CN115002906B - Object positioning method, device, medium and computing equipment - Google Patents
Object positioning method, device, medium and computing equipment Download PDFInfo
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- CN115002906B CN115002906B CN202210939322.7A CN202210939322A CN115002906B CN 115002906 B CN115002906 B CN 115002906B CN 202210939322 A CN202210939322 A CN 202210939322A CN 115002906 B CN115002906 B CN 115002906B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Abstract
The embodiment of the invention provides a method, a device, a medium and a computing device for positioning an object. The method comprises the following steps: measuring a target object to obtain space coordinates of a plurality of space points of the target object; clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same; fitting the space points contained in at least one space point set according to the space coordinates of the space points to obtain at least one space plane, wherein the space planes correspond to the space point sets one by one; obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane; determining the central position corresponding to each central point together according to the space coordinates of each central point; wherein, the central position is the space position of the target object. The invention can improve the accuracy of positioning the target object.
Description
Technical Field
The embodiment of the invention relates to the technical field of positioning of objects, in particular to a method, a device, a medium and a computing device for positioning an object.
Background
As the third wave of development of the world information industry behind computers, the internet, and related industries, the development of the internet of things and related industries is receiving wide attention today. Meanwhile, the rapid improvement of the network quality and the network speed also creates favorable conditions for the rise of the industry of the Internet of things.
Currently, common positioning systems such as a video monitoring system, a level gauge monitoring system, a single radar ranging system and the like are limited by the efficiency and accuracy of sensors, computing power and algorithms, and the low frame rate caused by the slow data processing speed of such object positioning technologies causes the accuracy of measurement data obtained by an object in a dynamic real-time measurement process to be low, so that the prior art can only meet the functions of traditional object detection, auxiliary positioning and the like. Under the emerging wave of port intellectualization, mining area intellectualization and park intellectualization, when the object positioning method in the prior art measures a dynamic target detection object in unmanned operation equipment, the calculation precision is low, the accurate position of the target detection object is difficult to provide, and the accuracy of positioning the target detection object is reduced.
Disclosure of Invention
In this context, embodiments of the present invention are intended to provide a method, an apparatus, a medium, and a computing device for positioning an object.
In a first aspect of embodiments of the present invention, there is provided a method of locating an object, comprising:
measuring a target object to obtain space coordinates of a plurality of space points of the target object;
clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the type of each spatial point contained in the same spatial point set is the same;
fitting the spatial points contained in the at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane, wherein the spatial planes are in one-to-one correspondence with the spatial point sets;
obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane;
determining a central position corresponding to each central point together according to the spatial coordinates of each central point; wherein the central position is a spatial position of the target object.
In a second aspect of embodiments of the present invention, there is provided a positioning apparatus for an object, comprising:
the measuring unit is used for measuring a target object to obtain space coordinates of a plurality of space points of the target object;
the clustering unit is used for clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same;
the fitting unit is used for fitting the spatial points contained in the at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane, wherein the spatial plane corresponds to the spatial point set one by one;
the data processing unit is used for obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane;
the determining unit is used for determining the central position corresponding to each central point together according to the space coordinate of each central point; wherein the central position is a spatial position of the target object.
In a third aspect of embodiments of the present invention, there is provided a computer-readable storage medium storing a computer program enabling, when executed by a processor, the method of any one of the first aspect.
In a fourth aspect of embodiments of the present invention, there is provided a computing device comprising: a processor; a memory for storing the processor-executable instructions; the processor configured to perform the method of any of the first aspect.
According to the object positioning method, the device, the medium and the computing equipment, the target object can be measured to obtain the plurality of spatial points of the target object, the plurality of spatial points can be clustered to obtain one or more spatial point sets with the same type, and the spatial points contained in each spatial point set are fitted according to the spatial point coordinates to obtain the spatial planes respectively corresponding to each spatial point set; and calculating to obtain the central point of each space plane, and determining the central position corresponding to each central point together according to the obtained central point, wherein the central position can be determined as the space position of the target object. Therefore, by the object positioning method, a spatial point set can be obtained according to clustering of a plurality of spatial points, and the obtained spatial point set can be used for removing discrete spatial points; because the discrete spatial points may be noise points generated in the measurement process, the discrete spatial points are removed from the spatial point sets, so that each spatial plane obtained by respectively fitting each spatial point set is more accurate, the spatial position of the target object determined according to the central point of each spatial plane is more accurate, and the accuracy of positioning the target object is improved.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
fig. 1 is a schematic flowchart of a method for positioning an object according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for deleting an invalid space point according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for generating a spatial point set according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an object positioning device according to an embodiment of the present invention;
FIG. 5 schematically shows a schematic of the structure of a medium according to an embodiment of the invention;
fig. 6 schematically shows a structural diagram of a computing device according to an embodiment of the present invention.
In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
According to an embodiment of the invention, a method, a device, a medium and a computing device for positioning an object are provided.
In this document, it is to be understood that any number of elements in the figures are provided by way of illustration and not limitation, and any nomenclature is used for differentiation only and not in any limiting sense.
The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments of the invention.
Exemplary method
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for positioning an object according to an embodiment of the present invention. It should be noted that the embodiments of the present invention can be applied to any applicable scenario.
Fig. 1 shows a flow of a method for positioning an object according to an embodiment of the present invention, which includes:
step S101, measuring a target object to obtain space coordinates of a plurality of space points of the target object.
In the embodiment of the invention, a plurality of spatial points of the target object can be obtained by measuring through a preset distance measuring sensor; the spatial coordinates of the spatial point may include at least a spatial horizontal coordinate, a spatial height coordinate, and a spatial depth coordinate. The spatial coordinates of a plurality of spatial points obtained by the distance measuring sensor are more accurate, and the spatial coordinates including the spatial horizontal coordinate, the spatial height coordinate and the spatial depth coordinate have higher fineness.
In this embodiment of the present invention, the target object may be an object that needs to be located, and the target object may be a moving object or an object that is stationary. The distance measuring sensor may be a high-precision radar, a millimeter-wave radar, an infrared distance measuring sensor, a laser radar, an ultrasonic distance measuring sensor, or the like, which is not limited in the embodiments of the present invention.
In the embodiment of the invention, the target object is measured by the ranging sensor, so that a plurality of space points on the target object can be determined, and the space coordinates of each space point can be obtained. The spatial coordinate system in which the spatial coordinates are located may be constructed with the ranging sensor as an origin. The space coordinate may include a space horizontal coordinate, a space height coordinate and a space depth coordinate, that is, the space horizontal coordinate on the x-axis in the space coordinate system may represent the horizontal distance of the space point from the origin (ranging sensor) in the space coordinate system; the spatial height coordinate on the y-axis in the spatial coordinate system may represent the height of the spatial point in the spatial coordinate system with respect to the origin (ranging sensor); a spatial depth coordinate on the z-axis in the spatial coordinate system may represent the depth of a spatial point in the spatial coordinate system relative to the origin (ranging sensor).
Optionally, one or more markers may be preset on the target object, and the ranging sensor may measure the markers on the target object; further, the plurality of measured spatial points of the target object are all from the identifier of the target object.
In another embodiment of the present invention, in order to ensure the accuracy of positioning the target object, an invalid spatial point may be deleted from a plurality of spatial points according to the obtained measurement duration and each spatial point, as shown in fig. 2, after the step S101, the following steps S201 to S202 may further be included:
step S201, obtaining the measurement duration of each spatial point.
In this embodiment of the present invention, the measurement duration of any spatial point may be a duration of a process of obtaining the spatial point by measuring the target object. For example, if the ranging sensor is a laser radar, the measurement duration of any one spatial point may be: the length of time it takes for the lidar to lase at the target object, for the laser to reach the target object, and for the laser to return from the target object to the lidar.
Step S202, deleting invalid space points from the plurality of space points according to the space points and the measurement duration of the space points, so that each space point of the target object is a valid space point.
By implementing the steps S201 to S202, the measurement duration of each spatial point of the target object obtained by measurement can be obtained, and the invalid spatial point can be deleted from the plurality of spatial points according to the measurement duration and each spatial point, so that each spatial point of the target object obtained is a valid spatial point, and the accuracy of subsequent positioning of the target object is ensured.
As an optional implementation manner, in step S202, according to each spatial point and the measurement duration of each spatial point, a manner of deleting an invalid spatial point from the plurality of spatial points may specifically be:
if the measuring time length is zero, determining the space point corresponding to the measuring time length as an invalid space point;
if the measuring time length is not zero, determining the number of other spatial points contained in a preset area corresponding to each spatial point; determining the space points with the number of the other space points smaller than a preset threshold value as invalid space points;
deleting the invalid spatial points from the plurality of spatial points.
In this embodiment, the spatial point with the measurement duration of 0 may be regarded as an invalid spatial point; the measurement time is not 0, but the space points which are free from most space points can be regarded as invalid space points; the measurement time of the space point is 0, and the space point can be considered not to come from the target object, so the space point is determined to be an invalid space point; and most space points which are relatively close to the space can be regarded as space points from the target object, and space points which are free from the most space points can be regarded as space points which do not come from the target object, so that the space points can be determined as invalid space points; by the aid of the analysis mode of the invalid space points, accuracy of determining the invalid space points is improved.
In the embodiment of the present invention, it is considered that not all the spatial points measured by the ranging sensor return measurement signals to the ranging sensor, and therefore, the measurement duration of the spatial point not returning measurement signals may be set to 0, that is, the spatial point with the measurement duration of 0 may be an invalid time point.
In addition, in the case where the measurement time length is not 0, there may be a more discrete spatial point among the plurality of spatial points obtained by the measurement. Since most of the spatial points that are relatively close in spatial distance may be considered to be from spatial points on the target object, and spatial points that are free from the most of the spatial points may be considered to be not from spatial points on the target object, the more discrete spatial points may be noisy points occurring in the measurement process, which are not accurate enough compared to other spatial points, and therefore the more discrete spatial points also need to be determined as invalid spatial points.
The determination of the more discrete spatial points may specifically be: calculating the relative space distance between every two space points; traversing each space point, and determining the number of other space points contained in a preset area corresponding to each space point according to the relative space distance; if the number of other spatial points is less than the preset threshold, the spatial point may be determined as an invalid spatial point. The preset area corresponding to the space point may be a circular area with the space point as a circle center and a preset space distance as a radius, and the distance between the other space points in the preset area and the space point should be smaller than the preset space distance. And if the number of other spatial points in the preset area is too small, the spatial points in the preset area are considered to be more discrete and belong to invalid spatial points.
The formula for calculating the relative spatial distance between each two spatial points may be:
wherein, distanceMay be the relative spatial distance between two laser points; orig of orig x 、orig y And orig z The spatial horizontal coordinate, the spatial height coordinate and the spatial depth coordinate of the first spatial point can be taken as the spatial horizontal coordinate, the spatial height coordinate and the spatial depth coordinate of the first spatial point; chk (high-k) x 、chk y And chk z May be the spatial horizontal coordinate, the spatial height coordinate, and the spatial depth coordinate of the second spatial point.
And S102, clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set.
In the embodiment of the invention, the types of each spatial point contained in the same spatial point set are the same.
In another embodiment of the present invention, in order to accurately cluster the spatial points of the target object, two spatial points whose relative distance is smaller than the preset distance may be determined as spatial points of the same type, and each spatial point of the target object may be traversed to determine the type of each spatial point, and the spatial points of the same type may be added to a set of spatial points matching the type, as shown in fig. 3, then the step S102 is replaced by the following steps S301 to S303:
step S301, determining the distance between each two space points according to the space coordinates of the space points.
Step S302, if the distance is smaller than a preset distance, determining that the types of the two space points corresponding to the distance are the same.
Step S303, adding the spatial points with the same type to the spatial point set matched with the type.
In the embodiment of the present invention, the number of the spatial point sets is at least one.
By implementing the steps S301 to S303, two spatial points whose relative distance is smaller than the preset distance may be determined as spatial points of the same type, each spatial point of the target object may be traversed, the type of each spatial point may be determined, and the spatial points of the same type may be added to the set of spatial points matching the type, so that each spatial point of the target object is accurately clustered.
In the embodiment of the present invention, the determination of the distance between each two spatial points may be performed in the same manner as the calculation of the relative spatial distance between each two spatial points. The preset distance may be the same as the preset spatial distance described above.
Step S103, fitting the spatial points contained in the at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane.
In the embodiment of the present invention, the spatial plane corresponds to the spatial point sets one to one.
In the embodiment of the present invention, when the number of the spatial point sets is one, the spatial points included in the spatial point set may be directly fitted according to the spatial coordinates of the spatial points, so as to obtain the spatial plane corresponding to the spatial point set.
Optionally, when the number of the spatial point sets is multiple, in step S103, according to the spatial coordinates of the spatial points, fitting the spatial points included in the at least one spatial point set, and obtaining the at least one spatial plane may specifically be:
determining the number of spatial points contained in at least one set of spatial points;
selecting a preset number of target space point sets from at least one space point set; wherein the spatial point sets other than the target spatial point set are non-target spatial point sets; the number of the space points contained in any one target space point set is greater than that of the space points contained in the non-target space point set;
and fitting the target space points according to the space coordinates of the target space points contained in the target space point set to obtain at least one space plane, wherein the space planes correspond to the target space point set one by one.
When the number of the spatial point sets is multiple, selecting a preset number of target spatial point sets with the largest number of spatial points from the multiple spatial point sets, namely, the number of the spatial points contained in the target spatial point sets is larger than the number of the spatial points contained in the non-target spatial point sets; by selecting the target space point set with the largest number of space points, the space plane obtained by fitting can be ensured to be more matched with the actual position of the target object.
In the embodiment of the present invention, the preset number may be less than or equal to the number of the spatial point sets, specifically:
(1) If the preset number is the same as the number of the spatial point sets, all the spatial point sets may be determined as the target spatial point set. For example, if the number of spatial point sets is 2 and the preset number is 2, all spatial point sets may be determined as the target spatial point set.
(2) If the preset number is smaller than the number of the spatial point sets, a preset number of target spatial point sets can be selected from the plurality of spatial point sets. For example, if the number of the spatial point sets is 5, the preset number is 2; the number of spatial points included in each spatial point set may be determined, the number of spatial points included in the spatial point set (1) may be 20, the number of spatial points included in the spatial point set (2) may be 55, the number of spatial points included in the spatial point set (3) may be 48, the number of spatial points included in the spatial point set (4) may be 76, and the number of spatial points included in the spatial point set (5) may be 36; the 5 spatial point sets may be ordered in descending order of the number of spatial points: the spatial point set (4) > the spatial point set (2) > the spatial point set (3) > the spatial point set (5) > the spatial point set (1), and therefore the spatial point set (4) and the spatial point set (2) can be selected as 2 target spatial point sets. It can be seen that the number of spatial points respectively contained in the spatial point set (4) and the spatial point set (2) is greater than the number of spatial points respectively contained in the spatial point set (3), the spatial point set (5) and the spatial point set (1).
In the embodiment of the present invention, the fitting method for the target space point may be: and calculating the coefficient of a plane equation corresponding to the space plane through a least square method, and fitting to obtain the space plane. And a set of target spatial points can be fitted to obtain a spatial plane.
Specifically, the plane equation z may be:
wherein, a 0 、a 1 And a 2 Are all coefficients of a plane equation z;
coefficient a 2 The calculation formula of (c) may be:
where n may be the number of spatial points included in the currently fitted target set of spatial points.
Coefficient a 1 The calculation formula of (c) may be:
coefficient a 0 The formula of (c) may be:
and step S104, obtaining the space coordinate of the central point of each space plane according to each space point set and each space plane.
As an optional implementation manner, in step S104, the manner of obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane may specifically be:
mapping the space coordinates of each target space point to each space plane respectively to obtain mapping coordinates of each target space point in each space plane respectively; and the space plane corresponds to the target space point set where the target space points are located one by one.
And calculating to obtain the spatial coordinates of the central point of each spatial plane according to the mapping coordinates.
The implementation of the implementation mode can map the space coordinate corresponding to the target space point to a space plane, and calculate the space coordinate of the central point of the space plane according to the mapping coordinate on the space plane; the spatial coordinate of the central point obtained by directly calculating the mapping coordinate on the spatial plane is more accurate compared with the central coordinate of the central point on the spatial plane obtained by calculating the spatial coordinate of the target spatial point.
And step S105, determining the central position corresponding to each central point together according to the spatial coordinates of each central point.
In the embodiment of the present invention, the central position is a spatial position of the target object. Because the number of the spatial point sets can be one or more, if the number of the spatial point sets is one, the central point of the obtained spatial plane can be directly determined as the spatial position of the target object; if the number of the spatial point sets is multiple, the central position corresponding to each central point together needs to be determined according to the spatial coordinates of each central point.
According to the spatial coordinates of the central points, the mode of determining the common corresponding central position of the central points may be as follows:
where m may be the number of center points. (x, y, z) may represent spatial coordinates of center positions to which the respective center points commonly correspond, (x) 1 ,y 1 ,z 1 ) Can represent the spatial coordinates of the first center point, (x) m ,y m ,z m ) The spatial coordinates of the mth center point may be represented.
According to the method, the spatial point set can be obtained according to the clustering of the plurality of spatial points, the obtained spatial point set can be eliminated as discrete spatial points, so that the spatial planes corresponding to the spatial point sets obtained by fitting the spatial point set are more accurate, the spatial position of the target object determined according to the central point of each spatial plane is more accurate, and the accuracy of positioning the target object is improved. In addition, the invention can also make the space coordinates of a plurality of space points obtained by the distance measuring sensor more accurate, and the fineness of the space coordinates including the space horizontal coordinate, the space height coordinate and the space depth coordinate is higher. In addition, the method can also ensure the accuracy of subsequent target object positioning. In addition, the method and the device can also improve the accuracy of determining the invalid space points. In addition, the invention can accurately cluster each space point of the target object. In addition, the method can also ensure that the space plane obtained by fitting is more matched with the actual position of the target object. In addition, the invention can also directly calculate the space coordinate of the central point obtained by the mapping coordinate on the space plane, and is more accurate relative to the central coordinate of the central point on the space plane obtained by calculating the space coordinate of the target space point.
Exemplary devices
Having described the method of an exemplary embodiment of the present invention, next, a positioning apparatus of an object of an exemplary embodiment of the present invention will be described with reference to fig. 4, the apparatus including:
a measuring unit 401, configured to measure a target object, to obtain spatial coordinates of a plurality of spatial points of the target object;
in the embodiment of the invention, a plurality of space points of a target object are obtained by measuring through a preset distance measuring sensor; the space coordinates of the space points at least comprise space horizontal coordinates, space height coordinates and space depth coordinates. The spatial coordinates of a plurality of spatial points obtained by the distance measuring sensor are more accurate, and the spatial coordinates including the spatial horizontal coordinate, the spatial height coordinate and the spatial depth coordinate have higher fineness.
A clustering unit 402, configured to cluster the multiple spatial points according to the distance between every two spatial points obtained by the measurement unit 401, so as to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same;
a fitting unit 403, configured to fit, according to the spatial coordinates of the spatial points obtained by the measurement unit 401, the spatial points included in the at least one spatial point set obtained by the clustering unit 402, so as to obtain at least one spatial plane, where the spatial planes correspond to the spatial point sets one to one;
a data processing unit 404, configured to obtain a spatial coordinate of a central point of each spatial plane according to each spatial point set obtained by the clustering unit 402 and each spatial plane obtained by the fitting unit 403;
a determining unit 405, configured to determine, according to the spatial coordinates of the central points obtained by the data processing unit 404, a central position corresponding to each of the central points; wherein the central position is a spatial position of the target object.
As an optional implementation, the measurement unit 401 may further include:
after the space coordinates of a plurality of space points of the target object are obtained, the measuring duration of each space point is obtained, and the measuring duration of any space point is the duration of the process of measuring the target object to obtain the space point;
and deleting invalid spatial points from the plurality of spatial points according to the spatial points and the measurement duration of the spatial points, so that each spatial point of the target object is a valid spatial point.
By implementing the implementation mode, the measurement duration of each space point of the target object can be obtained through measurement, and the invalid space point can be deleted from the plurality of space points according to the measurement duration and each space point, so that each space point of the obtained target object is a valid space point, and the accuracy of subsequent positioning of the target object is ensured.
As an optional implementation manner, the manner of deleting the invalid spatial point from the plurality of spatial points by the measurement unit 401 according to each spatial point and the measurement duration of each spatial point may specifically be:
if the measuring time length is zero, determining the space point corresponding to the measuring time length as an invalid space point;
if the measuring time length is not zero, determining the number of other spatial points contained in a preset area corresponding to each spatial point; determining the space points with the number of the other space points smaller than a preset threshold value as invalid space points;
deleting the invalid spatial points from the plurality of spatial points.
In this embodiment, the spatial point with the measurement duration of 0 may be regarded as an invalid spatial point; the measurement time is not 0, but the space points which are free from most space points can be regarded as invalid space points; the measurement time of the space point is 0, and the space point can be considered not to come from the target object, so the space point is determined to be an invalid space point; and most space points which are relatively close to the space can be regarded as space points from the target object, and space points which are free from the most space points can be regarded as space points which do not come from the target object, so that the space points can be determined as invalid space points; by the aid of the analysis mode of the invalid space points, accuracy of determining the invalid space points is improved.
As an optional implementation manner, the clustering unit 402 clusters the plurality of spatial points according to the distance between each two spatial points, and a manner of obtaining at least one spatial point set may specifically be:
determining the distance between each two space points according to the space coordinates of the space points;
if the distance is smaller than a preset distance, determining that the types of two space points corresponding to the distance are the same;
adding spatial points with the same type to a spatial point set matched with the type; the number of the spatial point sets is at least one.
By implementing the implementation mode, two spatial points with relative distances smaller than the preset distance can be determined as spatial points with the same type, each spatial point of the target object can be traversed, the type of each spatial point can be determined, and the spatial points with the same type can be added to a spatial point set matched with the type, so that each spatial point of the target object can be accurately clustered.
As an optional implementation manner, when the number of the spatial point sets is multiple, the fitting unit 403 fits the spatial points included in the at least one spatial point set according to the spatial coordinates of the spatial points, and a manner of obtaining the at least one spatial plane may specifically be:
determining the number of spatial points contained in at least one set of spatial points;
selecting a preset number of target space point sets from at least one space point set; wherein the spatial point sets other than the target spatial point set are non-target spatial point sets; the number of the space points contained in any one target space point set is larger than that of the space points contained in the non-target space point set;
and fitting the target space points according to the space coordinates of the target space points contained in the target space point set to obtain at least one space plane, wherein the space planes correspond to the target space point set one by one.
When the number of the spatial point sets is multiple, selecting a target spatial point set with a preset number of maximum spatial points from the multiple spatial point sets, that is, the number of the spatial points included in the target spatial point set is greater than the number of the spatial points included in the non-target spatial point set; by selecting the target space point set with the largest number of space points, the space plane obtained by fitting can be ensured to be more matched with the actual position of the target object.
As an optional implementation manner, the manner of obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane by the data processing unit 404 may specifically be:
mapping the space coordinates of each target space point to each space plane respectively to obtain mapping coordinates of each target space point in each space plane respectively; the space plane corresponds to a target space point set where the target space points are located one by one;
and calculating to obtain the spatial coordinates of the central point of each spatial plane according to the mapping coordinates.
By implementing the implementation mode, the space coordinate corresponding to the target space point can be mapped to the space plane, and the space coordinate of the central point of the space plane is obtained by calculation according to the mapping coordinate on the space plane; the spatial coordinate of the central point obtained by directly calculating the mapping coordinate on the spatial plane is more accurate compared with the central coordinate of the central point on the spatial plane obtained by calculating the spatial coordinate of the target spatial point.
Exemplary Medium
Having described the method and apparatus of the exemplary embodiment of the present invention, next, referring to fig. 5, a computer-readable storage medium of the exemplary embodiment of the present invention is described, referring to fig. 5, which illustrates a computer-readable storage medium, which is an optical disc 50, on which a computer program (i.e., a program product) is stored, wherein the computer program, when executed by a processor, implements the steps described in the above-mentioned method embodiments, for example, the target object is measured to obtain spatial coordinates of a plurality of spatial points of the target object; clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same; fitting the spatial points contained in at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane, wherein the spatial plane corresponds to the spatial point set one by one; obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane; determining the central position corresponding to each central point together according to the space coordinates of each central point; wherein, the central position is the space position of the target object; the specific implementation of each step is not repeated here.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memories (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical and magnetic storage media, which are not described in detail herein.
Exemplary computing device
Having described the method, medium, and apparatus of exemplary embodiments of the present invention, a computing device for location of an object of exemplary embodiments of the present invention is next described with reference to FIG. 6.
FIG. 6 illustrates a block diagram of an exemplary computing device 60 suitable for use in implementing embodiments of the present invention, the computing device 60 may be a computer system or server. The computing device 60 shown in FIG. 6 is only one example and should not be taken to limit the scope of use and functionality of embodiments of the present invention.
As shown in fig. 6, components of computing device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that couples various system components including the system memory 602 and the processing unit 601.
The system memory 602 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 6021 and/or cache memory 6022. Computing device 60 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, ROM6023 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, but typically referred to as a "hard disk drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 603 by one or more data media interfaces. At least one program product may be included in system memory 602 with a set (e.g., at least one) of program modules configured to perform the functions of embodiments of the present invention.
A program/utility 6025 having a set (at least one) of program modules 6024 may be stored, for example, in the system memory 602, and such program modules 6024 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment. Program modules 6024 generally carry out the functions and/or methodologies of the embodiments of the invention as described herein.
The processing unit 601 executes various functional applications and data processing by running a program stored in the system memory 602, for example, measurement of a target object, obtaining spatial coordinates of a plurality of spatial points of the target object; clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same; fitting the space points contained in at least one space point set according to the space coordinates of the space points to obtain at least one space plane, wherein the space planes correspond to the space point sets one by one; obtaining the space coordinates of the central points of the space planes according to the space point sets and the space planes; determining the central position corresponding to each central point together according to the space coordinates of each central point; wherein the central position is the spatial position of the target object. The specific implementation of each step is not repeated here. It should be noted that although in the above detailed description several units/modules or sub-units/sub-modules of the positioning device of the object are mentioned, such division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.
In the description of the present invention, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Moreover, while the operations of the method of the invention are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
Claims (8)
1. A method of locating an object, comprising:
measuring a target object to obtain space coordinates of a plurality of space points of the target object; the target object is provided with at least one marker in advance, and a plurality of space points of the target object are positioned on the marker of the target object;
clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same;
fitting the spatial points contained in the at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane, wherein the spatial plane corresponds to the spatial point set one by one;
obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane;
determining a central position corresponding to each central point together according to the spatial coordinates of each central point; wherein the central position is a spatial position of the target object;
wherein after obtaining the spatial coordinates of the plurality of spatial points of the target object, the method further comprises:
acquiring the measurement duration of each space point, wherein the measurement duration of any space point is the duration of the process of measuring the target object to obtain the space point;
deleting invalid space points from the plurality of space points according to the space points and the measurement duration of the space points, so that each space point of the target object is a valid space point;
deleting invalid spatial points from the plurality of spatial points according to the spatial points and the measurement duration of the spatial points, wherein the deleting of invalid spatial points from the plurality of spatial points comprises:
if the measuring time length is zero, determining the space point corresponding to the measuring time length as an invalid space point;
if the measuring time length is not zero, determining the number of other spatial points contained in a preset area corresponding to each spatial point; determining the space points with the number of the other space points smaller than a preset threshold value as invalid space points;
deleting the invalid spatial points from the plurality of spatial points.
2. The method for locating an object according to claim 1, wherein the clustering the plurality of spatial points according to the distance between each two spatial points to obtain at least one spatial point set comprises:
determining the distance between each two space points according to the space coordinates of the space points;
if the distance is smaller than a preset distance, determining that the types of two space points corresponding to the distance are the same;
adding spatial points with the same type to a spatial point set matched with the type; the number of the spatial point sets is at least one.
3. The method according to claim 2, wherein when the number of the spatial point sets is multiple, the fitting the spatial points included in the at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane includes:
determining the number of spatial points contained in at least one set of spatial points;
selecting a preset number of target space point sets from at least one space point set; wherein the spatial point sets other than the target spatial point set are non-target spatial point sets; the number of the space points contained in any one target space point set is greater than that of the space points contained in the non-target space point set;
and fitting the target space points according to the space coordinates of the target space points contained in the target space point set to obtain at least one space plane, wherein the space planes correspond to the target space point set one by one.
4. The method for locating an object according to claim 3, wherein the obtaining the spatial coordinates of the central point of each spatial plane according to each of the sets of spatial points and each of the spatial planes comprises:
mapping the space coordinates of each target space point to each space plane respectively to obtain mapping coordinates of each target space point in each space plane respectively; the space plane corresponds to a target space point set where the target space points are located one by one;
and calculating to obtain the spatial coordinates of the central point of each spatial plane according to the mapping coordinates.
5. The method for positioning an object according to any one of claims 1~4, wherein a plurality of spatial points of the target object are measured by a preset distance measuring sensor; the space coordinates of the space points at least comprise space horizontal coordinates, space height coordinates and space depth coordinates.
6. A positioning device for an object, comprising:
the measuring unit is used for measuring a target object to obtain space coordinates of a plurality of space points of the target object; the target object is provided with at least one marker in advance, and a plurality of space points of the target object are positioned on the marker of the target object;
the clustering unit is used for clustering the plurality of spatial points according to the distance between every two spatial points to obtain at least one spatial point set; the types of all the spatial points contained in the same spatial point set are the same;
the fitting unit is used for fitting the spatial points contained in the at least one spatial point set according to the spatial coordinates of the spatial points to obtain at least one spatial plane, wherein the spatial plane corresponds to the spatial point set one by one;
the data processing unit is used for obtaining the spatial coordinates of the central point of each spatial plane according to each spatial point set and each spatial plane;
the determining unit is used for determining the central position corresponding to each central point together according to the space coordinate of each central point; wherein the central position is a spatial position of the target object;
the measuring unit is further configured to obtain a measurement duration of each space point after obtaining the space coordinates of the plurality of space points of the target object, where the measurement duration of any space point is a duration of a process of obtaining the space point by measuring the target object;
deleting invalid space points from the plurality of space points according to the space points and the measurement duration of the space points, so that each space point of the target object is a valid space point;
the method for deleting the invalid spatial points from the plurality of spatial points by the measuring unit according to the spatial points and the measuring duration of the spatial points specifically comprises the following steps:
if the measuring time length is zero, determining the space point corresponding to the measuring time length as an invalid space point;
if the measuring time length is not zero, determining the number of other spatial points contained in a preset area corresponding to each spatial point; determining the space points with the number of the other space points smaller than a preset threshold value as invalid space points;
deleting the invalid spatial point from the plurality of spatial points.
7. A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of locating an object according to any one of claims 1-5.
8. A computing device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a method of positioning an object according to any of claims 1-5.
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