WO2020024182A1 - Procédé et appareil de traitement de paramètre, dispositif de caméra et aéronef - Google Patents
Procédé et appareil de traitement de paramètre, dispositif de caméra et aéronef Download PDFInfo
- Publication number
- WO2020024182A1 WO2020024182A1 PCT/CN2018/098126 CN2018098126W WO2020024182A1 WO 2020024182 A1 WO2020024182 A1 WO 2020024182A1 CN 2018098126 W CN2018098126 W CN 2018098126W WO 2020024182 A1 WO2020024182 A1 WO 2020024182A1
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- WO
- WIPO (PCT)
- Prior art keywords
- camera
- parameters
- parameter
- pose
- feature
- Prior art date
Links
- 238000003672 processing method Methods 0.000 title claims description 9
- 238000000034 method Methods 0.000 claims abstract description 103
- 238000013507 mapping Methods 0.000 claims abstract description 77
- 238000012545 processing Methods 0.000 claims abstract description 64
- 238000005457 optimization Methods 0.000 claims description 91
- 230000002159 abnormal effect Effects 0.000 claims description 63
- 238000003384 imaging method Methods 0.000 claims description 50
- 230000009466 transformation Effects 0.000 claims description 37
- 238000001914 filtration Methods 0.000 claims description 34
- 238000004364 calculation method Methods 0.000 claims description 25
- 230000005856 abnormality Effects 0.000 claims description 17
- 238000010586 diagram Methods 0.000 description 16
- 230000000007 visual effect Effects 0.000 description 13
- 238000009795 derivation Methods 0.000 description 9
- 230000007613 environmental effect Effects 0.000 description 8
- 239000011159 matrix material Substances 0.000 description 8
- 238000004422 calculation algorithm Methods 0.000 description 7
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- 238000006073 displacement reaction Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
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- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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- 238000009434 installation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Classifications
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- 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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
Abstract
L'invention concerne un procédé et un appareil de commande d'image, et un dispositif de caméra et un aéronef. Le procédé est appliqué au dispositif de caméra, le dispositif de caméra comprend un capteur de vision et un capteur de mouvement, et le procédé consiste à : déterminer des points de caractéristiques cibles sur une image cible collectée par le capteur de vision ; acquérir des paramètres de caractéristique d'observation pour déterminer sur les informations bidimensionnelles des points de caractéristiques cibles sur l'image cible ; sur la base des paramètres de caractéristiques d'observation et des données de mouvement détectées par le capteur de mouvement, optimiser un paramètre de mappage d'image du dispositif de caméra, le paramètre de mappage d'image comprenant un paramètre de position du capteur de vision. Les modes de réalisation de la présente invention peuvent permettre de mapper plus précisément des points de caractéristiques sur une image sur un système de coordonnées de fuselage ou même sur un système de coordonnées global, ce qui permet de mieux assurer la précision des résultats de traitement basés sur la vision ultérieurs.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/098126 WO2020024182A1 (fr) | 2018-08-01 | 2018-08-01 | Procédé et appareil de traitement de paramètre, dispositif de caméra et aéronef |
| CN201880037251.3A CN110720113A (zh) | 2018-08-01 | 2018-08-01 | 一种参数处理方法、装置及摄像设备、飞行器 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/098126 WO2020024182A1 (fr) | 2018-08-01 | 2018-08-01 | Procédé et appareil de traitement de paramètre, dispositif de caméra et aéronef |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020024182A1 true WO2020024182A1 (fr) | 2020-02-06 |
Family
ID=69208814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2018/098126 WO2020024182A1 (fr) | 2018-08-01 | 2018-08-01 | Procédé et appareil de traitement de paramètre, dispositif de caméra et aéronef |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110720113A (fr) |
| WO (1) | WO2020024182A1 (fr) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112362084A (zh) * | 2020-11-23 | 2021-02-12 | 北京三快在线科技有限公司 | 一种数据标定方法、装置及数据标定系统 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112639883B (zh) * | 2020-03-17 | 2021-11-19 | 华为技术有限公司 | 一种相对位姿标定方法及相关装置 |
| CN112348889A (zh) * | 2020-10-23 | 2021-02-09 | 浙江商汤科技开发有限公司 | 视觉定位方法及相关装置、设备 |
| CN115272494B (zh) * | 2022-09-29 | 2022-12-30 | 腾讯科技（深圳）有限公司 | 相机与惯性测量单元的标定方法、装置和计算机设备 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345751A (zh) * | 2013-07-02 | 2013-10-09 | 北京邮电大学 | 一种基于鲁棒特征跟踪的视觉定位方法 |
| CN105953796A (zh) * | 2016-05-23 | 2016-09-21 | 北京暴风魔镜科技有限公司 | 智能手机单目和imu融合的稳定运动跟踪方法和装置 |
| CN106813672A (zh) * | 2017-01-22 | 2017-06-09 | 深圳悉罗机器人有限公司 | 移动机器人的导航方法及移动机器人 |
| CN107255476A (zh) * | 2017-07-06 | 2017-10-17 | 青岛海通胜行智能科技有限公司 | 一种基于惯性数据和视觉特征的室内定位方法和装置 |
| CN107747941A (zh) * | 2017-09-29 | 2018-03-02 | 歌尔股份有限公司 | 一种双目视觉定位方法、装置及系统 |
| CN107888828A (zh) * | 2017-11-22 | 2018-04-06 | 网易（杭州）网络有限公司 | 空间定位方法及装置、电子设备、以及存储介质 |
| CN108036785A (zh) * | 2017-11-24 | 2018-05-15 | 浙江大学 | 一种基于直接法与惯导融合的飞行器位姿估计方法 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7102615B2 (en) * | 2002-07-27 | 2006-09-05 | Sony Computer Entertainment Inc. | Man-machine interface using a deformable device |
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2018
- 2018-08-01 CN CN201880037251.3A patent/CN110720113A/zh active Pending
- 2018-08-01 WO PCT/CN2018/098126 patent/WO2020024182A1/fr active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345751A (zh) * | 2013-07-02 | 2013-10-09 | 北京邮电大学 | 一种基于鲁棒特征跟踪的视觉定位方法 |
| CN105953796A (zh) * | 2016-05-23 | 2016-09-21 | 北京暴风魔镜科技有限公司 | 智能手机单目和imu融合的稳定运动跟踪方法和装置 |
| CN106813672A (zh) * | 2017-01-22 | 2017-06-09 | 深圳悉罗机器人有限公司 | 移动机器人的导航方法及移动机器人 |
| CN107255476A (zh) * | 2017-07-06 | 2017-10-17 | 青岛海通胜行智能科技有限公司 | 一种基于惯性数据和视觉特征的室内定位方法和装置 |
| CN107747941A (zh) * | 2017-09-29 | 2018-03-02 | 歌尔股份有限公司 | 一种双目视觉定位方法、装置及系统 |
| CN107888828A (zh) * | 2017-11-22 | 2018-04-06 | 网易（杭州）网络有限公司 | 空间定位方法及装置、电子设备、以及存储介质 |
| CN108036785A (zh) * | 2017-11-24 | 2018-05-15 | 浙江大学 | 一种基于直接法与惯导融合的飞行器位姿估计方法 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112362084A (zh) * | 2020-11-23 | 2021-02-12 | 北京三快在线科技有限公司 | 一种数据标定方法、装置及数据标定系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110720113A (zh) | 2020-01-21 |
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