CN108399637A - A kind of coordinate method encoded with pattern - Google Patents
A kind of coordinate method encoded with pattern Download PDFInfo
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- CN108399637A CN108399637A CN201810108554.1A CN201810108554A CN108399637A CN 108399637 A CN108399637 A CN 108399637A CN 201810108554 A CN201810108554 A CN 201810108554A CN 108399637 A CN108399637 A CN 108399637A
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- pattern
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- coordinate
- attitude
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000011218 segmentation Effects 0.000 claims abstract description 9
- 238000007781 pre-processing Methods 0.000 claims abstract description 8
- 230000004044 response Effects 0.000 claims abstract description 6
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of coordinate methods encoded with pattern, including pattern coding method and image processing algorithm；Pattern coding method is the method that entire space is digitized segmentation by specific pattern in a manner of compressed encoding；Image processing algorithm is the method for determining an encoded radio using multiple adjacent encoding values；Module is resolved including image pre-processing module, position and attitude.Quick Response Code or cake code may be used in pattern, usually one kind pattern set includes dozens of, even thousands of fixed patterns, and each fixed pattern indicates a number, therefore a kind of pattern set can indicate a digital collection, usually indicate that the numerical value from 0 ~ N 1, N indicate the element number of pattern set.Compressed encoding refers to, with seldom numerical value, encoding much bigger spatial value；The Compression Coding Principle of the present invention is, using multiple adjacent encoding values, to determine an encoded radio.The present invention realizes a kind of position easy to use and attitude detection algorithm.
Description
Technical field
The present invention relates to a kind of space coordinate coded system, specially a kind of coordinate method encoded with pattern is used for machine
Device people's Navigation Control application system field.
Background technology
Computer vision technique is widely applied in robot navigation field, is typically arranged in fixed navigational reference point special
Fixed pattern, robot camera pick-up pattern image, parses self-position, and this mode needs Accurate Calibration reference point
Position, and a small amount of reference point can only be marked, cause navigation and positioning accuracy poor, it is difficult to meet under specific occasion, it is high-precision
Position and attitude orientation problem.Therefore, a kind of easy to use, high-precision pattern coded system of invention, is very important.
Invention content
The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a kind of easy to use, high-precision
Pattern coding method, to solve the above problems.
In order to solve the above technical problem, the present invention provides the following technical solutions：
The present invention provides a kind of coordinate method encoded with pattern, including pattern coding method and image processing algorithm；
Pattern coding method is the method that entire space is digitized segmentation by specific pattern in a manner of compressed encoding；
Image processing algorithm is the method for determining an encoded radio using multiple adjacent encoding values；Including image preprocessing
Module, position and attitude resolve module.
Quick Response Code or cake code may be used in pattern, usually one kind pattern set include dozens of, it is even thousands of fixed
Pattern, each fixed pattern indicates a number, therefore a kind of pattern set can indicate a digital collection, usually indicate from
The numerical value of 0 ~ N-1, N indicate the element number of pattern set.
Compressed encoding refers to, with seldom numerical value, encoding much bigger spatial value；The Compression Coding Principle of the present invention
It is, using multiple adjacent encoding values, to determine an encoded radio.
As a preferred technical solution of the present invention, coding pattern is Quick Response Code or cake code or any can be calculated
Machine visual identity is expressed as the pattern of number.
As a preferred technical solution of the present invention, image pre-processing module includes the following steps, a) gradation of image increases
By force, b) image noise removal, c) Image Edge-Detection, d) carrying out image threshold segmentation, e) image Corner Detection.
As a preferred technical solution of the present invention, position and attitude resolves module, includes the following steps, a) neighborhood point
Group, b) attitude detection, c) coordinate resolution, d) result verification.
The advantageous effect that is reached of the present invention is：The present invention utilizes seldom specific of element to compress pattern coding mode
Pattern set realizes the digitlization differentiation in space, a kind of position easy to use of realization and attitude detection algorithm.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings：
Fig. 1 is compression pattern coding structure schematic diagram of the present invention；
Fig. 2 is Image Pretreatment Algorithm flow chart of the present invention；
Fig. 3 is position and attitude computation flow chart of the present invention.
Specific implementation mode
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
In the description of the present invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal"
Or position relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of instruction or hint meaning or element must have a particular orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, it can manage as the case may be
Solve the concrete meaning of above-mentioned term in the present invention.
Embodiment：As shown in Figs. 1-3, the present invention provides a kind of coordinate method encoded with pattern, including pattern coding staff
Method and image processing algorithm；
Pattern coding method is the method that entire space is digitized segmentation by specific pattern in a manner of compressed encoding；
Image processing algorithm is the method for determining an encoded radio using multiple adjacent encoding values；Including image preprocessing
Module, position and attitude resolve module.
Usually a kind of pattern set of pattern coding method includes dozens of, even thousands of fixed patterns, each fixed
Pattern indicates a number, therefore a kind of pattern set can indicate a digital collection, usually indicates the numerical value from 0 ~ N-1, N tables
Show the element number of pattern set.
As shown in Figure 1,8 bit patterns collection of pattern coding method, realize the segmentation of 4096 × 4096 spatial digitalizeds.Institute in figure
Show Quick Response Code set, one shares 256 fixed patterns, and sequence indicates 0 ~ 255 number；Coding convention, 0 ~ 63 indicates that X-coordinate is low
6,64 ~ 127 indicate that Y coordinate is 6 low, 128 ~ 191, indicate that X-coordinate is 6 high, 192 ~ 255 indicate that Y coordinate is 6 high.Arbitrary phase
Four adjacent palace lattice can uniquely determine a coordinate value.
It further expands, 9 palace lattice modes may be used in compressed encoding, with above-mentioned 8 bit patterns collection, realize 32768 × 32768
Control digitlization segmentation, may be implemented the codes co-ordinates or codes co-ordinates precision in bigger region.
Further, coding pattern is Quick Response Code or cake code or any can be expressed as counting by Computer Vision Recognition
The pattern of word.
Such as figure, image pre-processing module includes the following steps, a) gradation of image enhances, b) image noise removal, c) image
Edge detection, d) carrying out image threshold segmentation, e) image Corner Detection.
Further, position and attitude resolves module, includes the following steps, a) neighborhood is grouped, b) attitude detection, c) coordinate solution
Analysis, d) result verification.Position and attitude resolves module, according to the structure of image preprocessing, by data operation, finally obtains current
Position and posture.
The present invention, using the seldom specific pattern collection of element, realizes the digitlization point in space to compress pattern coding mode
Change, a kind of position easy to use of realization and attitude detection algorithm.
Finally it should be noted that：It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, although
Present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, still can be right
Technical solution recorded in foregoing embodiments is modified or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (4)
1. a kind of coordinate method encoded with pattern, which is characterized in that including pattern coding method and image processing algorithm；
The pattern coding method be by specific pattern in a manner of compressed encoding, entire space is digitized segmentation
Method；
The image processing algorithm is the method for determining an encoded radio using multiple adjacent encoding values；Including image
Preprocessing module, position and attitude resolve module.
2. a kind of coordinate method encoded with pattern according to claim 1, which is characterized in that coding pattern is Quick Response Code
Cake code or it is any can by Computer Vision Recognition, be expressed as number pattern.
3. a kind of coordinate method encoded with pattern according to claim 1, which is characterized in that the image preprocessing
Module includes the following steps that a) gradation of image enhances, b) image noise removal, c) Image Edge-Detection, d) carrying out image threshold segmentation,
E) image Corner Detection.
4. a kind of coordinate method encoded with pattern according to claim 3, which is characterized in that the position and attitude solution
Calculate module to include the following steps, a) neighborhood is grouped, b) attitude detection, c) coordinate resolution, d) result verification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810108554.1A CN108399637A (en) | 2018-02-02 | 2018-02-02 | A kind of coordinate method encoded with pattern |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810108554.1A CN108399637A (en) | 2018-02-02 | 2018-02-02 | A kind of coordinate method encoded with pattern |
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| Publication Number | Publication Date |
|---|---|
| CN108399637A true CN108399637A (en) | 2018-08-14 |
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ID=63095396
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810108554.1A Pending CN108399637A (en) | 2018-02-02 | 2018-02-02 | A kind of coordinate method encoded with pattern |
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| CN (1) | CN108399637A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763204A (en) * | 2019-06-25 | 2020-02-07 | 西安理工大学 | Planar coding target and pose measurement method thereof |
| CN110866578A (en) * | 2019-10-29 | 2020-03-06 | 上海交通大学 | Two-dimensional texture code and encoding and decoding methods thereof |
-
2018
- 2018-02-02 CN CN201810108554.1A patent/CN108399637A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763204A (en) * | 2019-06-25 | 2020-02-07 | 西安理工大学 | Planar coding target and pose measurement method thereof |
| CN110763204B (en) * | 2019-06-25 | 2022-02-22 | 西安理工大学 | Planar coding target and pose measurement method thereof |
| CN110866578A (en) * | 2019-10-29 | 2020-03-06 | 上海交通大学 | Two-dimensional texture code and encoding and decoding methods thereof |
| CN110866578B (en) * | 2019-10-29 | 2021-07-06 | 上海交通大学 | Two-dimensional texture code and encoding and decoding methods thereof |
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180814 |
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| WD01 | Invention patent application deemed withdrawn after publication |