CN109029458A - A kind of method and system of binocular visual positioning - Google Patents
A kind of method and system of binocular visual positioning Download PDFInfo
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- CN109029458A CN109029458A CN201810799415.8A CN201810799415A CN109029458A CN 109029458 A CN109029458 A CN 109029458A CN 201810799415 A CN201810799415 A CN 201810799415A CN 109029458 A CN109029458 A CN 109029458A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to technical field of photo communication, specifically disclose a kind of method and system of binocular visual positioning, and method includes: the world locations for configuring light source, the world locations where making light source scintillation and broadcasting；Positioning device is set to receive the world locations of light source broadcast；Light source is imaged from positioning device both ends, attitude angle when record is imaged；The center of hot spot, and the position using spot center as light source in the picture are corresponded to using light source in image clustering method fitting image；Origin using the intermediate point of left and right ends imaging position as binocular imaging coordinate system calculates position and corresponding vector of the light source center point in binocular imaging coordinate system according to Binocular Vision Principle；Space Rotating transformation is carried out to vector according to attitude angle, and calculates the world coordinates of positioning device.The present invention needs not move through excessive layout and is able to achieve indoor centimeter-level positioning, convenient and efficient easy to accomplish and at low cost, and precision is high.
Description
Technical field
The present invention relates to technical field of photo communication, specifically disclose a kind of method and system of binocular visual positioning.
Background technique
Nowadays, outdoor positioning technology GPS and Beidou positioning are able to satisfy daily demand substantially, but arrive GPS and Beidou behind interior
Positioning can not then realize positioning well.Currently, main problem existing for existing indoor positioning scheme has in the market:
(1) deployment cost is high.Existing indoor locating system majority needs to lay base station, and anti-interference ability again
Difference, validity and practicability be not high.Such as ultra wideband location techniques, although positioning accuracy is higher, early investment cost is too high,
It is unfavorable for popularizing, promotes.
(2) positioning accuracy is low.Different application scene is different to required precision, and the positioning system of higher precision has more extensively
Wealthy application prospect.And wireless location common at present, as common WIFI positioning, probably can only obtain 5 mostly all in meter level
~10 meters of precision is unable to satisfy high accuracy positioning demand.
(3) coverage area is narrow.The positioning of existing infrared and ultrasonic wave all suffers from the narrow problem of coverage area, ultrasonic wave
Decay in transmission process obvious, infrared positioning is easy to be obstructed by wall or object, and practicability is lower.
Therefore, it is necessary to a kind of method and devices that can solve the above problem.
Summary of the invention
In order to overcome shortcoming and defect existing in the prior art, it is fixed that the purpose of the present invention is to provide a kind of binocular visions
The method and system of position.
To achieve the above object, the present invention uses following scheme.
A kind of method of binocular visual positioning, including
The world locations P (X, Y, Z) for configuring light source, the world locations P (X, Y, Z) where making light source scintillation and broadcasting；
Positioning device is set to receive the world locations P (X, Y, Z) of light source broadcast；
Light source is imaged from positioning device left and right ends respectively, the attitude angle (α, β, θ) when record is imaged, wherein α
For pitch angle, β is roll angle, and θ is magnetic azimuth；
It is fitted the center that light source in both ends of the image corresponds to hot spot respectively using image clustering method, and using spot center as light
The position of source in the picture；Wherein calculating position of the light source in the image of left end is (lx, ly), and light source is in right end image
Position is (rx, ry)；
Origin d (0,0,0) using the intermediate point of left and right ends imaging position as binocular imaging coordinate system, by (lx, ly)
(rx, ry) calculates position l (x, y, z) and l of the light source center point in binocular imaging coordinate system according to Binocular Vision Principle
(x, y, z) corresponding vector
According to attitude angle (α, β, θ) to vectorSpace Rotating transformation is carried out, and is calculated with P (X, Y, Z) for reference point
The world coordinates D (X, Y, Z) of positioning device.
Further, the world coordinates D (X, Y, Z) for calculating positioning device, comprising:
Further, the center that hot spot is corresponded to using light source in image clustering method fitting image, comprising:
The area Sc that light source in image corresponds to the profile C of hot spot is obtained using image clustering method, perimeter L c and profile are being schemed
As upper sequence coordinate point；
The mass center O of spot area is calculated using the sequence coordinate point of light spot profile C1；
It is fitted the external ellipse of hot spot, and obtains the external elliptical center O of hot spot2；
By the mass center O of spot area1With the external elliptical center O of hot spot2It is weighted and averaged acquisition spot center,
α=4* π * Sc/Lc2
Wherein, α is the circularity of light spot profile, α ∈ (0.4,1.0).
Further, the communication with the outside world by the way of WIFI or cable.
A kind of system of binocular visual positioning, comprising:
Light source, for configuring the world locations P (X, Y, Z) where it, and it is as a reference point；
Light source control module is electrically connected with light source, for control light source scintillation and where broadcasting world locations P (X,
Y,Z)；
Positioning device, for receiving light source scintillation signal and parsing the world locations P (X, Y, Z) where light source；It is described
Positioning device includes optic communication receiving module, and optic communication receiving module is equipped with light-sensitive element PD；
Binocular image sensor, for light source to be imaged；The binocular image sensor includes left image sensor
With right image sensor, the left image sensor is set to positioning device left end, and the right image sensor is set to positioning device
Right end；
Attitude transducer, the attitude angle (α, β, θ) when for recording left image sensor and the imaging of right image sensor；
Positioning calculation module is electrically connected with optic communication receiving module, binocular image sensor and attitude transducer respectively,
For calculating the world coordinates D (X, Y, Z) of positioning device.
Further, the binocular image sensor is communicated by serial ports with positioning calculation module.
Further, the camera of the left image sensor and right image sensor is that the USB of 5,000,000 pixels is imaged
Head；The attitude transducer is nine number of axle word attitude transducers.
Further, the system of the binocular visual positioning is equipped with connects for the WIFI module or cable of communication with the outside world
Mouthful.
Beneficial effects of the present invention: providing a kind of method and system of binocular visual positioning, by the world for broadcasting light source
Position receives positioning device, and cooperate positioning device be imaged in light source position and attitude angle parse the world of positioning device
Position needs not move through excessive layout with this and is able to achieve indoor centimeter-level positioning, convenient and efficient easy to accomplish, and cost
Low, precision is high.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of the present invention.
Fig. 2 is the positioning system schematic diagram of the embodiment of the present invention.
Fig. 3 is that the image clustering method of the embodiment of the present invention is fitted the schematic diagram of spot center.
Specific embodiment
Core of the invention thought: 1, connecting controller in existing LED lamp source, and controller controls the flashing of light source, extensively
Broadcast the spatial positional information of the LED light source.2, the flicker information that light source is received using light-sensitive element PD, parses the world of light source
Location information obtains the world locations information of positioning device by transformational relation.3, according to Binocular Vision Principle to LED light source into
The space coordinate for determining light source center in binocular vision coordinate system is imaged in row.4, determine that binocular vision is sat using attitude transducer
The transformational relation of mark system and world coordinate system.
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to examples and drawings
Bright, the content that embodiment refers to not is limitation of the invention.
A kind of system of binocular visual positioning, as shown in Figure 1, comprising:
Light source 1, it is as a reference point for configuring world locations P (X, Y, Z)；
Light source control module 2 is electrically connected with light source, for controlling the world locations P where light source 1 is flashed and broadcasted
(X,Y,Z)；
Positioning device, for receiving light source scintillation signal and parsing the world locations P (X, Y, Z) where light source；It is described
Positioning device includes optic communication receiving module 3, and optic communication receiving module is equipped with light-sensitive element PD；
Binocular image sensor 4, for light source to be imaged；The binocular image sensor 4 is sensed including left image
Device and right image sensor, the left image sensor are set to positioning device left end, and the right image sensor is set to positioning dress
Set right end；
Attitude transducer 5, the attitude angle (α, β, θ) when for recording left image sensor and the imaging of right image sensor；
Positioning calculation module 6, respectively with optic communication receiving module 3, binocular image sensor 4 and attitude transducer 5 are electrically
Connection, for calculating the world coordinates D (X, Y, Z) of positioning device.
In the present embodiment, by configuring world locations P (X, Y, Z) to indoor light source 1, and 1 world locations P of light source is broadcasted
(X, Y, Z) to positioning device, the world locations P (X, Y, Z) that positioning device parses light source 1 is as a reference point；Cooperate binocular again
Imaging sensor 4 and attitude transducer 5 obtain the position (lx, ly) that light source 1 is imaged in binocular image sensor 4 and (rx,
Attitude angle (α, β, θ) when ry) and being imaged, to calculate light source center point in binocular imaging coordinate using Binocular Vision Principle
Position l (x, y, z) and the corresponding vector of l (x, y, z) in systemAccording to the three of attitude transducer 5 attitude angles to vector
Space Rotating transformation is carried out, is translated to obtain the world of positioning device origin further according to the position of world reference point P (X, Y, Z)
Position D (X, Y, Z) needs not move through excessive layout with this and is able to achieve indoor centimeter-level positioning, convenient and efficient easy to accomplish, and
And it is at low cost, precision is high.
In the present embodiment, the left image sensor and right image sensor are communicated by serial ports with positioning calculation module 6,
It is convenient and efficient.
In the present embodiment, the camera of the binocular image sensor 4 is the USB camera of 5,000,000 pixels；The posture
Sensor 5 is nine number of axle word attitude transducers, so that indoor positioning is more accurate.
In the present embodiment, the system of the binocular visual positioning is equipped with to be connect for the WIFI module or cable of communication with the outside world
Mouthful, it can be selected according to different situations and extraneous communication mode.
A kind of method of binocular visual positioning, as depicted in figs. 1 and 2, including
One light source control module 2 is set on light source 1, and encodes its place world position to light source 1 using configuration remote controler
Set P (X, Y, Z).When being configured, the configuration key of short-press configuration remote controler makes light source 1 enter test job mode, if normal
Then the configuration key of long-pressing configuration remote controler enters configuration status, configures world locations P (X, Y, Z) to light source 1, configuration successful
Afterwards, light source 1 feeds back answer signal.If light source 1 is configured unsuccessful, need to be reconfigured without feedback answer signal.
1 flash signal of light source is controlled by light source control module 2, and broadcasts the world locations P (X, Y, Z) where light source 1,
The light-sensitive element PD of positioning device receives light source scintillation signal, and passes through optic communication receiving module 3 for the world locations P of light source 1
(X, Y, Z) is parsed from flash signal.
Light source 1 is imaged respectively using left image sensor and right image sensor, and records posture when imaging
Angle (α, β, θ), wherein α is pitch angle, and β is roll angle, and θ is magnetic azimuth；As shown in figure 3, being obtained respectively using image clustering method
Light source in both ends of the image is taken to correspond to the area Sc of the profile C of hot spot, the sequence coordinate point of perimeter L c and profile on the image；It utilizes
The sequence coordinate point of light spot profile C calculates the mass center O of spot area1；It is fitted the external ellipse of hot spot, and it is external ellipse to obtain hot spot
Circle center O2；By the mass center O of spot area1With the external elliptical center O of hot spot2It is weighted and averaged acquisition spot center, parsing is calculated
Method is as follows:
α=4* π * Sc/Lc2
Wherein, circularity of the α for light spot profile, α ∈ (0.4,1.0),
After calculating spot center, position using spot center as light source in the picture, to obtain light source in left end
Position in image is that the position of (lx, ly) and light source 1 in right end image is (rx, ry).
Origin d (0,0,0) using the intermediate point of left and right ends imaging position as binocular imaging coordinate system, by (lx, ly)
(rx, ry) calculates position l (x, y, z) and l of 1 central point of light source in binocular imaging coordinate system according to Binocular Vision Principle
(x, y, z) corresponding vectorThen according to the three of attitude transducer attitude angles to vectorSpace Rotating transformation is carried out,
It is translated to obtain the world locations D (X, Y, Z) of positioning device origin further according to the position of world reference point P (X, Y, Z), wherein
Solution process is as follows:
In the present embodiment, the communication with the outside world by the way of WIFI or cable can select and the external world according to different situations
Communication mode.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (8)
1. a kind of method of binocular visual positioning, which is characterized in that including
The world locations P (X, Y, Z) for configuring light source, the world locations P (X, Y, Z) where making light source scintillation and broadcasting；Make to position
Device receives the world locations P (X, Y, Z) of light source broadcast；
Light source is imaged from positioning device left and right ends respectively, the attitude angle (α, β, θ) when record is imaged, wherein α is to bow
The elevation angle, β are roll angle, and θ is magnetic azimuth；
It is fitted light source in both ends of the image respectively using image clustering method and corresponds to the center of hot spot, and exists using spot center as light source
Position in image；Wherein calculating position of the light source in the image of left end is (lx, ly), position of the light source in right end image
For (rx, ry)；
Origin d (0,0,0) using the intermediate point of left and right ends imaging position as binocular imaging coordinate system, by (lx, ly) and
(rx, ry) according to Binocular Vision Principle calculate light source center point position l (x, y, z) in binocular imaging coordinate system and l (x,
Y, z) corresponding vector
According to attitude angle (α, β, θ) to vectorSpace Rotating transformation is carried out, and is that reference point calculates positioning with P (X, Y, Z)
The world coordinates D (X, Y, Z) of device.
2. a kind of method of binocular visual positioning according to claim 1, which is characterized in that described to calculate positioning device
World coordinates D (X, Y, Z), comprising:
3. a kind of method of binocular visual positioning according to claim 1, which is characterized in that described to utilize image clustering method
Light source corresponds to the center of hot spot in fitting image, comprising:
The area Sc that light source in image corresponds to the profile C of hot spot is obtained using image clustering method, perimeter L c and profile are on the image
Sequence coordinate point；
The mass center O of spot area is calculated using the sequence coordinate point of light spot profile C1；
It is fitted the external ellipse of hot spot, and obtains the external elliptical center O of hot spot2；
By the mass center O of spot area1With the external elliptical center O of hot spot2It is weighted and averaged acquisition spot center,
α=4* π * Sc/Lc2
Wherein, α is the circularity of light spot profile, α ∈ (0.4,1.0).
4. a kind of method of binocular visual positioning according to claim 1, which is characterized in that using the side of WIFI or cable
Formula communication with the outside world.
5. a kind of system of binocular visual positioning characterized by comprising
Light source, it is as a reference point for configuring world locations P (X, Y, Z)；
Light source control module is electrically connected with light source, for control light source scintillation and broadcast the world locations P where light source (X,
Y,Z)；
Positioning device, for receiving light source scintillation signal and parsing the world locations P (X, Y, Z) where light source；The positioning
Device includes optic communication receiving module, and optic communication receiving module is equipped with light-sensitive element PD；
Binocular image sensor, for light source to be imaged；The binocular image sensor includes left image sensor and the right side
Imaging sensor, the left image sensor are set to positioning device left end, and the right image sensor is set to positioning device right end；
Attitude transducer, the attitude angle (α, β, θ) when for recording left image sensor and the imaging of right image sensor；
Positioning calculation module is electrically connected with optic communication receiving module, binocular image sensor and attitude transducer respectively, is used for
Calculate the world coordinates D (X, Y, Z) of positioning device.
6. a kind of system of binocular visual positioning according to claim 5, which is characterized in that the binocular image sensor
It is communicated by serial ports with positioning calculation module.
7. a kind of system of binocular visual positioning according to claim 5, which is characterized in that the left image sensor and
The camera of right image sensor is the USB camera of 5,000,000 pixels；The attitude transducer is nine number of axle word postures sensing
Device.
8. a kind of system of binocular visual positioning according to claim 5, which is characterized in that the binocular visual positioning
System is equipped with WIFI module or cable interface for communication with the outside world.
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