KR101614654B1 - Distance measurement of objects from droned with a monocular camera and GPS location data - Google Patents

Distance measurement of objects from droned with a monocular camera and GPS location data Download PDF

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KR101614654B1
KR101614654B1 KR1020150077883A KR20150077883A KR101614654B1 KR 101614654 B1 KR101614654 B1 KR 101614654B1 KR 1020150077883 A KR1020150077883 A KR 1020150077883A KR 20150077883 A KR20150077883 A KR 20150077883A KR 101614654 B1 KR101614654 B1 KR 101614654B1
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single camera
equation
predetermined object
distance
image screen
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KR1020150077883A
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Korean (ko)
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김현태
이철헌
문용호
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동의대학교 산학협력단
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    • G06T7/0042—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV

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  • Measurement Of Optical Distance (AREA)

Abstract

[purpose]
The present invention relates to a method for determining the position of a tracking object using a dron equipped with a single camera, and more particularly, to a method for determining a position of a tracking object, The present invention relates to a method of determining a position of a tracking object using a dron equipped with a single camera.
[Configuration]
A method of determining a position of a tracking object using a dron equipped with a single camera according to the present invention includes the steps of photographing a predetermined object located on the ground using a single camera mounted on a dron which is floated with an altimeter; Identifying the predetermined object displayed on the image screen photographed by the single camera, labeling the predetermined object in a rectangular box, and determining the position of the predetermined object.
[effect]
When using the tracking object position determination method using a dron equipped with a single camera according to the present invention, it is possible to easily measure the actual distance of a predetermined object displayed on an image screen using one camera.
In addition, there is an additional advantage that the actual coordinates of the detected object can be easily obtained using the GPS module mounted on the drone.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of determining a position of a tracking object using a dron with a single camera,

The present invention relates to a method for determining the position of a tracking object using a dron equipped with a single camera, and more particularly, to a method for determining a position of a tracking object, The present invention relates to a method of determining a position of a tracking object using a dron equipped with a single camera.

In general, a technique of tracking a predetermined object such as a person, an animal, a car or the like or measuring a distance to an object by using an unmanned aerial vehicle (hereinafter referred to as a drone) floated in the air is being studied variously in the image processing field.

In the case of the distance information tracking technique, generally, two stereo cameras are used to calculate the distance to the object based on the parallax between the two images.

For example, Korean Unexamined Patent Publication No. 10-2011-0015142 (published on February 15, 2011) discloses a technique capable of accurately measuring the distance between a stereo camera and an object using optimized disparity .

However, when a stereo camera is used to calculate the distance to an object, additional costs are incurred, and when the apparatus is used in a device such as a dron that floats in the air, the total weight becomes large, which is disadvantageous in terms of energy consumption.

Therefore, there is a demand for a technology for tracking the distance of an object using a single camera.

1. Korean Patent Publication No. 10-2011-0015142

[1] Jernej Mrovlje and Damir Vracic, Distance measurement based on stereoscopic pictures, 9th International PhD Workshop on Systems and Control: Young Generation Viewpoint, Izola, Slovenia, October, 2008. [2] W. Ti-Ho, L. Ming-Chih, H. Chen-Chien, L. Yin Yu and T. Cheng-Pei. Three dimensional distance measurement based on single digital camera, Proceedings of the 2007 WSEAS Int. Conference on Circuits, Systems, Signal and Telecommunications, Gold Coast, Australia, January 17-19, 2007. [3] M. Achtelik, M. Achtelik, S. Weiss, and R. Siegwart. Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments. In Proc. Of the International Conference on Robotics and Automation (ICRA), 2011. [4] C. Bills, J. Chen, and A. Saxena. Autonomous MAV flight in indoor environments using single image perspective cues. In Proc. of the International Conference on Robotics and Automation (ICRA), 2011.

The object of the present invention is to propose a method of mounting a single camera on a drone and estimating a distance to a predetermined object to be tracked by using an image obtained from the single camera.

A method of determining a position of a tracking object using a dron equipped with a single camera according to the present invention includes the steps of photographing a predetermined object located on the ground using a single camera mounted on a dron which is floated with an altimeter; Identifying the predetermined object displayed on the image screen photographed by the single camera, labeling the predetermined object in a rectangular box, and determining the position of the predetermined object.

In the present invention, the height of the drones measured by the altimeter is h,

Wherein an image center point of the image screen associated with the focal length f of the single camera is (x C , y C ), and the positional coordinates of the predetermined object displayed on the image screen is (x ', y''Is an arbitrary position on the horizontal axis with x C of the image screen as a reference point, and y' is an arbitrary position on the vertical axis with y C as a reference point), and between the horizontal direction of the drones and the shooting center direction of the single camera (Y) is an angle made in a state in which the angle is a first angle (? I), a focal distance direction from the single camera and the predetermined object displayed on the image screen are on a y-axis, (X) is an angle formed by a direction of a focal distance from the camera and a state in which the predetermined object displayed on the image screen is positioned on the x-axis is a third angle? (X) The distance on the x-axis of the predetermined object is l, and the distance on the y-axis is yd.

In the present invention, l and yd are measured by the number of pixels calculated from xc and yc, respectively.

Further, in the present invention, the actual distance d in the y direction and the actual distance xd in the x direction of the predetermined object are obtained from the dragon by the following equations 1 to 8, and then the distance from the dragon to the predetermined object Of the actual distance.

Equation 1

Figure 112015053132745-pat00001

Equation 2

Figure 112015053132745-pat00002

Equation 3

Figure 112015053132745-pat00003

Equation 4

Figure 112015053132745-pat00004

Equation 5

Figure 112015053132745-pat00005

Equation 6

Figure 112015053132745-pat00006

Equation 7

Figure 112015053132745-pat00007

Equation 8

Figure 112015053132745-pat00008
.

When using the tracking object position determination method using a dron equipped with a single camera according to the present invention, it is possible to easily measure the actual distance of a predetermined object displayed on an image screen using one camera.

In addition, there is an additional advantage that the actual coordinates of the detected object can be easily obtained using the GPS module mounted on the drone.

In addition, since the stereo camera is not used, the total weight of the drone can be reduced, and the manufacturing cost can be reduced.

1 is an example of an image screen shot through a single camera mounted on a drone.
FIGS. 2 and 3 are views for explaining a method for determining the position of a predetermined object located on the ground using a single camera mounted on a dron which is levitated according to the technical idea of the present invention.

Hereinafter, a tracking object position determination method using a dron equipped with a single camera proposed by the present invention will be described with reference to the drawings.

1 is an example of an image screen shot through a single camera mounted on a drone. For reference, the drone proposed in the present invention basically includes an altimeter for measuring the height of a dron and a camera as a photographing device for photographing a predetermined object. If necessary, a GPS module or a wireless transceiver .

As shown in the figure, in the present invention, an object (for example, a person) at a predetermined distance is discriminated through a single camera, and the object is subjected to a process of labeling it with a rectangular box, and the center point of the lower end of the object is processed as x 'and y'.

Here, xc and yc are the center points of the image screen, the distance l = | xc - x '|, and the distance yd = | yc - y |

Hereinafter, a method of determining or measuring the actual position or distance of the object displayed on the image screen shown in FIG. 1 will be described.

FIGS. 2 and 3 are views for explaining a method for determining the position of a predetermined object located on the ground using a single camera mounted on a dron which is levitated according to the technical idea of the present invention.

As can be seen in Figure 2, the drones are equipped with a single camera. The mounting direction of the single camera is mounted at a predetermined angle (? I) from the horizontal drones. That is, a single camera is mounted on the front side of the dron so that the angle between the horizontal direction of the drones and the shooting center direction (focal distance direction) of the single camera is the first angle? I. For reference, the altitude (h) of the suspended drones is measured by an altimeter.

2, a focal length of a single camera is f (the focal length f is given by the camera maker, which may vary depending on the type of the camera) The coordinate of the center point (hereinafter referred to as the center point of the image) is expressed by (xc, yc).

The horizontal distance from the dron to the object is d, the distance from the yc coordinate of the center of the image to the yc coordinate of the object is yd, the direction of the focal point from the single camera is Assuming that the angle formed when the object displayed on the image screen is positioned on the y-axis is the second angle? (Y), the following equation can be obtained.

For reference, the focal length f, the first angle? I and the altitude h are known, and the second angle? (Y) is obtained by calculating the number of pixels in the y-axis direction, while the second angle? (Y) Has a positive value when it is formed, and has a negative value when it is formed in the direction of yc upward.

Equation 1

Figure 112015053132745-pat00009

Equation 2

Figure 112015053132745-pat00010

Equation 3

Figure 112015053132745-pat00011

Equation 4

Figure 112015053132745-pat00012

The horizontal distance d from the drone can be measured by the above equation.

Next, a method of measuring the distance l on the x-axis of the object displayed on the image screen will be described with reference to FIG.

In FIG. 3, the coordinates x 'of an object located in the x-axis direction at the image center point (xc, yc) can be obtained as follows. For reference, the third angle? (X) is an angle made in a state in which the object displayed on the image screen is positioned on the x-axis, and the focal distance direction from the single camera. The distance from xc to x 'is known by calculating the number of pixels.

The distance xd in the x direction of the actual object displayed on the image screen at a predetermined distance from the drones in the x direction can be obtained as follows.

Equation 5

Figure 112015053132745-pat00013

Equation 6

Figure 112015053132745-pat00014

Equation 7

Figure 112015053132745-pat00015

Equation 8

Figure 112015053132745-pat00016

Accordingly, it can be seen that the actual distance of the object displayed on the image screen by the single camera as shown in FIG. 1 can be easily obtained by the trigonometric function method using Equation 4 and Equation 8. [

That is, the distance x on the x-axis and the distance yd on the y-axis of a predetermined object displayed at an arbitrary position on the image screen are calculated by software based on the center point (xc, yc) of the image screen, The distance of the actual object located on the ground can be obtained by combining Equation 4 and Equation 8.

Hereinafter, a method of determining a position of a tracking object using a dron equipped with a single camera according to the present invention will be described in more detail.

1. Operate a single camera that is tilted at a certain angle (first angle) towards the horizontally contrasted surface of the drones for shooting objects on the ground.

2. An image shot by a single camera is displayed on the image screen. For reference, the image screen may be displayed on the display unit and stored in a storage device.

3. Detect the object to be tracked and label it with a square box.

4. Select the center point of the lower end of the rectangular box that has been subjected to labeling as the position coordinates (x ', y') of the object

5. Equations 1 to 8 are combined to obtain the actual distance d from the dragon to the object (the actual distance d in the y direction and the actual distance xd in the x direction) and then calculate the actual distance from the drones by the trigonometric function method. Thus, the actual distance is the square root of d 2 + xd 2 .

When the tracking object position determination method using the dron equipped with a single camera according to the present invention is used, the actual distance of a predetermined object displayed on the image screen can be easily measured using one camera.

In addition, there is an additional advantage that the actual coordinates of the detected object can be easily obtained using the GPS module mounted on the drone.

Claims (2)

A method for determining a tracking object position using a dron equipped with a single camera,
Photographing a predetermined object located on the ground using a single camera equipped with an altimeter and mounted on a levitated drones;
Identifying the predetermined object displayed on the image screen photographed by the single camera, labeling the predetermined object with a rectangular box, and determining the position of the predetermined object,
Wherein the height of the drones measured by the altimeter is h,
(X C , y C ) of the image screen associated with the focal length (f) of the single camera,
(X ', y') (x 'is an arbitrary position on the horizontal axis with x C of the image screen as a reference point, y' is a vertical axis with y C as a reference point , ≪ / RTI >
An angle between the horizontal direction of the drones and the photographing center direction of the single camera is a first angle (? I)
Wherein an angle formed by a focal distance direction from the single camera and the predetermined object displayed on the image screen on a y-axis is a second angle?
(X) is an angle formed by the focal distance direction from the single camera and the predetermined object displayed on the image screen on the x-axis,
When the distance on the x axis of the predetermined object displayed on the image screen is l and the distance on the y axis is yd,
L and yd are measured by the number of pixels calculated from xc and yc, respectively,

Equation 1
Figure 112016027929561-pat00017

Equation 2
Figure 112016027929561-pat00018

Equation 3
Figure 112016027929561-pat00019

Equation 4
Figure 112016027929561-pat00020

Equation 5
Figure 112016027929561-pat00021

Equation 6
Figure 112016027929561-pat00022

Equation 7
Figure 112016027929561-pat00023

Equation 8
Figure 112016027929561-pat00024

The actual distance d in the y direction and the actual distance xd in the x direction of the predetermined object are obtained from the drones according to Equations 1 to 8 and then the actual distance xd from the dragon to the predetermined object
Figure 112016027929561-pat00028
And determining a position of the tracking object using the dron equipped with the single camera. The method according to claim 1,
The method of claim 1, wherein l = | xc-x '| and yd = |yc-y' |.
KR1020150077883A 2015-06-02 2015-06-02 Distance measurement of objects from droned with a monocular camera and GPS location data KR101614654B1 (en)

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Cited By (6)

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CN107993252A (en) * 2017-11-29 2018-05-04 天津聚飞创新科技有限公司 Subscriber tracing system, method and device
CN111561906A (en) * 2020-05-25 2020-08-21 北京洛必德科技有限公司 Robot monocular distance measuring method, system, electronic device and computer storage medium
KR20200132137A (en) * 2019-05-15 2020-11-25 에이치에스앤티 주식회사 Device For Computing Position of Detected Object Using Motion Detect and Radar Sensor
US20210325912A1 (en) * 2018-12-24 2021-10-21 Autel Robotics Co., Ltd. Method and device for estimating distance to target, and unmanned aerial vehicle
US11216958B2 (en) * 2017-05-25 2022-01-04 SZ DJI Technology Co., Ltd. Tracking method and device
KR20240064392A (en) 2022-11-04 2024-05-13 경북대학교 산학협력단 Method and apparatus for tracking a ground target using a drone equipped with a camera

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A general framework for trajectory triangulation
움직이는 카메라를 이용한 목표물의 거리 및 속도 추정

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11216958B2 (en) * 2017-05-25 2022-01-04 SZ DJI Technology Co., Ltd. Tracking method and device
US11776139B2 (en) 2017-05-25 2023-10-03 SZ DJI Technology Co., Ltd. Tracking method and device
CN107993252A (en) * 2017-11-29 2018-05-04 天津聚飞创新科技有限公司 Subscriber tracing system, method and device
US20210325912A1 (en) * 2018-12-24 2021-10-21 Autel Robotics Co., Ltd. Method and device for estimating distance to target, and unmanned aerial vehicle
US11747833B2 (en) * 2018-12-24 2023-09-05 Autel Robotics Co., Ltd. Method and device for estimating distance to target, and unmanned aerial vehicle
KR20200132137A (en) * 2019-05-15 2020-11-25 에이치에스앤티 주식회사 Device For Computing Position of Detected Object Using Motion Detect and Radar Sensor
KR102230552B1 (en) * 2019-05-15 2021-03-22 에이치에스앤티 주식회사 Device For Computing Position of Detected Object Using Motion Detect and Radar Sensor
CN111561906A (en) * 2020-05-25 2020-08-21 北京洛必德科技有限公司 Robot monocular distance measuring method, system, electronic device and computer storage medium
KR20240064392A (en) 2022-11-04 2024-05-13 경북대학교 산학협력단 Method and apparatus for tracking a ground target using a drone equipped with a camera

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