CN112116655B - Target object position determining method and device - Google Patents
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- CN112116655B CN112116655B CN201910537824.5A CN201910537824A CN112116655B CN 112116655 B CN112116655 B CN 112116655B CN 201910537824 A CN201910537824 A CN 201910537824A CN 112116655 B CN112116655 B CN 112116655B
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
Abstract
The embodiment of the disclosure discloses a method and a device for determining the position of a target object, wherein the method comprises the following steps: determining an image of a target object from the current frame image acquired by the image acquisition device; determining a matched previous frame image according to the image of the target object; determining a reference point of an image of the target object; acquiring pose information of an image acquisition device; determining a first reference point coordinate of the reference point in a world coordinate system based on pixel coordinates and pose information of the reference point on the current frame image and the previous frame image respectively; and optimizing the first reference point coordinate based on the subsequent frame image of the current frame image to obtain a second reference point coordinate. The embodiment of the disclosure improves the accuracy of determining the position of the target object, avoids the adoption of laser point cloud equipment to determine the position of the target object, simplifies the mode of determining the position of the target object and saves the cost.
Description
Technical Field
The disclosure relates to the field of computer technology, and in particular relates to a method and a device for determining a position of a target object.
Background
Various facilities on the road (such as traffic lights) are indispensable elements in a high-precision map as important landmarks in road scenes. At present, a scheme of constructing models of facilities in a map mostly adopts a laser radar scanning mode to obtain point clouds on the facilities, and then parameter information of the facilities, such as center coordinates of the facilities, directions and sizes of the facilities, is extracted from the point clouds. The method can also use a monocular camera to reconstruct a facility model, and can use a reconstruction point cloud scheme for facilities such as traffic lights with rich surface textures, and then extract parameter information of the facilities on the reconstructed point cloud.
Disclosure of Invention
The present disclosure has been made in order to solve the above technical problems. The embodiment of the disclosure provides a method for determining the position of a target object, which comprises the following steps: determining an image of a target object from the current frame image acquired by the image acquisition device; determining a matched previous frame image according to the image of the target object; determining a reference point of an image of the target object; acquiring pose information of an image acquisition device; determining a first reference point coordinate of the reference point in a world coordinate system based on pixel coordinates and pose information of the reference point on the current frame image and the previous frame image respectively; and optimizing the first reference point coordinate based on the subsequent frame image of the current frame image to obtain a second reference point coordinate.
According to another aspect of the embodiments of the present disclosure, there is provided a position determining apparatus of a target object, the apparatus including: the first determining module is used for determining an image of the target object from the current frame image acquired by the image acquisition device; a second determining module, configured to determine a matched previous frame image according to the image of the target object; a third determining module for determining a reference point of the image of the target object; the acquisition module is used for acquiring pose information of the image acquisition device; a fourth determining module, configured to determine a first reference point coordinate of the reference point in a world coordinate system based on pixel coordinates and pose information of the reference point on the current frame image and the previous frame image, respectively; and the optimization module is used for optimizing the first reference point coordinate based on the subsequent frame image of the current frame image to obtain a second reference point coordinate.
According to another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the above-described position determining method of a target object.
According to another aspect of an embodiment of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; and the processor is used for reading the executable instructions from the memory and executing the instructions to realize the position determining method of the target object.
According to the position determining method and device for the target object, the reference point of the target object in the image acquired by the image acquisition device is determined, pose information of the image acquisition device is acquired, the first reference point coordinate of the reference point in the world coordinate system is determined based on the pose information and the pixel coordinates of the reference point in the image, the first reference point coordinate is further optimized based on the subsequent frame image of the current frame image, and the second reference point coordinate is obtained, so that the reference point coordinate representing the position of the target object is optimized by continuously shooting the target object, the accuracy of determining the position of the target object is improved, the position of the target object is prevented from being determined by adopting laser point cloud equipment, the mode of determining the position of the target object is simplified, and the cost is saved.
The technical scheme of the present disclosure is described in further detail below through the accompanying drawings and examples.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing embodiments thereof in more detail with reference to the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, without limitation to the disclosure. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a system diagram to which the present disclosure is applicable.
Fig. 2 is a flow chart illustrating a method for determining a position of a target object according to an exemplary embodiment of the present disclosure.
Fig. 3 is a schematic diagram of an application scenario of a target object position determination method according to an embodiment of the present disclosure.
Fig. 4 is a flow chart illustrating a method for determining a position of a target object according to another exemplary embodiment of the present disclosure.
Fig. 5 is a flow chart illustrating a method for determining a position of a target object according to another exemplary embodiment of the present disclosure.
Fig. 6 is a schematic structural view of a position determining apparatus for a target object according to an exemplary embodiment of the present disclosure.
Fig. 7 is a schematic structural view of a position determining apparatus of a target object provided in another exemplary embodiment of the present disclosure.
Fig. 8 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present disclosure and not all of the embodiments of the present disclosure, and that the present disclosure is not limited by the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
It will be appreciated by those of skill in the art that the terms "first," "second," etc. in embodiments of the present disclosure are used merely to distinguish between different steps, devices or modules, etc., and do not represent any particular technical meaning nor necessarily logical order between them.
It should also be understood that in embodiments of the present disclosure, "plurality" may refer to two or more, and "at least one" may refer to one, two or more.
It should also be appreciated that any component, data, or structure referred to in the presently disclosed embodiments may be generally understood as one or more without explicit limitation or the contrary in the context.
In addition, the term "and/or" in this disclosure is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the front and rear association objects are an or relationship.
It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and that the same or similar features may be referred to each other, and for brevity, will not be described in detail.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Embodiments of the present disclosure may be applicable to electronic devices such as terminal devices, computer systems, servers, etc., which may operate with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with the terminal device, computer system, server, or other electronic device include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments that include any of the above systems, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc., that perform particular tasks or implement particular abstract data types. The computer system/server may be implemented in a distributed cloud computing environment in which tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computing system storage media including memory storage devices.
Summary of the application
At present, a scheme of constructing a model of facilities such as traffic lights in a map mostly adopts a laser radar scanning mode to obtain point clouds on the facilities, and then parameter information of the facilities such as center coordinates of the facilities, directions and sizes of the facilities are extracted from the point clouds. This approach is expensive due to the need to use lidar. One of the great difficulties in using a low-cost monocular camera to reconstruct a facility model is that the morphology and size of the facility are one each, and for a facility with rich textures, the parameter information of the facility can be extracted from the reconstructed point cloud by using a reconstruction point cloud scheme. However, for facilities with single texture and smaller area, the difficulty of extracting the stably trackable angular points is high, and the point cloud on the traffic light is difficult to obtain.
Exemplary System
Fig. 1 illustrates an exemplary system architecture 100 of a target object's position determining method or a target object's position determining apparatus to which embodiments of the present disclosure may be applied.
As shown in fig. 1, a system architecture 100 may include a terminal device 101, a network 102, and a server 103. Network 102 is the medium used to provide communication links between terminal device 101 and server 103. Network 102 may include various connection types such as wired, wireless communication links, or fiber optic cables, among others.
A user may interact with the server 103 via the network 102 using the terminal device 101 to receive or send messages or the like. The terminal device 101 may have various applications installed thereon, such as an image processing class application, a map class application, and the like.
The terminal device 101 may be various electronic devices including, but not limited to, a vehicle-mounted terminal, a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), and the like.
The server 103 may be a server providing various services, such as a background map server processing an image uploaded by the terminal device 101 to build a model on a map. The background map server may process the received image to obtain a processing result (e.g., coordinates of the target object).
It should be noted that, the method for determining the position of the target object provided by the embodiment of the present disclosure may be performed by the server 103 or may be performed by the terminal device 101, and accordingly, the device for determining the position of the target object may be provided in the server 103 or may be provided in the terminal device 101.
It should be understood that the number of terminal devices, networks and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Exemplary method
Fig. 2 is a flow chart illustrating a method for determining a position of a target object according to an exemplary embodiment of the present disclosure. The embodiment can be applied to an electronic device, as shown in fig. 2, and includes the following steps:
step 201, determining an image of a target object from a current frame image acquired by an image acquisition device.
In this embodiment, the electronic device may determine the image of the target object from the current frame image acquired by the image acquisition device. The image acquisition device may be a camera included in the electronic device, or may be a camera communicatively connected to the electronic device. For example, the image capturing device may be a camera mounted on a vehicle. In general, an image capturing apparatus continuously captures images of a target object while moving on a road, and each of the obtained frame images includes an image of the target object. The electronic device may determine an image of the target object from the current image frame using existing target detection methods.
The target object may be various kinds of road facilities such as street lamps, road signs, etc.
In some alternative implementations, the image of the target object may include a traffic light image, and the traffic light is an important facility on the road, so that the traffic light image is analyzed to obtain the coordinates of the traffic light, which may help to locate and map more accurately.
Step 202, determining a matched previous frame image according to the image of the target object.
In this embodiment, the electronic device may determine a matching previous frame image from the image of the target object. The matched previous frame image may be an image of a frame preceding the current frame image, including the image of the target object, in each frame image acquired by the image acquisition device.
In step 203, a reference point of the image of the target object is determined.
In this embodiment, the electronic device may determine a reference point of the image of the target object. Wherein the reference point may be a point in the image of the target object having a certain set characteristic. For example, the reference point may be a center point, a corner point, etc. of the image of the target object.
In some alternative implementations, the electronic device may determine the reference point of the image of the target object as follows:
first, a region of interest in an image of a target object is determined. Wherein the region of interest may be a region in the image of the target object characterizing a main feature of the image of the target object. For example, when the image of the target object is a traffic light image, the region of interest may be a minimum rectangle that includes traffic lights. The electronic device may determine the region of interest from the image of the target object using various existing target detection methods.
Then, the center point of the region of interest is determined as the reference point. By setting the center point of the region of interest as the reference point, the reference point can be made to accurately characterize the position of the target object.
Step 204, pose information of the image acquisition device is acquired.
In this embodiment, the electronic device may acquire pose information of the image capturing apparatus. The pose information is used for representing the position and the pose of the image acquisition device, and generally, the pose information can comprise external parameter information of the image acquisition device. The pose information may be determined using existing camera pose estimation methods. Generally, the electronic device may perform pose estimation by using an image acquired by the image acquisition device to obtain pose information. For example, pose information determined using the previous frame image may be determined as pose information corresponding to the current frame. It should be noted that pose information corresponding to an image (for example, the first frame image) initially acquired by the image acquisition device may be determined by using a satellite positioning system, a relationship navigation device, or the like.
In step 205, a first reference point coordinate of the reference point in the world coordinate system is determined based on the pixel coordinates and pose information of the reference point on the current frame image and the previous frame image, respectively.
In this embodiment, the electronic device may determine the first reference point coordinate of the reference point in the world coordinate system based on the pixel coordinate and pose information of the reference point on the current frame image and the previous frame image, respectively. The pixel coordinates are coordinates of pixels where the reference point is located in the image. Specifically, the electronic device may determine, by using an existing multi-view geometric triangulation method, a triangular relationship between different positions of the image acquisition device and an actual position of the reference point by respectively determining pixel coordinates and pose information of the reference point on the current frame image and the previous frame image, and determine coordinates of the reference point in a world coordinate system as first reference point coordinates.
And 206, optimizing the first reference point coordinate based on the subsequent frame images of the current frame image to obtain a second reference point coordinate.
In this embodiment, the electronic device may optimize the first reference point coordinate based on a subsequent frame image of the current frame image to obtain the second reference point coordinate. Specifically, the electronic device may use a minimized re-projection error algorithm to take the first reference point coordinate as an initial coordinate, optimize the initial coordinate based on the coordinates of the reference point in the subsequent frame image acquired by the image acquisition device after the current frame image in the subsequent frame image, and take the coordinates of the finally optimized reference point in the world coordinate system as the second reference point coordinate when a preset condition (for example, the sum of re-projection errors is smaller than a certain threshold value) is satisfied.
The second reference point coordinates are coordinates optimized based on the subsequent frame images, so that the second reference point coordinates can accurately represent the position of the target object, and the second reference point coordinates are beneficial to establishing a model of the target object on the three-dimensional map.
Referring to fig. 3, fig. 3 is a schematic diagram of an application scenario of the position determining method of the target object according to the present embodiment. In the application scenario of fig. 3, the electronic device 301 is a vehicle-mounted terminal disposed on an automobile, and the automobile is further provided with an image capturing device 302. The image acquisition device 302 continuously shoots while the vehicle is running. When the vehicle runs to the intersection, the image acquisition equipment shoots traffic lights. The electronic device 301 first determines an image of the target object, i.e. traffic light, from the current frame image 303 acquired by the image acquisition means. Then, the electronic device 301 determines a matching previous frame image 304 (i.e., a frame including an image of the target object) from the image captured by the image capturing device 302 from the image of the target object. Then, the electronic device 301 determines the center point of the image of the target object as the reference point 305. Next, the electronic device 301 acquires pose information 306. Subsequently, the electronic device 301 determines a first reference point coordinate 307 of the reference point in the world coordinate system based on the pixel coordinates a and B of the reference point on the current frame image and the previous frame image, respectively, and the pose information 306. For example, the electronic device 301 determines the first reference point coordinate 307 using a triangulation method of the multi-view geometry. Finally, the electronic device 301 optimizes the first reference point coordinate based on the subsequent frame image 308 of the current frame image, to obtain the second reference point coordinate 309. For example, the electronic device 301 analyzes the subsequent frame image using a method of minimizing the re-projection error, continuously adjusts the first reference point coordinates to minimize the re-projection error, and determines the first reference point coordinates when the re-projection error is minimized as the second reference point coordinates 309 characterizing the position of the target object.
According to the method provided by the embodiment of the disclosure, the reference point of the target object in the image acquired by the image acquisition device is determined, the pose information of the image acquisition device is acquired, the first reference point coordinate of the reference point in the world coordinate system is determined based on the pose information and the pixel coordinate of the reference point in the image, the first reference point coordinate is further optimized based on the subsequent frame image of the current frame image, and the second reference point coordinate is obtained, so that the reference point coordinate representing the position of the target object is optimized by continuously shooting the obtained image of the target object, the accuracy of determining the position of the target object is improved, the position of the target object is prevented from being determined by adopting laser point cloud equipment, the mode of determining the position of the target object is simplified, and the cost is saved.
With further reference to fig. 4, a flow diagram of yet another embodiment of a method of determining the position of a target object is shown. As shown in fig. 4, step 206 may include the following steps, based on the embodiment shown in fig. 2, described above:
in step 2061, when the first reference point coordinate satisfies the first preset condition, the re-projection error is determined according to the first reference point coordinate and the subsequent frame image of the current frame image.
In this embodiment, when the first reference point coordinate meets the first preset condition, the electronic device may determine the re-projection error according to the first reference point coordinate and the subsequent frame image of the current frame image. The re-projection error is an error obtained by comparing the pixel coordinates (observed projection positions) of the spatial point in the image with the position obtained by projecting the spatial point according to the pose of the current camera. It should be noted that, the method for determining the re-projection error is a well-known technique widely studied and applied at present, and the step of determining the re-projection error is not repeated here.
The preset condition may be a condition that a distance between a projection point in an image acquired by the image acquisition device and a pixel coordinate of a reference point in a subsequent frame image is satisfied.
In some alternative implementations, as shown in fig. 5, step 2061 may include the following sub-steps:
in step 20611, the first reference point coordinates are projected to at least one frame of image of the current frame and the previous frame to obtain first reference point projection coordinates. The first reference point projection coordinates may be coordinates of a projection point of the first reference point coordinates projected into the image in the image. Specifically, the electronic device may project the spatial point characterized by the first reference point coordinate into at least one frame image of the current frame and the previous frame image based on pose information of the image acquisition device.
Step 20612, determining a first distance between the first reference point projection coordinates and the pixel coordinates of the corresponding reference point in at least one of the current frame and the previous frame images. The first distance may be a distance between the projection coordinate of the first reference point and the pixel coordinate of the corresponding reference point in each frame of image, or may be an average value of all the distances.
In step 20613, when the first distance is less than the first threshold (i.e., the first preset condition), the re-projection error is determined according to the first reference point coordinates and the subsequent frame image of the current frame image. Specifically, the first distance is smaller than the first threshold, and the distance corresponding to each frame of image may be smaller than the first threshold, or the average value of all the distances may be smaller than the first threshold. When the first distance is smaller than the first threshold value, the difference between the first reference point coordinate and the actual three-dimensional coordinate of the reference point is smaller, and at the moment, the re-projection error is determined, so that the accuracy and the efficiency of optimizing the first reference point coordinate based on the re-projection error are improved.
In some alternative implementations, step 20613 may be performed as follows:
firstly, when the first distance is smaller than a first threshold value, the first reference point coordinates are respectively projected into at least two frame images in the subsequent frame image, the current frame image and the previous frame image, and second reference point projection coordinates are obtained. Specifically, the electronic device may project the first reference point coordinates to at least two images of the subsequent frame image, the current frame image, and the previous frame image based on pose information of the image acquisition device, to obtain second reference point projection coordinates. That is, the number of second reference point projection coordinates is at least two, and each second reference point coordinate corresponds to one frame of image.
Then, a second distance between the projection coordinates of the second reference point and the pixel coordinates of the corresponding reference points in at least two of the subsequent frame image, the current frame image, and the previous frame image is determined. That is, for each of the at least two frame images, the pixel coordinates of the reference point in the frame image are a second distance from the second reference point projection coordinates.
Finally, a re-projection error is determined based on the second distance. As an example, the electronic device may determine a result of adding the respective second distances as a reprojection error. According to the method, the second distances respectively corresponding to at least two frames of images in the subsequent frame image, the current frame image and the previous frame image are determined, so that the re-projection error can be updated continuously in the moving process of the image acquisition device, and the accuracy of determining the position of the target object can be improved by analyzing multiple frames of images.
In step 2062, a second reference point coordinate is determined based on the reprojection error.
In this embodiment, the electronic device may determine the second reference point coordinates based on the re-projection error. Specifically, the electronic device may perform a minimization operation on the function value of the cost function constructed using the re-projection error, and determine, when the function value is minimum, the coordinates of the reference point in the world coordinate system at this time as the second reference point coordinates.
In some alternative implementations, the electronic device may determine the second reference point coordinates based on the above-described re-projection error determined using the second distance as follows:
first, the first reference point coordinates are adjusted. In particular, the electronic device may adjust the first reference point coordinates to minimize the re-projection error (i.e., the sum of the second distances). In general, the image capturing apparatus may continuously capture the target object during movement, and for each captured image, the first reference point coordinates of the reference point of the image of the target object may be adjusted.
Then, the first reference point coordinates that minimize the re-projection error are determined as the second reference point coordinates. Specifically, when the re-projection error is minimum, the first reference point coordinate adjusted at this time is determined as the second reference point coordinate characterizing the position of the target object. In the optional implementation manner, the position of the target object is more accurately represented by the finally obtained second reference point coordinate through minimizing the re-projection error.
The method provided by the corresponding embodiment of fig. 4 highlights the step of optimizing the first reference point coordinate based on the reprojection error to obtain the second reference point coordinate, so that the accuracy of determining the second reference point coordinate can be further improved, and the accuracy of establishing the model of the target object in the map can be further improved.
Any of the target object's location determination methods provided by the embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including, but not limited to: terminal equipment, servers, etc. Alternatively, any of the methods for determining the position of a target object provided by the embodiments of the present disclosure may be executed by a processor, such as the processor executing any of the methods for determining the position of a target object mentioned by the embodiments of the present disclosure by calling corresponding instructions stored in a memory. And will not be described in detail below.
Exemplary apparatus
Fig. 6 is a schematic structural view of a position determining apparatus for a target object according to an exemplary embodiment of the present disclosure. The present embodiment may be applied to an electronic device, as shown in fig. 6, where the position determining apparatus of the target object includes: a first determining module 601, configured to determine an image of a target object from a current frame image acquired by an image acquisition device; a second determining module 602, configured to determine a matched previous frame image according to the image of the target object; a third determining module 603, configured to determine a reference point of an image of the target object; an acquiring module 604, configured to acquire pose information of the image acquisition device; a fourth determining module 605, configured to determine a first reference point coordinate of the reference point in a world coordinate system based on the pixel coordinates and pose information of the reference point on the current frame image and the previous frame image, respectively; the optimizing module 606 is configured to optimize the first reference point coordinate based on a subsequent frame image of the current frame image, to obtain a second reference point coordinate.
In this embodiment, the first determining module 601 may determine an image of the target object from the current frame image acquired by the image acquisition device. The image acquisition device may be a camera included in the position determination device of the target object, or may be a camera communicatively connected to the position determination device of the target object. For example, the image capturing device may be a camera mounted on a vehicle. In general, an image capturing apparatus continuously captures images of a target object while moving on a road, and each of the obtained frame images includes an image of the target object. The first determining module 601 may determine an image of the target object from the current image frame using an existing target detection method.
The target object may be various kinds of road facilities such as street lamps, road signs, etc.
In this embodiment, the second determining module 602 may determine a matching previous frame image according to the image of the target object. The matched previous frame image may be an image of a frame preceding the current frame image, including the image of the target object, in each frame image acquired by the image acquisition device.
In this embodiment, the third determining module 603 may determine a reference point of the image of the target object. Wherein the reference point may be a point in the image of the target object having a certain set characteristic. For example, the reference point may be a center point, a corner point, etc. of the image of the target object.
In this embodiment, the acquiring module 604 may acquire pose information of the image capturing device. The pose information is used for representing the position and the pose of the image acquisition device, and generally, the pose information can comprise external parameter information of the image acquisition device. The pose information may be determined using existing camera pose estimation methods. Generally, the electronic device may perform pose estimation by using an image acquired by the image acquisition device to obtain pose information. For example, pose information determined using the previous frame image may be determined as pose information corresponding to the current frame. It should be noted that pose information corresponding to an image (for example, the first frame image) initially acquired by the image acquisition device may be determined by using a satellite positioning system, a relationship navigation device, or the like.
In this embodiment, the fourth determining module 605 may determine the first reference point coordinates of the reference point in the world coordinate system based on the pixel coordinates and pose information of the reference point on the current frame image and the previous frame image, respectively. The pixel coordinates are coordinates of pixels where the reference point is located in the image. Specifically, the fourth determining module 605 may determine, by using an existing triangulation method of multi-view geometry, a triangular relationship between different positions of the image capturing device and an actual position of the reference point by determining pixel coordinates and pose information of the reference point on the current frame image and the previous frame image, respectively, and determine coordinates of the reference point in a world coordinate system as the first reference point coordinates.
In this embodiment, the optimization module 606 may optimize the first reference point coordinate based on the subsequent frame image of the current frame image to obtain the second reference point coordinate. Specifically, the optimization module 606 may use the minimum re-projection error algorithm to take the first reference point coordinate as an initial coordinate, and optimize the initial coordinate based on the coordinates of the reference point in the subsequent frame image acquired by the image acquisition device after the current frame image in the subsequent frame image, and take the coordinates of the finally optimized reference point in the world coordinate system as the second reference point coordinate when the preset condition (for example, the sum of the re-projection errors is smaller than a certain threshold value) is satisfied.
The second reference point coordinates are coordinates optimized based on the subsequent frame images, so that the second reference point coordinates can accurately represent the position of the target object, and the second reference point coordinates are beneficial to establishing a model of the target object on the three-dimensional map.
Referring to fig. 7, fig. 7 is a schematic structural view of a position determining apparatus of a target object provided in another exemplary embodiment of the present disclosure.
In some alternative implementations, the optimization module 606 may include: a first determining unit 6061 for determining a re-projection error according to the first reference point coordinate and a subsequent frame image of the current frame image when the first reference point coordinate satisfies a first preset condition; a second determining unit 6062 for determining a second reference point coordinate based on the re-projection error.
In some alternative implementations, the first determining unit 6061 may include: a projection subunit 60611, configured to project the first reference point coordinate into at least one frame image of the current frame and the previous frame image to obtain a first reference point projection coordinate; a first determining subunit 60612, configured to determine a first distance between the projection coordinate of the first reference point and the pixel coordinate of the corresponding reference point in at least one of the current frame and the previous frame image; the second determining subunit 60613 is configured to determine, when the first distance is smaller than the first threshold, a re-projection error according to the first reference point coordinate and a frame image subsequent to the current frame image.
In some alternative implementations, the second determining subunit 60613 may be further configured to: when the first distance is smaller than a first threshold value, the first reference point coordinates are projected to at least two frames of images in the subsequent frame image, the current frame image and the previous frame image respectively to obtain second reference point projection coordinates; determining a second distance between the projection coordinates of the second reference point and the pixel coordinates of corresponding reference points in at least two frame images of the subsequent frame image, the current frame image and the previous frame image; based on the second distance, a re-projection error is determined.
In some alternative implementations, the second determining unit 6062 may include: an adjustment subunit 60621 for adjusting the first reference point coordinates; a third determination subunit 60622 is configured to determine the first reference point coordinate to minimize the re-projection error as the second reference point coordinate.
In some alternative implementations, the third determining module 603 may include: a third determination unit 6031 for determining a region of interest in the image of the target object; a fourth determining unit 6032 for determining a center point of the region of interest as a reference point.
In some alternative implementations, the image of the target object includes a traffic light image.
According to the position determining device for the target object, provided by the embodiment of the disclosure, the position of the target object is determined by determining the reference point of the target object in the image acquired by the image acquisition device and acquiring the pose information of the image acquisition device, the first reference point coordinate of the reference point in the world coordinate system is determined based on the pose information and the pixel coordinate of the reference point in the image, the first reference point coordinate is further optimized based on the subsequent frame image of the current frame image, and the second reference point coordinate is obtained, so that the reference point coordinate representing the position of the target object is optimized by continuously shooting the obtained image of the target object, the accuracy of determining the position of the target object is improved, the position of the target object is prevented from being determined by adopting the laser point cloud equipment, the mode of determining the position of the target object is simplified, and the cost is saved.
Exemplary electronic device
Next, an electronic device according to an embodiment of the present disclosure is described with reference to fig. 8. The electronic device may be either or both of the terminal device 101 and the server 103 as shown in fig. 1, or a stand-alone device independent thereof, which may communicate with the terminal device 101 and the server 103 to receive the acquired input signals therefrom.
Fig. 8 illustrates a block diagram of an electronic device according to an embodiment of the disclosure.
As shown in fig. 8, the electronic device 800 includes one or more processors 801 and memory 802.
The processor 801 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities and may control other components in the electronic device 800 to perform desired functions.
Memory 802 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, random Access Memory (RAM) and/or cache memory (cache) and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer readable storage medium and the processor 701 may execute the program instructions to implement the methods of determining the location of a target object and/or other desired functions of the various embodiments of the present disclosure above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 800 may further include: an input device 803 and an output device 804, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
For example, when the electronic apparatus is the terminal apparatus 101 or the server 103, the input means 803 may be a camera or the like for inputting an image. When the electronic device is a stand-alone device, the input means 703 may be a communication network connector for receiving images from the terminal device 101 and the server 103.
The output device 804 may output various information to the outside, including the determined category information. The output devices 804 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 800 that are relevant to the present disclosure are shown in fig. 8, with components such as buses, input/output interfaces, etc. omitted for simplicity. In addition, the electronic device 800 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the present disclosure may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in a method of determining a position of a target object according to various embodiments of the present disclosure described in the above "exemplary method" section of the present description.
The computer program product may write program code for performing the operations of embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the steps in a method of determining a position of a target object according to various embodiments of the present disclosure described in the above-mentioned "exemplary method" section of the present description.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present disclosure have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For system embodiments, the description is relatively simple as it essentially corresponds to method embodiments, and reference should be made to the description of method embodiments for relevant points.
The block diagrams of the devices, apparatuses, devices, systems referred to in this disclosure are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the apparatus, devices and methods of the present disclosure, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (15)
1. A method of determining a location of a target object, comprising:
determining an image of a target object from the current frame image acquired by the image acquisition device;
determining a matched previous frame image according to the image of the target object;
determining a reference point of an image of the target object;
acquiring pose information of the image acquisition device;
determining a first reference point coordinate of the reference point in a world coordinate system based on pixel coordinates of the reference point on a current frame image and a previous frame image and the pose information respectively;
and optimizing the first reference point coordinate based on the subsequent frame image of the current frame image to obtain a second reference point coordinate.
2. The method of claim 1, wherein the optimizing the first reference point coordinate based on the subsequent frame image of the current frame image to obtain a second reference point coordinate comprises:
When the first reference point coordinate meets a first preset condition, determining a re-projection error according to the first reference point coordinate and a subsequent frame image of the current frame image;
and determining a second reference point coordinate based on the re-projection error.
3. The method of claim 2, wherein determining a re-projection error from the first reference point coordinate and a subsequent frame image of the current frame image when the first reference point coordinate satisfies a first preset condition comprises:
projecting the first reference point coordinates into at least one frame of images in the current frame and the previous frame to obtain first reference point projection coordinates;
determining a first distance between the projection coordinates of the first reference point and pixel coordinates of corresponding reference points in at least one of the current frame and the previous frame images;
and when the first distance is smaller than a first threshold value, determining a re-projection error according to the first reference point coordinate and a subsequent frame image of the current frame image.
4. A method according to claim 3, wherein said determining a re-projection error from said first reference point coordinates and a subsequent frame image of said current frame image when said first distance is less than a first threshold comprises:
When the first distance is smaller than a first threshold value, the first reference point coordinates are projected to at least two frame images in the subsequent frame image, the current frame image and the previous frame image respectively to obtain second reference point projection coordinates;
determining a second distance between the projection coordinates of the second reference point and the pixel coordinates of the corresponding reference points in at least two frame images of the subsequent frame image, the current frame image and the previous frame image;
based on the second distance, a re-projection error is determined.
5. The method of claim 4, wherein the determining a second reference point coordinate based on the re-projection error comprises:
adjusting the first reference point coordinates;
the first reference point coordinates that minimize the re-projection error are determined as second reference point coordinates.
6. The method of one of claims 1-5, wherein the determining a reference point of the image of the target object comprises:
determining a region of interest in an image of the target object;
and determining the center point of the region of interest as the reference point.
7. The method of one of claims 1-5, wherein the image of the target object comprises a traffic light image.
8. A position determining apparatus of a target object, comprising:
the first determining module is used for determining an image of the target object from the current frame image acquired by the image acquisition device;
a second determining module, configured to determine a matched previous frame image according to the image of the target object;
a third determining module, configured to determine a reference point of an image of the target object;
the acquisition module is used for acquiring pose information of the image acquisition device;
a fourth determining module, configured to determine a first reference point coordinate of the reference point in a world coordinate system based on the pixel coordinates and the pose information of the reference point on the current frame image and the previous frame image, respectively;
and the optimization module is used for optimizing the first reference point coordinate based on the subsequent frame image of the current frame image to obtain a second reference point coordinate.
9. The apparatus of claim 8, wherein the optimization module comprises:
the first determining unit is used for determining a re-projection error according to the first reference point coordinate and a subsequent frame image of the current frame image when the first reference point coordinate meets a first preset condition;
and a second determining unit, configured to determine a second reference point coordinate based on the re-projection error.
10. The apparatus of claim 9, wherein the first determining unit comprises:
the projection subunit is used for projecting the first reference point coordinate into at least one frame of images in the current frame and the previous frame to obtain a first reference point projection coordinate;
a first determining subunit, configured to determine a first distance between the projection coordinate of the first reference point and a pixel coordinate of a corresponding reference point in at least one of the current frame and the previous frame image;
and the second determining subunit is used for determining a re-projection error according to the first reference point coordinate and the subsequent frame image of the current frame image when the first distance is smaller than a first threshold value.
11. The apparatus of claim 10, wherein the second determination subunit is further to:
when the first distance is smaller than a first threshold value, the first reference point coordinates are projected to at least two frame images in the subsequent frame image, the current frame image and the previous frame image respectively to obtain second reference point projection coordinates;
determining a second distance between the projection coordinates of the second reference point and the pixel coordinates of the corresponding reference points in at least two frame images of the subsequent frame image, the current frame image and the previous frame image;
Based on the second distance, a re-projection error is determined.
12. The apparatus of claim 11, wherein the second determining unit comprises:
an adjustment subunit, configured to adjust the first reference point coordinate;
a third determination subunit configured to determine the first reference point coordinate that minimizes the reprojection error as a second reference point coordinate.
13. The apparatus of one of claims 8-12, wherein the third determination module comprises:
a third determining unit configured to determine a region of interest in an image of the target object;
and a fourth determining unit, configured to determine a center point of the region of interest as the reference point.
14. A computer-readable storage medium storing a computer program for executing the method of determining the position of a target object according to any one of the preceding claims 1-7.
15. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for determining the location of a target object according to any of the preceding claims 1-7.
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| US20230083307A1 (en) * | 2021-09-07 | 2023-03-16 | Hong Kong Applied Science And Technology Research Institute Co., Ltd. | Camera Calibration Method |
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