WO2022267028A1

WO2022267028A1 - Image-based distance-measuring method and apparatus, and storage medium

Info

Publication number: WO2022267028A1
Application number: PCT/CN2021/102454
Authority: WO
Inventors: 刘海军
Original assignee: 闻泰科技(深圳)有限公司
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2022-12-29
Also published as: CN113597535A; CN113597535B

Abstract

The present disclosure relates to the technical field of image processing, and provides an image-based distance-measuring method and apparatus, and a storage medium. The image-based distance-measuring method comprises: acquiring a target image which is collected by a camera and which comprises four positioning identifiers; determining first positions of the four positioning identifiers comprised in the target image; acquiring a first image point and a second image point in the target image, and determining the second position and third position of the first image point and the second image point in the target image, the first image point and the second image point corresponding to a first object point and a second object point on an identification plane in an object space, respectively; and according to the first positions, the second position and the third position, determining the distance between the first object point and the second object point in the object space. In the technical solution of the present disclosure, the distance between any two object points within an identification plane in an object space may be determined by acquiring a target image that comprises positioning identifiers, a fixed proportion does not need to be determined in advance, and application limitations are small; in addition, the method is suitable for various application scenarios and is convenient to implement.

Description

Image-based ranging method, device, and storage medium

technical field

Embodiments of the present disclosure relate to an image-based ranging method, device and storage medium.

Background technique

Distance measurement refers to the measurement of the length of a line connecting two points on a plane. It is one of the most basic tasks in various measurement tasks, especially in triangulation measurement, traverse measurement, topographic measurement and engineering measurement. widely. Commonly used methods for distance measurement include measuring ruler distance, line-of-sight measurement, parallax method distance measurement and electromagnetic wave distance measurement.

At present, line-of-sight measurement also includes image-based measurement, which mainly uses the fixed ratio of image pixels to the size of the actual plane to calculate the distance between any two points on the actual plane parallel to the imaging plane.

However, image-based measurement methods have relatively large application limitations and many conditions, which are not easy to implement in actual application scenarios, and are not applicable to the intersection of the imaging plane and the actual plane, and the measurement accuracy is relatively low.

Contents of the invention

(1) Technical problems to be solved

The existing image-based ranging methods are not suitable for the situation where the imaging plane intersects the actual plane, and the measurement accuracy is relatively low.

(2) Technical solution

According to various embodiments of the present disclosure, an image-based ranging method, device and storage medium are provided.

An image-based ranging method, the method comprising:

Obtaining the target image collected by the camera and including four positioning marks, wherein the four positioning marks are located on the marking plane in the object space, and are arranged at equal intervals and in a circle;

Determining the first positions of the four positioning marks in the target image;

Acquire the first image point and the second image point in the target image, and determine the second position of the first image point and the third position of the second image point, wherein the first image point is the first object point on the identification plane An image point, the second image point is an image point that marks the second object point on the plane;

Based on the first position, the second position and the third position, the distance between the first object point and the second object point is determined.

An image-based ranging device comprising:

The image acquisition module is configured to acquire the target image collected by the camera and includes four positioning marks, wherein the four positioning marks are located on the marking plane in the object space, and are arranged at equal intervals and around them;

The first position determination module is configured to determine the first positions of the four positioning marks in the target image;

The second position determination module is configured to acquire the first image point and the second image point in the target image, and determine the second position of the first image point and the third position of the second image point, wherein the first image point is The image point of the first object point on the identification plane, and the second image point is the image point of the second object point on the identification plane;

The distance determination module is configured to determine the distance between the first object point and the second object point according to the first position, the second position and the third position.

An electronic device includes a memory and one or more processors, the memory stores computer-readable instructions, and when the one or more processors execute the computer-readable instructions, an image-based measurement provided by any embodiment of the present disclosure is implemented. steps from the method.

One or more non-volatile computer-readable storage media storing computer-readable instructions, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by one or more processors, implement any embodiment of the present disclosure The steps of an image-based ranging method are provided.

Other features and advantages of the present disclosure will be set forth in the following description, and the purpose and other advantages of the present disclosure can be realized and obtained by the structure particularly pointed out in the description, claims and drawings, one or more of the present disclosure The details of these embodiments are set forth in the accompanying drawings and the description below. In order to make the above objects, features and advantages of the present disclosure more comprehensible, optional embodiments are given below and described in detail in conjunction with the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

Fig. 1 is a schematic diagram of positioning marks in one or more embodiments;

Fig. 2 is a schematic diagram of an identification plane in one or more embodiments;

Fig. 3 is a schematic diagram of an application scenario in one or more embodiments;

Fig. 4 is a schematic flowchart of an image-based ranging method in one or more embodiments;

Fig. 5 is a schematic flowchart of an image-based ranging method in one or more embodiments;

Fig. 6 is a schematic diagram of a positional relationship in one or more embodiments;

Fig. 7 is a schematic flowchart of an image-based ranging method in one or more embodiments;

Fig. 8 is a schematic diagram of distance measurement in one or more embodiments;

Fig. 9 is a schematic flowchart of an image-based ranging method in one or more embodiments;

Fig. 10 is a structural block diagram of an image-based ranging device in one or more embodiments;

Figure 11 is a diagram of the internal structure of an electronic device in one or more embodiments.

detailed description

In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

Specifically, the positioning mark can be a graphic with high contrast and spatial symmetry, which can have high anti-interference in image recognition. The positioning mark can be a figure as shown in Figure 1, such as the positioning mark 110, the positioning mark 120, the positioning mark 130 and the positioning mark 140, the specific graphic structure of the positioning mark is not limited.

Specifically, four positioning marks can be placed on a fixed spatial position relative to the shooting target to obtain a marking plane. For example, a schematic diagram of a marking plane shown in FIG. 2 uses 120 in FIG. The positioning marks 120 are placed in the object space at equal intervals in sequence to obtain a marking plane, and the distance between any two adjacent marks is the same, wherein the graphics of the four positioning marks in the marking plane may be the same.

Specifically, the image-based ranging method can be performed by a terminal or a server. The terminal or server can measure the distance between any two object points in the corresponding identification plane through the target image.

For example, in an application scenario, as shown in FIG. 3, the server 32 measures the distance between any two object points in the actual space through the target image, and the terminal 31 directly receives information about the distance between the two object points from the server 32. Measurement results, wherein, the target image may be captured by the terminal 31 and sent to the server 32 . Alternatively, the target image is acquired by the terminal 31 from other devices. Alternatively, the target image is an image obtained after the terminal 31 performs image processing on a preset image, and the preset image may be obtained by shooting by the terminal 31, or the preset image may be obtained by the terminal 31 from other devices. Here, other devices are not specifically limited.

In another application scenario, the terminal 31 measures the distance between any two object points in the actual space through the target image, and sends the measured distance result to the server 32, wherein the target image can be obtained by the server 32 And send it to the terminal 31. The way the server 32 acquires the target image can be similar to the way the terminal 31 acquires the target image above, and will not be repeated here.

In yet another application scenario, the terminal 31 captures the target image, and further, the terminal 31 measures the distance between any two object points in the actual space through the target image.

In one embodiment, as shown in FIG. 4 , an image-based ranging method is provided. In this embodiment, the method is applied to a terminal 31 for illustration. The terminal 31 can be, but not limited to, various personal computers, Laptops, smartphones, tablets and portable wearables. Including the following steps as shown in Figure 4:

S410: Obtain the target image collected by the camera and including the four positioning marks.

Optionally, the four positioning marks are located on the mark plane in the object space, and are equally spaced and arranged in a circle.

It can be understood that, relative to the shooting target, four positioning marks are placed at fixed spatial positions in the object space (actual space). Referring to the positions of the four positioning marks in the marking plane shown in FIG. In the case of a certain distance (object distance), the target image is generated by collecting information including four positioning marks and the shooting target through the camera.

S420: Determine the first positions of the four positioning markers in the target image.

It can be understood that on the basis of the above S410, the image processing algorithm may be used to calculate the first positions of the four positioning markers in the target image, where the first position includes specific position information of the four positioning markers in the target image.

S430: Acquire a first image point and a second image point in the target image, and determine a second position of the first image point and a third position of the second image point.

Optionally, the first image point is an image point that identifies the first object point on the plane, and the second image point is an image point that identifies the second object point on the plane.

It can be understood that on the basis of the above S420, any two image points in the target image are obtained, which are recorded as the first image point and the second image point, and according to the position of the pixel point occupied by the image point in the target image, Determining the second position of the first image point and the third position of the second image point, wherein the first image point in the target image is the image point of the first object point on the identification plane, and the second image point is the image point of the first object point on the identification plane. The image points of two object points, that is to say, the first image point in the target image corresponds to the first object point on the identification plane in the actual space, and the second image point in the target image corresponds to the second object point on the identification plane in the actual space. object point.

S440: Determine the distance between the first object point and the second object point according to the first position, the second position and the third position.

It can be understood that, on the basis of the above S430 and S420, according to the first positions of the four positioning marks in the target image and the first image point and the second image point in the target image, the first position on the mark plane in the actual space is determined. The distance between the object point and the second object point.

An image-based ranging method provided by an embodiment of the present disclosure obtains a target image including four positioning marks captured by a camera, determines the first positions of the four positioning marks included in the target image, and obtains the first position of the four positioning marks in the target image. One image point and the second image point, and determine the second position and the third position of the first image point and the second image point in the target image, wherein, the first image point and the second image point respectively correspond to the identification in the object space The first object point and the second object point on the plane, according to the first position, the second position and the third position, determine the distance between the first object point and the second object point in the object space. The disclosed technical solution can determine the distance between any two object points in the marked plane in the object space by acquiring the target image including the positioning mark, and does not need to determine the fixed ratio between the image pixel and the size on the actual plane in advance, and can be applied in imaging When the surface intersects with the actual plane, the application limitation is small, it is suitable for a variety of application scenarios, and it is easy to implement.

In one embodiment, as shown in FIG. 5 , an image-based ranging method is provided. Optionally, the first object point and the second object point are determined according to the first position, the second position, and the third position. The distance between, including the following steps as shown in Figure 5:

S510: Determine the positional relationship between the image plane of the camera and the identification plane according to the first position.

Optionally, the positional relationship includes that the image plane is parallel to or intersects with the identification plane.

Understandably, according to the first positions of the four positioning marks in the target image, the positional relationship between the image plane of the camera and the mark plane is determined, where the image plane refers to the plane where the target image captured by the camera is located.

Optionally, according to the first position, determine the positional relationship between the image plane of the camera and the identification plane, including:

When the lengths of the first group of opposite sides determined by the marking position are equal, and the lengths of the second group of opposite sides determined by the marking position are equal, the image plane is parallel to the marking plane; when the length of the first group of opposite sides determined by the marking position and the second When the lengths of any one of the two sets of opposite sides are not equal, the image plane intersects the logo plane.

In the first implementation of this embodiment, the four positioning marks sequentially include the first positioning mark, the second positioning mark, the third positioning mark and the fourth positioning mark in the arrangement direction.

Optionally, according to the positions of the marks, the distance between two points algorithm can be used to determine the first imaging distance between the first positioning mark and the second positioning mark, the second imaging distance between the second positioning mark and the third positioning mark, A third imaging distance between the third positioning mark and the fourth positioning mark, and a fourth imaging distance between the fourth positioning mark and the first positioning mark. Wherein, the sides corresponding to the first imaging distance and the third imaging distance are the first group of opposite sides, and the sides corresponding to the second imaging distance and the fourth imaging distance are the second group of opposite sides. Thus, when the first imaging distance is equal to the third imaging distance, and the second imaging distance is equal to the fourth imaging distance, the image plane is parallel to the logo plane; when the first imaging distance is not equal to the third imaging distance, or When the second imaging distance is not equal to the fourth imaging distance, the image plane intersects the logo plane. .

Understandably, the first imaging distance between the adjacent first positioning mark and the second positioning mark in the arrangement direction is determined, and the second imaging distance between the adjacent second positioning mark and the third positioning mark in the arrangement direction is sequentially determined. Two imaging distances, a third imaging distance between the third positioning mark and the fourth positioning mark, and a fourth imaging distance between the fourth positioning mark and the first positioning mark, wherein the first positioning mark and the second positioning mark and The fourth positioning mark is adjacent, the third positioning mark is adjacent to the second positioning mark and the fourth positioning mark, and the first positioning mark is not equal to the third positioning mark; if the first imaging distance is equal to the third imaging distance, and the second When the second imaging distance is equal to the fourth imaging distance, the image plane is parallel to the marking plane, that is to say, the camera may be placed directly in front of the marking plane; if the first imaging distance is not equal to the third imaging distance, and/or the second When the imaging distance is not equal to the fourth imaging distance, the image plane intersects the logo plane, that is to say, the camera may not be placed directly in front of the logo plane, and the lens of the camera has a certain inclination angle to the logo plane, resulting in four corners in the target image. The imaging distance between the two positioning marks has changed. At this time, the distance between the two object points in the marking plane cannot be accurately determined by using the image-based measurement method in the prior art.

Exemplarily, referring to FIG. 6 , 610 indicates that the image plane 612 is parallel to the marking plane 611, that is, the camera 613 is placed directly in front of the marking plane 611, and the camera 613 is positioned on the marking plane 611 on the diagonal line of the four positioning marks. Directly in front of the focus, that is, the dotted line in the figure is perpendicular to the logo plane 611. The plane collected by the camera 613 can be regarded as the image plane 612, and the target image is generated according to the image plane 612. The image plane 612 includes the same content as the target image. At this time, The imaging distances determined between the four positioning marks are equal, and the generated target image can be regarded as a reduced image of the mark plane. 620 indicates that the image plane 621 intersects with the logo plane 611, the lens of the camera 613 has an oblique angle to the logo plane 611, that is, the main optical axis of the camera 613 is not perpendicular to the logo plane 611, and four of the image planes 621 corresponding to the camera 613 The positions of the positioning marks are also inclined relative to the marking plane 611. At this time, the positions of the four positioning marks in the target image are inclined compared with the positions of the four positioning marks in the marking plane, and cannot be accurately measured according to a fixed ratio The distance between object points in real space.

S520: Determine the distance between the first object point and the second object point according to the positional relationship, the first location, the second location, and the third location.

Understandably, on the basis of the above S510, according to the determined positional relationship between the image plane and the marker plane, the first positions of the four positioning markers in the target image, the second position of the first image point in the target image, and the second image The third position of the point determines the distance between the first object point and the second object point in the actual space, that is to say, different positional relationships correspond to different ways of measuring distance.

Optionally, according to the positional relationship, the first position, the second position and the third position, the distance between the first object point and the second object point is determined, which is applied to the case where the image plane is parallel to the logo plane, and the parallel positional relationship Refer to 610 in FIG. 6 for details, which specifically includes the following steps:

S521: When the image plane is parallel to the marking plane, determine the imaging distance between any two positioning marks among the four positioning marks according to the first position.

Understandably, when the image plane is parallel to the marker plane, the imaging distance between any two positioning markers in the target image is calculated according to the first positions of the four markers in the target image.

Exemplarily, referring to 610 in FIG. 6 , according to the first positions of the four positioning marks P ₁ ′, P ₂ ′, P ₃ ′, and P ₄ ′ in the target image, P ₁ ′, P ₂ ′, and P ₁ can be determined ' and P ₄ ' or the imaging distance between P ₁ ' and P ₃ ', and the imaging distance between P ₂ ' and the other three positioning marks can also be determined respectively, P ₃ ' and P ₄ ' and P ₁ ' Or P ₂ ' calculates the imaging distance similarly.

S522: Determine the distance between the first image point and the second image point according to the second position and the third position.

Understandably, the distance between the first pixel and the second pixel is determined according to the second position of the first pixel and the third position of the second pixel in the target image.

S523: Determine the distance between the first object point and the second object point according to the imaging distance between any two positioning marks and the distance between the first image point and the second image point, and in combination with the imaging principle.

Optionally, the relational expression satisfied by the distance between the first object point and the second object point includes: the ratio of the actual distance between any two positioning marks and the imaging distance between any two positioning marks, and the first image The product of the distance between the point and the second image point.

It can be understood that the imaging principle mainly applies the principle of pinhole imaging, and the specific imaging formula is shown in formula (1).

Among them, H is the object height, D is the object distance, that is, the distance between the camera and the shooting target, f is the focal length of the lens, and h is the image height.

Understandably, for the distance between the first image point and the second image point, if the straight line connecting the first image point and the second image point is parallel to any side of the target image, then the distance can be calculated using pixels, that is Calculate the product of the number of pixels occupied by the straight line connecting the first pixel and the second pixel and the side length of the pixel; if the straight line connecting the first pixel and the second pixel is not parallel to any side of the target image, Then directly measure the length of the straight line connecting the first image point and the second image point in the target image.

Understandably, on the basis of the above S521 and S522, the ratio of the distance between the first object point and the second object point in the actual space to the distance between the first image point and the second image point in the target image is equal to The ratio of the actual distance between any two positioning marks in the actual space and the imaging distance between any two positioning marks in the target image.

Exemplarily, if the distance between the first image point M' and the second image point N' in the target image is denoted as M'N', the distance between the first object point M and the second object point N in the actual space Denoted as MN, the actual distance between the two positioning marks P ₁ and P ₂ in the actual space is denoted as W, the imaging distance between the two positioning marks P ₁ ' and P ₂ ' in the target image is denoted as W', the first The distance MN between the object point M and the second object point N can be calculated using formula (2).

The image-based ranging method provided by the embodiments of the present disclosure can accurately determine the positional relationship between the image plane where the target image is located and the representation image in the actual space, and use different measurement methods to determine the distance between objects according to different positional relationships. The distance between points can be applied to a variety of application scenarios, and the distance between object points can be accurately calculated, and it is easy to implement.

In one embodiment, as shown in FIG. 7 , an image-based ranging method is provided. Optionally, according to the positional relationship, the first position, the second position and the third position, the first object point and the second The distance between two object points is applied to the situation where the image plane intersects with the logo plane, and the intersecting positional relationship is specifically referred to at 620 in Fig. 6, which specifically includes the following steps:

Optionally, the four positioning marks sequentially include a first positioning mark, a second positioning mark, a third positioning mark and a fourth positioning mark in the arrangement direction.

Understandably, the first position includes the first sub-position corresponding to the first positioning mark, the second sub-position corresponding to the second positioning mark, the third sub-position corresponding to the third positioning mark, and the fourth sub-position corresponding to the fourth positioning mark. Location.

Exemplarily, referring to FIG. 6 , the first positioning mark, the second positioning mark, the third positioning mark and the fourth positioning mark can be marked as P ₁ ′, P ₂ ′, P ₃ ′, and P ₄ ′, respectively.

S710: When the image plane intersects the identification plane, determine a first projection angle and a second projection angle according to the first position.

It can be understood that when the image plane intersects the logo plane, there is an intersecting angle between the image plane and the logo plane, and the intersecting angle can be decomposed into two cases of independent calculation, according to the first positions of the four positioning marks in the target image , respectively determine the first projection angle and the second projection angle, that is, after the transformation of the first projection angle and the second projection angle, the image plane is parallel to the logo plane, wherein the first projection angle and the second projection angle can be acute angle.

Optionally, the logo plane is rotated around the first preset straight line by the second projection angle, and after being rotated around the second preset straight line by the first projection angle, parallel to the image plane, the first preset straight line passes through the first position in the object space mark and the third position mark, the second preset straight line passes through the second position mark and the fourth position mark in the object space.

For example, see Fig. 8, Fig. 8 is a schematic diagram of distance measurement, the logo plane 611 rotates around the first preset straight line P ₁ P ₃ by the second projection angle β, and rotates the first projection around the second preset straight line P ₂ P ₄ After the angle α, the logo plane is parallel to the image plane. The cross-sectional view 710 shown in FIG. 8 is obtained by rotating the logo plane 611 around the first preset straight line P ₁ P ₃ by the second projection angle β, wherein OP is the center of the logo plane The straight line at point C is perpendicular to the straight line passing through center point C and lens center L, and α is the first projection angle.

Optionally, determining the first projection angle and the second projection angle according to the first position includes: determining the first positioning mark, the second positioning mark, the third positioning mark and the fourth positioning mark in the target image according to the first position Mark the first distance, the second distance, the third distance and the fourth distance from the mark imaging center respectively; according to the second distance and the fourth distance, determine the first projection angle; according to the first distance and the third distance, determine the second projection angle. Specifically, the first projection angle and the second projection angle are calculated by the following formulas (3)-(16), which are described with symbols marked in FIG. 8 .

Combining Fig. 8 and the imaging formula, formula (3) and formula (4) can be obtained.

Wherein, point O is the intersection of the straight line LP ₂ connecting the camera L with the second positioning mark P ₂ and the straight line passing through the midline point C and perpendicular to the straight line CL, and P is the extension of the straight line connecting the camera and the fourth positioning mark P ₄ The intersection point of LP ₄ and the straight line passing through the center line point C and perpendicular to the straight line CL, D is the distance between the center point C and the camera center L, C' is the connection line between P ₁ ' and P ₃ ' in the target image and P ₂ ' and The intersection point of the line connecting P ₄ ', A' ₂ is the distance between C' and P2', and f is the focal length of the camera.

Among them, A' ₄ is the distance between C' and P ₄ '.

Combined with Fig. 8 and the triangular geometric relationship, formula (5) to formula (10) can be obtained.

P ₂ C=A formula (5)

Wherein, A is the distance between the _second positioning mark P2 and the center point C in the mark plane.

P ₄ C＝A formula (6)

Wherein, the distance from any positioning mark to the center point C in the mark plane is equal to A.

P ₂ M＝A×cosα formula (7)

Wherein, P ₂ M is perpendicular to MC, and the angle between P ₂ M and P ₂ C is the first projection intersection α.

P ₄ N＝A×cosα formula (8)

Wherein, P ₄ N is perpendicular to CL, and the angle between P ₄ N and P ₄ C is the first projection intersection α.

MC＝A×sinα formula (9)

NC=A×sinαFormula (10)

According to the similarity between the triangle formed by P ₂ ML and the triangle formed by OCL, formula (11) can be obtained.

Combining the above formula (3), formula (7), formula (9) and formula (11), the following formula (12) is obtained.

According to the similarity between the triangle formed by P ₄ NL and the triangle formed by PCL, formula (13) can be obtained.

Combining the above formula (4), formula (8), formula (10) and formula (12), the following formula (14) is obtained.

According to the formula (12) and the formula (14), the calculation formula of the first projection angle α can be obtained as the following formula (15).

Wherein, α represents the first projection angle, A'2 represents the distance from the _second positioning mark to the mark imaging center in the target image, _A'4 represents the distance from the fourth position mark to the mark imaging center in the target image, and f represents the camera The focal length of , mark the imaging center as the intersection of the diagonal lines connecting the four positioning marks in the target image.

Optionally, the calculation method of the second projection angle β is the same as that of the first projection angle α, which is not repeated here. The calculation formula of the second projection angle β is as follows: formula (16).

Wherein, β represents the second projection angle, _A'1 represents the distance from the first positioning mark to the mark imaging center in the target image, and _A'3 represents the distance from the third position mark to the mark imaging center in the target image.

S720: Determine the object distance according to the first position and the first projection angle; or determine the object distance according to the first position and the second projection angle.

It can be understood that on the basis of the above S710, the object distance is determined according to the first position in the target image and the first projection angle of the image plane projected onto the identification plane, wherein the object distance refers to the center of the lens of the camera to the identification plane The distance between the centers of the four positioning marks, the center is the intersection point of the diagonal lines connecting the four positioning marks.

For example, refer to 610 in FIG. 6 , the length of the dotted line in 610 is the intersection point of the diagonal line connecting the four positioning marks on the marking plane from the lens center of the camera 613 to the lens center of the camera on the marking plane and the four positioning markings on the marking plane. distance.

Optionally, the object distance is determined according to the second distance, the fourth distance and a cosine value including the first projection angle. Specifically, the object distance is determined according to the first position and the first projection angle, and the calculation formula of the object distance is as the following formula (17).

Among them, D represents the object distance, _A represents the distance from the positioning mark to the mark center in the object space, A'2 represents the distance from the second positioning mark to the mark imaging center in the target image, and A'4 represents the _fourth position mark in the target image The distance from the positioning mark to the mark imaging center, f represents the focal length of the camera, α represents the first projection angle, the mark center is the intersection point of the diagonal lines connecting the four positioning marks in the object space, and the mark imaging center is the four points in the target image Positioning identifies the intersection of diagonal lines.

Understandably, according to the four positioning marks P ₁ ′, P ₂ ′, P ₃ ′ and P ₄ ′ in the target image, A′ ₁ , A′ ₂ , A′ ₃ and A′ ₄ are obtained, and according to formula (15 ) to obtain the first projection angle α obtained by calculating the distance D between the camera and the central point of the logo plane in the actual space.

Alternatively, the object distance is determined according to the first distance, the third distance and a cosine value including the second projection angle. Specifically, the object distance is determined according to the first position and the second projection angle, and the calculation formula of the object distance is as the following formula (18).

Among them, D represents the object distance, A represents the distance from the positioning mark to the mark center in the object space, _A'1 represents the distance from the first positioning mark to the mark imaging center in the target image, and _A'3 represents the third position mark in the target image The distance between the positioning mark and the mark imaging center, f represents the focal length of the camera, β represents the second projection angle, the mark center is the intersection point of the diagonal lines connecting the four positioning marks in the object space, and the mark imaging center is the four points in the target image Positioning identifies the intersection of diagonal lines.

Understandably, the distance between the camera and the central point of the logo plane in the actual space can be obtained according to the first projection angle or the second projection angle.

S730: Determine the position of the first object point and the position of the second object point according to the first position, the second position, the third position, the first projection angle, the second projection angle, and the object distance.

Understandably, according to the first position of the four positioning marks in the target image, the second position of the first pixel point, the third position of the second pixel point, the first projection angle and the second projection angle corresponding to the image plane and the mark plane The angle and the object distance from the lens center of the camera to the center in the marked plane are calculated to obtain the position of the first object point and the position of the second object point in the actual space.

S740: Determine the distance between the first object point and the second object point according to the position of the first object point and the position of the second object point.

Understandably, on the basis of the above S730, according to the position of the first object point and the position of the second object point in the actual space, the distance between the first object point and the second object point is obtained, and the specific calculation formula can be as follows Formula (19) shows.

Among them, |MN| is the distance between the first object point and the second object point in the actual space, and the positions of the first object point and the second object point in the actual space are (x _m , y _m ) and (x _n ,y _n ).

An image-based ranging method provided by an embodiment of the present disclosure determines two projection angles according to the first positions of the four positioning marks in the target image, which is convenient for handling the intersection of the image plane and the marking plane, and can be used without measurement. The projection angle determines the object distance, that is, the distance from the center of the camera to the center of the mark, and the method is simple and easy to implement.

In one embodiment, as shown in FIG. 9 , an image-based ranging method is provided. Optionally, according to the first position, the second position, the third position, the first projection angle, the second projection angle and The object distance is to determine the position of the first object point and the position of the second object point, including the following steps as shown in Figure 9:

S910: According to the first position, the second position and the third position, determine a first pixel projection length group of the first pixel and a second pixel projection length group of the second pixel.

Wherein, the first image point projection length group and the second image point projection length group both include the distances from the corresponding image point to the first virtual straight line and the second virtual straight line respectively, and the first virtual straight line passes through the first positioning mark in the target image and the third positioning mark, the second virtual straight line passes through the second positioning mark and the fourth positioning mark in the target image.

In the first embodiment of this embodiment, according to the first position and the second position, the first pixel projection length group of the first pixel is determined, and according to the first position and the third position, the second pixel projection length group of the second pixel is determined. Image point projection length group.

Optionally, the first image point projection length group includes the first image point projection length and the image point second projection length, and the image point first projection length is the vertical projection of the first image point on the first virtual straight line to the identified imaging center The second projection length of the image point is the distance from the vertical projection of the first image point on the second virtual straight line to the center of the marked imaging. The second image point projection length group includes the third projection length of the image point and the fourth projection length of the image point length, the third projected length of the image point is the distance from the vertical projection of the second image point on the first virtual straight line to the center of the logo imaging, and the fourth projected length of the image point is the vertical projection of the second image point on the second virtual straight line to Identify the distance of the imaging center, the first virtual straight line passes through the first positioning mark and the third positioning mark in the target image, and the second virtual straight line passes through the second positioning mark and the fourth positioning mark in the target image.

Exemplarily, referring to Fig. 8, the object point T is randomly determined on the identification plane in the actual space, T' is _an image point in the image plane corresponding to the object point, and the object point T is not adjacent to the identification plane in the identification plane. The projections on P ₃ and P ₂ P ₄ are denoted as T ₁ and T ₂ , and the projections of the image point T' corresponding to the object point T in the image plane are denoted as T′ ₁ and T′ ₂ , where T′T′ ₁ Parallel to C'P' ₄ and T'T' ₂ parallel to C'P' ₃ , if the first image point or the second image point is the image point T', the first projection length or the third projection length is C'T ₁ ', the first virtual straight line is P ₁ 'P ₃ ', the second projected length or the fourth projected length is C'T ₂ ', and the second virtual straight line is P ₂ 'P ₄ '.

Optionally, according to the first position, determine the position of the marked imaging center; according to the second position and the third position, respectively determine the vertical projection of the corresponding image point to the first virtual straight line and the second virtual straight line; according to the vertical projection to the marked The distance of the imaging center determines the first image point projection length group and the second image point projection length group. Determining the first image point projection length group or the second image point projection length group specifically includes the following steps:

S911: Determine the position of the marked imaging center according to the first position.

Understandably, according to the first positions of the four positioning marks in the target image, the position of the marking imaging center obtained by the intersection of straight lines connecting non-adjacent positioning marks is determined.

Exemplarily, according to the straight line connecting P ₁ 'and P ₃ ', P ₄ 'and P ₂ 'determines the identification imaging center C' of the target image, further, according to P ₁ ', P ₂ ', P ₃ ', P ₄ The corresponding position of 'determines the position of C'.

S912: Establish a Cartesian coordinate system with the position of the marked imaging center as the origin.

Understandably, on the basis of the above S911, a Cartesian coordinate system is established with the position of the marked imaging center C' as the origin, with the horizontal direction as the X axis and the longitudinal direction passing through C' as the Y axis.

S913: According to the first position, determine the first marker coordinates of the first positioning marker, the second marker coordinates of the second marker, the third marker coordinates of the third marker, and the fourth marker coordinates of the fourth marker in the Cartesian coordinate system. Identify the coordinates, and determine the first image point coordinates of the first image point according to the second position, and determine the second image point coordinates of the second image point according to the third position.

It can be understood that on the basis of the above S912, according to the determined Cartesian coordinate system, the first positions of the four positioning marks in the target image are re-determined, and the positions of the four positioning marks are respectively the first identification coordinates of the first positioning marks, The second identification coordinates of the second positioning identification, the third identification coordinates of the third positioning identification and the fourth identification coordinates of the fourth positioning identification, at the same time, re-determine the first image point coordinates of the first image point and the second image point The coordinates of the second image point, wherein the randomly selected image point T' can be the first image point or the second image point.

S914: Determine a first straight line equation of the first virtual straight line according to the first identified coordinates or the third identified coordinates, and determine a second straight line equation of the second virtual straight line according to the second identified coordinates or the fourth identified coordinates.

Understandably, the first line equation of the first virtual straight line is determined according to any one of the first marked coordinates or the third marked coordinates and the marked imaging center, wherein the first virtual straight line passes through the first marked coordinates, the third marked coordinates, Coordinates and mark the imaging center, the calculation formula of the first straight line equation of the first virtual straight line is shown in the following formula (20).

or

Among them, the first virtual straight line is a straight line passing through C′P′ ₃ P′ ₁ , and the corresponding coordinate points of P′ ₁ , P′ ₂ , P′ ₃ , and P′ ₄ in the target image can be written as (x′ ₁ , y′ ₁ ),(x′ ₂ ,y′ ₂ ),(x′ ₃ ,y′ ₃ ),(x′ ₄ ,y′ ₄ ), the image coordinates of T′ are (x′ _t ,y′ _t ) .

Understandably, the second line equation of the second virtual straight line is determined according to any one of the second logo coordinates or the fourth logo coordinates and the logo imaging center, wherein the second virtual straight line passes through the second logo coordinates, the fourth logo coordinates and identify the imaging center, the calculation formula of the second line equation of the second virtual line is shown in the following formula (21).

or

Wherein, the second virtual straight line is a straight line passing through C′P′ ₄ P′ ₂ .

S915: According to the coordinates of the first image point, determine the third line equation passing through the first image point and parallel to the first virtual straight line, and the fourth line equation passing through the first image point and parallel to the second virtual straight line, and according to the first image point The coordinates of the two image points determine the fifth line equation passing through the second image point and parallel to the first virtual straight line, and the sixth line equation passing through the second image point and parallel to the second virtual straight line.

Exemplarily, referring to FIG. 8, the third line equation is a line passing through T' and _T'2 and parallel to C'P'3, and the calculation formula of the _third line equation is shown in the following formula (22).

Among them, regard (x′ _t , y′ _t ) as the coordinates of the first pixel point to obtain the third line equation, and regard (x′ _t , y′ _t ) as the coordinates of the second pixel point. Get the equation of the fifth straight line.

Exemplarily, referring to FIG. 8, the fourth straight line equation is a straight line passing through T' and _T'1 and parallel to C'P'4, and the calculation formula of the _fourth straight line equation is shown in the following formula (23).

Among them, regard (x′ _t , y′ _t ) as the coordinates of the first pixel point to obtain the fourth line equation, and regard (x′ _t , y′ _t ) as the coordinates of the second pixel point. Get the equation of the sixth line.

S916: According to the first straight-line equation and the fourth straight-line equation, determine the first projection coordinates of the image point vertically projected onto the first virtual straight line, and determine the first image according to the second straight-line equation and the third straight-line equation The second projection coordinates of the image point vertically projected onto the second virtual straight line, and according to the first straight line equation and the sixth straight line equation, determine the third projection coordinates of the second image point vertically projected onto the first virtual straight line , according to the second straight line equation and the fifth straight line equation, determine the fourth projection coordinates of the second pixel vertically projected onto the second virtual straight line.

It can be understood that the intersection of the first straight line equation and the fourth straight line equation is the first projection coordinate of the first image point vertically projected onto the first virtual straight line, and the intersection of the second straight line equation and the third straight line equation is is the second projection coordinate of the first image point vertically projected onto the second virtual straight line, and the intersection point of the first straight line equation and the sixth straight line equation is the second image point vertically projected onto the first virtual straight line The third projected coordinates, the intersection of the second straight line equation and the fifth straight line equation are the fourth projected coordinates of the image point vertically projected onto the second virtual straight line by the second image point.

Exemplarily, the first projected coordinates of the intersection of the first line equation and the fourth line equation are marked as T′ ₁ , and the coordinates of point T′ ₁ are marked as (x′ _t1 , y′ _t1 ), and the calculation formula is as follows ( twenty four).

Among them, (x′ _t , y′ _t ) can be regarded as the coordinates of the first pixel point to obtain the first projected coordinates, and (x′ _t , y′ _t ) can be regarded as the coordinates of the second pixel point Get the third projected coordinates.

Exemplarily, the second projected coordinates of the intersection of the second line equation and the third line equation are marked as T′ ₂ , and the coordinates of T′ ₂ are marked as (x′ _t2 , y′ _t2 ), and the calculation formula is the following formula (25 ).

Among them, regard (x′ _t , y′ _t ) as the coordinates of the first pixel point to obtain the second projection coordinates, and regard (x′ _t , y′ _t ) as the coordinates of the second pixel point. Get the fourth projected coordinates.

S917: Determine the first projected length of the image point according to the first projected coordinates of the image point, determine the second projected length of the image point according to the second projected coordinates of the image point, and determine the third projected length of the image point according to the third projected coordinates of the image point , according to the fourth projection coordinates of the image point, determine the fourth projection length of the image point.

Understandably, according to the first projected coordinates of the image point and the coordinates identifying the imaging center, the first projected length of the image point is obtained, and respectively according to the second projected coordinates of the image point, the third projected coordinates of the image point and the fourth projected coordinates of the image point and The coordinates of the imaging center are identified to obtain the corresponding second projected length of the image point, the third projected length of the image point and the fourth projected length of the image point.

Exemplarily, the first projection length of the image point is obtained according to the coordinates (x' _t1 , y' _t1 ) of point _T'1 , and the calculation formula is as the following formula (26).

Exemplarily, the second projected length of the image point is obtained according to the coordinates (x' _t2 , y' _t2 ) of point _T'2 , and the calculation formula is as the following formula (27).

Wherein, the third projected length of the image point and the fourth projected length of the image point are also obtained by the above formula, which will not be repeated here.

S920: Determine the first object point projection length group and the second object point of the first object point according to the first projection angle, the second projection angle, the object distance, the first image point projection length group, and the second image point projection length group The second object point projection length group for .

In an implementation of this embodiment, according to the first projection angle, the second projection angle, the object distance and the first image point projection length group, the first object point projection length group of the first object point is determined, and according to the first projection The angle, the second projection angle, the object distance and the second image point projection length group determine the second object point projection length group of the second object point. The first object point projected length group includes the first projected length of the object point and the second projected length of the object point. The first projected length of the object point is the distance from the vertical projection of the first object point on the first preset straight line to the center of the mark. The second projection length of the point is the distance from the vertical projection of the first object point on the second preset straight line to the center of the logo. The second projection length group of the object point includes the third projection length of the object point and the fourth projection length of the object point. The third projection length is the distance from the vertical projection of the second object point on the first preset straight line to the mark center, and the fourth projection length of the object point is the distance from the vertical projection of the second object point on the second preset straight line to the mark center distance.

Optionally, according to the position of the vertical projection corresponding to the first image point on the virtual straight line, the second projection angle, the object distance and the first image point projection length group, determine the first object point projection length group; according to the second image point The corresponding vertical projection position on the virtual straight line, the first projection angle, the object distance and the second image point projection length group determine the second object point projection length group. Specifically, in the target image, the connecting line between the first positioning mark and the third positioning mark is the first diagonal line, the connecting line between the second positioning mark and the fourth positioning mark is the second diagonal line, and the connecting line between the second positioning mark and the fourth positioning mark is the second diagonal line. Both the diagonal line and the second diagonal line are divided into the first semi-axis and the second semi-axis by the identified imaging center.

Exemplarily, referring to FIG. 8, in the target image 621, the connecting line between the first positioning mark P'1 and the _third positioning mark P'3 is the _first diagonal line, and the second positioning mark _P'2 and the third The connecting line between the four positioning marks P′ ₄ is the second diagonal, the first semi-axis and the second semi-axis in the first diagonal can be C′P′ ₁ and C′P′ ₃ , the second The first and second semi-axes in the diagonal may be C'P' ₂ and C'P' ₄ .

Optionally, the calculation method of the first object point projection length group of the first object point or the second object point projection length group of the second object point specifically includes the following steps:

S921: When the vertical projection of the first image point or the second image point on the first virtual straight line is located on the shorter semi-axis of the first semi-axis and the second semi-axis of the first diagonal, the following formula is used ( 28) Determine the first projection length of the object point or the third projection length of the object point:

It can be understood that the determination of the shorter semi-axis and the longer semi-axis is determined by the distance between the image points specifically included in the first semi-axis and the second semi-axis, where |CT ₁ | is the object point in the actual space T is the distance from the coordinate point projected by the first virtual straight line P ₁ P ₃ in the logo plane to the center of the logo.

Exemplarily, referring to FIG. 8, the line connecting the image point T' and the image point projection point _T'1 is perpendicular to the _first virtual straight line _C'P'3P'1 , and the image point projection point _T'1 is the image point T' At the vertical projection point on the first virtual straight line, the first semi-axis in the first diagonal is compared with the second semi-axis C'P' ₁ and C'P' ₃ , and C'P' ₁ can be determined to be relatively Minor semi-axis, similarly, compared with C'P' ₂ and C'P' ₄ in the first semi-axis in the second diagonal, C'P' ₂ is the shorter semi-axis.

S922: When the vertical projection of the first image point or the second image point on the first virtual straight line is located on the longer semi-axis of the first semi-axis and the second semi-axis of the first diagonal, the following formula is used ( 29) Determine the first projection length of the object point or the third projection length of the object point:

Exemplarily, _T'1 in FIG. 8 falls on the longer semi-axis of the first diagonal.

S923: When the vertical projection of the first image point or the second image point on the second virtual straight line is located on the shorter semi-axis of the first semi-axis and the second semi-axis of the second diagonal, the following formula is used ( 30) Determine the second projected length of the object point or the fourth projected length of the object point:

Exemplarily, referring to Fig. 8, the line connecting the image point T' and the image point projection point _T'2 is perpendicular to the _second virtual straight line _C'P'3P'1 , and the image point projection point _T'2 is the image point T' At the vertical projection point on the second virtual straight line, the first semi-axis in the first diagonal is compared with the second semi-axis C'P' ₁ and C'P' ₃ , and C'P' ₁ can be determined to be relatively Minor semi-axis, similarly, compared with C'P' ₂ and C'P' ₄ in the first semi-axis in the second diagonal, C'P' ₂ is the shorter semi-axis.

S924: When the vertical projection of the first image point or the second image point on the second virtual straight line is located on the longer semi-axis of the first semi-axis and the second semi-axis of the second diagonal, the following formula is used ( 31) Determine the second projected length of the object point or the fourth projected length of the object point:

Among them, |CT ₁ | represents the first projected length of the object point or the third projected length of the object point, and |C'T′ ₁ | represents the first projected length of the image point corresponding to the first projected length of the object point or the third projected length of the object point The corresponding third projection length of the image point, |CT ₂ | indicates the second projection length of the object point or the fourth projection length of the object point, |C'T' ₂ | indicates the second projection length of the image point corresponding to the second projection length of the object point Or the fourth projection length of the image point corresponding to the fourth projection length of the object point, D represents the object distance, f represents the focal length of the camera, β represents the second projection angle, and α represents the first projection angle.

Exemplarily, T′ ₂ in FIG. 8 falls on the longer semi-axis of the second diagonal.

S930: Determine the position of the first object point according to the first object point projection length group, and determine the position of the second object point according to the second object point projection length group.

Optionally, determining the position of the first object point and the position of the second object point specifically includes the following steps:

S931: Determine the abscissa of the first object point by √2/2 of the difference between the first projected length of the object point and the second projected length of the object point, and determine the sum of the first projected length of the object point and the second projected length of the object point √2/2 of , determine the ordinate of the first object point.

Understandably, on the basis of the above S920, the following formula (32) is used to determine the horizontal position of the first object point

Among them, (x _t , y _t ) is the coordinate corresponding to the object point T in the actual space.

S932: Determine the abscissa of the second object point by √2/2 of the difference between the third projected length of the object point and the fourth projected length of the object point, and determine the sum of the third projected length of the object point and the fourth projected length of the object point √2/2 of , determine the ordinate of the second object point.

Understandably, the horizontal and vertical coordinates of the object point corresponding to the second image point can be determined by the above formula (32).

An image-based ranging method provided by an embodiment of the present disclosure further determines the correspondence between the first object point and the second object point in the actual space by determining the projection length group corresponding to the first image point and the second image point in the target image The projection length group, and then get the position of the first object point and the second object point, and get the distance between the two object points according to the coordinate points of the first object point and the second object point, by calculating the image point in the target image The projected coordinates of the target image can determine the distance of the object point in the actual space according to the pixel information in the target image, and the calculated distance information between the object points is accurate, and the distance between any object points in the actual space can be directly Using the above formula to calculate directly, the calculation speed is faster.

In one embodiment, an image-based ranging device is provided, and the ranging device 1000 includes:

The image acquisition module 1100 is configured to acquire the target image collected by the camera and includes four positioning marks, wherein the four positioning marks are located on the marking plane in the object space, and are arranged at equal intervals and around them;

The first position determining module 1200 is configured to determine the first positions of the four positioning marks in the target image;

The second position determination module 1300 is configured to acquire the first image point and the second image point in the target image, and determine the second position of the first image point and the third position of the second image point, wherein the first image point is the image point of the first object point on the identification plane, and the second image point is the image point of the second object point on the identification plane;

The distance determination module 1400 is configured to determine the distance between the first object point and the second object point according to the first position, the second position and the third position.

Optionally, the distance determination module 1400 is specifically configured to: determine the positional relationship between the image plane of the camera and the identification plane according to the first position, wherein the positional relationship includes that the image plane and the identification plane are parallel or intersecting; according to the positional relationship, the first position , the second position and the third position, to determine the distance between the first object point and the second object point.

Optionally, the distance determination module 1400 is specifically configured to: when the lengths of the first group of opposite sides determined by the marked positions are equal, and the lengths of the second group of opposite sides determined by the marked positions are equal, the image plane is parallel to the marked plane; When any of the lengths of the first group of opposite sides determined by the logo position and the second group of lengths of opposite sides are not equal, the image plane intersects the logo plane.

Optionally, the distance determining module 1400 is specifically configured to: when the image plane is parallel to the marking plane, determine the imaging distance between any two positioning marks among the four positioning marks according to the first position; Three positions, determine the distance between the first image point and the second image point; according to the imaging distance between any two positioning marks and the distance between the first image point and the second image point, combined with the imaging principle, determine The distance between the first object point and the second object point.

Optionally, the distance determining module 1400 is specifically configured to: when the image plane intersects the marking plane, determine the first projection angle and the second projection angle according to the first position, wherein the marking plane is rotated around the first preset straight line by a second The projection angle, and after the first projection angle is rotated around the second preset straight line, it is parallel to the image plane, the first preset straight line passes through the first positioning mark and the third positioning mark in the object space, and the second preset straight line passes through the object space The second positioning mark and the fourth positioning mark in; according to the first position and the first projection angle, determine the object distance; or, according to the first position and the second projection angle, determine the object distance; according to the first position, the second position , the third position, the first projection angle, the second projection angle and the object distance, determine the position of the first object point and the position of the second object point; according to the position of the first object point and the position of the second object point, determine the position of the second object point The distance between one object point and the second object point.

Optionally, the distance determination module 1400 is specifically configured to: according to the first position, determine the first distances from the first positioning mark, the second positioning mark, the third positioning mark and the fourth positioning mark in the target image to the mark imaging center respectively , the second distance, the third distance and the fourth distance; according to the second distance and the fourth distance, determine the first projection angle; according to the first distance and the third distance, determine the second projection angle.

Optionally, the distance determination module 1400 is specifically configured to: determine the object distance according to the second distance, the fourth distance and the cosine value including the first projection angle; or, according to the first distance, the third distance and the cosine value including the second projection angle The cosine value of , determines the object distance.

Optionally, the distance determining module 1400 is specifically configured to: determine the first pixel projection length group of the first pixel and the second pixel projection length of the second pixel according to the first position, the second position and the third position group, wherein, the first image point projection length group and the second image point projection length group both include the distances from corresponding image points to the first virtual straight line and the second virtual straight line respectively. The first virtual straight line passes through the first location in the target image logo and the third positioning logo, the second virtual straight line passes through the second positioning logo and the fourth positioning logo in the target image; according to the first projection angle, the second projection angle, the object distance, the first image point projection length group and the second Image point projection length group, determine the first object point projection length group of the first object point and the second object point projection length group of the second object point, wherein, the first object point projection length group and the second object point projection length group Both include the distances from the corresponding object point to the first preset straight line and the second preset straight line; according to the first object point projection length group, determine the position of the first object point, and according to the second object point projection length group, determine The location of the second object point.

Optionally, the distance determination module 1400 is specifically configured to: determine the position marking the imaging center according to the first position; determine the distance from the corresponding image point to the first virtual line and the second virtual line according to the second position and the third position, respectively Vertical projection; according to the distance from the vertical projection to the marked imaging center, determine the first pixel projection length group and the second pixel projection length group.

Optionally, in the distance determining module 1400, in the target image, the connection line between the first positioning mark and the third positioning mark is the first diagonal line, and the connection line between the second positioning mark and the fourth positioning mark is the first diagonal line. Two diagonal lines, the first diagonal line is specifically configured as: according to the position of the vertical projection corresponding to the first image point on the virtual straight line, the second projection angle, the object distance and the projection length group of the first image point, determine the first object Point projection length group; determine the second object point projection length group according to the position of the vertical projection corresponding to the second image point on the virtual straight line, the first projection angle, the object distance and the second image point projection length group.

Optionally, in the distance determination module 1400, the position of the first object point is determined according to the first object point projection length group, and the position of the second object point is determined according to the second object point projection length group, specifically configured as follows: Determine the abscissa of the first object point by the √2/2 of the difference between the first projected length of the object point and the second projected length of the object point, and the √2/2 of the sum of the first projected length of the object point and the second projected length of the object point 2. Determine the ordinate of the first object point; determine the abscissa of the second object point by √2/2 of the difference between the third projected length of the object point and the fourth projected length of the object point, and determine the abscissa of the second object point by the third projected length of the object point The √2/2 of the sum of the fourth projected length of the object point determines the ordinate of the second object point.

The image-based ranging device of the embodiment shown in FIG. 10 can be used to implement the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

In one embodiment, an electronic device is provided. The electronic device may be a terminal, and its internal structure may be as shown in FIG. 11 . The electronic device includes one or more processors, memory, communication interface, display screen, and input device connected by a system bus. Wherein, one or more processors of the electronic device are used to provide calculation and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer readable instructions. The internal memory provides an environment for the execution of the operating system and computer readable instructions in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, an operator network, near field communication (NFC) or other technologies. The computer readable instructions, when executed by one or more processors, implement a method. The display screen of the electronic device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the housing of the electronic device , and can also be an external keyboard, touchpad, or mouse.

Those skilled in the art can understand that the structure shown in FIG. 11 is only a block diagram of a partial structure related to the disclosed solution, and does not constitute a limitation on the electronic device to which the disclosed solution is applied. The specific electronic device can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, the image-based distance measuring device provided by the present disclosure can be implemented in the form of computer-readable instructions, and the computer-readable instructions can be run on an electronic device as shown in FIG. 11 . The various program modules that make up the image-based distance measuring device can be stored in the memory of the electronic device, for example, the image acquisition module 1100, the first position determination module 1200, the second position determination module 1300 and the distance determination module 1400 shown in FIG. 10 . The computer-readable instructions constituted by various program modules enable one or more processors to execute the steps in the image-based ranging method of various embodiments of the present disclosure described in this specification.

For example, the electronic device shown in FIG. 11 may execute step S410 through the image acquisition module 1100 in the apparatus shown in FIG. 8 . The electronic device may execute step S420 through the first location determining module 1200 . The electronic device may execute step S430 through the second location determining module 1300 . The electronic device may execute step S440 through the distance determining module 1400 .

In one embodiment, an electronic device is provided, including a memory and one or more processors, the memory stores computer-readable instructions, and the one or more processors execute the computer-readable instructions to implement the following steps: acquiring a camera The target image collected contains four positioning marks, wherein the four positioning marks are located on the marking plane in the object space, and are arranged at equal intervals and around them; determine the first position of the four positioning marks in the target image; acquire the target image The first image point and the second image point in, and determine the second position of the first image point and the third position of the second image point, wherein, the first image point is the image point of the first object point on the identification plane, The second image point is an image point identifying the second object point on the plane; according to the first position, the second position and the third position, the distance between the first object point and the second object point is determined.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile computer-readable When the computer-readable instructions are executed, the computer-readable instructions may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to storage, database or other media used in the various embodiments provided by the present disclosure may include at least one of non-volatile and volatile storage. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as Static Random Access Memory (SRAM) and Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express several implementations of the present disclosure, and the descriptions thereof are more specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the scope of protection of the disclosed patent should be based on the appended claims.

Industrial Applicability

The image-based ranging method provided by the present disclosure can determine the distance between any two object points in the object space in the object space by acquiring the target image including the positioning mark, without the need to determine the distance between the image pixel and the size on the actual plane in advance The fixed ratio makes it suitable for various application scenarios such as the intersection of the imaging plane and the actual plane, which reduces the limitations of the application and has strong industrial applicability.

Claims

An image-based ranging method, characterized in that, comprising:

Obtaining the target image collected by the camera and including four positioning marks, wherein the four positioning marks are located on the marking plane in the object space, and are arranged at equal intervals and around them;

determining the first positions of the four positioning marks in the target image;

Acquiring a first image point and a second image point in the target image, and determining a second position of the first image point and a third position of the second image point, wherein the first image point is The image point of the first object point on the identification plane, and the second image point is the image point of the second object point on the identification plane;

The distance between the first object point and the second object point is determined according to the first position, the second position and the third position.
The method according to claim 1, characterized in that, according to the first position, the second position and the third position, the distance between the first object point and the second object point is determined ,include:

According to the first position, determine the positional relationship between the image plane of the camera and the identification plane, wherein the positional relationship includes that the image plane is parallel to or intersects with the identification plane;

The distance between the first object point and the second object point is determined according to the positional relationship, the first position, the second position and the third position.
The method according to claim 2, wherein, according to the first position, determining the positional relationship between the image plane of the camera and the identification plane comprises:

When the lengths of the first group of opposite sides determined by the marking positions are equal, and the lengths of the second group of opposite sides determined by the marking positions are equal, the image plane is parallel to the marking plane;

The image plane intersects the marker plane when any one of the lengths of the first group of opposite sides and the second group of lengths of opposite sides determined by the position of the marker is not equal.
The method according to claim 3, characterized in that, according to the positional relationship, the first position, the second position and the third position, determine the distance between the first object point and the second object point Distances between points, including:

When the image plane is parallel to the marking plane, according to the first position, determine the imaging distance between any two positioning marks in the four positioning marks;

determining the distance between the first image point and the second image point according to the second position and the third position;

According to the imaging distance between any two positioning marks and the distance between the first image point and the second image point, and in combination with the imaging principle, determine the first object point and the second object point distance between points.
The method according to claim 4, wherein the relational expression satisfied by the distance between the first object point and the second object point includes: the actual distance between any two positioning marks and the The product of the ratio of the imaging distance between any two positioning marks and the distance between the first image point and the second image point.
The method according to claim 2, wherein the four positioning marks sequentially include a first positioning mark, a second positioning mark, a third positioning mark and a fourth positioning mark in the arrangement direction;

According to the positional relationship, the first position, the second position and the third position, determining the distance between the first object point and the second object point includes:

When the image plane intersects the marking plane, a first projection angle and a second projection angle are determined according to the first position, wherein the marking plane is rotated around a first preset straight line by the second projection angle , and after rotating the first projection angle around a second preset straight line, parallel to the image plane, the first preset straight line passes through the first positioning mark and the third positioning mark in the object space, The second preset straight line passes through the second positioning mark and the fourth positioning mark in the object space;

determining the object distance according to the first position and the first projection angle; or determining the object distance according to the first position and the second projection angle;

According to the first position, the second position, the third position, the first projection angle, the second projection angle and the object distance, determine the position of the first object point and the the location of the second object point;

The distance between the first object point and the second object point is determined according to the position of the first object point and the position of the second object point.
The method according to claim 6, wherein determining the first projection angle and the second projection angle according to the first position comprises:

According to the first position, determine the first distance from the first positioning mark, the second positioning mark, the third positioning mark and the fourth positioning mark in the target image to the imaging center respectively , the second distance, the third distance and the fourth distance;

determining the first projection angle according to the second distance and the fourth distance;

The second projection angle is determined according to the first distance and the third distance.
The method according to claim 7, wherein determining the object distance according to the first position and the first projection angle comprises:

determining the object distance according to the second distance, the fourth distance and a cosine value including the first projection angle;

Determining the object distance according to the first position and the second projection angle includes:

The object distance is determined according to the first distance, the third distance and a cosine value including the second projection angle.
The method according to claim 6, wherein, according to the first position, the second position, the third position, the first projection angle, the second projection angle and the object distance , determining the position of the first object point and the position of the second object point, including:

According to the first position, the second position and the third position, determining a first pixel projection length group of the first pixel and a second pixel projection length group of the second pixel, Wherein, the first image point projection length group and the second image point projection length group both include the distances from the corresponding image point to the first virtual straight line and the second virtual straight line respectively. The first virtual straight line passes through the target. The first positioning mark and the third positioning mark in the image, the second virtual straight line passes through the second positioning mark and the fourth positioning mark in the target image;

According to the first projection angle, the second projection angle, the object distance, the first image point projection length group and the second image point projection length group, determine the first point of the first object point The object point projection length group and the second object point projection length group of the second object point, wherein, the first object point projection length group and the second object point projection length group include corresponding object points to the distance between the first preset straight line and the second preset straight line;

The position of the first object point is determined according to the set of projection lengths of the first object point, and the position of the second object point is determined according to the set of projection lengths of the second object point.
The method according to claim 9, characterized in that, according to the first position, the second position and the third position, the first pixel projection length group of the first pixel and the The second image point projection length group of the second image point, including:

According to the first position, determine the position of the marked imaging center;

According to the second position and the third position, respectively determine the vertical projection of the corresponding image point to the first virtual straight line and the second virtual straight line;

The first image point projection length group and the second image point projection length group are determined according to the distance from the vertical projection to the marked imaging center.
The method according to claim 10, characterized in that, according to the first projection angle, the second projection angle, the object distance, the first pixel projection length group and the second pixel projection The length group is to determine the first object point projection length group of the first object point and the second object point projection length group of the second object point, including:

According to the position of the vertical projection corresponding to the first image point on the virtual straight line, the second projection angle, the object distance and the first image point projection length group, determine the first object point projection length group ;

According to the position of the vertical projection corresponding to the second image point on the virtual straight line, the first projection angle, the object distance and the second image point projection length group, determine the second object point projection length group .
The method according to claim 9, characterized in that the position of the first object point is determined according to the group of projection lengths of the first object point, and the position of the second object point is determined according to the group of projection lengths of the second object point. The location of the two object points, including:

The difference between the first projected length of the object point and the second projected length of the object point
Determine the abscissa of the first object point, and use the sum of the first projected length of the object point and the second projected length of the object point
determining the ordinate of the first object point;

The difference between the third projected length of the object point and the fourth projected length of the object point
Determine the abscissa of the second object point, and use the sum of the third projected length of the object point and the fourth projected length of the object point
The ordinate of the second object point is determined.
An image-based ranging device, characterized in that it comprises:

The image acquisition module is configured to acquire the target image collected by the camera and includes four positioning marks, wherein the four positioning marks are located on the marking plane in the object space, and are arranged at equal intervals and around them;

A first position determination module configured to determine a first position of the four positioning marks in the target image;

The second position determination module is configured to acquire the first image point and the second image point in the target image, and determine the second position of the first image point and the third position of the second image point, wherein , the first image point is an image point of a first object point on the identification plane, and the second image point is an image point of a second object point on the identification plane;

A distance determination module configured to determine the distance between the first object point and the second object point according to the first position, the second position and the third position.
The device according to claim 13, characterized in that,

The distance determination module is specifically configured to determine a positional relationship between the image plane of the camera and the identification plane according to the first position, wherein the positional relationship includes that the image plane is parallel to the identification plane or Intersecting: determining a distance between the first object point and the second object point according to the positional relationship, the first position, the second position, and the third position.
The device according to claim 14, wherein the distance determination module is specifically configured to when the lengths of the first group of opposite sides determined by the marked positions are equal, and the lengths of the second group of opposite sides determined by the marked positions are equal , the image plane is parallel to the marker plane; when any one of the lengths of opposite sides in the first group of opposite side lengths determined by the marker position and the second group of opposite side lengths is not equal, the image plane intersects the marker plane.
The device according to claim 15, characterized in that,

The distance determining module is specifically configured to determine the imaging distance between any two positioning marks among the four positioning marks according to the first position when the image plane is parallel to the marking plane; The second position and the third position, determine the distance between the first image point and the second image point; according to the imaging distance between any two positioning marks and the first image point and the distance between the second object point and the imaging principle to determine the distance between the first object point and the second object point.
The device according to claim 16, wherein the relational expression satisfied by the distance between the first object point and the second object point includes: the actual distance between any two positioning marks and the The product of the ratio of the imaging distance between any two positioning marks and the distance between the first image point and the second image point.
The device according to claim 14, characterized in that,

The distance determination module is specifically configured to determine a first projection angle and a second projection angle according to the first position when the image plane intersects the identification plane, wherein the identification plane surrounds the first preset Assuming that the second projection angle is rotated by a straight line, and after the first projection angle is rotated around a second preset straight line, parallel to the image plane, the first preset straight line passes through the first positioning in the object space mark and the third positioning mark, the second preset straight line passes through the second positioning mark and the fourth positioning mark in the object space;

Determine the object distance according to the first position and the first projection angle; or determine the object distance according to the first position and the second projection angle; determine the object distance according to the first position and the second position , the third position, the first projection angle, the second projection angle and the object distance, determine the position of the first object point and the position of the second object point; according to the first The position of the object point and the position of the second object point determine the distance between the first object point and the second object point.
An electronic device comprising a memory and one or more processors, the memory stores computer readable instructions, wherein the one or more processors implement the computer readable instructions according to claims 1 to The steps of any one of 12.
One or more non-volatile computer-readable storage media storing computer-readable instructions, on which computer-readable instructions are stored, characterized in that the computer-readable instructions are implemented when executed by one or more processors The steps of the method as claimed in any one of claims 1 to 12.