CN117218191A - Visual positioning device, positioning method and readable storage medium - Google Patents
Visual positioning device, positioning method and readable storage medium Download PDFInfo
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Abstract
The application relates to the field of visual positioning, in particular to a visual positioning device, a positioning method and a readable storage medium, wherein the visual positioning device comprises a first beacon plane, and the first beacon plane comprises a first visual two-dimensional code and a first checkerboard area; the second beacon plane comprises a second visual two-dimensional code and a second checkerboard area; the reference plane is provided with a first beacon plane and a second beacon plane, the first beacon plane and the second beacon plane are not in the same plane with the reference plane, the first beacon plane and the second beacon plane are not in the same plane, the reference plane faces towards the camera to be corrected to assist the camera to perform visual positioning according to the first beacon plane and the second beacon plane, and through beacon angular points of different planes, the depth measurement precision and the rotation detection precision of the visual positioning device are improved, so that the resolution of a shot object in an image is improved, and the visual positioning precision of the object is improved.
Description
Technical Field
The present application relates to the field of visual positioning, and in particular, to a visual positioning device, a positioning method, and a readable storage medium.
Background
In robotic vision applications, cameras are typically used to detect dimensions, vision calibration plates are used to perform camera parameters of the machine vision system, and to improve the performance of image segmentation and object recognition. In the related art, the positioning requires a visual beacon for positioning, which is used for determining the conversion positional relationship between the robot camera and the beacon. Generally, the visual beacons of AprilTag, ARTag, STag, arco and the like are adopted, but the marks are generally plane, so that the calibration precision is lower, and more accurate position estimation is performed by increasing the number of calibration plates to improve the calibration precision. However, the technology can cause the visual field of the positioning device to occupy a larger area, the calibration plate can be calibrated only by taking a plurality of photos at different positions during calibration, and when the focal length of the lens is larger or the resolution of the camera is insufficient, the calibration precision error caused by the focal length of the lens is unacceptable for the mechanical arm.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the embodiment of the application provides a visual positioning device, a positioning method and a readable storage medium, which are beneficial to solving the problems that the visual field of the visual positioning device is large in proportion and a plurality of pictures need to be shot for calibration.
In a first aspect, an embodiment of the present application provides a visual positioning apparatus, including:
the first beacon plane comprises a first visual two-dimensional code and a first checkerboard area;
the second beacon plane comprises a second visual two-dimensional code and a second checkerboard area;
the system comprises a reference plane, wherein the reference plane is provided with a first beacon plane and a second beacon plane, the first beacon plane and the second beacon plane are not in the same plane as the reference plane, the first beacon plane and the second beacon plane are not in the same plane, and the reference plane faces towards a camera to be corrected to assist the camera to perform visual positioning according to the first beacon plane and the second beacon plane.
The technical scheme of the first aspect of the application has at least one of the following advantages or beneficial effects: through setting up first beacon plane and second beacon plane on the reference plane, and first beacon plane and second beacon plane are not in the coplanar, reference plane and first beacon plane, second beacon plane are also not in the coplanar, a three-dimensional vision positioner has been provided, the true reliability of vision positioner has been improved, simultaneously through setting up the reference plane orientation and waiting the camera of correction in order to assist the camera to carry out vision positioning according to first beacon plane and second beacon plane, be favorable to improving vision positioner's degree of depth measurement precision and rotation detection precision, make the resolution ratio of shot object in the image improve, thereby the vision positioning precision of object has been improved. In addition, only one photo needs to be shot for calibration, the visual field ratio of the positioning device is reduced, meanwhile, the resolution of the shot image is improved, and the accuracy of visual positioning is further improved.
Further, a visual relief groove is formed between the first beacon plane and the second beacon plane, and the visual relief groove is used for avoiding the first beacon plane from shielding the second beacon plane under the condition that a camera is not perpendicular to the reference plane.
Further, still include locating pin mount pad, the locating pin mount pad is used for installing the locating pin, the vision is returned the groove and is still included the locating pin mounting hole, the locating pin mount pad with the locating pin mounting hole mutually support.
In a second aspect, an embodiment of the present application provides a visual positioning method, which is applied to a camera, where the camera is used for shooting towards the visual positioning device according to the technical solution of the first aspect; the visual positioning method comprises the following steps:
shooting the visual positioning device through the camera to obtain a shooting image;
on the shot image, a first visual two-dimensional code beacon in a first beacon plane is determined according to a first beacon identifier, and a second visual two-dimensional code beacon in a second beacon plane is determined according to a second beacon identifier;
estimating the pose of the reference plane relative to the camera according to the position pose of the first visual two-dimensional code beacon and the position pose of the second visual two-dimensional code beacon;
performing rotation transformation on a first region of interest and a second region of interest on the photographed image according to the gesture information of the two-dimensional code, wherein the first region of interest corresponds to the first checkerboard region, and the second region of interest corresponds to the second checkerboard region;
identifying a first target corner corresponding to the first beacon plane in the first region of interest, and identifying a second target corner corresponding to the second beacon plane in the second region of interest;
and obtaining the pose from the first beacon plane to the camera according to the first target angular point, and obtaining the pose from the second beacon plane to the camera according to the second target angular point.
The technical scheme of the second aspect of the application has at least one of the following advantages or beneficial effects: the method comprises the steps of determining a first visual two-dimensional code beacon in a first beacon plane according to a first beacon representation and a second visual two-dimensional code beacon in a second beacon plane according to a second beacon identification on a shooting image shot by a camera, accurately positioning a visual positioning device to calibrate, and estimating the pose of a reference plane relative to the camera according to the position pose of the first visual two-dimensional code and the position pose of the second visual two-dimensional code. And determining an interested region on the shot image through the gesture information of the two-dimension code, identifying a corresponding target angular point in the interested region, and obtaining the pose from the beacon plane to the camera according to the target angular point, thereby realizing position calibration. The calibration method improves the resolution of the shot object in the image, thereby improving the visual positioning accuracy of the object. In addition, only one image of the visual positioning device is shot by the camera for calibration, so that the visual field occupation ratio of the positioning device is reduced, and the accuracy of visual positioning is further improved.
Further, the determining the first visual two-dimensional code beacon in the first beacon plane according to the first beacon identifier includes:
acquiring the pose from the camera coordinates to the first beacon plane coordinates and a rotation matrix from the first checkerboard area to the camera coordinates;
creating a coordinate system according to the pose from the camera coordinate to the first beacon plane coordinate and the rotation matrix from the first checkerboard area to the camera coordinate;
acquiring the relative coordinates from the first checkerboard area to the reference plane under the coordinates of the first beacon plane;
obtaining the coordinates of the first beacon mark to the camera according to the relative coordinates from the first checkerboard area to the reference plane under the coordinates of the first beacon plane;
and determining a corresponding first visual two-dimensional code beacon according to the coordinates from the first beacon identifier to the camera.
Further, after estimating the pose of the reference plane relative to the camera according to the position pose of the first visual two-dimensional code beacon and the position pose of the second visual two-dimensional code beacon, the method further includes:
determining a dividing line according to the gesture information of the two-dimensional code;
and determining a first region of interest of the first beacon plane and a second region of interest of the second beacon plane according to the dividing line.
Further, after the determining the first region of interest of the first beacon plane and the second region of interest of the second beacon plane according to the split line, the method further includes:
respectively utilizing rectangular frames with a first preset size and a second preset size to perform rotary projection transformation to obtain a first inclined rectangular frame and a second inclined rectangular frame;
identifying a first checkerboard region on the first beacon plane in the captured image as a first region of interest using the first sloped rectangular frame;
and identifying a second checkerboard area on the second beacon plane in the photographed image as a second region of interest by using the second inclined rectangular frame.
Further, identifying, in the first region of interest, a first target corner corresponding to a first beacon plane, including:
acquiring a displacement mark of an ith corner of a first checkerboard area relative to the center of the first beacon plane;
and determining a first target corner corresponding to the displacement mark in the first beacon plane.
Further, the determining the dividing line according to the gesture information of the two-dimensional code includes:
determining a path with equal distance from the first visual two-dimensional code to the midpoint coordinate and equal distance from the second visual two-dimensional code to the midpoint coordinate;
determining the path as gesture information of the two-dimensional code;
and determining a dividing line according to the gesture information of the two-dimensional code.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for performing the visual positioning method according to any one of the technical solutions of the second aspect.
Drawings
Fig. 1 is a schematic structural diagram of a visual positioning device according to an embodiment of the present application;
FIG. 2 is a schematic view of another visual positioning device according to an embodiment of the present application;
FIG. 3 is a schematic view of another visual positioning device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a positioning pin mounting seat according to an embodiment of the present application;
FIG. 5 is a diagram of a visual positioning method according to an embodiment of the present application;
FIG. 6 is a flowchart of the steps of S200 in FIG. 5;
FIG. 7 is another visual positioning method provided by an embodiment of the present application;
FIG. 8 is another visual positioning method provided by an embodiment of the present application;
FIG. 9 is a flowchart of the steps of S500 in FIG. 5;
FIG. 10 is a flowchart of the step of S310 in FIG. 7;
fig. 11 is a schematic structural diagram of a controller according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In the description of the present application, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In robotic vision applications, cameras are typically used to detect dimensions, vision calibration plates are used to perform camera parameters of the machine vision system, and to improve the performance of image segmentation and object recognition. In the related art, the positioning requires a visual beacon for positioning, which is used for determining the conversion positional relationship between the robot camera and the beacon. Generally, the visual beacons of AprilTag, ARTag, STag, arco and the like are adopted, but the marks are generally plane, so that the calibration precision is lower, and more accurate position estimation is performed by increasing the number of calibration plates to improve the calibration precision. However, the technology can cause the visual field of the positioning device to occupy a larger area, the calibration plate can be calibrated only by taking a plurality of photos at different positions during calibration, and when the focal length of the lens is larger or the resolution of the camera is insufficient, the calibration precision error caused by the focal length of the lens is unacceptable for the mechanical arm.
Therefore, the embodiment of the application provides a visual positioning device, a positioning method and a readable storage medium, which are beneficial to solving the problems that the visual field of the visual positioning device is large in proportion and a plurality of pictures need to be shot for calibration. In addition, only one photo needs to be shot for calibration, the visual field ratio of the positioning device is reduced, meanwhile, the resolution of the shot image is improved, and the accuracy of visual positioning is further improved.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a visual positioning device 1000 according to an embodiment of the present application, including a first beacon plane 100, a second beacon plane 200, and a reference plane 300, where the first beacon plane 100 includes a first visual two-dimensional code 110 and a first checkerboard area 120; the second beacon plane 200 includes a second visual two-dimensional code 210 and a second checkerboard area 220; the reference plane 300 is provided with a first beacon plane 100 and a second beacon plane 200, and the first beacon plane 100 and the second beacon plane 200 are not in the same plane as the reference plane 300, and the first beacon plane 100 and the second beacon plane 200 are not in the same plane, and the reference plane 300 faces a camera (not shown in the figure) to be corrected so as to assist the camera to perform visual positioning according to the first beacon plane 100 and the second beacon plane 200.
By arranging the first beacon plane 100 and the second beacon plane 200 on the reference plane 300, wherein the first beacon plane 100 and the second beacon plane 200 are not in the same plane, and the reference plane 300 and the first beacon plane 100 and the second beacon plane 200 are not in the same plane, the three-dimensional visual positioning device 1000 is provided, the true reliability of the visual positioning device 1000 is improved, and meanwhile, the reference plane 300 is arranged to face a camera (not shown in the figure) to be corrected to assist the camera to perform visual positioning according to the first beacon plane 100 and the second beacon plane 200, thereby being beneficial to improving the depth measurement precision and rotation detection precision of the visual positioning device 1000, improving the resolution of a shot object in an image and improving the visual positioning precision of the object. In addition, only one photo needs to be shot for calibration, the visual field ratio of the positioning device is reduced, meanwhile, the resolution of the shot image is improved, and the accuracy of visual positioning is further improved.
It should be noted that, in the embodiment of the present application, the first beacon plane 100 and the reference plane 300 are not on the same plane, and the first beacon plane 100 and the reference plane 300 directly form a first included angle, where the first included angle is smaller than 20 °.
It should be noted that, in the embodiment of the present application, the second beacon plane 200 and the reference plane 300 are not on the same plane, and the second beacon plane 200 and the reference plane 300 directly form a second included angle, where the second included angle is smaller than 20 °
It should be noted that, in the embodiment of the present application, by setting the first included angle and the second included angle so that the reference plane 300, the first beacon plane 100, and the second beacon plane 200 are not in the same plane, a three-dimensional visual positioning device 1000 is provided, so that the authenticity of visual positioning is improved.
In the embodiment of the application, the redundancy of data is increased by setting the first visual two-dimensional code and the second visual two-dimensional code, so that the second visual two-dimensional code can be identified under the condition that the identification of the first visual two-dimensional code fails, and the accuracy of the visual positioning method is improved.
Referring to fig. 3 and fig. 4, fig. 3 is a schematic structural diagram of another visual positioning device 1000 according to an embodiment of the present application, and fig. 4 is a schematic structural diagram of a positioning pin mounting seat 500 according to an embodiment of the present application; a visual relief groove 400 is provided between the first beacon plane 100 and the second beacon plane 200, the visual relief groove 400 being used to avoid the first beacon plane 100 from obscuring the second beacon plane 200 and to avoid the second beacon plane 200 from obscuring the first beacon plane 100 in case the camera is not perpendicular to the reference plane 300. Meanwhile, the visual positioning device further comprises a positioning pin mounting seat 500, the positioning pin mounting seat 500 is used for mounting a positioning pin 510, the visual relief groove 400 further comprises a positioning pin mounting hole 410, and the positioning pin mounting seat 500 and the positioning pin mounting hole 410 are matched with each other.
By arranging the visual relief groove 400 between the first beacon plane 100 and the second beacon plane 200, the visual relief groove 400 prevents the first beacon plane 100 from shielding the second beacon plane 200 under the condition that the camera is not perpendicular to the reference plane 300, so that the respective calibration of the first beacon plane 200 and the second beacon plane 200 is not interfered with each other, the integrity of the visual positioning device 1000 is ensured, and the positioning accuracy is improved. Meanwhile, the positioning pin 510 is installed by arranging the positioning pin installation seat 500, and the positioning pin installation seat 500 and the positioning pin installation hole 410 are matched with each other, so that the calibration precision of the visual positioning device 1000 is further improved.
Referring to fig. 5, fig. 5 is a view positioning method provided by an embodiment of the present application, applied to a camera, where the camera is used for shooting towards a view positioning device; the visual positioning method includes steps S100 to S600, specifically,
s100: shooting the visual positioning device through a camera to obtain a shooting image;
s200: on the shot image, determining a first visual two-dimensional code beacon in a first beacon plane according to a first beacon identifier, and determining a second visual two-dimensional code beacon in a second beacon plane according to a second beacon identifier;
s300: estimating the pose of the reference plane relative to the camera according to the position pose of the first visual two-dimensional code beacon and the position pose of the second visual two-dimensional code beacon;
s400: performing rotation transformation on a first region of interest and a second region of interest on a shot image according to gesture information of the two-dimensional code, wherein the first region of interest corresponds to the first checkerboard region, and the second region of interest corresponds to the second checkerboard region;
s500: identifying a first target corner corresponding to a first beacon plane in a first region of interest, and identifying a second target corner corresponding to a second beacon plane in a second region of interest;
s600: and obtaining the pose from the first beacon plane to the camera according to the first target angular point, and obtaining the pose from the second beacon plane to the camera according to the second target angular point.
The method comprises the steps of determining a first visual two-dimensional code beacon in a first beacon plane according to a first beacon identifier and determining a second visual two-dimensional code beacon in a second beacon plane according to a second beacon identifier on a shooting image shot by a camera, accurately positioning a visual positioning device to calibrate, and estimating the pose of a reference plane relative to the camera according to the position pose of the first visual two-dimensional code and the position pose of the second visual two-dimensional code. And determining an interested region on the shot image through the gesture information of the two-dimension code, identifying a corresponding target angular point in the interested region, and obtaining the pose from the beacon plane to the camera according to the target angular point, thereby realizing position calibration. The calibration method improves the resolution of the shot object in the image, thereby improving the visual positioning accuracy of the object. In addition, only one image of the visual positioning device is shot by the camera for calibration, so that the visual field occupation ratio of the positioning device is reduced, the resolution of the shot image is improved, and the accuracy of visual positioning is further improved.
It should be noted that, the first beacon identifier and the second beacon identifier are different, so as to effectively distinguish the first beacon plane and the second beacon plane; and determining the first visual two-dimensional code according to the first beacon mark so as to determine the position as a first beacon plane, and determining the second visual two-dimensional code according to the second beacon mark so as to determine the position as a second beacon plane, thereby improving the accuracy of the visual positioning method.
It should be noted that, after the first region of interest identifies the first target corner corresponding to the first beacon plane and the second region of interest identifies the second target corner corresponding to the second beacon plane, the pose of the first target corner and the second target corner relative to the camera is solved by the PNP algorithm.
Referring to fig. 6, fig. 6 is a flowchart of steps of S200 in fig. 5, including steps S210 to S250, specifically,
s210: acquiring a pose from a camera coordinate to a first beacon plane coordinate and a rotation matrix from a first checkerboard area to the camera coordinate;
s220: creating a coordinate system according to the pose from the camera coordinate to the first beacon plane coordinate and the rotation matrix from the first checkerboard area to the camera coordinate;
s230: acquiring the relative coordinates from the first checkerboard area to the reference plane under the coordinates of the first beacon plane;
s240: obtaining the coordinates of the first beacon mark to the camera according to the relative coordinates from the first checkerboard area to the reference plane under the coordinates of the first beacon plane;
s250: and determining a corresponding first visual two-dimensional code beacon according to the coordinates from the first beacon identifier to the camera.
In one embodiment, a coordinate system is created from the pose of the camera coordinates to the first beacon plane coordinates and the rotation matrix of the first tessellated region to the camera coordinates, the coordinate system being obtained by the following formula
board R cam ＝ board R left left R cam ，
Wherein, board R cam refers to the pose from the camera coordinates to the first beacon plane coordinates, left R cam refers to a rotation matrix from the first checkerboard region to the camera coordinates.
Acquiring the relative coordinates from the first checkerboard area to the reference plane under the first beacon plane coordinates, and acquiring the coordinates from the first beacon mark to the camera according to the relative coordinates from the first checkerboard area to the reference plane under the first beacon plane coordinates; and determining a corresponding first visual two-dimensional code beacon according to the coordinates of the first beacon identification to the camera, and determining the current position as a first beacon plane according to the first visual two-dimensional code.
Referring to fig. 7, fig. 7 is another visual positioning method provided in an embodiment of the present application, after estimating the pose of the reference plane with respect to the camera according to the position pose of the first visual two-dimensional code beacon and the position pose of the second visual two-dimensional code beacon, the positioning method further includes steps S310 and S320, specifically,
s310: determining a dividing line according to the gesture information of the two-dimensional code;
s320: a first region of interest of the first beacon plane and a second region of interest of the second beacon plane are determined from the split line.
Determining a dividing line according to the gesture information of the two-dimensional code, and determining a first region of interest of the first beacon plane and a second region of interest of the second beacon plane according to the dividing line, wherein the first region of interest corresponds to the first checkerboard region. The second region of interest corresponds to a second checkerboard region. The separation line is determined through the gesture information of the two-dimensional code, so that the region of interest in the shot image is confirmed, positioning detection is carried out by using only one shot image, the resolution of the image is improved, and meanwhile, the accuracy of the visual positioning method is improved.
In the embodiment of the application, the first checkerboard area and the second checkerboard area can be replaced by calibration patterns other than checkerboards for calibration, the first checkerboard area can be replaced by a first two-dimensional code array calibration plate for positioning detection, and the second checkerboard area can be replaced by a second two-dimensional code array calibration plate. When the first two-dimensional code array calibration plate and the second two-dimensional code array calibration plate are used for positioning, the step S310 and the step S320 can be omitted, and visual positioning is achieved.
Referring to fig. 8, fig. 8 is another visual positioning method provided in an embodiment of the present application, after determining a first region of interest of a first beacon plane and a second region of interest of a second beacon plane according to a parting line, the visual positioning method further includes steps S330 and S350, specifically,
s330: respectively utilizing rectangular frames with a first preset size and a second preset size to perform rotary projection transformation to obtain a first inclined rectangular frame and a second inclined rectangular frame
S340: identifying a first checkerboard area on a first beacon plane in the captured image as a first region of interest using a first sloped rectangular frame;
s350: a second checkerboard region on a second beacon plane in the captured image is identified as a second region of interest using a second diagonal rectangular box.
Identifying a first checkerboard area on a first beacon plane in the photographed image as a first region of interest through a first oblique rectangular frame; and the second checkerboard area on the second beacon plane in the shot image is identified as a second interested area by utilizing a second inclined rectangular frame, the interested area on the shot image is further framed, the first interested area and the second interested area are rotated according to the gesture information of the two-dimensional code, the paths of corner points on the interested area are ensured to be consistent, calibration is realized by shooting only one image, the resolution of the shot image is improved, and the accuracy of the visual positioning method is further improved.
It should be noted that, the rectangular frame with the first preset size is larger than the first checkerboard area and can cover the first checkerboard area, and the rectangular frame with the first preset size is larger than the first checkerboard area, so that the target corner points can be identified, and the accuracy of the visual positioning method is improved; in the embodiment of the application, the first preset size is set according to the size of the first checkerboard area, and the size of the first size is not limited.
It should be noted that, the rectangular frame with the second preset size is larger than the second checkerboard area and can cover the second checkerboard area, and the rectangular frame with the second preset size is larger than the second checkerboard area, so that the target corner points can be identified, and the accuracy of the visual positioning method is improved; in the present application, the second preset size is set according to the size of the second checkerboard area, and the size of the second size is not limited in the embodiment of the present application.
Referring to fig. 9, fig. 9 is a flowchart of steps of S500 in fig. 5, including steps S510 and S520, specifically,
s510: acquiring a displacement mark of an ith corner of the first checkerboard area relative to the center of the first beacon plane;
s520: and determining a first target corner corresponding to the displacement mark in the first beacon plane.
And determining a corresponding first target corner according to the displacement mark of the ith corner of the first checkerboard area relative to the center of the first beacon plane, so that the calibration of the first target corner on the first beacon plane is realized, each corner in the first checkerboard area corresponds to one target corner, and the accuracy of the positioning method is improved.
Referring to fig. 10, fig. 10 is a flowchart of steps of S310 in fig. 7, including steps S311 to S313, specifically,
s311: determining paths in which the distance from the first visual two-dimensional code to the midpoint coordinate is equal to the distance from the second visual two-dimensional code to the midpoint coordinate;
s312: determining the path as gesture information of the two-dimensional code;
s313: and determining a dividing line according to the gesture information of the two-dimensional code.
The first visual two-dimensional code, the second visual two-dimensional code and the midpoint coordinate are matched with each other, a path with the same distance from the first visual two-dimensional code to the midpoint coordinate and the path with the same distance from the second visual two-dimensional code to the midpoint coordinate are determined to be gesture information of the two-dimensional code, and a dividing line is determined according to the gesture information of the two-dimensional code, so that an interested region on a shot image is determined according to the dividing line, the first interested region and the second interested region are rotated according to the gesture information of the two-dimensional code, the fact that the paths of corner points on the interested region are kept consistent is ensured, calibration is achieved by shooting only one image, the resolution of the shot image is improved, and the accuracy of the visual positioning method is further improved.
The midpoint coordinate is a midpoint coordinate in the reference plane coordinate system.
Referring to fig. 11, fig. 11 is a schematic structural diagram of a controller 2000 according to an embodiment of the present application, and a schematic structural diagram of hardware of the controller 2000 includes a processor 2001, which may be implemented by a general-purpose CPU (Central Processing Unit ), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement a visual positioning method according to an embodiment of the present application; the Memory 2002 may be implemented in the form of a Read Only Memory 2002 (ROM), a static storage device, a dynamic storage device, or a random access Memory 2002 (Random Access Memory, RAM). Memory 1002 may store an operating system and other application programs, and when the embodiments of the present application are implemented in software or firmware, the relevant program code is stored in memory 2002 and executed by processor 2001; an input/output interface 2003 for implementing information input and output; the communication interface 2004 is configured to implement communication interaction between the present device and other devices, and may implement communication in a wired manner (e.g., USB, network cable, etc.), or may implement communication in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.); a bus that transfers information between the various components of the device (e.g., process 2001, memory 2002, input/output interface 2003, and communication interface 2004); wherein the processor 2001, the memory 2002, the input/output interface 2003 and the communication interface 2004 realize communication connection with each other inside the device through a bus.
The embodiment of the application also provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the flowchart memory for realizing the visual positioning method when the computer program is executed by a processor is used as a non-transient computer readable storage medium and can be used for storing a non-transient software program and a non-transient computer executable program. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.
Claims (10)
1. A visual positioning device, comprising:
the first beacon plane comprises a first visual two-dimensional code and a first checkerboard area;
the second beacon plane comprises a second visual two-dimensional code and a second checkerboard area;
the system comprises a reference plane, wherein the reference plane is provided with a first beacon plane and a second beacon plane, the first beacon plane and the second beacon plane are not in the same plane as the reference plane, the first beacon plane and the second beacon plane are not in the same plane, and the reference plane faces towards a camera to be corrected to assist the camera to perform visual positioning according to the first beacon plane and the second beacon plane.
2. A visual positioning device as claimed in claim 1, wherein a visual relief groove is provided between the first and second beacon planes, the visual relief groove being adapted to avoid the first beacon plane obscuring the second beacon plane and to avoid the second beacon plane obscuring the first beacon plane if the camera is not perpendicular to the reference plane.
3. The visual positioning device of claim 2, further comprising a dowel mounting block for mounting a dowel, the visual relief groove further comprising a dowel mounting hole, the dowel mounting block and the dowel mounting hole cooperating with one another.
4. A visual positioning method, characterized by being applied to a camera for shooting toward the visual positioning device as claimed in any one of claims 1 to 3; the visual positioning method comprises the following steps:
shooting the visual positioning device through the camera to obtain a shooting image;
on the shot image, a first visual two-dimensional code beacon in a first beacon plane is determined according to a first beacon identifier, and a second visual two-dimensional code beacon in a second beacon plane is determined according to a second beacon identifier;
estimating the pose of the reference plane relative to the camera according to the position pose of the first visual two-dimensional code beacon and the position pose of the second visual two-dimensional code beacon;
performing rotation transformation on a first region of interest and a second region of interest on the photographed image according to the gesture information of the two-dimensional code, wherein the first region of interest corresponds to the first checkerboard region, and the second region of interest corresponds to the second checkerboard region;
identifying a first target corner corresponding to the first beacon plane in the first region of interest, and identifying a second target corner corresponding to the second beacon plane in the second region of interest;
and obtaining the pose from the first beacon plane to the camera according to the first target angular point, and obtaining the pose from the second beacon plane to the camera according to the second target angular point.
5. The method of claim 4, wherein the determining the first visual two-dimensional code beacon in the first beacon plane based on the first beacon identification comprises:
acquiring the pose from the camera coordinates to the first beacon plane coordinates and a rotation matrix from the first checkerboard area to the camera coordinates;
creating a coordinate system according to the rotation matrix from the camera coordinates to the first beacon plane coordinate pose and the first checkerboard area to the camera coordinates;
acquiring the relative coordinates from the first checkerboard area to the reference plane under the coordinates of the first beacon plane;
obtaining the coordinates of the first beacon mark to the camera according to the relative coordinates from the first checkerboard area to the reference plane under the coordinates of the first beacon plane;
and determining a corresponding first visual two-dimensional code beacon according to the coordinates from the first beacon identifier to the camera.
6. The visual positioning method according to claim 4, wherein after estimating the pose of the reference plane with respect to the camera from the position pose of the first visual two-dimensional code beacon and the position pose of the second visual two-dimensional code beacon, the method further comprises:
determining a dividing line according to the gesture information of the two-dimensional code;
and determining a first region of interest of the first beacon plane and a second region of interest of the second beacon plane according to the dividing line.
7. The visual positioning method of claim 6, wherein after determining the first region of interest of the first beacon plane and the second region of interest of the second beacon plane from the split line, the method further comprises:
respectively utilizing rectangular frames with a first preset size and a second preset size to perform rotary projection transformation to obtain a first inclined rectangular frame and a second inclined rectangular frame;
identifying a first checkerboard region on the first beacon plane in the captured image as a first region of interest using the first sloped rectangular frame;
and identifying a second checkerboard area on the second beacon plane in the photographed image as a second region of interest by using the second inclined rectangular frame.
8. The visual positioning method of claim 4, wherein the identifying a first target corner at the first region of interest corresponding to a first beacon plane comprises:
acquiring a displacement mark of an ith corner of a first checkerboard area relative to the center of the first beacon plane;
and determining a first target corner corresponding to the displacement mark in the first beacon plane.
9. The visual positioning method according to claim 6, wherein the determining the dividing line according to the posture information of the two-dimensional code includes:
determining a path with equal distance from the first visual two-dimensional code to the midpoint coordinate and equal distance from the second visual two-dimensional code to the midpoint coordinate;
determining the path as gesture information of the two-dimensional code;
and determining a dividing line according to the gesture information of the two-dimensional code.
10. A computer-readable storage medium, characterized by: computer executable instructions are stored for performing the visual localization method of any one of claims 4 to 9.
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