CN111862211A - Positioning method, device, system, storage medium and computer equipment - Google Patents
Positioning method, device, system, storage medium and computer equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a positioning method, a positioning device, a positioning system, a storage medium and computer equipment. The method comprises the following steps: receiving the last GPS coordinate of the test characteristic point acquired and sent by the server from the last positioning device; converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point; positioning the test feature point from a current test image shot by current image acquisition equipment according to the first pixel coordinate of the test feature point; acquiring the current pixel coordinates of the test feature points from the current test image; converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point; and sending the current GPS coordinate of the test characteristic point to the server so that the server can send the current GPS coordinate of the test characteristic point to a next positioning device. Therefore, the characteristic points are positioned by the GPS through the image shot by the image acquisition equipment.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of positioning technologies, and in particular, to a positioning method, apparatus, system, storage medium, and computer device.
[ background of the invention ]
In the field of video monitoring, the application of camera positioning technology is more and more extensive. The camera positioning technology is a technology for determining the position of a feature point in an image by an image taken by a camera. The most common positioning method in the camera positioning technology is binocular positioning, i.e., positioning of feature points is performed by two cameras.
However, there is no method for GPS positioning of feature points through images captured by a camera in the prior art.
[ summary of the invention ]
In view of this, embodiments of the present invention provide a positioning method, an apparatus, a system, a storage medium, and a computer device, which are used to implement GPS positioning of feature points by using an image captured by an image capturing device.
In one aspect, an embodiment of the present invention provides a positioning method, where the method is applied to a current positioning apparatus, and the method includes:
receiving the last GPS coordinate of the test characteristic point acquired and sent by the server from the last positioning device;
converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point;
positioning the test feature point from a current test image shot by current image acquisition equipment according to the first pixel coordinate of the test feature point;
Acquiring the current pixel coordinates of the test feature points from the current test image;
converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point;
and sending the current GPS coordinate of the test characteristic point to the server so that the server can send the current GPS coordinate of the test characteristic point to a next positioning device.
Optionally, the converting the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point includes:
converting the last GPS coordinate of the test characteristic point into the last world coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system;
and converting the last world coordinate of the test characteristic point into the first pixel coordinate of the test characteristic point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
Optionally, the locating the test feature point from the current test image captured by the current image capturing device according to the first pixel coordinate includes:
determining a coordinate selection region in the current test image centered on the first pixel coordinate;
And determining the pixel coordinate closest to the first pixel coordinate in the pixel coordinates of the feature points in the coordinate selection area, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as the test feature point.
Optionally, the converting the current pixel coordinate of the test feature point into the current GPS coordinate of the test feature point includes:
converting the current pixel coordinate of the test feature point into the current world coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system;
and converting the current world coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system.
Optionally, the method further comprises:
and setting a conversion relation between the pixel coordinate system and the world coordinate system according to the acquired homography matrix calibrated in advance.
Optionally, before the setting of the conversion relationship between the pixel coordinate system and the world coordinate system according to the acquired homography matrix, the method further includes:
sending a calibration image shot by the image acquisition equipment to a server so that the server can obtain pixel coordinates of at least four calibration characteristic points from the calibration image, receiving GPS coordinates of the at least four calibration characteristic points sent by a GPS measuring equipment, converting the GPS coordinates of the at least four calibration characteristic points into world coordinates according to a conversion relation between a world coordinate system and the GPS coordinate system, generating a solving equation set through a perspective transformation relation between the set pixel coordinate system and the world coordinate system, substituting the pixel coordinates and the world coordinates of the at least four calibration characteristic points into the solving equation set to generate at least eight solving equations, simultaneously solving the homography matrix by the at least eight solving equations, and enabling the at least four calibration characteristic points to be not collinear;
And receiving the homography matrix sent by the server.
In another aspect, an embodiment of the present invention provides a positioning system, including: the system comprises a server, a previous positioning device, a current positioning device, current image acquisition equipment and a next positioning device;
the server is used for acquiring the last GPS coordinate of the test characteristic point from the last positioning device and sending the last GPS coordinate of the test characteristic point to the current positioning device; sending the current GPS coordinates of the test feature points to a next positioning device;
the current positioning device is used for converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point; positioning the test feature point from a current test image shot by current image acquisition equipment according to the first pixel coordinate of the test feature point; acquiring the current pixel coordinates of the test feature points from the current test image; converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point; and sending the current GPS coordinates of the test feature points to the server.
Optionally, the current positioning device is specifically configured to convert, according to a conversion relationship between an acquired world coordinate system and a GPS coordinate system, a last GPS coordinate of the test feature point into a last world coordinate of the test feature point; and converting the last world coordinate of the test characteristic point into the first pixel coordinate of the test characteristic point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
Optionally, the current positioning apparatus is specifically configured to determine a coordinate selection area in the current test image with the first pixel coordinate as a center; and determining the pixel coordinate closest to the first pixel coordinate in the pixel coordinates of the feature points in the coordinate selection area, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as the test feature point.
Optionally, the current positioning device is specifically configured to convert the current pixel coordinate of the test feature point into the current world coordinate of the test feature point according to the obtained conversion relationship between the pixel coordinate system and the world coordinate system; and converting the current world coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system.
Optionally, the current positioning apparatus is further configured to set a conversion relationship between the pixel coordinate system and the world coordinate system according to the obtained homography matrix calibrated in advance.
In another aspect, an embodiment of the present invention provides a positioning apparatus, including:
the receiving module is used for receiving the last GPS coordinate of the test characteristic point, which is obtained and sent by the server from the last positioning device;
The first conversion module is used for converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point;
the positioning module is used for positioning the test feature points from a current test image shot by current image acquisition equipment according to the first pixel coordinates of the test feature points;
the acquisition module is used for acquiring the current pixel coordinates of the test characteristic points from the current test image;
the second conversion module is used for converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point;
and the sending module is used for sending the current GPS coordinate of the test characteristic point to the server so that the server can send the current GPS coordinate of the test characteristic point to the next positioning device.
On the other hand, an embodiment of the present invention provides a storage medium, where the storage medium includes a stored program, and when the program runs, a device in which the storage medium is located is controlled to execute the steps of the above positioning method.
In another aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, where the memory is used to store information including program instructions, and the processor is used to control execution of the program instructions, and the program instructions are loaded by the processor and executed to implement the steps of the positioning method.
In the technical solution provided in the embodiment of the present invention, the current positioning apparatus converts the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point, positions the test feature point from the current test image captured by the current image capture device according to the first pixel coordinate of the test feature point, acquires the current pixel coordinate of the test feature point from the current test image, and converts the current pixel coordinate of the test feature point into the current GPS coordinate of the test feature point, thereby implementing GPS positioning of the feature point by the image captured by the image capture device.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic diagram of an application of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a positioning system according to an embodiment of the present invention;
Fig. 3 is a flowchart of a positioning method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another application of the positioning method in the embodiment of the present invention;
FIG. 5 is a schematic diagram of another application of the positioning method in the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another positioning system provided in the embodiments of the present invention;
fig. 7 is a flowchart of another positioning method according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a computer device according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., A and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiment of the invention, as an alternative, the positioning method can be applied to a scene of realizing GPS positioning of the motor vehicle when the motor vehicle on the road is subjected to video monitoring. Fig. 1 is an application schematic diagram of a positioning method in an embodiment of the present invention, as shown in fig. 1, an application scene of the positioning method is a three-lane traffic gate, widths of the three lanes are 4.05m, 3.8m, and 3.8m, respectively, a length of the three lanes is 100m, and the traffic gate includes an image capturing device, which may include a camera as an alternative, for example: the height of the camera may be 6m from the ground. The vehicle runs on the lane along the direction indicated by the arrow, the image acquisition equipment can shoot an image and output the image to the positioning device, the positioning device acquires the pixel coordinates of the test characteristic points from the shot image, the test characteristic points are the characteristic points corresponding to the vehicle, and then the positioning device converts the pixel coordinates of the test characteristic points into world coordinates and converts the world coordinates into GPS coordinates, so that the GPS positioning of the vehicle is realized.
As an alternative, the positioning method provided by the embodiment of the present invention may be applied to a target tracking scene. In order to implement a target tracking process, an embodiment of the present invention provides a positioning system, and fig. 2 is a schematic structural diagram of the positioning system provided in the embodiment of the present invention, as shown in fig. 2, the positioning system includes: the system comprises a server 1 and a plurality of positioning acquisition devices, wherein each positioning acquisition device is connected with the server 1. The adjacent positioning and collecting devices have a certain distance, for example, one positioning and collecting device is arranged at a certain distance on a lane where the motor vehicle needs to be tracked, so that the positioning and collecting devices arranged at intervals can track the relay target of the motor vehicle when the motor vehicle runs on the lane.
Each positioning and acquisition device can comprise a positioning device and an image acquisition device. Wherein, positioner is connected with image acquisition device, and positioner is connected with the server. The positioning device may be provided separately or the positioning device may be integrated on the image acquisition device. As an alternative, the image acquisition device may comprise a camera.
In fig. 2, the positioning system is described by taking an example that the positioning system includes 3 positioning acquisition devices, and the positioning system may include a previous positioning acquisition device, a current positioning acquisition device, and a next positioning acquisition device. The last positioning acquisition equipment, the current positioning acquisition equipment and the next positioning acquisition equipment are sequentially arranged along the lane.
As shown in fig. 2, the previous positioning and acquiring apparatus includes a previous positioning device 2 and a previous image acquiring device 3; the current positioning acquisition equipment comprises a current positioning device 4 and a current image acquisition device 5; the next positioning acquisition device comprises a next positioning means 6 and a next image acquisition means 7. The current positioning device 4 may be any one of the positioning devices.
Based on the positioning system shown in fig. 2, an embodiment of the present invention provides a positioning method. Fig. 3 is a flowchart of a positioning method according to an embodiment of the present invention, and as shown in fig. 3, the method includes:
and 102, the last positioning device acquires the last GPS coordinate of the test characteristic point in the last test image and sends the last GPS coordinate of the test characteristic point to the server.
The present embodiment is described by taking an example in which the test feature points include feature points corresponding to a motor vehicle. In the embodiment of the present invention, when the motor vehicle moves to the monitoring range of the previous image capturing device 3, the previous image capturing device 3 captures the previous test image and sends the previous test image to the previous positioning device 2. Step 102 may specifically include: the last positioning device 2 obtains the last pixel coordinate of the test characteristic point from the last test image; according to the obtained conversion relation between the pixel coordinate system and the world coordinate system, converting the last pixel coordinate of the test characteristic point into the last world coordinate of the test characteristic point; converting the last world coordinate of the test characteristic point into the last GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system; and sends the last GPS coordinate of the test feature point to the server 1.
And 104, the server sends the last GPS coordinate of the test feature point to the current positioning device.
And 106, converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point by the current positioning device.
In the embodiment of the present invention, step 106 specifically includes: the current positioning device 2 converts the last GPS coordinate of the test characteristic point into the last world coordinate of the test characteristic point according to the acquired conversion relation between the world coordinate system and the GPS coordinate system; and converting the last world coordinate of the test characteristic point into the first pixel coordinate of the test characteristic point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
And 108, positioning the test feature point from the current test image shot by the current image acquisition equipment by the current positioning device according to the first pixel coordinate of the test feature point.
In the embodiment of the invention, when the motor vehicle moves to the monitoring range of the current image acquisition device 5, the current image acquisition device 5 shoots the current test image and sends the current test image to the current positioning device 4.
Step 108 may specifically include:
step 1081, the current positioning device determines a coordinate selection area in the current test image centered on the first pixel coordinate.
In the embodiment of the present invention, the coordinate selection area determined by taking the first pixel coordinate as a center may be a circular area or a square area by taking the first pixel coordinate as a center.
And 1082, determining a pixel coordinate closest to the first pixel coordinate from the pixel coordinates of the feature points in the coordinate selection area, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as a test feature point.
And if the coordinate selection area comprises the pixel coordinate of one characteristic point, and the pixel coordinate of the characteristic point is the pixel coordinate closest to the first pixel coordinate, determining the characteristic point as a test characteristic point.
If the pixel coordinates of the plurality of feature points are included in the coordinate selection area, the pixel coordinate closest to the first pixel coordinate is selected from the pixel coordinates of the plurality of feature points, and the feature point corresponding to the pixel coordinate closest to the first pixel coordinate is determined as the test feature point.
In the embodiment of the present invention, step 112 specifically includes: the current positioning device 4 converts the current pixel coordinate of the test feature point into the current world coordinate of the test feature point according to the conversion relationship between the acquired pixel coordinate system and the world coordinate system; and converting the current world coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system.
And step 114, the current positioning device sends the current GPS coordinates of the test feature points to a server.
Further, when the motor vehicle moves to the monitoring range of the next image capturing device 7, the next image capturing device 7 captures the next test image and sends the next test image to the next positioning device 7. The next positioning device 7 may continue to perform the positioning process from step 106 to step 112 to locate the next GPS coordinate, thereby achieving the relay tracking of the target of the test feature point.
In the embodiment of the invention, each positioning device can acquire the conversion relation between the pixel coordinate system and the world coordinate system in advance. Namely: the former positioning device 2, the current positioning device 4, and the next positioning device 6 can each acquire the conversion relationship between the pixel coordinate system and the world coordinate system in advance. The method may further comprise:
Step 202, the positioning device sets a conversion relation between the pixel coordinate system and the world coordinate system according to the acquired homography matrix calibrated in advance.
In this embodiment of the present invention, since the position of each image capturing device is fixed, before step 202, the method further includes: step 200, the server calibrates the homography matrix in advance according to the calibration image shot by the image acquisition equipment. Step 200 may specifically include:
step 2002, the image acquisition device shoots a calibration image and sends the shot calibration image to the positioning device.
Fig. 4 is another application schematic diagram of the positioning method in the embodiment of the present invention, as shown in fig. 1 and 4, the image acquisition device shown in fig. 1 is used to shoot three lanes to obtain a calibration image. Four calibration feature points P1, P2, P3 and P4 are selected from the calibration image, wherein the four calibration feature points correspond to four randomly selected motor vehicles respectively.
And step 2004, the positioning device sends the calibration image shot by the image acquisition equipment to a server.
Step 2006, the server acquires pixel coordinates of at least four calibration feature points from the calibration image.
In the embodiment of the invention, the server acquires the pixel coordinates of the four calibration characteristic points from the calibration image because the four calibration characteristic points are selected from the calibration image. Wherein the pixel coordinate of the calibration feature point P1 is (u' 1，v′1) The pixel coordinate of the calibration feature point P2 is (u'2，v′2) The pixel coordinate of the calibration feature point P3 is (u'3，v′3) The pixel coordinate of the feature index point P4 is (u'4，v′4)。
Step 2008, the server receives the GPS coordinates of the at least four calibration feature points sent by the GPS measurement device.
In this embodiment, the GPS measurement device measures the GPS coordinates of the four calibration feature points while the positioning device captures the calibration image. Wherein the GPS coordinate of the calibration characteristic point P1 is (Lat'1，Lon′1) The GPS coordinate of the calibration feature point P2 is (Lat'2，Lon′2) The GPS coordinate of the calibration feature point P3 is (Lat'3，Lon′3) The GPS coordinate of the feature position point P4 is (Lat'4，Lon′4)。
Step 2010, the server converts the GPS coordinates of the at least four calibration feature points into world coordinates according to the conversion relation between the world coordinate system and the GPS coordinate system.
In an embodiment of the present invention, the conversion relationship between the world coordinate system and the GPS coordinate system includes:
wherein L ═ π × 6381372 × 2,
mil is a constant, L is the perimeter of the earth, a is a transitive parameter, Lat is a latitude coordinate, Lon is a longitude coordinate, H is an altitude, (X)W，YW，ZW) As world coordinates, ZW0. Wherein the default value for mill is 2.3.
And obtaining the world coordinates of the four calibration characteristic points through the conversion relation between the world coordinate system and the GPS coordinate system. Wherein the world coordinate of the calibration characteristic point P1 is (X) W1′，YW1') the world coordinate of the nominal feature point P2 is (X)W2′，YW2') the world coordinate of the nominal feature point P3 is (X)W3′，YW3') the world coordinate of the nominal feature point P4 is (X)W4′，YW4′)。
Step 2012, the server generates a solution equation set through a perspective transformation relation between a set pixel coordinate system and a set world coordinate system, substitutes the pixel coordinates and the world coordinates of at least four calibration feature points into the solution equation set to generate at least eight solution equations, and simultaneously solves the homography matrix by the at least eight solution equations, wherein the at least four calibration feature points are not collinear.
Among them, it should be noted that: since at least four calibration feature points are coplanar, i.e., the calibration feature points P1, P2, P3 and P4 are located in the same plane, which corresponds to the road surface, Z in the world coordinate systemW＝0。
In an embodiment of the present invention, the perspective transformation relationship between the pixel coordinate system and the world coordinate system includes
Wherein, (u ', v') is the pixel coordinate of the calibration feature point, (X)W′，YW') is the world coordinates of the calibration feature points. Generating a system of solving equations according to the perspective transformation relationship between the pixel coordinate system and the world coordinate system, wherein the system of solving equations comprises:
wherein,
calibrating pixel coordinates (u 'of feature point P1'1，v′1) And world coordinate (X) W1′，YW1') into two equations of the system of solution equations to yield the solution equation:
calibrating pixel coordinates (u 'of feature point P2'2，v′2) And world coordinate (X)W2′，YW2') into two equations of the system of solution equations to yield the solution equation:
calibrating pixel coordinates (u 'of feature point P3'3，v′3) And world coordinate (X)W3′，YW3') into two equations of the system of solution equations to yield the solution equation:
calibrating pixel coordinates (u 'of feature point P4'4，v′4) And world coordinate (X)W4′，YW4') into two equations of the system of solution equations to yield the solution equation:
in the embodiment of the invention, the server simultaneously solves eight solving equations from a formula (1) to a formula (8) to obtain k11、k12、k13、k21、k22、k23、k31And k32Thus according to the solved k11、k12、k13、k21、k22、k23、k31And k32Generating a homography matrix
Step 2014, the positioning device receives the homography matrix sent by the server.
In step 202, the conversion relationship between the pixel coordinate system and the world coordinate system according to the homography matrix includes:
wherein, (u, v) is the pixel coordinate of the test feature point, (X)W，YW) World coordinates of the test feature points.
Fig. 5 is a schematic diagram of another application of the positioning method in the embodiment of the present invention, as shown in fig. 1 and 5, the image capturing apparatus shown in fig. 1 is used to capture three lanes to obtain a test image. Then in step 110 the current test image is acquired And testing the pixel coordinates of the characteristic point P5, wherein the characteristic point P5 corresponds to the motor vehicle to be tested. The pixel coordinate of the test feature point P5 is (u)5，v5)。
It should be noted that: if the current positioning device performs GPS positioning on the test feature points in the calibration image, the current test image in step 110 may be the calibration image in step 2002.
In step 112, the current locating device 4 will test the current pixel coordinates (u) of the feature point P55，v5) Substitution into
Obtaining a solution equation:
combining the formula (9) and the formula (10), solving the current world coordinate (X) of the test characteristic point P5W，YW)。
In the embodiment of the present invention, the conversion relationship between the world coordinate system and the GPS coordinate system includes:
wherein L ═ π × 6381372 × 2,
mil is a constant, L is the perimeter of the earth, a is a transitive parameter, Lat is a latitude coordinate, Lon is a longitude coordinate, H is an altitude, (X)W，YW，ZW) As world coordinates, ZW0. Wherein the default value for mill is 2.3.
Then in step 112 the current positioning means 4 will test the current world coordinates (X) of the feature point P5W，YW) Substituted into the aboveAnd converting the relation formula to obtain the current GPS coordinates (Lat, Lon) of the test characteristic point P5.
In the embodiment of the invention, the accuracy of the GPS coordinate calculated by each positioning device can be verified through the actual GPS coordinate of at least one test characteristic point. Further, the method further comprises:
Step 302, the positioning device obtains actual GPS coordinates of a set number of test feature points.
In the embodiment of the invention, the GPS measuring equipment can detect the actual GPS coordinate of the motor vehicle at the time point when the image acquisition device shoots the test image, and the GPS coordinate of the motor vehicle is taken as the actual GPS coordinate of the test characteristic point. And then the GPS measuring equipment sends the detected actual GPS coordinates of the test characteristic points to the positioning device so that the positioning device can acquire the actual GPS coordinates of the test characteristic points. For example: the actual GPS coordinates are (Lat ', Lon'). As shown in table 1 below:
TABLE 1
As shown in table 1 above, if the set number is 5, the world coordinates, the pixel coordinates, the actual GPS coordinates, and the GPS coordinates of the 5 test feature points are listed in table 1.
And step 304, the positioning device calculates the actual GPS coordinates of each test feature point and the distance between the GPS coordinates.
If the set number is greater than 1, the steps 110 to 112 are repeated to calculate the GPS coordinates of the set number of test feature points. As shown in table 1, the GPS coordinates of 5 test feature points were calculated.
As an alternative scheme, the actual GPS coordinates of the test feature points are calculated through the conversion relation between the world coordinate system and the GPS coordinate system to obtain the actual world coordinates, and then the distance between the actual world coordinates and the world coordinates is calculated through a distance formula between two points. For example: by the formula 
Calculating the distance between the real world coordinate and the world coordinate, wherein D is the distance, (X)W，YW) Is world coordinate corresponding to GPS coordinate, (X'W，Y′W) Is the actual world coordinate corresponding to the actual GPS coordinate. The distance between the actual GPS coordinates and the GPS coordinates is derived by calculating the distance between the actual world coordinates and the world coordinates. Wherein (X)W，YW) Is world coordinate shown in Table 1, (X'W，Y′W) Is the actual world coordinate calculated from the actual GPS coordinates. As shown in table 1 above, the distances between the actual GPS coordinates and the GPS coordinates of the 5 test feature points were calculated.
Step 306, the positioning device determines whether the set number of distances is smaller than a set distance threshold, if not, step 308 is executed; if yes, the process ends.
In the embodiment of the invention, if any one of the set distance is judged to be greater than or equal to the set distance threshold, the calculated GPS coordinate is inaccurate; and if the set distances are all smaller than the set distance threshold value, the calculated GPS coordinates are accurate.
As shown in table 1, for example: and setting the distance threshold value to be 1m, and then, calculating 5 distances which are smaller than 1m, wherein the result shows that the calculated GPS coordinates are accurate and meet the requirements of product design.
Step 308, the positioning device takes the new image shot by the image acquisition device as a calibration image, and sends the calibration image to the server for the server to continue to execute step 2006.
In the embodiment of the invention, if the positioning device judges that any one of the set distances is greater than or equal to the set distance threshold, a new image shot by the image acquisition equipment can be used as a calibration image, and the server executes the step of re-calibrating the homography matrix.
In the technical solution provided in the embodiment of the present invention, the current positioning apparatus converts the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point, positions the test feature point from the current test image captured by the current image capture device according to the first pixel coordinate of the test feature point, acquires the current pixel coordinate of the test feature point from the current test image, and converts the current pixel coordinate of the test feature point into the current GPS coordinate of the test feature point, thereby implementing GPS positioning of the feature point by the image captured by the image capture device. The embodiment of the invention can be applied to a scene of carrying out relay target tracking on the motor vehicle through a plurality of positioning devices and image acquisition equipment, the scheme reduces the calculation difficulty in the GPS positioning process, improves the calculation speed, and has higher GPS positioning precision, thereby improving the product competitiveness of the image acquisition equipment.
As another alternative, the positioning method provided by the embodiment of the present invention may also be applied to an automobile data recorder, so that the automobile data recorder may acquire the GPS coordinates of the test feature point according to the pixel coordinates of the test feature point in the captured image during the driving process of the vehicle. In order to enable a driving recorder to realize GPS coordinate positioning of a test feature point, an embodiment of the present invention further provides another positioning system, fig. 6 is a schematic structural diagram of another positioning system provided in the embodiment of the present invention, and as shown in fig. 6, the positioning system includes: server 1, positioning device 8 and image acquisition device 9. The positioning device 8 is connected with the image acquisition device 9. The positioning means 8 may be provided separately or the positioning means 8 may be integrated on the image acquisition means 9. As an alternative, the positioning device 8 and the image acquisition device 9 are provided in a tachograph, in other words, the tachograph may comprise the positioning device 8 and the image acquisition device 9.
Based on the positioning system shown in fig. 6, an embodiment of the present invention provides a positioning method. Fig. 7 is a flowchart of another positioning method according to an embodiment of the present invention, and as shown in fig. 7, the method includes:
And step 404, the positioning device converts the pixel coordinates of the test feature points into world coordinates of the test feature points according to the acquired conversion relationship between the pixel coordinate system and the world coordinate system.
And step 406, the positioning device converts the world coordinate of the test feature point into the GPS coordinate of the test feature point according to the acquired conversion relationship between the world coordinate system and the GPS coordinate system.
For a detailed description of each step in this embodiment, reference may be made to the description of the embodiment in fig. 3, which is not described herein again.
The automobile data recorder in the embodiment can perform the GPS positioning on the feature points in the image shot by the image acquisition device through the conversion relationship between the pixel coordinate system and the world coordinate system and the conversion relationship between the world coordinate system and the GPS coordinate system.
Fig. 8 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention, and as shown in fig. 8, the apparatus includes: the device comprises a receiving module 11, a first conversion module 12, a positioning module 13, an acquisition module 14, a second conversion module 15 and a sending module 16.
The receiving module 11 is configured to receive the last GPS coordinate of the test feature point obtained and sent by the server from the last positioning device. The first conversion module 12 is configured to convert the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature point. The positioning module 13 is configured to position the test feature point from a current test image captured by a current image capturing device according to the first pixel coordinate of the test feature point. The obtaining module 14 is configured to obtain current pixel coordinates of the test feature point from a current test image. The second conversion module 15 is configured to convert the current pixel coordinate of the test feature point into the current GPS coordinate of the test feature point. The sending module 16 is configured to send the current GPS coordinate of the test feature point to the server, so that the server sends the current GPS coordinate of the test feature point to a next positioning device.
In the embodiment of the present invention, the first conversion module 12 is specifically configured to convert the last GPS coordinate of the test feature point into the last world coordinate of the test feature point according to a conversion relationship between an acquired world coordinate system and a GPS coordinate system; and converting the last world coordinate of the test characteristic point into the first pixel coordinate of the test characteristic point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
In this embodiment of the present invention, the positioning module 13 is specifically configured to determine a coordinate selection area in the current test image by taking the first pixel coordinate as a center; and determining the pixel coordinate closest to the first pixel coordinate in the pixel coordinates of the feature points in the coordinate selection area, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as the test feature point.
In the embodiment of the present invention, the second conversion module 15 is specifically configured to convert the current pixel coordinate of the test feature point into the current world coordinate of the test feature point according to the conversion relationship between the acquired pixel coordinate system and the world coordinate system; and converting the current world coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system.
In the embodiment of the present invention, the apparatus further includes: a module 17 is provided. The setting module 17 is configured to set a conversion relationship between the pixel coordinate system and the world coordinate system according to the acquired homography matrix calibrated in advance.
In an embodiment of the present invention, the sending module 16 is further configured to send the calibration image captured by the image capturing device to a server, so that the server obtains pixel coordinates of at least four calibration feature points from the calibration image, receive GPS coordinates of the at least four calibration feature points sent by a GPS measuring device, convert the GPS coordinates of the at least four calibration feature points into world coordinates according to a conversion relationship between a world coordinate system and the GPS coordinate system, generate a solution equation set through a set perspective transformation relationship between the pixel coordinate system and the world coordinate system, substitute the pixel coordinates and the world coordinates of the at least four calibration feature points into the solution equation set to generate at least eight solution equations, and simultaneously solve the at least eight solution equations to obtain a homography matrix, where the at least four calibration feature points are not collinear. The receiving module 11 is further configured to receive the homography matrix sent by the server.
In the technical solution provided in the embodiment of the present invention, the current positioning apparatus converts the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point, positions the test feature point from the current test image captured by the current image capture device according to the first pixel coordinate of the test feature point, acquires the current pixel coordinate of the test feature point from the current test image, and converts the current pixel coordinate of the test feature point into the current GPS coordinate of the test feature point, thereby implementing GPS positioning of the feature point by the image captured by the image capture device. The embodiment of the invention can be applied to the scene of carrying out GPS positioning on the motor vehicles running on the road through the images shot by the image acquisition equipment, the scheme reduces the calculation difficulty in the GPS positioning process, improves the calculation speed, and has higher GPS positioning precision, thereby improving the product competitiveness of the image acquisition equipment.
An embodiment of the present invention provides a storage medium, where the storage medium includes a stored program, where, when the program runs, a device in which the storage medium is located is controlled to execute each step of the above-described embodiment of the positioning method, and for specific description, reference may be made to the above-described embodiment of the positioning method.
An embodiment of the present invention provides a computer device, including a memory and a processor, where the memory is used to store information including program instructions, and the processor is used to control execution of the program instructions, and the program instructions are loaded by the processor and executed to implement the steps of the embodiment of the positioning method.
Fig. 9 is a schematic diagram of a computer device according to an embodiment of the present invention. As shown in fig. 9, the computer device 20 of this embodiment includes: the processor 21, the memory 22, and the computer program 23 stored in the memory 22 and capable of running on the processor 21, where the computer program 23 is executed by the processor 21 to implement the positioning method in the embodiments, and in order to avoid repetition, the detailed description is omitted here. Alternatively, the computer program is executed by the processor 21 to implement the functions of each model/unit applied in the positioning apparatus in the embodiments, which are not described herein again to avoid redundancy.
The computer device 20 includes, but is not limited to, a processor 21, a memory 22. Those skilled in the art will appreciate that fig. 9 is merely an example of a computer device 20 and is not intended to limit the computer device 20 and that it may include more or fewer components than shown, or some of the components may be combined, or different components, e.g., the computer device 20 may also include input-output devices, network access devices, buses, etc.
The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 22 may be an internal storage unit of the computer device 20, such as a hard disk or a memory of the computer device 20. The memory 22 may also be an external storage device of the computer device 20, such as a plug-in hard disk provided on the computer device 20, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 22 may also include both internal storage units of the computer device 20 and external storage devices. The memory 22 is used for storing computer programs and other programs and data required by the computer device. The memory 22 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (13)
1. A positioning method, applied to a current positioning apparatus, the method comprising:
receiving the last GPS coordinate of the test characteristic point acquired and sent by the server from the last positioning device;
converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point;
positioning the test feature point from a current test image shot by current image acquisition equipment according to the first pixel coordinate of the test feature point;
acquiring the current pixel coordinates of the test feature points from the current test image;
converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point;
and sending the current GPS coordinate of the test characteristic point to the server so that the server can send the current GPS coordinate of the test characteristic point to a next positioning device.
2. The method of claim 1, wherein converting the last GPS coordinate of the test feature point to the first pixel coordinate of the test feature point comprises:
converting the last GPS coordinate of the test characteristic point into the last world coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system;
And converting the last world coordinate of the test characteristic point into the first pixel coordinate of the test characteristic point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
3. The method of claim 1, wherein locating the test feature point from a current test image taken by a current image capture device according to the first pixel coordinates comprises:
determining a coordinate selection region in the current test image centered on the first pixel coordinate;
and determining the pixel coordinate closest to the first pixel coordinate in the pixel coordinates of the feature points in the coordinate selection area, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as the test feature point.
4. The method of claim 1, wherein converting the current pixel coordinates of the test feature point to the current GPS coordinates of the test feature point comprises:
converting the current pixel coordinate of the test feature point into the current world coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system;
And converting the current world coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system.
5. The method of claim 2 or 4, further comprising:
and setting a conversion relation between the pixel coordinate system and the world coordinate system according to the acquired homography matrix calibrated in advance.
6. The method according to claim 5, wherein the setting of the transformation relationship between the pixel coordinate system and the world coordinate system according to the obtained homography matrix further comprises:
sending a calibration image shot by the image acquisition equipment to a server so that the server can obtain pixel coordinates of at least four calibration characteristic points from the calibration image, receiving GPS coordinates of the at least four calibration characteristic points sent by a GPS measuring equipment, converting the GPS coordinates of the at least four calibration characteristic points into world coordinates according to a conversion relation between a world coordinate system and the GPS coordinate system, generating a solving equation set through a perspective transformation relation between the set pixel coordinate system and the world coordinate system, substituting the pixel coordinates and the world coordinates of the at least four calibration characteristic points into the solving equation set to generate at least eight solving equations, simultaneously solving the homography matrix by the at least eight solving equations, and enabling the at least four calibration characteristic points to be not collinear;
And receiving the homography matrix sent by the server.
7. A positioning system, comprising: the system comprises a server, a previous positioning device, a current positioning device, current image acquisition equipment and a next positioning device;
the server is used for acquiring the last GPS coordinate of the test characteristic point from the last positioning device and sending the last GPS coordinate of the test characteristic point to the current positioning device; sending the current GPS coordinates of the test feature points to a next positioning device;
the current positioning device is used for converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point; positioning the test feature point from a current test image shot by current image acquisition equipment according to the first pixel coordinate of the test feature point; acquiring the current pixel coordinates of the test feature points from the current test image; converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point; and sending the current GPS coordinates of the test feature points to the server.
8. The system according to claim 7, wherein the current positioning device is specifically configured to convert the last GPS coordinate of the test feature point into the last world coordinate of the test feature point according to a conversion relationship between the acquired world coordinate system and the GPS coordinate system; and converting the last world coordinate of the test characteristic point into the first pixel coordinate of the test characteristic point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
9. The system of claim 7, wherein said current locating means is specifically configured to determine a coordinate selection area in said current test image centered around said first pixel coordinate; and determining the pixel coordinate closest to the first pixel coordinate in the pixel coordinates of the feature points in the coordinate selection area, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as the test feature point.
10. The system according to claim 7, wherein the current positioning device is specifically configured to convert the current pixel coordinates of the test feature point into the current world coordinates of the test feature point according to the obtained conversion relationship between the pixel coordinate system and the world coordinate system; and converting the current world coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point according to the conversion relation between the acquired world coordinate system and the GPS coordinate system.
11. A positioning device, comprising:
the receiving module is used for receiving the last GPS coordinate of the test characteristic point, which is obtained and sent by the server from the last positioning device;
The first conversion module is used for converting the last GPS coordinate of the test characteristic point into a first pixel coordinate of the test characteristic point;
the positioning module is used for positioning the test feature points from a current test image shot by current image acquisition equipment according to the first pixel coordinates of the test feature points;
the acquisition module is used for acquiring the current pixel coordinates of the test characteristic points from the current test image;
the second conversion module is used for converting the current pixel coordinate of the test characteristic point into the current GPS coordinate of the test characteristic point;
and the sending module is used for sending the current GPS coordinate of the test characteristic point to the server so that the server can send the current GPS coordinate of the test characteristic point to the next positioning device.
12. A storage medium comprising a stored program, wherein the program when executed controls an apparatus in which the storage medium is located to perform the steps of the positioning method according to any one of claims 1 to 6.
13. A computer device comprising a memory for storing information comprising program instructions and a processor for controlling the execution of the program instructions, the program instructions being loaded and executed by the processor to implement the steps of the positioning method according to any of claims 1 to 6.
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