WO2016165548A1 - 一种基于高反光红外标识的视觉定位系统及方法 - Google Patents

一种基于高反光红外标识的视觉定位系统及方法 Download PDF

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Publication number
WO2016165548A1
WO2016165548A1 PCT/CN2016/077467 CN2016077467W WO2016165548A1 WO 2016165548 A1 WO2016165548 A1 WO 2016165548A1 CN 2016077467 W CN2016077467 W CN 2016077467W WO 2016165548 A1 WO2016165548 A1 WO 2016165548A1
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Prior art keywords
infrared
points
identification points
infrared camera
identification
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PCT/CN2016/077467
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English (en)
French (fr)
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覃政
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北京蚁视科技有限公司
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Publication of WO2016165548A1 publication Critical patent/WO2016165548A1/zh
Priority to US15/707,094 priority Critical patent/US20180003498A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/28—Special adaptation for recording picture point data, e.g. for profiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image

Definitions

  • the invention relates to a visual positioning system and method, in particular to a visual positioning system and method based on infrared high reflective marking.
  • coordinate information and posture information of an image acquisition device are analyzed and located by processing an image of a marker point in the environment.
  • the main identification points are active active identification points. These active active identification points are assigned coordinate information and must also include modules such as signal transmitters. If used for positioning in a large space, a large number of such Active active identification points, in addition, have the disadvantages of relatively complicated structure, easy failure, inconvenient placement, and delay in positioning.
  • An object of the present invention is to provide a visual positioning system based on an infrared high-reflection marker, comprising a plurality of identification points, an infrared camera device, and an image processing module;
  • identification points passive passive identification points made of infrared high-reflective materials, wherein the identification points are equally spaced on a plane to be positioned;
  • the infrared camera device includes an infrared camera and an infrared light source for capturing a reflective image of the plurality of identification points, and an illumination range of the infrared light source should cover a shooting area of the infrared camera;
  • the image processing unit further obtains the relative position of the infrared camera by continuously acquiring the positional relationship between the identification points of at least three of the images captured by the infrared camera and not on a straight line, and further comparing the positional relationship of the adjacent identification points. A continuous change in relative posture.
  • the plurality of marking points are made of metal powder.
  • the plurality of marking points are affixable or heat fusible sheet-like structures.
  • the infrared camera is a wide-angle camera.
  • the number of the infrared cameras is one or two.
  • the plurality of marking points are laid at intersections of four sides of the floor tiles.
  • the size of the floor tile is calculated according to the shooting height of the infrared camera or its moving speed value and calculated by the image processing unit technology.
  • the positional relationship between the identification points includes a distance between the identification points, an angle of the connection of the identification points, and an enclosed area.
  • the method further includes a plurality of active active signal points and a signal receiver located in the infrared camera, wherein the signal receiver is configured to receive absolute positioning information sent by the active active signal point.
  • the present invention also provides a visual positioning method based on an infrared high-reflection marker for determining a relative displacement and attitude of a moving target, wherein the moving target moves in an environment provided with a plurality of passive infrared identification points, the movement
  • the target is configured with an infrared camera for capturing the infrared identification point under illumination of the infrared light source, including the following steps:
  • the infrared camera configured by the moving target captures a first image including the infrared marker point, and records a first shooting time
  • step b) determining whether the infrared identification points in the first image are at least 3 and not on the same line, and if so, selecting at least 3 points in which one or several groups are not on the same line to construct the first group polygon, and then Go to step c), otherwise return to step a);
  • the infrared camera of the moving target configuration captures a second image including the infrared identification point, and records a second shooting time
  • step d) determining whether the infrared identification points in the second image are more than three and not on the same line, and if so, selecting at least three points in which one or several groups are not on the same line to construct the second group polygon, and then Go to step e), otherwise return to step c);
  • the invention provides a visual positioning system and method based on infrared high reflective marking in realizing positioning At the same time, the user's posture information can also be obtained.
  • the passive marking point made of infrared high reflective material also has the advantages of simple structure, no power supply, convenient use, low cost and no delay.
  • Figure 1 is a schematic view showing the application of the visual positioning system of the present invention
  • Figure 2 is a schematic block diagram showing the system of the visual positioning system of the present invention.
  • FIG. 3 and 4 schematically show image processing analysis diagrams of the visual positioning method of the present invention.
  • the visual positioning system 100 of the present invention includes an infrared camera 101, a plurality of identification points 102, and an image processing unit 103.
  • the infrared imaging device 101 is mainly composed of an infrared camera 101a and an infrared light source 101b.
  • the infrared light source 101b is for emitting an infrared light source, and the irradiation range of the infrared light should cover the photographing area of the infrared camera 101a.
  • the infrared camera 101a is preferably a wide-angle camera, the number of which is at least one, preferably one or two, for continuously taking a photo of the plurality of marker points 102 and transmitting the captured photos to the image processing unit 103.
  • the plurality of marking points 102 are made of infrared high-reflective material, such as metal powder (reflecting rate of 80-90%), and the marking points are generally made into a pasteable or heat-fusible sheet-like structure for pasting or fusion. In the place where visual positioning is required, it is used to reflect the infrared light emitted by the infrared light source 101b. The line is thus captured by the infrared camera 101a and displayed as a plurality of spots in the image.
  • the plurality of identification points 102 are arranged in an equally spaced grid shape in the positioning space, such as an equidistant square grid or an equilateral triangle grid (as shown in FIG. 3).
  • the identification point 102 is a passive passive signal point, that is, the identification point 102 itself has no specific coordinate information. If used for indoor positioning, the marking point 102 can be pasted on the floor or wall of the room, or integrated with the floor and the wall surface, for example, pasted or fused at the intersection of the four sides of each floor or directly embedded in the floor surface; If used for outdoor positioning, it can be laid on an external road or integrated with the zebra crossing on the road and other places that need to be positioned.
  • the image processing unit 103 is configured to analyze the reflective position of the marker point 102 in the image captured by the infrared camera 101a, thereby determining the relative position and posture information of the infrared camera 101a relative to the marker point 102 in the image. If the plurality of identification points 102 are arranged in a grid arrangement, the image captured by the infrared camera 101a should include at least four identification points 102 that are not in a straight line, and further acquire the positional relationship between the identification points 102, thereby realizing the positioning.
  • the image captured by the infrared camera 101a should include at least 3 identification points 102 that are not in a straight line; if there are redundant identification points, it can be used Verify the accuracy of the positioning, which can improve the accuracy of visual positioning.
  • a multi-family triangle or a quadrangle is formed by connecting lines between the plurality of identification points 102 in the image captured by the infrared camera 101a.
  • the image processing unit 103 analyzes one of the triangles or quadrilaterals.
  • the positional relationship eg, angle, side length, and area
  • the quadrilateral is square, that is, the infrared camera 101a is directly facing the plane where the marker point 102 is located, if the quadrilateral is not square.
  • the infrared camera 101a and the plane where the marker point 102 is located have a certain shooting angle, and the side length, angle or area of the quadrilateral is further obtained by image processing, thereby calculating the continuous relative positional relationship of the infrared camera 101a with respect to the marker point 102. Gesture information.
  • a method for determining a relative displacement and attitude of a moving target wherein the moving target is moved in an environment provided with a plurality of passive infrared identification points 102 configured with an infrared camera 101a
  • the method for photographing the infrared marker point 102 under illumination of the infrared light source 101b includes the following steps:
  • the moving target configured infrared camera 101a captures the first image A including the infrared marker point 102, and records the first shooting time;
  • step b) determining whether the infrared marker points 101a in the first image are at least 3 and not on the same line, and if so, selecting at least 3 points in which one or several groups are not on the same line to construct the first group polygon, Then proceeds to step c), otherwise returns to step a);
  • the moving target configured infrared camera 101a captures the second image B including the infrared identification point 102, and records the second shooting time;
  • step d) determining whether the infrared marker points 102 in the second image B are more than three and not on the same line, and if so, selecting at least three points in which one or several groups are not on the same line to construct the second group polygon And then proceeds to step e), otherwise returns to step c);
  • the size of the common floor tile is generally 30 ⁇ 30cm, 60 ⁇ 60cm, 100 ⁇ 100cm, etc., according to the size specification of the floor tile and the point 102 in the captured image.
  • the connection details and the quadrangular shape of the configuration determine the relative position change and attitude information of the infrared camera 101a.
  • the relative position change of the infrared camera 101a can be calculated based on the positional change of the marker points 102 in the two consecutive images.
  • the size specification of the tile to be laid should first be determined. Specifically, the distance between the height of the tile and the adjacent marker point 102 in the captured image is determined by the known infrared camera 101a.
  • the ratio because the tile specifications differ greatly, the size of the tile can be derived from the ratio; or the distance between the infrared camera 101a and the position of the marker 102 in the image at the time t1 and t2 adjacent to each other.
  • the ratio between the dimensions determines the size of the tile, wherein the moving distance of the infrared camera 101a can be determined by the moving speed thereof, as shown in FIG. 4(a) and FIG. 4(b), and can be calculated according to the moving distance of the infrared camera 101a.
  • the position change S of the marker point 102 is obtained, and the distance L between any two marker points 102 in the image can be further obtained, so that the size specification of the tile can be derived.
  • the image processing unit 103 can determine the specification of the laid floor tile in combination with the moving speed and the shooting frequency of the infrared camera 101a. For example, the image processing unit 103 utilizes the positional change of the marker point 102 in the two consecutive images in combination with the moving speed of the infrared camera 101a. And the shooting frequency can be used to get the specifications of the floor tiles.
  • the invention relates to a visual positioning system based on infrared high-reflection marking, which is widely used in the fields of intelligent robot, head-mounted display device, guide blind or navigation, etc.
  • the visual positioning system of the present invention is usually Integrating with the head-mounted display device, after the user wears the head-mounted display device integrated with the visual positioning system of the present invention, the relative position and posture information of the user can be located.
  • the present invention can also include a plurality of active active signal points 104 and a signal receiver 105, each of which The active signal points 104 have absolute coordinate information and are actively issued with coordinate signals, which can be received by the signal receiver 105 in the infrared camera 101 to achieve its own absolute positioning.
  • Active active signal points 104 are used for a wide range of absolute positioning, while passive passive identification points 102 are used for local small-scale accurate relative positioning and acquisition of attitude information (eg, indoor positioning), utilizing a wide range of absolute positioning and small range Relative positioning can achieve the purpose of fast and precise positioning, achieving the effect of real-time delay-free positioning.
  • the number of active signal points 104 does not need to be large as long as the infrared camera 101 or the head mounted display device can receive the signal from the active signal point 104.
  • the active signal point 104 is generally arranged at the edge of the top of the building or at a billboard or the like. The user can put himself in the virtual environment by wearing the head mounted display device integrated with the visual positioning system of the present invention, through the active signal point 104 and more.
  • the identification points 102 are accurately positioned so that the purpose of virtual reality can be achieved.
  • the visual positioning system based on the infrared high-reflection marker can realize a relatively small range of relative positioning, and can realize a wide range of absolute positioning, and can also acquire the user's posture information.
  • the passive marker point 102 made of the infrared high-reflection material has the advantages of simple structure, no power supply, convenient use, low cost, no delay, high positioning accuracy, and the like.

Abstract

一种基于红外高反光标识的视觉定位系统，包括多个标识点（102）、红外摄像装置（101）、图像处理单元（103）。多个标识点（102）是由红外高反光材料制成的无源被动标识点且等间距设置在需要定位的平面上；红外摄像装置（101）用于拍摄标识点（102）的反光图像；图像处理单元（103）通过获取并分析红外摄像头（101a）拍摄的图像信息来得出相对位置和相对姿态变化。还提供一种基于红外高反光标识的视觉定位的方法。这种视觉定位系统及方法具有结构简单、无需供电、成本低、无延迟且定位精度高等优点。

Description

一种基于高反光红外标识的视觉定位系统及方法 技术领域
本发明涉及一种视觉定位系统及方法，特别涉及一种基于红外高反光标识的视觉定位系统及方法。
背景技术
通常，在计算机视觉领域，尤其是虚拟现实领域中，通过对环境中标识点的图像进行处理分析并定位出图像采集设备(如摄像机)的坐标信息和姿态信息。
目前主要采用的标识点均为有源主动标识点，这些有源主动标识点都分配有坐标信息且内部还必须包括信号发射器等模块，如果用于较大空间的定位则需要大量的这种有源主动标识点，此外还具有结构比较复杂、容易出现故障、布置安放不方便、定位延迟等缺点。
基于上述现有技术的不足之处，因此需要开发出一种结构简单、布置方便、且实时定位的无源被动标识的视觉定位系统及方法。
发明内容
本发明的目的在于提供一种基于红外高反光标识的视觉定位系统，包括多个标识点、红外摄像装置、图像处理模块；其中，
多个标识点，由红外高反光材料制成的无源被动标识点，所述标识点等间距设置在需要定位的平面上；
红外摄像装置，包括红外摄像头和红外光源，用于拍摄所述多个标识点的反光图像，红外光源的照射范围应覆盖红外摄像头的拍摄区域；
图像处理单元，通过连续获取红外摄像头拍摄的图像中至少3个且不在一条直线上的所述标识点之间的位置关系，进一步对比相邻标识点的位置关系来得出所述红外摄像头相对位置和相对姿态的连续变化。
优选地，所述多个标识点由金属粉制成。
优选地，所述多个标识点为可粘贴或可热熔的薄片状结构。
优选地，所述红外摄像头为广角摄像头。
优选地，所述红外摄像头数量为1个或2个。
优选地，所述多个标识点铺设在地砖四边的交点处。
优选地，所述地砖的尺寸规格根据红外摄像头的拍摄高度或其移动速度值并由图像处理单元技术算得出。
优选地，所述标识点之间的位置关系包括所述标识点之间的距离、所述标识点连线的夹角以及所包围的面积。
优选地，还包括若干个有源主动信号点和位于所述红外摄像装置中的信号接收器，该信号接收器用于接收有源主动信号点发出的绝对定位信息。
本发明还提供了一种基于红外高反光标识的视觉定位方法，用于确定移动目标的相对位移和姿态，其中所述移动目标在设置有多个无源红外标识点的环境中移动，所述移动目标配置有红外摄像头用于在红外光源的照射下拍摄所述红外标识点，包括如下步骤：
a)所述移动目标配置的红外摄像头拍摄包含所述红外标识点的第一图像，并记录第一拍摄时间；
b)判断所述第一图像中的红外标识点是否至少为3个且不在同一直线上，若是，则选择其中一组或若干组不在同一直线上的至少3个点构造第一族多边形，然后进入步骤c)，否则返回步骤a)；
c)经过第一时间间隔后，所述移动目标配置的红外摄像头拍摄包含所述红外标识点的第二图像，并记录第二拍摄时间；
d)判断所述第二图像中的红外标识点是否多于3个且不在同一直线上，若是，则选择其中一组或若干组不在同一直线上的至少3个点构造第二族多边形，然后进入步骤e)，否则返回步骤c)；
e)计算所述第一族多边形和所述第二族多边形之间的相对位移和/或形状变化，得到所述移动目标在第二拍摄时间下相对于第一拍摄时间的相对位移和姿态。
本发明一种基于红外高反光标识的视觉定位系统及方法在实现定位 的同时还可以获取使用者的姿态信息。由红外高反光材料制成被动标识点还具有结构简单、无需供电、使用方便、成本低、无延迟等优点。
应当理解，前述大体的描述和后续详尽的描述均为示例性说明和解释，并不应当用作对本发明所要求保护内容的限制。
附图说明
参考随附的附图，本发明更多的目的、功能和优点将通过本发明实施方式的如下描述得以阐明，其中：
图1示意性示出本发明视觉定位系统的应用示意图；
图2示意性示出本发明视觉定位系统的系统框架图；
图3和图4示意性示出本发明视觉定位方法的图像处理分析图。
具体实施方式
通过参考示范性实施例，本发明的目的和功能以及用于实现这些目的和功能的方法将得以阐明。然而，本发明并不受限于以下所公开的示范性实施例；可以通过不同形式来对其加以实现。说明书的实质仅仅是帮助相关领域技术人员综合理解本发明的具体细节。
在下文中，将参考附图描述本发明的实施例。在附图中，相同的附图标记代表相同或类似的部件，或者相同或类似的步骤。
图1和图2分别示出了根据本发明一种基于红外高反光标识的视觉定位系统的应用示意图和系统框架图。本发明的视觉定位系统100包括红外摄像装置101、多个标识点102、图像处理单元103。
红外摄像装置101，主要由红外摄像头101a和红外光源101b组成。红外光源101b用于发射红外光源，且红外光的照射范围应该覆盖红外摄像头101a的拍摄区域。红外摄像头101a优选地为广角摄像头，其数量为至少一个，优选地为1个或2个，用于连续拍摄多个标识点102的反光照片，并将拍摄的照片传输至图像处理单元103。
多个标识点102，由红外高反光材料制成，例如金属粉(反光率可达80～90％)，该标识点一般制作成可粘贴或可热熔的薄片状结构，用于粘贴或融合在需要视觉定位的地方，用于反射由红外光源101b发出的红外光 线，从而被红外摄像头101a拍摄捕捉到并在图像中显示为多个光斑。根据本发明的一个实施例，多个标识点102定位空间内排列成等间距的网格状，例如等间距的方形网格或正三角形网格(如图3所示)。所述标识点102为无源被动信号点，即标识点102本身没有具体坐标信息。如果用于室内定位的话，所述标识点102可以粘贴在室内的地板或墙面、或与地板和墙面融为一体，例如粘贴或融合在每块地板四边的交点处或直接嵌入地板表面；如果用于室外定位的话，则可以铺设在外部的马路上或与马路上的斑马线融为一体以及其他需要定位的地方。
图像处理单元103，用于分析红外摄像头101a所拍摄图像中标识点102的反光位置，从而确定红外摄像头101a相对于图像中标识点102的相对位置以及姿态信息。如果多个标识点102呈现方格网格布置，则红外摄像头101a拍摄的图像中应至少包含4个且不在一条直线上的标识点102，进一步获取标识点102之间的位置关系，从而实现定位的需求，同样如果多个标识点102呈现正三角形网格布置，则红外摄像头101a拍摄的图像中应至少包含3个且不在一条直线上的标识点102；如果存在冗余的标识点则可用于校验定位的准确性，从而能够提高视觉定位的精度。
红外摄像头101a所拍摄图像中多个标识点102之间通过连线形成多族三角形或四边形，如图3(a)和图3(b)所示，图像处理单元103通过分析其中一族三角形或四边形的位置关系(例如角度、边长和面积)即可确定红外摄像头101a的相对位置以及姿态信息，例如四边形为方形，即表明红外摄像头101a正对着标识点102所在的平面，如果四边形不为方形，即表明红外摄像头101a与标识点102所在的平面存在一定的拍摄角度，进一步通过图像处理得到四边形的边长、角度或面积，从而计算出红外摄像头101a相对于标识点102的连续相对位置关系和姿态信息。
根据以上内容可以得出一种用于确定移动目标的相对位移和姿态的方法，其中所述移动目标在设置有多个无源红外标识点102的环境中移动，所述移动目标配置有红外摄像头101a用于在红外光源101b的照射下拍摄所述红外标识点102，包括如下步骤：
a)所述移动目标配置的红外摄像头101a拍摄包含所述红外标识点102的第一图像A，并记录第一拍摄时间；
b)判断所述第一图像中的红外标识点101a是否至少为3个且不在同一直线上，若是，则选择其中一组或若干组不在同一直线上的至少3个点构造第一族多边形，然后进入步骤c)，否则返回步骤a)；
c)经过第一时间间隔后，所述移动目标配置的红外摄像头101a拍摄包含所述红外标识点102的第二图像B，并记录第二拍摄时间；
d)判断所述第二图像B中的红外标识点102是否多于3个且不在同一直线上，若是，则选择其中一组或若干组不在同一直线上的至少3个点构造第二族多边形，然后进入步骤e)，否则返回步骤c)；
e)计算所述第一族多边形和所述第二族多边形之间的相对位移和/或形状变化，得到所述移动目标在第二拍摄时间下相对于第一拍摄时间的相对位移和姿态。
此外，假如标识点102是铺设在地板砖四边的交点处，而常见地板砖的尺寸一般为30×30cm、60×60cm、100×100cm等规格，根据地砖的尺寸规格和拍摄图像中表示点102的连线具体以及其构成的四边形形状来确定红外摄像头101a的相对位置变化和姿态信息。
如果已知铺设地砖尺寸规格的情况下，则可根据连续两张图像中的标识点102位置变换而计算得出红外摄像头101a的相对位置变化。
如果未知铺设地砖尺寸规格的情况下，则首先应确定铺设地砖的尺寸规格，具体地，通过已知的红外摄像头101a距离地砖的高度与拍摄图像中相邻标识点102之间距离的最大值的比值，由于地砖规格相差较大，所以可以通过该比值来推算出地砖的尺寸规格；也可以通过在相邻t1时刻和t2时刻红外摄像头101a的移动距离与图像中标识点102的位置变化值之间的比值来确定地砖的尺寸规格，其中红外摄像头101a的移动距离可通过其移动速度来确定，如图4(a)和图4(b)所示，根据红外摄像头101a的移动距离即可计算得出标识点102的位置变化S，进一步可获得图像中任意两标识点102间的距离L，从而可以推算出地砖的尺寸规格。
图像处理单元103就可以结合红外摄像头101a的移动速度和拍摄频率来确定所铺设地板砖的规格，例如图像处理单元103利用连续两张图像中的标识点102位置变化并结合红外摄像头101a的移动速度和拍摄频率即可得出地板砖的规格。
本发明一种基于红外高反光标识的视觉定位系统的应用领域广泛，例如智能机器人、头戴显示设备、导盲或导航等领域，当用于头戴显示设备时，本发明的视觉定位系统通常与头戴显示设备集成为一体，使用者戴上集成有本发明视觉定位系统的头戴显示设备后，则可以定位出使用者的相对位置及姿态信息。
根据本发明的另一实施例，由于本发明的标识点102为被动标识点102，只能定位出相对位置，因此本发明还可以包括若干个有源主动信号点104以及信号接收器105，每个主动信号点104具有绝对的坐标信息并且主动发出带有坐标信号，红外摄像装置101中的信号接收器105可以接受到该信号，从而实现自身的绝对定位。有源主动信号点104用于大范围的绝对定位，而无源被动标识点102用于局部小范围的精确相对定位以及获取姿态信息(例如室内定位)，利用大范围的绝对定位和小范围的相对定位可以实现快速精确定位的目的，达到了实时无延迟定位的效果。
主动信号点104的数量不需要很多，只要满足红外摄像装置101或头戴显示设备能够接收到所述主动信号点104发出的信号即可。主动信号点104一般布置在大楼顶端的边沿或广告牌等地方，使用者通过戴上集成有本发明视觉定位系统的头戴显示设备即可将自己处于虚拟环境中，通过主动信号点104和多个标识点102进行精确定位，从而可以实现虚拟现实的目的。
综上所述，本发明一种基于红外高反光标识的视觉定位系统既可以实现小范围的相对定位，也可以实现大范围的绝对定位，同时还可以获取使用者的姿态信息。特别是红外高反光材料制成被动标识点102具有结构简单、无需供电、使用方便、成本低、无延迟、定位精度高等优点。
所述附图仅为示意性的并且未按比例画出。虽然已经结合优选实施例对本发明进行了描述，但应当理解本发明的保护范围并不局限于这里所描述的实施例。
结合这里披露的本发明的说明和实践，本发明的其他实施例对于本领域技术人员都是易于想到和理解的。说明和实施例仅被认为是示例性的，本发明的真正范围和主旨均由权利要求所限定。

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  1. 一种基于红外高反光标识的视觉定位系统，包括多个标识点、红外摄像装置、图像处理模块；其中，
    多个标识点，由红外高反光材料制成的无源被动标识点，所述标识点等间距设置在需要定位的平面上；
    红外摄像装置，包括红外摄像头和红外光源，用于拍摄所述多个标识点的反光图像，红外光源的照射范围应覆盖红外摄像头的拍摄区域；
    图像处理单元，通过连续获取红外摄像头拍摄的图像中至少3个且不在一条直线上的所述标识点之间的位置关系，进一步对比相邻标识点的位置关系来得出所述红外摄像头相对位置和相对姿态的连续变化。
  2. 根据权利要求1所述的视觉定位系统，其特征在于：所述多个标识点由金属粉制成。
  3. 根据权利要求1或2所述的视觉定位系统，其特征在于：所述多个标识点为可粘贴或可热熔的薄片状结构。
  4. 根据权利要求1所述的视觉定位系统，其特征在于：所述红外摄像头为广角摄像头。
  5. 根据权利要求1或4所述的视觉定位系统，其特征在于：所述红外摄像头数量为1个或2个。
  6. 根据权利要求1所述的视觉定位系统，其特征在于：所述多个标识点铺设在地砖四边的交点处。
  7. 根据权利要求6所述的视觉定位系统，其特征在于：所述地砖的尺寸规格根据红外摄像头的拍摄高度或其移动速度值并由图像处理单元技术算得出。
  8. 根据权利要求1所述的视觉定位系统，其特征在于：所述标识点之间的位置关系包括所述标识点之间的距离、所述标识点连线的夹角以及所包围的面积。
  9. 根据权利要求1所述的视觉定位系统，其特征在于：还包括若干个有源主动信号点和位于所述红外摄像装置中的信号接收器，该信号接 收器用于接收有源主动信号点发出的绝对定位信息。
  10. 一种基于红外高反光标识的视觉定位方法，用于确定移动目标的相对位移和姿态，其中所述移动目标在设置有多个无源红外标识点的环境中移动，所述移动目标配置有红外摄像头用于在红外光源的照射下拍摄所述红外标识点，包括如下步骤：
    a)所述移动目标配置的红外摄像头拍摄包含所述红外标识点的第一图像，并记录第一拍摄时间；
    b)判断所述第一图像中的红外标识点是否至少为3个且不在同一直线上，若是，则选择其中一组或若干组不在同一直线上的至少3个点构造第一族多边形，然后进入步骤c)，否则返回步骤a)；
    c)经过第一时间间隔后，所述移动目标配置的红外摄像头拍摄包含所述红外标识点的第二图像，并记录第二拍摄时间；
    d)判断所述第二图像中的红外标识点是否多于3个且不在同一直线上，若是，则选择其中一组或若干组不在同一直线上的至少3个点构造第二族多边形，然后进入步骤e)，否则返回步骤c)；
    e)计算所述第一族多边形和所述第二族多边形之间的相对位移和/或形状变化，得到所述移动目标在第二拍摄时间下相对于第一拍摄时间的相对位移和姿态。
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