object, or may be a part of the object itself that needs to acquire an image, and the position of the part needs to be known. For example, if the imaging device is used for acquiring an image of an engine compartment of a vehicle, a plurality of beacons may be affixed around the engine compartment; alternatively, the four corners of the engine compartment are used as beacons.
Step 102: determining the real distance between every two beacons, determining the image coordinates of each beacon in the image coordinate system of the reference image, and determining the image coordinates of the target point in the image coordinate system.
In the embodiment of the present invention, in the real world, the position of the beacon may be determined, that is, the distance between two beacons in the real world, that is, the real distance may be predetermined. Meanwhile, the imaging surface of the imaging device can be provided with an image coordinate system, namely, the reference image can be regarded as being provided with an image coordinate system; when the beacon exists in the reference image acquired by the imaging device, the coordinates of the beacon in the image coordinate system, namely the image coordinates of the beacon can be determined based on the position of the beacon in the reference image. Likewise, the image coordinates of a target point in the reference image in the image coordinate system may also be determined. Wherein the target point refers to a point at which an image needs to be acquired. For example, if an image of a battery in an engine compartment needs to be acquired, the position of the battery in the reference image can be used as a target point. The position of the target point may be automatically determined based on an image recognition technology, or may be manually selected, which is not limited in this embodiment.
A schematic diagram of a reference image is shown in fig. 2, where fig. 2 illustrates an example of the reference image including three beacons. In fig. 2, o-xy represents an image coordinate system, and the o point corresponds to the optical center of the imaging device, generally the center point of the image; in this reference image, the three beacons are exactly located on the coordinate axes of the image coordinate system. The point a in fig. 2 represents the target point, i.e. the position where a subsequent image acquisition is required. In addition, when the beacon is located at the periphery of the area to be acquired, the acquisition area can be divided into several parts, and the images of the corresponding parts are acquired nearby. As shown in fig. 2, an image of the engine compartment needs to be collected currently, and all three beacons are located at the periphery of the engine compartment, at this time, the collection area corresponding to the engine compartment may be divided into multiple parts (the division into nine parts is exemplified in fig. 2).
Step 103: the real coordinates of each beacon in the camera coordinate system of the imaging device are determined according to the image coordinates of the beacons and the real distances between the beacons.
In the embodiment of the present invention, the imaging device further has a three-dimensional camera coordinate system, see fig. 3, a coordinate system OC-XCYCZCCamera coordinate system, O, representing the imaging deviceCThe point is the optical center of the imaging device and the point P is a point in the real world. Based on the imaging principle, the image coordinate system and the optical center O of the imaging deviceCThe distance between is the focal length f of the imaging device; the imaging device may capture point P in the real world, which corresponds to point a in the resulting image, at time P, A, OCThe three points are located on the same straight line, that is, a specific conversion relationship exists between the image coordinate system of the imaging device and the camera coordinate system. That is, for a beacon in the real world, there is also a specific relationship between the image coordinates of the beacon and the real coordinates of the beacon, and the real coordinates of the beacon in three dimensions can be determined based on the image coordinates of the beacon and the real distance between the beacons.
Specifically, the step of "determining real coordinates of each beacon in a camera coordinate system of the imaging apparatus according to image coordinates of the beacon and real distances between the beacons" includes:
step A1: determining the focal length f of the imaging device, and establishing an equation set according to the image coordinates of the three beacons and the real distance between the beacons:
wherein the image coordinate of the first beacon is (x)1,y1) True coordinate is (X)1,Y1,Z1) (ii) a The image coordinate of the second beacon is (x)2,y2) True coordinate is (X)2,Y2,Z2) (ii) a The image coordinate of the third beacon is (x)3,y3) True coordinate is (X)3,Y3,Z3)；D1Representing the true distance, D, between the first and second beacons2Representing the true distance, D, between the second and third beacons3Representing the true distance between the first beacon and the third beacon.
Step A2: the true coordinates of each beacon in the camera coordinate system of the imaging device are determined according to a system of equations.
In the embodiment of the invention, as shown in FIG. 3, the projection of the point A on the X-axis of the image coordinate system is the point C, and the point P on the camera coordinate system XCOCZCProjection of the plane is B point, at ZCProjection of the axis is D point, then Δ BDOCAnd Δ CoOCSimilarly,. DELTA.PBOCAnd Δ ACOCSimilarly; the coordinate of the point P in the camera coordinate system is (X)0,Y0,Z0) The coordinate of the corresponding point A in the image coordinate system is (x)0,y0) And then:
Thus, for the first beacon, its image coordinates in the image coordinate system are (x)1,y1) The real coordinate in the camera coordinate system is (X)1,Y1,Z1) Then f is x1＝x1Z1,fY1＝y1Z1. Likewise, fX2＝x2Z2,fY2＝y2Z2，fX3＝x3Z3,fY3＝y3Z3. Meanwhile, based on a distance formula between three-dimensional coordinates, a real distance D between the first beacon and the second beacon can be known1Is composed of
The same principle is that:
in summary, based on the above equation set containing nine equations, nine unknowns can be determined; thus, the true coordinates (X) of the three beacons can be determined1,Y1,Z1)，(X2,Y2,Z2) And (X)3,Y3,Z3). Meanwhile, if the three beacons are collinear, for the beacon at the middle position, two real coordinates of the beacon may be determined based on the real distance between the beacons, that is, the real coordinate of the beacon at the middle position cannot be uniquely determined.
Step 104: and determining the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point.
In the embodiment of the invention, the image coordinates of the target point can be determined based on the position of the target point in the reference image, and further the three-dimensional coordinates of the target point in the camera coordinate system, namely the real coordinates of the target point, can be determined based on the real coordinates of the beacon. After the real coordinates of the target point in the camera coordinate system are determined according to the real coordinates of the beacon and the image coordinates of the target point, the relative position relationship between the target point and the imaging device can be determined according to the real coordinates of the target point, the imaging device is moved according to the relative position relationship, and the moved imaging device is instructed to collect the image at the position of the target point.
In this embodiment, since the imaging device can be regarded as being located at the origin of the camera coordinate system, i.e., point O in fig. 3CTherefore, after the real coordinates of the target point are determined, the position or the distance between the local imaging device and the target point can be determined, so that the image of the target point can be shot after the target point is close to the target point by moving the distance between the imaging device and the target point, and the collected target point image is clearer. Further, it is understood by those skilled in the art that the real coordinates of the target point may be converted into coordinates in the world coordinate system using a conversion relationship between the camera coordinate system and the world coordinate system, and then the imaging device may be moved.
According to the method for positioning the beacon, provided by the embodiment of the invention, a plurality of non-collinear beacons are preset, the distance between every two beacons is predetermined, and the real coordinates of the beacons can be determined based on the image coordinates of the beacons and the real distance between the beacons by utilizing the conversion relation between the image coordinate system of the imaging device and the camera coordinate system, so that the three-dimensional real coordinates of the target point are determined. The imaging device of the scheme can be a common camera, three-dimensional positioning can be realized by utilizing the beacon, the follow-up movement control of the imaging device is convenient, and accurate image acquisition can be realized for a target point; meanwhile, the three-dimensional coordinates of the target point can be determined without using a binocular camera, so that the cost of the imaging device can be reduced.
On the basis of the above embodiment, three non-collinear beacons are located on the same plane in the real world, and the target point can be set on the plane, so that the real coordinates of the target point can be roughly determined. Optionally, in some application scenarios, the distance between the target point and the beacon is fixed, and at this time, the three-dimensional coordinates of the target point may be accurately determined based on the real distance between the target point and the beacon. For example, for a certain type of vehicle, the position of each component in the engine compartment is generally fixed, and if an image of a battery in the engine compartment needs to be collected, that is, the battery serves as a target point, the distance between the battery and a beacon can be determined. Specifically, the step 104 "determining the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point" specifically includes:
and determining the real distance between the target point and at least one beacon, and determining the real coordinate of the target point in the camera coordinate system according to the image coordinate of the target point and the real distance between the target point and the beacon.
In the embodiment of the present invention, the image coordinate of the target point in the image coordinate system is set as (x)0,y0) The real coordinate of the target point in the camera coordinate system is (X)0,Y0,Z0) Based on the relationship between the image coordinate system and the camera coordinate system, fX0＝x0Z0,fY0＝y0Z0。
Meanwhile, the real coordinate of the first beacon is (X)1,Y1,Z1) If the real distance between the target point and the first beacon is D0And then:
the true coordinates (X) of the target point can be determined based on the above equation0,Y0,Z0). Alternatively, the real distances between the target point and the plurality of beacons may be predetermined to improve the accuracy of the finally determined real coordinates of the target point.
On the basis of the above embodiment, when the imaging device is far from the target point, image acquisition is not required to be performed on the target point, so that the distance between the target point and the imaging device can be roughly determined, and when the distance between the target point and the imaging device is small, the target point can be accurately positioned and image acquisition can be performed based on the above step 101 and step 104. Specifically, before the step 104 "determining the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point", the method further includes:
determining the real length of the beacon, and determining the image length of the beacon in an image coordinate system in real time; and determining the distance between the imaging device and the target point according to the real length of the beacon, the image length and the image coordinate of the target point, and moving the imaging device until the distance between the imaging device and the target point is smaller than the preset distance.
In the embodiment of the present invention, the length of the beacon is set, and the distance between the imaging device and the target point is roughly determined based on the length of the beacon. As shown in fig. 2, the beacon has a square shape, and the side length of the beacon can be used as the real length of the beacon. The step of determining the distance between the imaging device and the target point according to the real length of the beacon, the image length and the image coordinate of the target point specifically includes:
determining the focal length f of the imaging device based on the true length L of the beaconbLength of image lbAnd the image coordinates (x) of the target point0,y0) Determining the distance L between the imaging device and the target point:
in the embodiment of the present invention, as shown in FIG. 3, the beacon is located in the camera coordinate system XCOCYCThe projected length in the plane is approximately taken as the true length L of the beaconb. As can be seen from the similarity of the triangles in figure 3,
meanwhile, in fig. 3, point P is the point of the target point in the real world, and point a is the relative position of point P in the reference image, then
OCP is the distance L between the imaging device and the target point P. If the target point and the beacon are in the same plane, then
Namely, it is
Alternatively, the lengths of the beacons in the image coordinate system may be determined, and the average value of the lengths of the beacons in the image coordinate system is used as the image length lbTo improve the accuracy in calculating the distance L.
In the embodiment of the invention, when the real length of the beacon is fixed, whether the imaging device is close enough to the target point can be judged based on the image length of the beacon in the image coordinate system, and when the distance L between the imaging device and the target point is larger, the imaging device is moved to reduce the distance L between the imaging device and the target point; when the distance L between the imaging device and the target point is smaller than the preset distance, it indicates that the distance between the imaging device and the target point is close enough, and basically has the condition of acquiring the image of the target point, and at this time, the real coordinates of the target point are accurately determined based on the above step 104, and the imaging device is accurately moved, so that the imaging device can acquire the image of the target point at a proper position. Meanwhile, the real coordinates of the target point are accurately determined, and meanwhile, the focusing of the imaging device can be realized based on the real coordinates of the target point, so that the definition of the image of the target point can be further improved.
According to the method for positioning the beacon, provided by the embodiment of the invention, a plurality of non-collinear beacons are preset, the distance between every two beacons is predetermined, and the real coordinates of the beacons can be determined based on the image coordinates of the beacons and the real distance between the beacons by utilizing the conversion relation between the image coordinate system of the imaging device and the camera coordinate system, so that the three-dimensional real coordinates of the target point are determined. The imaging device of the scheme can be a common camera, three-dimensional positioning can be realized by utilizing the beacon, the follow-up movement control of the imaging device is convenient, and accurate image acquisition can be realized for a target point; meanwhile, the three-dimensional coordinates of the target point can be determined without using a binocular camera, so that the cost of the imaging device can be reduced. Based on the real distance between the target point and the beacon, the real coordinate of the target point can be more accurately determined; the distance between the imaging device and the target point can be roughly determined by utilizing the length of the beacon, and the imaging device is convenient to move and control.
The above describes in detail the flow of a method for beacon positioning, which may also be implemented by a corresponding apparatus, and the structure and function of the apparatus are described in detail below.
An apparatus for beacon positioning provided in an embodiment of the present invention, as shown in fig. 4, includes:
an image obtaining module 41, configured to obtain a reference image acquired by an imaging device, where the reference image includes at least three non-collinear beacons;
an image coordinate determination module 42, configured to determine a real distance between each two beacons, determine image coordinates of each beacon in an image coordinate system of the reference image, and determine image coordinates of the target point in the image coordinate system;
a first real coordinate determination module 43, configured to determine real coordinates of each beacon in a camera coordinate system of the imaging apparatus according to the image coordinates of the beacons and the real distance between the beacons;
a second real coordinate determination module 44, which determines the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point.
On the basis of the embodiment, the device also comprises a moving module;
after the second real coordinate determination module 44 determines the real coordinates of the target point in the camera coordinate system from the real coordinates of the beacon and the image coordinates of the target point, the movement module is configured to:
and determining the relative position relationship between the target point and the imaging device according to the real coordinates of the target point, moving the imaging device according to the relative position relationship, and indicating the moved imaging device to acquire the image at the position of the target point.
On the basis of the above embodiment, the second real coordinate determination module 44 determines the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point, including:
and determining the real distance between the target point and at least one beacon, and determining the real coordinate of the target point in a camera coordinate system according to the image coordinate of the target point and the real distance between the target point and the beacon.
On the basis of the above embodiment, the apparatus further comprises a distance determining module;
before the second real coordinate determination module 44 determines the real coordinates of the target point in the camera coordinate system from the real coordinates of the beacon and the image coordinates of the target point, the distance determination module is configured to:
determining the real length of the beacon, and determining the image length of the beacon in the image coordinate system in real time; and determining the distance between the imaging device and the target point according to the real length of the beacon, the image length and the image coordinate of the target point, and moving the imaging device until the distance between the imaging device and the target point is smaller than a preset distance.
On the basis of the above embodiment, the distance determining module is configured to:
determining a focal length f of the imaging device based on the true length L of the beaconbLength of image lbAnd image coordinates (x) of the target point0,y0) Determining a distance L between the imaging device and the target point:
on the basis of the above embodiment, the first real coordinate determining module 43 determines the real coordinate of each beacon in the camera coordinate system of the imaging apparatus according to the image coordinate of the beacon and the real distance between the beacons, including:
determining the focal length f of the imaging device, and establishing an equation set according to the real distance between the beacons and the image coordinates of the three beacons:
wherein the image coordinate of the first beacon is (x)1,y1) True coordinate is (X)1,Y1,Z1) (ii) a The image coordinate of the second beacon is (x)2,y2) True coordinate is (X)2,Y2,Z2) (ii) a The image coordinate of the third beacon is (x)3,y3) True coordinate is (X)3,Y3,Z3)；D1Representing the real distance between said first beacon and said second beacon, D2Representing the real distance, D, between said second beacon and said third beacon3Representing a true distance between the first beacon and the third beacon;
determining real coordinates of each of the beacons in a camera coordinate system of the imaging device according to the system of equations.
According to the beacon positioning device provided by the embodiment of the invention, a plurality of non-collinear beacons are preset, the distance between every two beacons is predetermined, and the real coordinates of the beacons can be determined based on the image coordinates of the beacons and the real distance between the beacons by utilizing the conversion relation between the image coordinate system of the imaging device and the camera coordinate system, so that the three-dimensional real coordinates of the target point are determined. The imaging device of the scheme can be a common camera, three-dimensional positioning can be realized by utilizing the beacon, the follow-up movement control of the imaging device is convenient, and accurate image acquisition can be realized for a target point; meanwhile, the three-dimensional coordinates of the target point can be determined without using a binocular camera, so that the cost of the imaging device can be reduced. Based on the real distance between the target point and the beacon, the real coordinate of the target point can be more accurately determined; the distance between the imaging device and the target point can be roughly determined by utilizing the length of the beacon, and the imaging device is convenient to move and control.
Embodiments of the present invention also provide a computer storage medium, which stores computer-executable instructions including a program for executing the method for beacon positioning described above, and the computer-executable instructions may execute the method in any of the above method embodiments.
The computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND FLASH), Solid State Disks (SSDs)), etc.
Fig. 5 shows a block diagram of an electronic device according to another embodiment of the present invention. The electronic device 1100 may be a host server with computing capabilities, a personal computer PC, or a portable computer or terminal that is portable, or the like. The specific embodiment of the present invention does not limit the specific implementation of the electronic device.
The electronic device 1100 includes at least one processor (processor)1110, a Communications Interface 1120, a memory 1130, and a bus 1140. The processor 1110, the communication interface 1120, and the memory 1130 communicate with each other via the bus 1140.
The communication interface 1120 is used for communicating with network elements including, for example, virtual machine management centers, shared storage, etc.
Processor 1110 is configured to execute programs. Processor 1110 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
The memory 1130 is used for executable instructions. The memory 1130 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1130 may also be a memory array. The storage 1130 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. The instructions stored by the memory 1130 are executable by the processor 1110 to enable the processor 1110 to perform the method of beacon location in any of the method embodiments described above.
The embodiment of the invention also provides a movable device, which comprises an imaging device, a moving mechanism and the electronic device capable of executing the beacon positioning method, wherein the imaging device and the electronic device are arranged on the moving mechanism; the imaging device is used for acquiring a reference image and sending the reference image to the electronic equipment;
the electronic equipment is used for executing the beacon positioning method, generating a movement instruction for controlling the moving mechanism and sending the movement instruction to the moving mechanism; and the moving mechanism executes corresponding moving operation according to the moving instruction.
In the embodiment of the present invention, the movable device refers to a device capable of changing a position, and after determining a target point position based on a beacon positioning method, the movable device itself may be moved to adjust a position or a distance between the movable device and the target point. Specifically, the movable device may be an aircraft, the electronic device is a controller of the aircraft, the imaging device is a camera mounted at the bottom of the aircraft, and the moving mechanism is a propeller or duct of the aircraft. The controller capable of executing the beacon positioning method can control the aircraft, and the aircraft is utilized to collect images of target points in the engine compartment, so that the shooting efficiency is high, the shooting result is more accurate, and the workload and the working difficulty of an evaluator can be reduced.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A method of beacon positioning, comprising:
acquiring a reference image acquired by an imaging device, wherein the reference image comprises at least three non-collinear beacons;
determining the real distance between every two beacons, determining the image coordinates of each beacon in the image coordinate system of the reference image, and determining the image coordinates of the target point in the image coordinate system;
determining real coordinates of each beacon in a camera coordinate system of the imaging device according to the image coordinates of the beacons and real distances between the beacons;
determining the real coordinates of the target point in the camera coordinate system according to the real coordinates of the beacon and the image coordinates of the target point;
before determining the real coordinates of the target point in the camera coordinate system from the real coordinates of the beacon and the image coordinates of the target point, the method further comprises:
determining the real length of the beacon, and determining the image length of the beacon in the image coordinate system in real time; and determining the distance between the imaging device and the target point according to the real length of the beacon, the image length and the image coordinate of the target point, and moving the imaging device until the distance between the imaging device and the target point is smaller than a preset distance.
2. The method of claim 1, after determining real coordinates of the target point in the camera coordinate system from the real coordinates of the beacon and the image coordinates of the target point, further comprising:
and determining the relative position relationship between the target point and the imaging device according to the real coordinates of the target point, moving the imaging device according to the relative position relationship, and indicating the moved imaging device to acquire the image at the position of the target point.
3. The method of claim 1, wherein determining the real coordinates of the target point in the camera coordinate system from the real coordinates of the beacon and the image coordinates of the target point comprises:
and determining the real distance between the target point and at least one beacon, and determining the real coordinate of the target point in a camera coordinate system according to the image coordinate of the target point and the real distance between the target point and the beacon.
4. The method of claim 1, wherein determining the distance between the imaging device and the target point from the true length of the beacon, the image length, and the image coordinates of the target point comprises:
determining a focal length f of the imaging device based on the true length L of the beaconbLength of image lbAnd image coordinates (x) of the target point0,y0) Determining a distance L between the imaging device and the target point:
5. the method of any one of claims 1-4, wherein determining real coordinates of each of the beacons in a camera coordinate system of the imaging device based on image coordinates of the beacons and real distances between the beacons comprises:
determining the focal length f of the imaging device, and establishing an equation set according to the real distance between the beacons and the image coordinates of the three beacons:
wherein the image coordinate of the first beacon is (x)1,y1) True coordinate is (X)1,Y1,Z1) (ii) a The image coordinate of the second beacon is (x)2,y2) True coordinate is (X)2,Y2,Z2) (ii) a Third beacon diagramImage coordinates are (x)3,y3) True coordinate is (X)3,Y3,Z3)；D1Representing the real distance between said first beacon and said second beacon, D2Representing the real distance, D, between said second beacon and said third beacon3Representing a true distance between the first beacon and the third beacon;
determining real coordinates of each of the beacons in a camera coordinate system of the imaging device according to the system of equations.
6. An apparatus for beacon positioning, comprising:
the device comprises an image acquisition module, a signal acquisition module and a signal processing module, wherein the image acquisition module is used for acquiring a reference image acquired by an imaging device, and the reference image comprises at least three non-collinear beacons;
the image coordinate determination module is used for determining the real distance between every two beacons, determining the image coordinate of each beacon in the image coordinate system of the reference image, and determining the image coordinate of the target point in the image coordinate system;
a first real coordinate determination module, configured to determine a real coordinate of each beacon in a camera coordinate system of the imaging apparatus according to an image coordinate of the beacon and a real distance between the beacons;
the second real coordinate determination module is used for determining the real coordinate of the target point in the camera coordinate system according to the real coordinate of the beacon and the image coordinate of the target point;
the apparatus further comprises a distance determination module;
before the second real coordinate determination module determines the real coordinates of the target point in the camera coordinate system from the real coordinates of the beacon and the image coordinates of the target point, the distance determination module is configured to:
determining the real length of the beacon, and determining the image length of the beacon in the image coordinate system in real time; and determining the distance between the imaging device and the target point according to the real length of the beacon, the image length and the image coordinate of the target point, and moving the imaging device until the distance between the imaging device and the target point is smaller than a preset distance.
7. A computer storage medium having stored thereon computer-executable instructions for performing the method of beacon location of any of claims 1-5.
8. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of beacon location of any of claims 1-5.
9. A mobile device, comprising: an imaging device, a movement mechanism, and the electronic apparatus of claim 8, the imaging device and the electronic apparatus each disposed on the movement mechanism;
the imaging device is used for acquiring a reference image and sending the reference image to the electronic equipment;
the electronic equipment is used for executing the beacon positioning method, generating a movement instruction for controlling the moving mechanism and sending the movement instruction to the moving mechanism;
and the moving mechanism is used for executing corresponding moving operation according to the moving instruction.
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| CN112697127B (en) * | 2020-11-26 | 2024-06-11 | 佛山科学技术学院 | Indoor positioning system and method |
| CN113137958B (en) * | 2021-04-23 | 2022-07-19 | 上海华测导航技术股份有限公司 | Lofting control method and system of RTK host and storage medium |
| CN113597535B (en) * | 2021-06-25 | 2023-07-04 | 闻泰科技(深圳)有限公司 | Image-based ranging method, apparatus and storage medium |
| CN114511498A (en) * | 2021-12-27 | 2022-05-17 | 中国航天空气动力技术研究院 | Propeller vibration measuring method based on monocular vision |
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