CN113050022B - Image positioning method and device based on rotary antenna and terminal equipment - Google Patents
Image positioning method and device based on rotary antenna and terminal equipment Download PDFInfo
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Abstract
The application is suitable for the technical field of indoor positioning, and provides an image positioning method and device based on a rotary antenna, comprising the following steps: measuring a tag phase value through a radio frequency antenna rotating around the camera equipment, recording a rotation angle corresponding to the radio frequency antenna when the tag phase value is measured, calculating an arrival angle of a tag according to the tag phase value and the rotation angle, and determining an actual position of the tag according to the tag arrival angle; and mapping the actual position of the tag into an image acquired by the image pickup equipment according to a preset mapping relation to determine the position of the tag in the image. The application can conveniently, rapidly and accurately realize the pixel-level calibration of the image.
Description
Technical Field
The application belongs to the technical field of indoor positioning, and particularly relates to an image positioning method and device based on a rotary antenna and terminal equipment.
Background
With the explosive development of artificial intelligence, and in particular deep learning, the recognition capabilities of today's machines have been increased to an incredible level, even beyond that of humans. However, the so-incredible recognition capability is highly dependent on millions of carefully annotated training pictures. Although specific annotated pictures can be obtained by means of internet searching, the description of such pictures is usually performed on the whole image, the position of the object on the image is unknown, and such calibration is called image-level calibration. Accordingly, the calibration that indicates the specific position of the object on the picture is referred to as pixel level calibration. Existing pixel level calibration is limited by the range of the recognition model and the quality of the captured image by using recognition tracking technology, such as face recognition tracking, to first identify the target object in the image through the recognition model and then determine the position of the target object.
And in order to acquire the pixel-level calibration data set, the traditional practice can only be manually marked by using a professional, and is limited by the constraint of labor cost. The calibration mode of utilizing artificial intelligence is influenced by the quality of the model training set, the range of the variety is limited, the training process is complex, and a large number of training samples need to be collected.
Disclosure of Invention
In view of the above, the embodiment of the application provides an image positioning method, an image positioning device and terminal equipment based on a rotary antenna, so as to solve the problems of complicated pixel-level calibration realization process, limited range, low efficiency of consuming a large amount of manpower and material resources and easiness in image shooting quality influence, thereby reducing calibration accuracy in the prior art.
A first aspect of an embodiment of the present application provides an image positioning method based on a rotating antenna, including:
measuring a tag phase value through a radio frequency antenna rotating around the camera equipment, and recording a rotation angle corresponding to the radio frequency antenna when the tag phase value is measured;
calculating the arrival angle of the tag according to the tag phase value and the rotation angle;
determining the actual position of the tag according to the arrival angle of the tag;
and mapping the actual position of the tag into an image acquired by the image pickup equipment according to a preset mapping relation to determine the position of the tag in the image.
A second aspect of an embodiment of the present application provides an image positioning apparatus based on a rotating antenna, including:
a phase value measuring unit for measuring a tag phase value by a radio frequency antenna rotating around the image pickup apparatus, and recording a rotation angle of the radio frequency antenna when the tag phase value is measured;
an arrival angle calculating unit, configured to calculate an arrival angle of a tag according to the tag phase value and the rotation angle;
the position calculating unit is used for determining the actual position of the tag according to the arrival angle of the tag;
and the mapping unit is used for mapping the actual position of the tag into an image acquired by the image pickup equipment according to a preset mapping relation so as to determine the position of the tag in the image.
A third aspect of the embodiments of the present application provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor causes the terminal device to perform the steps of the method for positioning an image based on a rotating antenna.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, causes a terminal device to implement the steps of the rotational antenna based image positioning method.
In a fifth aspect, an embodiment of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to perform the method for rotational antenna based image positioning according to any of the first aspects above.
Compared with the prior art, the embodiment of the application has the beneficial effects that: in the embodiment of the application, the label phase value is measured through the radio frequency antenna rotating around the camera equipment, the rotation angle corresponding to the radio frequency antenna when the label phase value is measured is recorded, the arrival angle of the label is calculated according to the measured label phase value and the rotation angle, and then the actual position of the label can be determined. And the actual positions of the labels are in one-to-one correspondence with the positions of the labels in the image, so that the problem of inaccurate calibration caused by image shooting quality in the pixel-level calibration process is avoided, and the accuracy of the pixel-level calibration is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, 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 implementation flow diagram of a first image positioning method based on a rotating antenna according to an embodiment of the present application;
fig. 2 is a schematic diagram of a positional relationship between an antenna and a tag according to an embodiment of the present application;
fig. 3 is a schematic implementation flow chart of a second image positioning method based on a rotating antenna according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a rotary antenna-based image positioning apparatus according to an embodiment of the present application;
fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to illustrate the technical scheme of the application, the following description is made by specific examples.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification 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 further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Embodiment one:
fig. 1 is a schematic flow chart of a first image positioning method based on a rotating antenna according to an embodiment of the present application, where an execution subject of the image positioning method based on the rotating antenna in this embodiment is a terminal, and the terminal includes, but is not limited to, a mobile terminal such as a smart phone, a tablet computer, a personal digital assistant (Personal Digital Assistant, PDA), and the like, and may also include a terminal such as a desktop computer, and the like. The image positioning method based on the rotating antenna as shown in fig. 1 may include:
in S101, a tag phase value is measured by a radio frequency antenna rotating around an image pickup apparatus, and a rotation angle corresponding to the radio frequency antenna when the tag phase value is measured is recorded.
The tag is attached to the target object, so that determining the position of the tag in the image is equivalent to determining the position of the target object in the image, thereby realizing pixel-level calibration of the target object. Wherein the target object may be any object that the user wants to identify.
The application measures the phase value of the tag through the radio frequency antenna in the rotating device, the rotating device comprises a mechanical arm, a camera device arranged on the rotating shaft of the mechanical arm, the radio frequency antenna and a radio frequency reader connected with the radio frequency antenna, and the phase value of the tag is measured through the reader antenna. The camera equipment and the radio frequency antennas are coaxially arranged, the number of the radio frequency antennas is not limited, when the radio frequency antennas are arranged, the radio frequency antennas are connected into one reader, the distances from different radio frequency antennas to the camera equipment are different, and the radio frequency antennas are uniformly arranged around the camera equipment by taking the camera equipment as the center.
Optionally, measuring the tag phase value by a radio frequency antenna in the rotating device includes: during rotation of the radio frequency antenna around the image pickup apparatus, the tag phase value is measured every preset time interval. When the preset time is set to be large, the measured phase value of the label is less, and the arrival angle of the label is determined faster; the preset time is set smaller, the measured phase value of the label is more, but the finally determined arrival angle of the label is more accurate. The preset time can be set by the user according to actual needs, and is not limited herein.
Optionally, recording and measuring the label phaseThe rotation angle corresponding to the radio frequency antenna in the bit value comprises: recording the measurement time when the phase value of the tag is measured, and calculating the corresponding rotation angle of the radio frequency antenna according to the measurement time. The mechanical arm is controlled to rotate at a constant speed, and the rotation angle phi corresponding to the radio frequency antenna can be calculated according to the measurement time and the rotation speed of the mechanical arm k 。
The method further comprises, before step S101:
and associating and storing the information contained in the tag with the target object and the attribute information of the target object. By associating and storing the information contained in the tag with the attribute information of the target object, the target object and the attribute information of the target object can be directly determined according to the information contained in the tag.
In S102, the arrival angle of the tag is calculated from the tag phase value and the rotation angle.
As shown in fig. 2, a plane rectangular coordinate system is established by taking an image pickup device as a coordinate origin, an arrival angle of a tag comprises a horizontal angle of the tag and a vertical angle of the tag, wherein the horizontal angle is an included angle alpha between the tag and a horizontal coordinate axis after the tag is mapped to the plane coordinate system, and the vertical angle is an included angle beta between the tag and a plane where the plane coordinate system is located.
In some embodiments, the step S102 includes:
a1, calculating the relative energy intensity of a first arrival angle of the tag according to the measured tag phase value and the rotation angle;
according to the measured phase value and rotation angle of the label, calculating the relative energy intensity of the first arrival angle according to a preset formula, wherein the preset formula is as follows:
wherein ,for the theoretical phase value corresponding to the first arrival angle, r is the arrival time of the radio frequency antenna at the camera equipmentDistance phi of (2) k For the rotation angle, +.>For the measured tag phase value, K is a sequence number of the measured tag phase value, for example, the measurement time is t1, t2 and t3, and the measurement time is ordered according to the time sequence, and K corresponding to t1, t2 and t3 is 1, 2 and 3, respectively. The first angle of arrival comprises a first horizontal angle alpha and a first vertical angle beta, alpha is [0,360 DEG ], beta is [0,90 DEG ] ]。
Optionally, calculating the relative energy intensity of the first arrival angle of the tag includes calculating the relative energy intensity corresponding to all values of the first arrival angle within a preset range.
A2, obtaining the maximum value of the relative energy intensity;
after the relative energy intensities corresponding to all the values of the first arrival angle within the preset range are calculated, comparing all the relative energy intensities to obtain the maximum value of the relative energy intensities and the corresponding first arrival angle.
A3, taking the first arrival angle corresponding to the maximum value of the relative energy intensity as the arrival angle of the label.
And taking the first horizontal angle and the first vertical angle corresponding to the maximum value of the relative energy intensity as the horizontal angle and the vertical angle of the tag.
In S103, the actual position of the tag is determined according to the arrival angle of the tag.
After the arrival angle of the tag is determined, the actual position of the tag (i.e., the position of the world coordinate system) can be determined, and as shown in fig. 2, the actual position of the tag can be calculated according to the geometric relationship after the arrival angle of the tag is determined.
In S104, the actual position of the tag is mapped to the image acquired by the image capturing device according to a preset mapping relationship, so as to determine the position of the tag in the image.
In the process of rotating the radio frequency tag, the image pickup device shoots an image containing the tag, and then the actual position of the tag is mapped into the image containing the tag shot by the image pickup device according to a preset mapping relation so as to determine the position of the tag in the image, thereby realizing pixel-level calibration of a target object.
Optionally, the preset mapping relationship is:
s[u v 1] T ＝AR[X Y Z 1] T
wherein, (u, v) is the position of the tag on the image, (X, Y, Z) is the actual position coordinate of the tag, a is an internal reference matrix, which is determined by the design parameters of the image capturing apparatus, R is an external reference matrix, which is determined by the relationship between the camera and the planar coordinate system, s is the scaling factor of the homogeneous equation, and when the image capturing apparatus is at the rotation center, the external reference matrix can be omitted. According to the imaging property of the small hole, two points which are on the same connecting line with the lens are projected to the same point, namely, the projection of any point in space on the picture is the same as the projection of the point which is in the same direction and is in unit distance from the lens on the picture, namely, the position of any far point projected on the picture is one point with the point which is in unit distance from the lens and is projected on the image, so that the actual position of the label can be scaled to the point which is positioned on the connecting line of the label and the image pickup equipment and is in unit distance from the image pickup equipment.
Therefore, the preset mapping relationship is specifically:
s[u v 1] T ＝A[cos(α)cos(β)sin(α)cos(β)sin(β)1] T
after the arrival angle of the label is determined, the position of the label in the image can be directly determined according to a preset mapping relation, the pixel level calibration of the label is realized, the whole process is simple and convenient, only the calculation of some data is involved, the acquisition of training samples is not needed, the establishment of a recognition model is not needed for carrying out a large amount of training, the pixel level calibration process is simple and quick, a large amount of manpower and material resources are saved, the position of the label where the target object is located is uniquely determined, the position of the label in the image is also unique, the position of the label in the image is obtained by marking the target object through the label, the pixel level recognition calibration accuracy of the target object is greatly improved, and the problem that the pixel level calibration of the target object is inaccurate or failed due to the recognition failure of the target object caused by image shooting blurring is avoided.
In some embodiments, after step S104, further comprising:
b1, determining a target object where the tag is located according to the position of the tag in the image;
and finding the position in the image according to the position of the label in the image, wherein the object corresponding to the position is the target object corresponding to the label. In some embodiments, the target object with the label can be highlighted in the image, for example, the target object is identified through a graph (such as a rectangular box) with a color, the target image containing the target object can be obtained through the image segmentation technology, and the segmented target image is subjected to amplification processing so as to find the target object identified by the label in the image more quickly. The target object can be segmented out to serve as a pixel-level calibration data set, and the target object can be subsequently used as a training sample of other recognition models, so that when the pixel-level calibration data set is acquired, no professional is needed for manual calibration, no recognition model is needed for recognition to acquire the training sample, the data set acquisition process is simpler, the cost is lower, and the accuracy and the efficiency are higher.
And B2, inquiring attribute information of the target object through information contained in the tag.
And constructing a database in advance, wherein the database is used for storing EPC information contained in the tag and attribute information of a target object related to the EPC information, and inquiring the attribute information of the target object through the EPC information contained in the tag after determining the position of the tag in the image, so that the identification of the target object can be realized according to the attribute information of the target object after the pixel-level calibration of the target object is realized. The attribute information may include the name of the target object, category information, and other information that may embody the attribute of the target object, and the attribute information may be any information related to the target object, which is not limited herein. The EPC (Electronic Product Code) is electronic product code, and the EPC information is electronic product code information of the tag, and comprises information such as product identification codes and the like for uniquely identifying the tag. In some application scenes, after the target object is segmented, the segmented image and the queried attribute information are associated and displayed, and a user can directly and intuitively see the target object to be identified and the attribute information of the target object on a picture of the image pickup device. The attribute information may further include a name and an importance level of the target object, and when the image capturing device is the monitoring device, the target object identified by the tag and the importance level corresponding to the target object may be directly found through a screen of the monitoring device, so that a worker may pay attention to the situation of the target object identified by the tag in the monitoring device according to the importance level.
In the embodiment of the application, the tag phase value is measured through the radio frequency antenna rotating around the camera equipment, the rotation angle corresponding to the radio frequency antenna when the tag phase value is measured is recorded, the arrival angle of the tag is calculated according to the measured tag phase value and the rotation angle, and then the actual position of the tag can be determined. When the pixel-level calibration data set is obtained, a large number of professionals are not required to calibrate manually, a large number of manpower and material resources are saved, the implementation process is simple, the cost is low, the efficiency is high, and the problem of inaccurate calibration caused by image shooting quality in the pixel-level calibration process is avoided due to one-to-one correspondence between the actual position of the label and the position of the label in the image, so that the accuracy of pixel-level calibration is greatly improved.
Embodiment two:
fig. 3 is a schematic flow chart of a second image positioning method based on a rotating antenna according to an embodiment of the present application, where an execution subject of the image positioning method based on the rotating antenna in this embodiment is a terminal, and the terminal includes, but is not limited to, a mobile terminal such as a smart phone, a tablet computer, a personal digital assistant (Personal Digital Assistant, PDA), and the like, and may also include a terminal such as a desktop computer, and the like. The image positioning method based on the rotating antenna as shown in fig. 3 may include:
in S201, a tag phase value is measured by a radio frequency antenna rotating around an image pickup apparatus, and a rotation angle corresponding to the radio frequency antenna when the tag phase value is measured is recorded.
Optionally, measuring the tag phase value by a radio frequency antenna in the rotating device includes: during rotation of the radio frequency antenna around the image pickup apparatus, the tag phase value is measured every preset time interval. When the preset time is set to be large, the measured phase value of the label is less, and the arrival angle of the label is determined faster; the preset time is set smaller, the measured phase value of the label is more, but the finally determined arrival angle of the label is more accurate. The preset time can be set by the user according to actual needs, and is not limited herein.
Optionally, recording a rotation angle corresponding to the radio frequency antenna when measuring the tag phase value includes: recording the measurement time when the phase value of the tag is measured, and calculating the corresponding rotation angle of the radio frequency antenna according to the measurement time. The mechanical arm is controlled to rotate at a constant speed, and the rotation angle phi corresponding to the radio frequency antenna can be calculated according to the measurement time and the rotation speed of the mechanical arm k 。
In S202, the measured phase value of the tag is eliminated from the phase measurement error caused by the polarization of the rf antenna and the phase measurement error caused by the rotation of the rf antenna, so as to obtain an optimized phase value of the tag.
In practical situations, the measured value of the phase is not only related to the distance from the tag to the antenna, but also affected by the phase measurement error caused by the radio frequency antenna and the phase measurement error caused by the rotation of the radio frequency antenna, and these disturbances need to be eliminated in the process of calculating the angle of arrival.
Optionally, eliminating phase measurement errors caused by polarization of the radio frequency antenna and phase measurement errors caused by rotation of the radio frequency antenna for the measured tag phase value to obtain an optimized tag phase value, including:
c1, determining the relation between the optimized tag phase value and the arrival angle of the tag according to the propagation model, wherein the relation is specifically as follows:
Where d is the distance from the tag to the image capturing apparatus, and />Is the horizontal angle and the vertical angle of the label, phi k For the rotation angle of the radio frequency antenna, < >>Is an optimized tag phase value.
C2, obtaining an optimized tag phase value according to a difference value of the measured tag phase value and the measured tag phase value which is 180 degrees away from the tag phase value and the relation between the optimized tag phase value and the arrival angle of the tag, wherein the optimized tag phase value is shown in the following formula:
where d is the distance from the tag to the image capturing apparatus,for the difference, K is the sequence number of the measured tag phase value.
Optionally, the specific derivation process of the calculation formula of the optimized tag phase value is as follows:
the phase measurement error caused by the polarization of the radio frequency antenna is obtained through experiments and theoretical analysis and is in linear relation with the rotation angle of the antenna and is marked as X 1,k ＝κφ k . And phase measurement error X caused by rotation of radio frequency antenna 2,k The rotation angle is 180 degrees and is denoted as X for simplicity 2,k ＝X 2,k+180 . The measured tag phase value can then be recorded as
To eliminate X 2,k According to its periodicity, by differencing the measured value 180 degrees from it, can be obtained
The phase measurement error X caused by the rotation of the radio frequency antenna is eliminated 2,k The phase measurement error due to the tag polarization remains only constant. Based on the optimized relationship between the phase value of the tag and the arrival angle of the tag The calculation formula of the optimized tag phase value can be deduced.
In S203, the calculating the arrival angle of the tag according to the tag phase value and the rotation angle specifically includes: and calculating the arrival angle of the tag according to the optimized tag phase value, the rotation angle and the measurement time for measuring the tag phase value.
After the optimized tag phase value obtained after the phase measurement error caused by the polarization of the radio frequency antenna and the phase measurement error caused by the rotation of the radio frequency antenna are removed is obtained, calculating the arrival angle of the tag through the optimized tag phase value and the rotation angle, specifically:
d1, calculating the relative energy intensity of a first arrival angle of the tag according to the optimized tag phase value and the rotation angle;
since the relative energy intensity is maximized when the optimized tag phase value coincides with the theoretical phase value, the arrival angle of the tag is determined by finding the maximum value of the relative energy intensity.
According to the optimized label phase value and the rotation angle, calculating the relative energy intensity of the first arrival angle according to a preset formula, wherein the preset formula is as follows:
wherein ,r is the distance from the radio frequency antenna to the camera equipment and phi is the theoretical phase value corresponding to the first arrival angle k For the rotation angle, K is a sequence number of the measured tag phase value, for example, after sorting according to the measurement time, the measured sequence number of the tag phase value, that is, the number of times the tag phase value is measured. The first angle of arrival comprises a first horizontal angle alpha and a first vertical angle beta, alpha is [0,360 DEG ], beta is [0,90 DEG ]]。
P 1 The calculation formula derivation process of (alpha, beta) is specifically as follows:
due to and />Constant for P when K is determined 1 The effect of (alpha, beta) is not great, and these two values can be omitted so that
Optionally, calculating the relative energy intensity of the first arrival angle of the tag includes calculating the relative energy intensity corresponding to all values of the first arrival angle within a preset range.
D2, obtaining the maximum value of the relative energy intensity;
after the relative energy intensities corresponding to all the values of the first arrival angle within the preset range are calculated, comparing all the relative energy intensities to obtain the maximum value of the relative energy intensities and the corresponding first arrival angle.
D3, taking the first arrival angle corresponding to the maximum value of the relative energy intensity as the arrival angle of the label.
And taking the first horizontal angle and the first vertical angle corresponding to the maximum value of the relative energy intensity as the horizontal angle and the vertical angle of the tag.
In S204, the actual position of the tag is determined according to the arrival angle of the tag.
In S205, the actual position of the tag is mapped to the image acquired by the image capturing device according to a preset mapping relationship, so as to determine the position of the tag in the image.
The implementation process of steps S204 and S205 is the same as that of steps S103 and S104 in the first embodiment, and refer to the description related to steps S103 and S104 in the first embodiment, which is not repeated here.
In some embodiments, after step 205, further comprising:
e1, determining a target object where the tag is located according to the position of the tag in the image;
and finding the position in the image according to the position of the label in the image, wherein the object corresponding to the position is the target object corresponding to the label. In some embodiments, the target object with the label can be highlighted in the image, for example, the target object is identified through a graph (such as a rectangular box) with a color, the image containing the target object can be acquired through the image segmentation technology, and the segmented target image is subjected to amplification processing so as to find the target object identified by the label in the image more quickly. The target object can be segmented out to serve as a pixel-level calibration data set, and the target object can be subsequently used as a training sample of other recognition models, so that when the pixel-level calibration data set is acquired, no professional is needed for manual calibration, no recognition model is needed for recognition to acquire the training sample, the data set acquisition process is simpler, the cost is lower, and the accuracy and the efficiency are higher.
And E2, inquiring attribute information of the target object through information contained in the tag.
And constructing a database in advance, wherein the database is used for storing EPC information contained in the tag and attribute information of a target object related to the EPC information, and inquiring the attribute information of the target object through the EPC information contained in the tag after determining the position of the tag in the image, so that the identification of the target object can be realized according to the attribute information of the target object after the pixel-level calibration of the target object is realized. The attribute information may include the name of the target object, category information, and other information that may embody the attribute of the target object, and the attribute information may be any information related to the target object, which is not limited herein. The EPC (Electronic Product Code) is electronic product code, and the EPC information is electronic product code information of the tag, and comprises information such as product identification codes and the like for uniquely identifying the tag. In some application scenes, after the target object is segmented, the segmented image and the queried attribute information are associated and displayed, and a user can directly and intuitively see the target object to be identified and the attribute information of the target object on a picture of the image pickup device. The attribute information can also contain the name and the importance level of the target object, when the image pickup device is the monitoring device, the target object marked by the tag and the importance level corresponding to the target object can be directly found through the picture of the monitoring device, so that a worker can pay attention to the picture condition of the target object marked by the tag in the monitoring device according to the importance level.
In the embodiment of the application, the tag phase value is measured through the radio frequency antenna rotating around the camera equipment, the rotation angle corresponding to the radio frequency antenna when the tag phase value is measured is recorded, the measured tag phase value is optimized, the phase measurement error caused by the polarization of the radio frequency antenna and the phase measurement error caused by the rotation of the radio frequency antenna are eliminated, the optimized tag phase value is obtained, the measurement of the tag phase value is more accurate, the arrival angle of the tag is calculated according to the optimized tag phase value and the rotation angle, the actual position of the tag can be determined, and the tag can be directly marked by the tag, so that the identification of the object is not limited to an identification model or a training sample, the image comprising the object is obtained, then the actual position of the tag is mapped into the image through a preset mapping relation, the position of the tag in the image is determined, the positioning of the tag in the image is realized, the pixel-level calibration is realized, the model is not required to be trained through a large amount of training samples, a large amount of manpower is not required to be performed when the pixel-level calibration data set is acquired, the real-time is not required, the tag is not required to be calibrated by a large amount of manpower, the real-time is saved, the real-time is not required to be compared with the image calibration is high, and the real-time image calibration is not is high, and the real-time is not is accurate, and the image is not required to be calibrated, and the image is high, and the image is accurate, the image is has high, and the quality is has high, and the image is has high and the image is has high.
Embodiment III:
fig. 4 is a schematic structural diagram of an image positioning device based on a rotating antenna according to an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown:
the image positioning apparatus based on a rotating antenna includes: a phase value measuring unit 41, an arrival angle calculating unit 42, a position calculating unit 43, and a mapping unit 44. Wherein:
a phase value measurement unit 41 for measuring a tag phase value by a radio frequency antenna rotating around the image pickup apparatus, and recording a rotation angle of the radio frequency antenna when the tag phase value is measured;
an arrival angle calculating unit 42 for calculating an arrival angle of the tag based on the tag phase value and the rotation angle;
a position calculating unit 43 for determining the actual position of the tag according to the arrival angle of the tag;
and a mapping unit 44, configured to map the actual position of the tag to an image acquired by the image capturing device according to a preset mapping relationship, so as to determine the position of the tag in the image.
Optionally, the image positioning device based on the rotary antenna further comprises an information association unit, which is used for associating and storing information contained in the tag with the target object and attribute information of the target object.
Optionally, the arrival angle calculating unit 42 includes:
a relative energy intensity calculation unit: and the relative energy intensity of the first arrival angle of the tag is calculated according to the measured tag phase value and the rotation angle. Specifically, according to the measured phase value and rotation angle of the tag, calculating the relative energy intensity of the first arrival angle according to a preset formula, wherein the preset formula is as follows:
wherein ,r is the distance from the radio frequency antenna to the camera equipment and phi is the theoretical phase value corresponding to the first arrival angle k For the rotation angle, +.>For the measured tag phase value, K is a sequence number of the measured tag phase value, for example, the measurement time is t1, t2 and t3, and the measurement time is ordered according to the time sequence, and K corresponding to t1, t2 and t3 is 1, 2 and 3, respectively. The first angle of arrival comprises a first horizontal angle alpha and a first vertical angle beta, alpha is [0,360 DEG ], beta is [0,90 DEG ]]. The calculating of the relative energy intensity of the first arrival angle of the tag comprises calculating the relative energy intensity corresponding to all values of the first arrival angle within a preset range.
And the relative energy intensity maximum value determining unit is used for acquiring the maximum value of the relative energy intensity.
And the arrival angle determining unit is used for taking the first arrival angle corresponding to the maximum value of the relative energy intensity as the arrival angle of the tag.
Optionally, the image positioning apparatus based on a rotating antenna further comprises:
the target object determining unit is used for determining a target object where the tag is located according to the position of the tag in the image;
and the attribute information query unit is used for querying the attribute information of the target object through the information contained in the tag.
Optionally, the image positioning device based on the rotating antenna further comprises an error elimination unit, which is used for eliminating phase measurement errors caused by polarization of the radio frequency antenna and phase measurement errors caused by rotation of the radio frequency antenna for the measured tag phase value, so as to obtain an optimized tag phase value.
Optionally, the error cancellation unit includes:
the relation determining unit is used for determining the relation between the optimized label phase value and the arrival angle of the label according to the propagation model, and specifically comprises the following steps:
where d is the distance from the tag to the image capturing apparatus, and />Is the horizontal angle and the vertical angle of the label, phi k For the rotation angle of the radio frequency antenna, < >>For an optimized tag phase value; />
The tag phase value optimizing unit is configured to obtain an optimized tag phase value according to a difference value between a measured tag phase value and a measured tag phase value that is 180 degrees away from the tag phase value and a relationship between the optimized tag phase value and an arrival angle of a tag, where the relationship is as shown in the following formula:
Where d is the distance from the tag to the image capturing apparatus,for the difference, K is the sequence number of the measured tag phase value.
Correspondingly, the arrival angle calculating unit 42 is specifically configured to calculate an arrival angle of the tag according to the optimized tag phase value, the rotation angle, and a measurement time for measuring the tag phase value.
Correspondingly, the relative energy intensity calculating unit is further used for calculating the relative energy intensity of the first arrival angle of the label according to the optimized label phase value and the rotation angle. Specifically, according to the optimized tag phase value and the rotation angle, calculating the relative energy intensity of the first arrival angle according to a preset formula, wherein the preset formula is as follows:
wherein ,r is the distance from the radio frequency antenna to the camera equipment and phi is the theoretical phase value corresponding to the first arrival angle k For the rotation angle, K is a sequence number of the measured tag phase value, for example, after sorting according to the measurement time, the measured sequence number of the tag phase value, that is, the number of times the tag phase value is measured. The first angle of arrival comprises a first horizontal angle alpha and a first vertical angle beta, alpha is [0,360 DEG ], beta is [0,90 DEG ] ]。
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the embodiment of the application, the tag phase value is measured through the radio frequency antenna rotating around the camera equipment, the rotation angle corresponding to the radio frequency antenna when the tag phase value is measured is recorded, the arrival angle of the tag is calculated according to the measured tag phase value and the rotation angle, and then the actual position of the tag can be determined. When the pixel-level calibration data set is obtained, a large number of professionals are not required to calibrate manually, a large number of manpower and material resources are saved, the implementation process is simple, the cost is low, the efficiency is high, and the problem of inaccurate calibration caused by image shooting quality in the pixel-level calibration process is avoided due to one-to-one correspondence between the actual position of the label and the position of the label in the image, so that the accuracy of pixel-level calibration is greatly improved.
Embodiment four:
fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present application. As shown in fig. 5, the terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a rotating antenna based image positioning program. The processor 50, when executing the computer program 52, implements the steps of the various embodiments of the rotational antenna based image positioning method described above, such as steps S101 to S104 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the units 41 to 44 shown in fig. 4.
By way of example, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 52 in the terminal device 5. For example, the computer program 52 may be divided into a phase value measuring unit, an arrival angle calculating unit, a position calculating unit, and a mapping unit, each unit specifically functioning as follows:
A phase value measuring unit for measuring a tag phase value by a radio frequency antenna rotating around the image pickup apparatus, and recording a rotation angle of the radio frequency antenna when the tag phase value is measured;
an arrival angle calculating unit, configured to calculate an arrival angle of the tag according to the tag phase value and the rotation angle;
the position calculating unit is used for determining the actual position of the tag according to the arrival angle of the tag;
and the mapping unit is used for mapping the actual position of the tag into an image acquired by the image pickup equipment according to a preset mapping relation so as to determine the position of the tag in the image.
The terminal device 5 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the terminal device 5 and does not constitute a limitation of the terminal device 5, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device may further include an input-output device, a network access device, a bus, etc.
The processor 50 may be a central processing unit (Central Processing Unit, CPU), 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 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may be an external storage device of the terminal device 5, 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 terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer program as well as other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
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 application 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 software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (8)
1. An image positioning method based on a rotary antenna, comprising:
measuring a tag phase value through a radio frequency antenna rotating around the camera equipment, and recording a rotation angle corresponding to the radio frequency antenna when the tag phase value is measured;
calculating the arrival angle of the tag according to the tag phase value and the rotation angle; the arrival angle of the label comprises a horizontal angle of the label and a vertical angle of the label, wherein the horizontal angle is an included angle alpha between the label and a horizontal coordinate axis after the label is mapped to a plane coordinate system, and the vertical angle is an included angle beta between the label and a plane where the plane coordinate system is located;
Determining the actual position of the tag according to the arrival angle of the tag;
mapping the actual position of the tag into an image acquired by the camera equipment according to a preset mapping relation to determine the position of the tag in the image;
the calculating the arrival angle of the tag according to the tag phase value and the rotation angle comprises:
according to the measured phase value and the rotation angle of the label, calculating the relative of the first arrival angle of the label according to a preset formulaEnergy intensity; the preset formula is as follows: wherein ,/>R is the distance from the radio frequency antenna to the camera equipment and phi is the theoretical phase value corresponding to the first arrival angle k For the rotation angle, +.>K is the sequence number of the measured tag phase value;
obtaining a maximum value of the relative energy intensity;
and taking the first arrival angle corresponding to the maximum value of the relative energy intensity as the arrival angle of the tag.
2. The image positioning method based on a rotating antenna according to claim 1, wherein the preset mapping relationship is:
s[u v 1] T ＝AR[X Y Z 1] T
wherein, (u, v) is the position of the label on the image, (X, Y, Z) is the actual position coordinate of the label, A is an internal reference matrix, which is determined by the design parameters of the image pickup device, R is an external reference matrix, which is determined by the relation between the camera and the plane coordinate system, and s is the scaling factor of the homogeneous equation.
3. The method of claim 1, wherein the first angle of arrival comprises a first horizontal angle α and a first vertical angle β, α e [0,360 ° ),β∈[0,90 ° ]。
4. The image positioning method based on a rotary antenna according to claim 1, further comprising, after measuring a tag phase value by a radio frequency antenna rotating around an image pickup apparatus and recording a rotation angle corresponding to the radio frequency antenna when the tag phase value is measured: eliminating phase measurement errors caused by the polarization of the radio frequency antenna and phase measurement errors caused by the rotation of the radio frequency antenna for the measured tag phase value to obtain an optimized tag phase value;
correspondingly, the calculating the arrival angle of the tag according to the tag phase value and the rotation angle specifically includes: and calculating the arrival angle of the label according to the optimized label phase value and the rotation angle.
5. The rotational antenna based image localization method of claims 1-4, wherein after mapping the actual location of the tag into an image acquired by an image capturing device to determine the location of the tag in the image, further comprising:
Determining a target object where the tag is located according to the position of the tag in the image;
and inquiring the attribute information of the target object through the information contained in the tag.
6. An image positioning apparatus based on a rotating antenna, comprising:
a phase value measuring unit for measuring a tag phase value by a radio frequency antenna rotating around the image pickup apparatus, and recording a rotation angle of the radio frequency antenna when the tag phase value is measured;
an arrival angle calculating unit, configured to calculate an arrival angle of the tag according to the tag phase value and the rotation angle; the arrival angle of the label comprises a horizontal angle of the label and a vertical angle of the label, wherein the horizontal angle is an included angle alpha between the label and a horizontal coordinate axis after the label is mapped to a plane coordinate system, and the vertical angle is an included angle beta between the label and a plane where the plane coordinate system is located;
the position calculating unit is used for determining the actual position of the tag according to the arrival angle of the tag;
a mapping unit, configured to map, according to a preset mapping relationship, an actual position of the tag to an image acquired by an image capturing device, so as to determine a position of the tag in the image;
the arrival angle calculation unit 42 includes:
A relative energy intensity calculation unit: the relative energy intensity of the first arrival angle of the tag is calculated according to a preset formula according to the measured tag phase value and the rotation angle; the preset formula is as follows:
wherein ,r is the distance from the radio frequency antenna to the camera equipment and phi is the theoretical phase value corresponding to the first arrival angle k For the rotation angle, +.>For the measured tag phase value, K is the sequence number of the measured tag phase value.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when the computer program is executed.
8. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 5.
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