CN113421311A - Regular hexagon coding mark and coding method thereof - Google Patents
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Abstract
The invention discloses a regular hexagon coding mark and a coding method thereof, wherein the regular hexagon coding mark comprises a pointing pattern, a coding pattern and a regular hexagon background pattern, wherein the coding pattern consists of a plurality of coding unit patterns; the coding method mainly comprises the following steps: positioning the initial point by the pointing pattern, and determining the positioning of other marker points of the regular hexagon by a calibration method of the regular hexagon coding marker points; realizing the classification of the coding unit patterns by a dividing method of the coding unit patterns; determining the number of each coding unit pattern by a number sorting method of the coding unit patterns; and determining the code of the regular hexagon by the coding pattern, and obtaining the codes of 6 mark points by the calibration method of the regular hexagon code mark points and the coding method of the coding pattern. The regular hexagon code mark has more characteristic angular points and larger code capacity, and is more stable when three-dimensional data splicing is realized; and the coding method is simple and easy for digital image processing.
Description
Technical Field
The invention relates to the field of vision measurement in computer vision, which is suitable for the fields of camera calibration, target feature extraction, stereo matching, three-dimensional data splicing and the like, in particular to a regular hexagon coding mark and a coding method thereof.
Background
With the progress of science and technology, in order to solve the measurement problems of large size, small size and complex background, the vision measurement technology is compliant and developed rapidly. The vision measurement technology has the characteristics of non-contact, difficult influence of temperature change and vibration, high precision, good portability and the like. In the field of vision measurement, the problems of difficult camera calibration under a large visual field and a complex background, how to realize stereo matching and three-dimensional data splicing of a large-size target and the like are still research hotspots.
In order to effectively solve the problems, the coding mark point technology is rapidly developed, the types of the generated coding mark points are many, but most of the coding mark points are annular, circular or fan-shaped, and the like, and when the coding mark points face affine transformation images or three-dimensional splicing of large-size targets, the accuracy and precision of results cannot be ensured, and a plurality of difficulties exist in the coding and coding processes, so that digital image processing is difficult. Therefore, the regular hexagon coding mark and the decoding method thereof effectively make up for the defects, and the six vertexes of the regular hexagon coding mark are used as six coding mark points, and the six coding mark points are beneficial to extraction and realize the characteristics of high-precision positioning, so that the positioning of the high-precision regular hexagon coding mark, the high-precision three-dimensional point cloud splicing and the like can be realized; meanwhile, as the coding capacity is large, the high accuracy can be kept in the face of the point cloud splicing of the three-dimensional data with a large size target; moreover, the coding mark is composed of a circular ring, a circular arc and an angular point, has simple patterns, and is convenient for extracting real-time digital images in computer vision measurement and realizing the decoding algorithm of the real-time regular hexagon coding mark.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a regular hexagon coding mark and a coding method thereof, aims to overcome the defect that most coding mark feature points are few, utilizes a working method of coding regular hexagon coding mark points and regular hexagon centroids, has large coding capacity, and can realize stereo matching and three-dimensional data splicing of large-size targets under the condition of keeping accuracy and precision; and the coding method is simple and easy for digital image processing.
In order to realize the effect, the invention adopts the technical scheme that:
a coding method of a regular hexagon coding mark mainly comprises the following steps: positioning the initial point by the pointing pattern, and determining the positioning of other marker points of the regular hexagon by a calibration method of the regular hexagon coding marker points; realizing the classification of the coding unit patterns by a dividing method of the coding unit patterns; determining the number of each coding unit pattern by a number sorting method of the coding unit patterns; and determining the code of the regular hexagon by the coding pattern, and obtaining the codes of 6 mark points of the regular hexagon coding mark by the calibration method of the regular hexagon coding mark points and the coding method of the coding pattern, thereby completing the coding of the regular hexagon coding mark.
Further, the positioning method of the starting mark point of the regular hexagon comprises the following steps: the integer e is the code number of the parallelogram code mark, the centroid of the directional pattern in the regular hexagon code mark corresponding to the code number e is olThe vertex of the directional pattern in the regular hexagon code mark corresponding to the code number e is DlDot and log vector
The vertex of the pointed regular hexagon is the 1 st mark point in the regular hexagon code mark.
Further, the calibration method for determining the regular hexagon code mark point comprises the following steps: and taking the initial mark point in the regular hexagon code mark as an origin, and sequentially passing the regular hexagon code mark points in the clockwise direction to be a 2 nd mark point, a 3 rd mark point, a 4 th mark point, a 5 th mark point and a 6 th mark point.
Further, the method for dividing the coding unit pattern group includes: the coding unit pattern with the centroid of the coding unit pattern in the regular hexagon coding mark corresponding to the code number e is the k (k is 1,2,3,4,5,6) th coding unit pattern on the connecting line of the mark point and the centroid of the regular hexagon, the k (k is 1,2,3,4,5,6) th coding unit pattern contains 2 coding unit patterns on the connecting line of the mark point and the centroid of the regular hexagon, and the centroids of the coding unit patterns are all on the connecting line of the corresponding mark point and the centroid of the regular hexagon.
Further, the numbering and ordering method of the coding unit patterns comprises the following steps: the distance from the j (j is 1,2) th coding unit pattern on the regular hexagon coding mark corresponding to the coding number e to the center of mass of the regular hexagon and the distance from the corresponding mark point are
And
and
satisfies formula (1);
then, the 1 st coding unit pattern of the k (k is 1,2,3,4,5,6) th group of coding unit patterns in the regular hexagon coding flag with the code number e is the 1 st coding unit pattern on the k th group of coding unit patterns in the regular hexagon coding flag with the code number e, and the 2 nd coding unit pattern of the k (k is 1,2,3,4,5,6) th group of coding unit patterns in the regular hexagon coding flag with the code number e is the 2 nd coding unit pattern on the k th group of coding unit patterns in the regular hexagon coding flag with the code number e.
Further, the encoding method for establishing the regular hexagon encoding flag is as follows: in the regular hexagon coding mark with the coding number e, the coding value corresponding to the j-th bit coding unit pattern on the k-th group coding unit pattern is recorded as
Can only take the value of 0 or 1; for the regular hexagon code mark with the code number e, the 12-bit binary number corresponding to the code number e is weAnd specify
Respectively corresponding to binary numbers w in sequence from the lowest order to the highest ordereAnd must satisfy formula (2):
GT·Fe＝＝e (2)
where the column vector G is (20, 2)1,22,23,24,25,26,27,28,29,210,211)TAnd column vector
Further, the coding method for coding the 6 mark points of the regular hexagon coding mark comprises the following steps: according to the determined code value corresponding to the j-th bit code unit pattern on the k-th group of code unit patterns in the regular hexagon code mark with the code number e
The values of (a) are divided into the following two cases: if it is
The color of the j-th bit coding unit pattern on the kth group of coding unit patterns in the regular hexagon coding mark corresponding to the coding number e is set as the background color of the regular hexagon coding mark, and j is 1 and 2; otherwise, the color of the j-th bit coding unit pattern on the kth group of coding unit patterns in the regular hexagon coding mark corresponding to the coding number e is made to be the color of the pointing pattern;
marking the eta angle point in the regular hexagon code mark with the code number e as the eta angle point in the regular hexagon code mark with the code number e
Wherein η is 1,2,3,4,5, 6;
therefore, the coding work of the parallelogram coding mark is completed, and the coding serial number of each angular point can realize the judgment of the position of the uniquely determined angular point on the parallelogram coding mark.
The regular hexagon coding mark used for the coding method comprises a pointing pattern, a coding pattern and a regular hexagon background pattern, wherein the coding pattern is composed of a plurality of coding unit patterns, and the coding pattern is in the regular hexagon background pattern.
Further, the regular hexagon coding mark is a regular hexagon with side length a; the coding marks in the regular hexagon coding marks comprise pointing patterns and coding patterns, the pointing patterns and the coding patterns are not overlapped and communicated, the pointing patterns are fan-shaped, the mass center of the pointing patterns and the mass center of the regular hexagon are the same point, the side length of the pointing patterns is beta, the arc length is epsilon, and all coding unit patterns are circular.
Further, the color of the background of the regular hexagon code mark is obviously different from the color of the direction pattern, and the color of all the code unit patterns is the same as the color of the background of the regular hexagon code mark or the color of the direction pattern.
Further, in the regular hexagon code mark, the positions and colors of all the code unit patterns are determined by a coding method.
Compared with the prior art, the invention has the following beneficial effects:
1. the regular hexagon coding mark provided by the invention is coded by using the regular hexagon coding mark points and the regular hexagon centroid, so that the coding is carried out by judging the color of each coding mark pattern, therefore, the affine transformation image still has better robustness and precision, and is not easily influenced by complex environment;
2. in the regular hexagon coding mark provided by the invention, because the pointing pattern is set, the regular hexagon coding mark can also adapt to the condition that the angle of a camera changes, and obtain an accurate result, and is simple and convenient to operate and has strong flexibility;
3. in the regular hexagon coding mark provided by the invention, 12 coding unit patterns are provided in total, so 4096 different codes can be generated in total, sufficient capacity and sufficient characteristic corner points are provided for three-dimensional data splicing of large-size targets or camera calibration under a large field of view, and the stability of data splicing is better;
4. the regular hexagon coding mark provided by the invention has the advantages of simple structure, convenience in operation and easiness in obtaining accurate coding information by utilizing a digital image processing technology.
Drawings
FIG. 1 is a view of a parallelogram-shaped coded logo when all the coded logo patterns are white according to the present invention;
FIG. 2 is a schematic diagram of the distribution of the specified vectors and the encoding corners;
fig. 3 is a schematic diagram of a regular hexagon code flag corresponding to a code number 682 in an embodiment.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1, a regular hexagon code symbol includes a direction pattern, a code pattern and a regular hexagon background pattern, wherein the code pattern is composed of a plurality of code unit patterns, and the code pattern is in the regular hexagon background pattern.
The regular hexagon coding mark is a regular hexagon with side length a; the coding marks in the regular hexagon coding marks comprise pointing patterns and coding patterns, the pointing patterns and the coding patterns are not overlapped and communicated, the pointing patterns are fan-shaped, the mass center of the pointing patterns and the mass center of the regular hexagon are the same point, the side length of the pointing patterns is beta, the arc length is epsilon, and all coding unit patterns are circular.
In this embodiment, the side length of the regular hexagonal coding marks is 18 mm, the side length of the direction pattern is 4 mm, and the arc length is 3 mm, as shown in fig. 1.
The color of the background of the regular hexagon code sign is color 1, the color of the pointing pattern is color 2, the color of all the code unit patterns is the same as color 1 or the same as color 2, and color 1 is obviously different from color 2. In this embodiment, color 1 is black and color 2 is white.
In the regular hexagon code mark, the positions and colors of all code unit patterns are determined by a coding method.
The coding method for the regular hexagon coding mark mainly comprises the following steps: positioning the initial point by the pointing pattern, and determining the positioning of other marker points of the regular hexagon by a calibration method of the regular hexagon coding marker points; realizing the classification of the coding unit patterns by a dividing method of the coding unit patterns; determining the number of each coding unit pattern by a number sorting method of the coding unit patterns; and determining the code of the regular hexagon by the coding pattern, and obtaining the codes of 6 mark points of the regular hexagon coding mark by the calibration method of the regular hexagon coding mark points and the coding method of the coding pattern, thereby completing the coding of the regular hexagon coding mark. The coding method is realized by the following steps:
the positioning method of the regular hexagon starting mark point comprises the following steps: recording an integer e as the code number of the parallelogram code markAnd the centroid of the directional pattern in the regular hexagon code mark corresponding to the code number e is olThe vertex of the directional pattern in the regular hexagon code mark corresponding to the code number e is DlDot and log vector
The vertex of the pointed regular hexagon is the 1 st mark point in the regular hexagon code mark. In this embodiment, the code number of the regular hexagon code mark is e-682, and the center of mass of the pointing pattern is olThe vertex of the point and orientation pattern is DlPoints, and vectors
As shown in fig. 2. For the purpose of pattern recognition, the black background is replaced by gray in fig. 2.
The calibration method for determining the regular hexagon coding mark points comprises the following steps: and taking the initial mark point in the regular hexagon code mark as an origin, and sequentially passing the regular hexagon code mark points in the clockwise direction to be a 2 nd mark point, a 3 rd mark point, a 4 th mark point, a 5 th mark point and a 6 th mark point.
The method for dividing the coding unit pattern group comprises the following steps: the coding unit pattern with the centroid of the coding unit pattern in the regular hexagon coding mark corresponding to the code number e is the k (k is 1,2,3,4,5,6) th coding unit pattern on the connecting line of the mark point and the centroid of the regular hexagon, the k (k is 1,2,3,4,5,6) th coding unit pattern contains 2 coding unit patterns on the connecting line of the mark point and the centroid of the regular hexagon, and the centroids of the coding unit patterns are all on the connecting line of the corresponding mark point and the centroid of the regular hexagon.
The numbering and sequencing method of the coding unit patterns comprises the following steps: the distance from the j (j is 1,2) th coding unit pattern on the regular hexagon coding mark corresponding to the coding number e to the center of mass of the regular hexagon and the distance from the corresponding mark point are
And
and
satisfies formula (1);
then, the 1 st coding unit pattern of the k (k is 1,2,3,4,5,6) th group of coding unit patterns in the regular hexagon coding flag with the code number e is the 1 st coding unit pattern on the k th group of coding unit patterns in the regular hexagon coding flag with the code number e, and the 2 nd coding unit pattern of the k (k is 1,2,3,4,5,6) th group of coding unit patterns in the regular hexagon coding flag with the code number e is the 2 nd coding unit pattern on the k th group of coding unit patterns in the regular hexagon coding flag with the code number e.
In the present embodiment, the distance from the 1 st code unit pattern on the 1 st, 2 nd, 3 rd, 4 th, 5 th, and 6 th group code unit pattern in the regular hexagon code flag corresponding to the code number 682 to the centroid of the regular hexagon is
Millimeter, the distance from the 1 st coding unit pattern on the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th group coding unit patterns in the regular hexagon coding mark corresponding to the coding number 682 to the corresponding corner point is
Millimeter; the distance from the 2 nd coding unit pattern on the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th group coding unit patterns in the coding sign of the regular hexagon corresponding to the code number 682 to the centroid of the regular hexagon is
Mm, coded by 682 pairsThe distance from the 2 nd coding unit pattern on the 1 st, 2 nd, 3 rd, 4 th, 5 th and 6 th group coding unit patterns in the corresponding regular hexagon coding mark to the corresponding corner point is
Mm as shown in fig. 2.
The encoding method for determining the regular hexagon encoding mark comprises the following steps: in the regular hexagon coding mark with the coding number e, the coding value corresponding to the j-th bit coding unit pattern on the k-th group coding unit pattern is recorded as
Can only take the value of 0 or 1; for the regular hexagon code mark with the code number e, the 12-bit binary number corresponding to the code number e is weAnd specify
Respectively corresponding to binary numbers w in sequence from the lowest order to the highest ordereAnd must satisfy formula (2):
GT·Fe＝＝e (2)
wherein the column vector G ═ 20,21,22,23,24,25,26,27,28,29,210,211)TAnd column vector
In the present embodiment, the column vector Fe(0,1,0,1,0,1,0,1,0,1,0,0), as shown in fig. 3.
According to the k-th group of codes in the regular hexagon code mark with the determined code number e as the corresponding codeCoding value corresponding to j-th bit coding unit pattern on unit pattern
The values of (a) are divided into the following two cases:
case 1, if the code number is e, the j-th bit code mark pattern on the k-th group code unit pattern in the corresponding regular hexagon code mark
Is coded value of
The color of the j-th bit coding unit pattern on the kth group of coding unit patterns in the regular hexagon coding mark corresponding to the coding number e is 1, and j is 1 and 2;
case 2, if the code number is e, the j-th bit code mark pattern on the k-th group code unit pattern in the corresponding regular hexagon code mark
Is coded value of
The color of the j-th bit coding unit pattern on the kth group of coding unit patterns in the regular hexagon coding mark corresponding to the coding number e is made to be 2;
marking the eta angle point in the regular hexagon code mark with the code number e as the eta angle point in the regular hexagon code mark with the code number e
Wherein η is 1,2,3,4,5, 6;
therefore, the coding work of the regular hexagon coding mark with the coding number of 682 is finished, and the coding sequence numbers of the six corner points are respectively as follows: coding corner point 1 in regular hexagon coding mark with code number 682
2 nd coding corner point in regular hexagon coding mark with code number 682
3 rd coding corner point in regular hexagon coding mark with code number 682
Coding corner point 4 in regular hexagon coding mark with code number 682
5 th coding corner point in regular hexagon coding mark with code number 682
6 th coding corner point in regular hexagon coding mark with code number 682
The coding sequence of each corner point can be used for judging the position of the uniquely determined corner point on the parallelogram coding mark, as shown in fig. 3.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. A coding method of a regular hexagon coding mark is characterized by mainly comprising the following steps: positioning the initial point by the pointing pattern, and determining the positioning of other marker points of the regular hexagon by a calibration method of the regular hexagon coding marker points; realizing the classification of the coding unit patterns by a dividing method of the coding unit patterns; determining the number of each coding unit pattern by a number sorting method of the coding unit patterns; and determining the code of the regular hexagon by the coding pattern, and obtaining the codes of 6 mark points of the regular hexagon coding mark by the calibration method of the regular hexagon coding mark points and the coding method of the coding pattern, thereby completing the coding of the regular hexagon coding mark.
2. The method of claim 1, wherein the coding of the regular hexagon code flag comprises: the positioning method of the regular hexagon starting mark point comprises the following steps: the integer e is the code number of the parallelogram code mark, the centroid of the directional pattern in the regular hexagon code mark corresponding to the code number e is olThe vertex of the directional pattern in the regular hexagon code mark corresponding to the code number e is DlDot and log vector
The vertex of the pointed regular hexagon is the 1 st mark point in the regular hexagon code mark.
3. The method of claim 1, wherein the coding of the regular hexagon code flag comprises: the calibration method for determining the regular hexagon coding mark points comprises the following steps: and taking the initial mark point in the regular hexagon code mark as an origin, and sequentially passing the regular hexagon code mark points in the clockwise direction to be a 2 nd mark point, a 3 rd mark point, a 4 th mark point, a 5 th mark point and a 6 th mark point.
4. The method of claim 1, wherein the coding of the regular hexagon code flag comprises: the method for dividing the coding unit pattern group comprises the following steps: the coding unit pattern with the centroid of the coding unit pattern in the regular hexagon coding mark corresponding to the code number e is the k (k is 1,2,3,4,5,6) th coding unit pattern on the connecting line of the mark point and the centroid of the regular hexagon, the k (k is 1,2,3,4,5,6) th coding unit pattern contains 2 coding unit patterns on the connecting line of the mark point and the centroid of the regular hexagon, and the centroids of the coding unit patterns are all on the connecting line of the corresponding mark point and the centroid of the regular hexagon.
5. The coding of a regular hexagonal coded marker according to claim 1The method is characterized in that: the numbering and sequencing method of the coding unit patterns comprises the following steps: the distance from the j (j is 1,2) th coding unit pattern on the regular hexagon coding mark corresponding to the coding number e to the center of mass of the regular hexagon and the distance from the corresponding mark point are
And
and
satisfies formula (1);
then, the 1 st coding unit pattern of the k (k is 1,2,3,4,5,6) th group of coding unit patterns in the regular hexagon coding flag with the code number e is the 1 st coding unit pattern on the k th group of coding unit patterns in the regular hexagon coding flag with the code number e, and the 2 nd coding unit pattern of the k (k is 1,2,3,4,5,6) th group of coding unit patterns in the regular hexagon coding flag with the code number e is the 2 nd coding unit pattern on the k th group of coding unit patterns in the regular hexagon coding flag with the code number e.
6. The method of claim 1, wherein the coding of the regular hexagon code flag comprises: the encoding method for determining the regular hexagon encoding mark comprises the following steps: in the regular hexagon coding mark with the coding number e, the coding value corresponding to the j-th bit coding unit pattern on the k-th group coding unit pattern is recorded as
Can only take the value of 0 or 1; for the regular hexagon code mark with the code number e, the 12-bit binary number corresponding to the code number e is weAnd specify
Respectively corresponding to binary numbers w in sequence from the lowest order to the highest ordereAnd must satisfy formula (2):
GT·Fe＝＝e (2)
wherein the column vector G ═ 20,21,22,23,24,25,26,27,28,29,210,211)TAnd column vector
7. The method as claimed in claim 6, wherein the coding method comprises: the coding method for coding the 6 mark points of the regular hexagon coding mark comprises the following steps: according to the determined code value corresponding to the j-th bit code unit pattern on the k-th group of code unit patterns in the regular hexagon code mark with the code number e
The values of (a) are divided into the following two cases: if it is
The color of the j-th bit coding unit pattern on the kth group of coding unit patterns in the regular hexagon coding mark corresponding to the coding number e is set as the background color of the regular hexagon coding mark, and j is 1 and 2; otherwise, the color of the j-th bit coding unit pattern on the kth group of coding unit patterns in the regular hexagon coding mark corresponding to the coding number e is made to be the color of the pointing pattern;
will be located at code number eThe second angle point in the regular hexagon coding mark is marked as the second angle point in the regular hexagon coding mark with the coding number e
Wherein η is 1,2,3,4,5, 6;
therefore, the coding work of the parallelogram coding mark is completed, and the coding serial number of each angular point can realize the judgment of the position of the uniquely determined angular point on the parallelogram coding mark.
8. A regular hexagonal coding flag for use in the coding method of any one of claims 1-7, wherein: the regular hexagon coding mark comprises a pointing pattern, a coding pattern and a regular hexagon background pattern, wherein the coding pattern is composed of a plurality of coding unit patterns, and the coding pattern is in the regular hexagon background pattern.
9. A regular hexagonal coding flag according to claim 8, wherein: the regular hexagon coding mark is a regular hexagon with side length a; the coding marks in the regular hexagon coding marks comprise pointing patterns and coding patterns, the pointing patterns and the coding patterns are not overlapped and communicated, the pointing patterns are fan-shaped, the mass center of the pointing patterns and the mass center of the regular hexagon are the same point, the side length of the pointing patterns is beta, the arc length is epsilon, and all coding unit patterns are circular.
10. A regular hexagonal coding flag according to claim 8, wherein: the color of the background of the regular hexagon code mark is obviously different from the color of the pointing pattern, and the color of all the code unit patterns is the same as the color of the background of the regular hexagon code mark or the color of the pointing pattern.
11. A regular hexagonal coding flag according to claim 8, wherein: in the regular hexagon code mark, the positions and colors of all code unit patterns are determined by a coding method.
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