CN111862211B - 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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: the receiving server obtains and transmits the last GPS coordinates of the testing feature points from the last positioning device; converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature point; 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; acquiring current pixel coordinates of the test feature points from a current test image; converting the current pixel coordinates of the test feature points into current GPS coordinates of the test feature points; and sending the current GPS coordinates of the test feature points to the server so that the server can send the current GPS coordinates of the test feature points to the next positioning device. Therefore, GPS positioning of the characteristic points is achieved through the image shot by the image acquisition equipment.
Description
[ field of technology ]
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 Art ]
In the field of video monitoring, camera positioning technology is increasingly used. The camera positioning technique is a technique of determining the position of a feature point in an image by an image captured 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 performing GPS positioning on a feature point by using an image captured by a camera.
[ invention ]
In view of this, the embodiments of the present invention provide a positioning method, apparatus, system, storage medium, and computer device, for implementing GPS positioning of feature points by using images 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 device, and the method includes:
the receiving server obtains and transmits the last GPS coordinates of the testing feature points from the last positioning device;
converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature point;
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;
Acquiring current pixel coordinates of the test feature points from a current test image;
converting the current pixel coordinates of the test feature points into current GPS coordinates of the test feature points;
and sending the current GPS coordinates of the test feature points to the server so that the server can send the current GPS coordinates of the test feature points to the next positioning device.
Optionally, the converting the last GPS coordinate of the test feature point to the first pixel coordinate of the test feature point includes:
according to the acquired conversion relation between the world coordinate system and the GPS coordinate system, converting the last GPS coordinate of the test feature point into the last world coordinate of the test feature point;
and converting the last world coordinate of the test feature point into a first pixel coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
Optionally, the positioning 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 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.
Optionally, the converting the current pixel coordinate of the test feature point to the current GPS coordinate of the test feature point includes:
converting the current pixel coordinates of the test feature points into the current world coordinates of the test feature points according to the conversion relation between the acquired pixel coordinate system and the world coordinate system;
and converting the current world coordinates of the test feature points into the current GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
Optionally, the method further comprises:
and setting a conversion relation between the pixel coordinate system and the world coordinate system according to the acquired pre-calibrated homography matrix.
Optionally, before setting the conversion relationship between the pixel coordinate system and the world coordinate system according to the obtained homography matrix, the method further includes:
transmitting a calibration image shot by the image acquisition equipment to a server so that the server obtains pixel coordinates of at least four calibration feature points from the calibration image, receiving GPS coordinates of the at least four calibration feature points transmitted by a GPS measurement equipment, converting the GPS coordinates of the at least four calibration feature 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 conversion 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 feature points into the solving equation set to generate at least eight solving equations, solving a homography matrix by the at least eight solving equations, and enabling the at least four calibration feature points to be non-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 last 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; transmitting 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 feature point into a first pixel coordinate of the test feature point; 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; acquiring current pixel coordinates of the test feature points from a current test image; converting the current pixel coordinates of the test feature points into current GPS coordinates of the test feature points; 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 the acquired world coordinate system and the 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 feature point into a first pixel coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
Optionally, the current positioning device 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, according to a conversion relationship between the acquired pixel coordinate system and the world coordinate system, a current pixel coordinate of the test feature point into a current world coordinate of the test feature point; and converting the current world coordinates of the test feature points into the current GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
Optionally, the current positioning device is further configured to set a conversion relationship between the pixel coordinate system and the world coordinate system according to the obtained pre-calibrated homography matrix.
In another aspect, an embodiment of the present invention provides a positioning device, including:
the receiving module is used for receiving the last GPS coordinates of the test feature points acquired and transmitted by the server from the last positioning device;
The first conversion module is used for converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature point;
the positioning module is used for positioning the test feature points from the current test image shot by the 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 feature points from the current test image;
the second conversion module is used for converting the current pixel coordinates of the test feature points into the current GPS coordinates of the test feature points;
and the sending module is used for sending the current GPS coordinates of the test feature points to the server so that the server can send the current GPS coordinates of the test feature points to the next positioning device.
In another aspect, an embodiment of the present invention provides a storage medium, where the storage medium includes a stored program, where the program controls a device in which the storage medium is located to execute the steps of the positioning method described above when the program runs.
In another aspect, an embodiment of the present invention provides a computer device, including a memory for storing information including program instructions, and a processor for controlling execution of the program instructions, where the program instructions, when loaded and executed by the processor, implement the steps of the positioning method described above.
In the technical scheme provided by the embodiment of the invention, the current positioning device converts the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point, the test feature point is positioned from the current test image shot by the current image acquisition equipment according to the first pixel coordinate of the test feature point, the current pixel coordinate of the test feature point is acquired from the current test image, and the current pixel coordinate of the test feature point is converted into the current GPS coordinate of the test feature point, so that the GPS positioning of the feature point by the image shot by the image acquisition equipment is realized.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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 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 according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of another application of the positioning method according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of another positioning system according to an embodiment 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 ] of the invention
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 this application 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 way of describing an association of associated objects, meaning that there may be three relationships, e.g., a and/or b, which may represent: the first and second cases exist separately, and the first and second cases exist separately. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the embodiment of the invention, as an alternative scheme, 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 monitored in a video mode. 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 traffic gate of three lanes, the widths of the three lanes are 4.05m, 3.8m and 3.8m, respectively, the lengths of the three lanes are 100m, the traffic gate includes an image acquisition device, and as an alternative, the image acquisition device may include a camera, for example: the height of the camera may be 6m from the ground. The motor 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 pixel coordinates of the test feature points from the shot image, the test feature points are feature points corresponding to the motor vehicle, and then the positioning device converts the pixel coordinates of the test feature points into world coordinates and converts the world coordinates into GPS coordinates, so that the GPS positioning of the motor vehicle is realized.
As an alternative, the positioning method provided by the embodiment of the invention can be applied to the target tracking scene. In order to implement the 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, where the positioning system includes: the system comprises a server 1 and a plurality of positioning and collecting devices, wherein each positioning and collecting device is connected with the server 1. The adjacent positioning and collecting devices are provided with a certain distance, for example, on a lane where the motor vehicle needs to be tracked, one positioning and collecting device is arranged at intervals, so that when the motor vehicle runs on the lane, the positioning and collecting devices arranged at intervals can track relay targets of the motor vehicle.
Each positioning acquisition device may comprise a positioning means and an image acquisition means. The positioning device is connected with the image acquisition device and 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 in which the positioning system includes 3 positioning and acquisition devices, the positioning system may include a previous positioning and acquisition device, a current positioning and acquisition device, and a next positioning and acquisition device. The last positioning and collecting device, the current positioning and collecting device and the next positioning and collecting device are sequentially arranged along the lane.
As shown in fig. 2, the last positioning and acquisition device comprises a last positioning device 2 and a last image acquisition device 3; the current positioning and collecting device comprises a current positioning device 4 and a current image collecting 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 positioning device.
Based on the positioning system shown in fig. 2, the embodiment of the invention provides a positioning method. Fig. 3 is a flowchart of a positioning method according to an embodiment of the present invention, as shown in fig. 3, where the method includes:
step 102, the last positioning device acquires the last GPS coordinate of the test feature point in the last test image, and sends the last GPS coordinate of the test feature point to the server.
The present embodiment is described taking the example that the test feature points include feature points corresponding to the motor vehicle. In the embodiment of the present invention, when the vehicle moves to the monitoring range of the previous image capturing device 3, the previous image capturing device 3 captures a previous test image and transmits the previous test image to the previous positioning device 2. Step 102 may specifically include: the last positioning device 2 acquires the last pixel coordinate of the test characteristic point from the last test image; according to the acquired conversion relation between the pixel coordinate system and the world coordinate system, converting the last pixel coordinate of the test feature point into the last world coordinate of the test feature point; according to the acquired conversion relation between the world coordinate system and the GPS coordinate system, converting the last world coordinate of the test feature point into the last GPS coordinate of the test feature point; and transmits the last GPS coordinates of the test feature point to the server 1.
Step 104, the server sends the last GPS coordinates of the test feature points to the current positioning device.
And 106, converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature 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 feature point into the last world coordinate of the test feature 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 feature point into a first pixel coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
And step 108, the current positioning device positions the test feature points from the current test image shot by the current image acquisition equipment according to the first pixel coordinates of the test feature points.
In the embodiment of the present 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 with the first pixel coordinate as the center.
In the embodiment of the present invention, the coordinate selection area determined by taking the first pixel coordinate as the center may be a circular area or a square area taking the first pixel coordinate as the center.
Step 1082, determining the 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 the test feature point.
If the coordinate selection area comprises the pixel coordinate of a feature point, the pixel coordinate of the feature point is the pixel coordinate closest to the first pixel coordinate, and the feature point is determined to be the test feature point.
If the coordinate selection area comprises pixel coordinates of a plurality of feature points, selecting the pixel coordinate closest to the first pixel coordinate from the pixel coordinates of the plurality of feature points, and determining the feature point corresponding to the pixel coordinate closest to the first pixel coordinate as a test feature point.
Step 110, the current positioning device acquires the current pixel coordinates of the test feature points from the current test image.
Step 112, the current positioning device converts the current pixel coordinates of the test feature point into the current GPS coordinates of the test feature point.
In the embodiment of the present invention, step 112 specifically includes: the current positioning device 4 converts the current pixel coordinates of the test feature points into the current world coordinates of the test feature points according to the conversion relation between the acquired pixel coordinate system and the world coordinate system; and converting the current world coordinates of the test feature points into the current GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
Step 114, the current positioning device sends the current GPS coordinates of the test feature point to the server.
Step 116, the server sends the current GPS coordinates of the test feature point to the next positioning device.
Further, when the motor vehicle moves to the monitoring range of the next image pickup device 7, the next image pickup device 7 picks up the next test image and sends the next test image to the next positioning device 7. The next positioning device 7 can continue to execute the positioning process executed by the current positioning device in steps 106 to 112 to position the next GPS coordinate, thereby realizing relay tracking of the target of the test feature point.
In the embodiment of the invention, each positioning device can obtain the conversion relation between the pixel coordinate system and the world coordinate system in advance. Namely: the previous positioning device 2, the current positioning device 4, and the next positioning device 6 can all 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 a pixel coordinate system and a world coordinate system according to the acquired pre-calibrated homography matrix.
In the embodiment of the present invention, since the positions set by the respective image capturing devices are fixed, before step 202, the method further includes: and 200, the server pre-calibrates the homography matrix according to the calibration image shot by the image acquisition equipment. Step 200 may specifically include:
and 2002, the image acquisition equipment shoots a calibration image and sends the shot calibration image to the positioning device.
Fig. 4 is a schematic diagram of another application of the positioning method in the embodiment of the present invention, as shown in fig. 1 and fig. 4, in which the image capturing device shown in fig. 1 is used to capture 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 2004, the positioning device sends the calibration image shot by the image acquisition equipment to the server.
And 2006, the server acquires pixel coordinates of at least four calibration feature points from the calibration image.
In the embodiment of the invention, because four calibration feature points are selected from the calibration image, the server acquires the pixel coordinates of the four calibration feature points from the calibration image. Wherein the pixel coordinates of the calibration feature point P1 are (u' 1 ，v′ 1 ) The pixel coordinates of the calibration feature point P2 are (u' 2 ，v′ 2 ) The pixel coordinates of the calibration feature point P3 are (u' 3 ，v′ 3 ) The pixel coordinate of the feature calibration point P4 is (u' 4 ，v′ 4 )。
Step 2008, the server receives the GPS coordinates of at least four calibration feature points sent by the GPS measurement device.
In this embodiment, the GPS measurement device measures GPS coordinates of four calibration feature points while the positioning device photographs the calibration image. Wherein, the GPS coordinates of the calibration feature point P1 are (Lat' 1 ，Lon′ 1 ) The GPS coordinates of the calibration feature point P2 are (Lat' 2 ，Lon′ 2 ) The GPS coordinates of the calibration feature point P3 are (Lat' 3 ，Lon′ 3 ) The GPS coordinates of the feature calibration point P4 are (Lat' 4 ，Lon′ 4 )。
Step 2010, the server converts the GPS coordinates of at least four calibration feature points into world coordinates according to the conversion relation between the world coordinates and the GPS coordinates.
In the embodiment of the present invention, the conversion relationship between the world coordinate system and the GPS coordinate system includes:
H＝Z W ；
wherein, L=pi.6381372.2,mill is a constant, L is the earth circumference, a is a transitional parameter, lat is latitude coordinate, lon is longitude coordinate, H is altitude, (X) W ，Y W ，Z W ) Z is the world coordinate W =0. Wherein the default value of mill is 2.3.
And obtaining the world coordinates of the four calibration feature points through the conversion relation between the world coordinate system and the GPS coordinate system. Wherein, the world coordinates of the calibration feature point P1 are (X W1 ′，Y W1 ') the world coordinates of the calibration feature point P2 are (X) W2 ′，Y W2 ') the world coordinates of the calibration feature point P3 are (X) W3 ′，Y W3 ') the world coordinates of the calibration feature point P4 are (X) W4 ′，Y W4 ′)。
In step 2012, the server generates a solution equation set through the perspective transformation relation between the set pixel coordinate system and the 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 at least eight solution equations to obtain a homography matrix, wherein at least four calibration feature points are not collinear.
The following description is needed: since at least four calibration feature points are coplanar, i.e. the calibration feature points P1, P2, P3 and P4 lie in the same plane, which corresponds to the road surface, Z in the world coordinate system W ＝0。
In an embodiment of the present invention, the perspective transformation relationship between the pixel coordinate system and the world coordinate system includesWherein, (u ', v') is the pixel coordinates of the calibration feature point, (X) W ′，Y W ') is the world coordinates of the calibration feature points. Generating a solution equation set according to a perspective transformation relation between the pixel coordinate system and the world coordinate system, wherein the solution equation set comprises:
wherein,,
the pixel coordinates (u 'of the calibration feature point P1' 1 ，v′ 1 ) And world coordinates (X) W1 ′，Y W1 ') are substituted into two formulas of a solving equation set to obtain a solving equation:
the pixel coordinates (u 'of the calibration feature point P2' 2 ，v′ 2 ) And world coordinates (X) W2 ′，Y W2 ') are substituted into two formulas of a solving equation set to obtain a solving equation:
the pixel coordinates (u 'of the calibration feature point P3' 3 ，v′ 3 ) And world coordinates (X) W3 ′，Y W3 ') are substituted into two formulas of a solving equation set to obtain a solving equation:
the pixel coordinates (u 'of the calibration feature point P4' 4 ，v′ 4 ) And world coordinates (X) W4 ′，Y W4 ') are substituted into two formulas of a solving equation set to obtain a solving equation:
in the embodiment of the invention, eight solving equations from the server simultaneous equations (1) to (8) are solved to obtain k 11 、k 12 、k 13 、k 21 、k 22 、k 23 、k 31 And k 32 Thereby according to the solved k 11 、k 12 、k 13 、k 21 、k 22 、k 23 、k 31 And k 32 Generating homography matrix
Step 2014, the positioning device receives the homography matrix sent by the server.
In the embodiment of the present invention, in step 202, the conversion relationship between the pixel coordinate system and the world coordinate system set according to the homography matrix includes：Wherein, (u, v) is the pixel coordinates of the test feature point, (X) W ，Y W ) Is the 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 fig. 5, in which the image capturing device shown in fig. 1 is used to capture three lanes to obtain a test image. The pixel coordinates of the test feature point P5 are obtained from the current test image in step 110, wherein the test feature point P5 corresponds to the motor vehicle to be tested. The pixel coordinates of the test feature point P5 are (u) 5 ，v 5 )。
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 positioning device 4 determines the current pixel coordinates (u 5 ，v 5 ) Substitution intoAnd (3) obtaining a solving equation:
simultaneous equation (9) and equation (10), the current world coordinates (X) of the test feature point P5 are solved W ，Y W )。
In the embodiment of the invention, the conversion relation between the world coordinate system and the GPS coordinate system comprises:
H＝Z W ；
wherein, L=pi.6381372.2,mill is a constant, L is the earth circumference, a is a transitional parameter, lat is latitude coordinate, lon is longitude coordinate, H is altitude, (X) W ，Y W ，Z W ) Z is the world coordinate W =0. Wherein the default value of mill is 2.3.
Then in step 112 the current positioning means 4 will test the current world coordinates (X W ，Y W ) Substituting the current GPS coordinates (Lat, lon) of the test feature point P5 into the formula of the conversion relation.
In the embodiment of the invention, the accuracy of the GPS coordinates calculated by each positioning device can be verified through at least one actual GPS coordinate of the test feature point. Further, the method further comprises:
step 302, the positioning device acquires 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 coordinates of the motor vehicle at the time point when the image acquisition device shoots the test image, and takes the GPS coordinates of the motor vehicle as the actual GPS coordinates of the test feature points. 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 obtains 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, when the set number is 5, the world coordinates, pixel coordinates, actual GPS coordinates, and GPS coordinates of 5 test feature points are listed in table 1.
And 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, GPS coordinates of 5 test feature points were calculated.
As an alternative, firstly, the actual GPS coordinates of the feature points are calculated to obtain the actual world coordinates through the conversion relationship between the world coordinates and the GPS coordinates, and secondly, the distance between the actual world coordinates and the world coordinates is calculated through the formula between the two points. For example: by the formula Calculating a distance between the real world coordinates and the world coordinates, wherein D is the distance, (X W ，Y W ) Is the world coordinate corresponding to the GPS coordinate, (X' W ，Y′ W ) Is the actual world coordinates corresponding to the actual GPS coordinates. The distance between the actual GPS coordinates and the GPS coordinates is obtained by calculating the distance between the actual world coordinates and the world coordinates. Wherein, (X W ，Y W ) For the world coordinates shown in Table 1, (X' W ，Y′ W ) Is the actual world coordinates calculated from the actual GPS coordinates. As shown in table 1 above, the actual GPS coordinates and the distances between the GPS coordinates of the 5 test feature points were calculated.
Step 306, the positioning device judges whether the set number of distances is smaller than a set distance threshold, if not, step 308 is executed; if yes, the flow ends.
In the embodiment of the invention, if any one of the set number of distances is judged to be greater than or equal to the set distance threshold value, the calculated GPS coordinates are indicated to be inaccurate; and if the set number of distances are judged to be 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, wherein the calculated 5 distances are smaller than 1m, so that the calculated GPS coordinates are accurate and meet the requirements of product design.
Step 308, the positioning device uses the new image captured by the image capturing device as a calibration image, and sends the calibration image to the server, so that the server can continue to execute step 2006.
In the embodiment of the invention, if the positioning device judges that any one distance of the set number of distances is greater than or equal to the set distance threshold, the positioning device can take the new image shot by the image acquisition equipment as a calibration image, and the server executes the step of recalibrating the homography matrix.
In the technical scheme provided by the embodiment of the invention, the current positioning device converts the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point, the test feature point is positioned from the current test image shot by the current image acquisition equipment according to the first pixel coordinate of the test feature point, the current pixel coordinate of the test feature point is acquired from the current test image, and the current pixel coordinate of the test feature point is converted into the current GPS coordinate of the test feature point, so that the GPS positioning of the feature point by the image shot by the image acquisition equipment is realized. The embodiment of the invention can be applied to a scene of relay target tracking of 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 invention can be further applied to the automobile data recorder, so that the automobile data recorder can acquire the GPS coordinates of the test feature points according to the pixel coordinates of the test feature points in the photographed image in the running process of the automobile. In order to enable the automobile data recorder to realize the GPS coordinate positioning of the test feature points, the embodiment of the invention also provides another positioning system, and fig. 6 is a schematic structural diagram of another positioning system provided by the embodiment of the invention, as shown in fig. 6, the positioning system includes: a server 1, a positioning device 8 and an 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 to the vehicle recorder, in other words, the vehicle recorder 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, as shown in fig. 7, where the method includes:
step 402, the positioning device acquires pixel coordinates of the test feature points from the test image shot by the image acquisition equipment.
And 404, the positioning device converts the pixel coordinates of the test feature points into world coordinates of the test feature points according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
Step 406, the positioning device converts the world coordinates of the test feature points into the GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
The specific description of each step in this embodiment may be referred to the description of the embodiment in fig. 3, and will not be repeated here.
The automobile data recorder in the embodiment can perform GPS positioning on the feature points in the image shot by the image acquisition device through the conversion relation between the pixel coordinate system and the world coordinate system and the conversion relation between the world coordinate system and the GPS coordinate system.
Fig. 8 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, as shown in fig. 8, where the positioning device 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 a last GPS coordinate of the test feature point acquired and sent by the server from a last positioning device. The first conversion module 12 is configured to convert a 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 acquiring module 14 is configured to acquire 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 coordinates of the test feature point to the server, so that the server sends the current GPS coordinates of the test feature point to the next positioning device.
In the embodiment of the present invention, the first conversion module 12 is specifically configured to convert, according to the obtained conversion relationship between the world coordinate system and the GPS coordinate system, the last GPS coordinate of the test feature point into the last world coordinate of the test feature point; and converting the last world coordinate of the test feature point into a first pixel coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
In the embodiment of the present invention, the positioning module 13 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.
In the embodiment of the present invention, the second conversion module 15 is specifically configured to convert, according to the obtained conversion relationship between the pixel coordinate system and the world coordinate system, the current pixel coordinate of the test feature point into the current world coordinate of the test feature point; and converting the current world coordinates of the test feature points into the current GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
In the embodiment of the invention, the device further comprises: 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 obtained pre-calibrated homography matrix.
In the 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, receives GPS coordinates of the at least four calibration feature points sent by the GPS measurement device, converts 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, generates a solution equation set by using a perspective conversion relationship between the set pixel coordinate system and the world coordinate system, substitutes 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 combines the at least eight solution equations to solve 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 scheme provided by the embodiment of the invention, the current positioning device converts the last GPS coordinate of the test feature point into the first pixel coordinate of the test feature point, the test feature point is positioned from the current test image shot by the current image acquisition equipment according to the first pixel coordinate of the test feature point, the current pixel coordinate of the test feature point is acquired from the current test image, and the current pixel coordinate of the test feature point is converted into the current GPS coordinate of the test feature point, so that the GPS positioning of the feature point by the image shot by the image acquisition equipment is realized. The embodiment of the invention can be applied to a scene of GPS positioning of the motor vehicle running on the road through the image 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.
The embodiment of the invention provides a storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the storage medium is located to execute the steps of the embodiment of the positioning method, and the specific description can be seen from the embodiment of the positioning method.
The embodiment of the invention provides a computer device, which comprises a memory and a processor, wherein the memory is used for storing information comprising program instructions, the processor is used for controlling the execution of the program instructions, and the program instructions realize the steps of the embodiment of the positioning method when being loaded and executed by the processor.
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 executable on the processor 21, the computer program 23 when executed by the processor 21 implements the positioning method according to the embodiment, and is not repeated here. Alternatively, the computer program, when executed by the processor 21, performs the functions of the embodiments as applied to the models/units in the positioning device, and is not described herein in detail for avoiding repetition.
Computer device 20 includes, but is not limited to, a processor 21, a memory 22. It will be appreciated by those skilled in the art that fig. 9 is merely an example of the computer device 20 and is not intended to limit the computer device 20, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the computer device 20 may also include input and output devices, network access devices, buses, etc.
The processor 21 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 22 may be an internal storage unit of the computer device 20, such as a hard disk or 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, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the computer device 20. Further, the memory 22 may also include both internal and external storage units of the computer device 20. The memory 22 is used to store 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 will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above 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, etc.) or a Processor (Processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (11)
1. A positioning method, wherein the method is applied to a current positioning device, the method comprising:
the method comprises the steps that a receiving server obtains and sends the last GPS coordinates of a testing characteristic point from the last positioning device, wherein the testing characteristic point comprises a characteristic point corresponding to a target;
converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature point;
positioning the test feature points from a current test image shot by current image acquisition equipment according to first pixel coordinates of the test feature points, wherein when the target moves to the monitoring range of the current image acquisition device, the current image acquisition device shoots the current test image;
acquiring current pixel coordinates of the test feature points from a current test image;
converting the current pixel coordinates of the test feature points into current GPS coordinates of the test feature points;
transmitting the current GPS coordinates of the test feature points to the server so that the server can transmit the current GPS coordinates of the test feature points to the next positioning device;
the positioning the test feature point from the current test image shot by the current image acquisition device according to the first pixel coordinate includes:
Determining 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 one or more 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, wherein the feature point in the coordinate selection area is the feature point of the same type as the target type of the target of the test feature point.
2. The method of claim 1, wherein said converting the last GPS coordinate of the test feature point to the first pixel coordinate of the test feature point comprises:
according to the acquired conversion relation between the world coordinate system and the GPS coordinate system, converting the last GPS coordinate of the test feature point into the last world coordinate of the test feature point;
and converting the last world coordinate of the test feature point into a first pixel coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
3. The method of claim 1, wherein said 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 coordinates of the test feature points into the current world coordinates of the test feature points according to the conversion relation between the acquired pixel coordinate system and the world coordinate system;
and converting the current world coordinates of the test feature points into the current GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
4. A method according to claim 2 or 3, further comprising:
and setting a conversion relation between the pixel coordinate system and the world coordinate system according to the acquired pre-calibrated homography matrix.
5. The method of claim 4, wherein the step of setting the conversion relation between the pixel coordinate system and the world coordinate system according to the acquired homography matrix further comprises:
transmitting a calibration image shot by the image acquisition equipment to a server so that the server obtains pixel coordinates of at least four calibration feature points from the calibration image, receiving GPS coordinates of the at least four calibration feature points transmitted by a GPS measurement equipment, converting the GPS coordinates of the at least four calibration feature 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 conversion 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 feature points into the solving equation set to generate at least eight solving equations, solving a homography matrix by the at least eight solving equations, and enabling the at least four calibration feature points to be non-collinear;
And receiving the homography matrix sent by the server.
6. A positioning system, comprising: the system comprises a server, a last 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; transmitting the current GPS coordinates of the test feature points to a next positioning device, wherein the test feature points comprise feature points corresponding to targets;
the current positioning device is used for converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature point; positioning the test feature points from a current test image shot by current image acquisition equipment according to first pixel coordinates of the test feature points, wherein when the target moves to the monitoring range of the current image acquisition device, the current image acquisition device shoots the current test image; acquiring current pixel coordinates of the test feature points from a current test image; converting the current pixel coordinates of the test feature points into current GPS coordinates of the test feature points; transmitting the current GPS coordinates of the test feature points to the server;
The current positioning device 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 one or more 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, wherein the feature point in the coordinate selection area is the feature point of the same type as the target type of the target of the test feature point.
7. The system of claim 6, wherein the current positioning device is specifically configured to convert a last GPS coordinate of the test feature point into a 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 feature point into a first pixel coordinate of the test feature point according to the conversion relation between the acquired pixel coordinate system and the world coordinate system.
8. The system according to claim 6, wherein 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 conversion relationship between the acquired pixel coordinate system and the world coordinate system; and converting the current world coordinates of the test feature points into the current GPS coordinates of the test feature points according to the conversion relation between the acquired world coordinates and the GPS coordinates.
9. A positioning device, comprising:
the receiving module is used for receiving the last GPS coordinates of the test feature points which are acquired and transmitted by the server from the last positioning device, wherein the test feature points comprise feature points corresponding to the targets;
the first conversion module is used for converting the last GPS coordinate of the test feature point into a first pixel coordinate of the test feature 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 first pixel coordinates of the test feature points, wherein when the target moves to the monitoring range of the current image acquisition device, the current image acquisition device shoots the current test image;
the acquisition module is used for acquiring the current pixel coordinates of the test feature points from the current test image;
the second conversion module is used for converting the current pixel coordinates of the test feature points into the current GPS coordinates of the test feature points;
the transmitting module is used for transmitting the current GPS coordinates of the test feature points to the server so that the server can transmit the current GPS coordinates of the test feature points to the next positioning device;
The positioning module 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 one or more 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, wherein the feature point in the coordinate selection area is the feature point of the same type as the target type of the target of the test feature point.
10. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the steps of the positioning method according to any one of claims 1 to 5.
11. A computer device comprising a memory for storing information including program instructions and a processor for controlling execution of the program instructions, which when loaded and executed by the processor implement the steps of the positioning method of any of claims 1 to 5.
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