CN109961481A - A kind of localization method, device and equipment - Google Patents
A kind of localization method, device and equipment Download PDFInfo
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- CN109961481A CN109961481A CN201910233909.4A CN201910233909A CN109961481A CN 109961481 A CN109961481 A CN 109961481A CN 201910233909 A CN201910233909 A CN 201910233909A CN 109961481 A CN109961481 A CN 109961481A
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- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000004807 localization Effects 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims abstract description 122
- 230000003287 optical effect Effects 0.000 claims description 29
- 230000002123 temporal effect Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 231100000572 poisoning Toxicity 0.000 description 3
- 230000000607 poisoning effect Effects 0.000 description 3
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- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
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Abstract
The invention discloses a kind of localization methods, comprising: target to be positioned is arbitrarily chosen in goal systems；When the positioning target appears in the monitored picture of the first video monitor unit and the second video monitor unit simultaneously, the target monitoring picture occurred in synchronization is chosen in first video monitor unit and second video monitor unit；Angular relationship in corresponding target monitoring picture according to first video monitor unit and second video monitor unit and the target to be positioned respectively, the first parametric equation and the second parametric equation of building and the target association to be positioned；According to first parametric equation and second parametric equation, the coordinate of the target to be positioned is calculated.In above-mentioned localization method, target to be positioned is any selection, in position fixing process, does not need target to be positioned and itself cooperates on one's own initiative, so that it may complete positioning.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of localization methods, device and equipment.
Background technique
In field of locating technology, such as common Beidou/GPS positioning, core algorithm is ranging localization, is believed by Beidou/GPS
Number receiving device completes the ranging between positioning target itself and multiple navigation satellites, and complete accordingly the positioning of positioning target with
Timing function.
Inventor to existing localization method carry out the study found that position target when it is previously selected, in position fixing process
It needs to position the cooperation of target itself active, can just complete self poisoning.
Summary of the invention
In view of this, positioning mesh in the prior art to solve the present invention provides a kind of localization method, device and equipment
It is previously selected when mark, it needs to position the cooperation of target itself active in position fixing process, can just complete asking for self poisoning
Topic.Concrete scheme is as follows:
A kind of localization method, comprising:
Target to be positioned is arbitrarily chosen in goal systems；
When the positioning target appears in the monitored picture of the first video monitor unit and the second video monitor unit simultaneously
When middle, chosen in first video monitor unit and second video monitor unit and occur to supervise in the target of synchronization
Control picture；
Respectively according to first video monitor unit and second video monitoring in corresponding target monitoring picture
The angular relationship of unit and the target to be positioned, building and the first parametric equation of the target association to be positioned and the second ginseng
Number equation；
According to first parametric equation and second parametric equation, the coordinate of the target to be positioned is calculated.
Above-mentioned method, optionally, respectively according to first video monitor unit in corresponding target monitoring picture
With the angular relationship of second video monitor unit and the target to be positioned, building and the of the target association to be positioned
One parametric equation and the second parametric equation, comprising:
In target monitoring picture corresponding with the target video monitoring unit, the target video monitoring unit is determined
With the azimuth of the target configuration target vector to be positioned；
In target monitoring picture corresponding with the target video monitoring unit, the target video monitoring unit is determined
With the pitch angle of the target configuration target vector to be positioned；
According to the azimuth, the coordinate of the pitch angle and the target video monitoring unit determines corresponding parameter
Equation.
Above-mentioned method optionally in target monitoring picture corresponding with the target video monitoring unit, determines institute
State the azimuth of target video monitoring unit Yu the target configuration target vector to be positioned, comprising:
Determine the primary optical axis azimuth of the target video monitoring unit；
Determine azimuthal misalignment angle of the target to be positioned in the target video monitoring unit；
According to the primary optical axis azimuth and the azimuthal misalignment angle, the azimuth of the target vector is determined.
Above-mentioned method optionally in target monitoring picture corresponding with the target video monitoring unit, determines institute
State the pitch angle of target video monitoring unit Yu the target configuration target vector to be positioned, comprising:
Determine the primary optical axis pitch angle of the target video monitoring unit；
Determine pitching misalignment of the target to be positioned in the target video monitoring unit；
According to the primary optical axis pitch angle and the pitching misalignment, the pitch angle of the target vector is determined.
Above-mentioned method, optionally, further includes:
The coordinate and primary optical axis orientation of first video monitor unit and second video monitor unit are adopted
Collection.
A kind of positioning device, comprising:
First chooses module, for arbitrarily choosing target to be positioned in goal systems；
Second chooses module, for appearing in the first video monitor unit and the second video prison simultaneously when the positioning target
When controlling in the monitored picture of unit, chooses and occur in first video monitor unit and second video monitor unit
The target monitoring picture of synchronization；
Module is constructed, for respectively in corresponding target monitoring picture according to first video monitor unit and described
The angular relationship of second video monitor unit and the target to be positioned, the first parameter of building and the target association to be positioned
Equation and the second parametric equation；
Computing module, for calculating the mesh to be positioned according to first parametric equation and second parametric equation
Target coordinate.
Above-mentioned device, optionally, the building module includes:
First determination unit, for determining institute in target monitoring picture corresponding with the target video monitoring unit
State the azimuth of target video monitoring unit Yu the target configuration target vector to be positioned；
Second determination unit, for determining institute in target monitoring picture corresponding with the target video monitoring unit
State the pitch angle of target video monitoring unit Yu the target configuration target vector to be positioned；
Third determination unit, for according to the azimuth, the seat of the pitch angle and the target video monitoring unit
Mark, determines corresponding parametric equation.
Above-mentioned device, optionally, first determination unit includes:
First determines subelement, for determining the primary optical axis azimuth of the target video monitoring unit；
Second determines subelement, for determining that orientation of the target to be positioned in the target video monitoring unit is lost
Quasi- angle；
Third determines subelement, for determining the target according to the primary optical axis azimuth and the azimuthal misalignment angle
The azimuth of vector.
Above-mentioned device, optionally, second determination unit includes:
4th determines subelement, for determining the primary optical axis pitch angle of the target video monitoring unit；
5th determines subelement, for determining that pitching of the target to be positioned in the target video monitoring unit is lost
Quasi- angle；
6th determines subelement, for determining the target according to the primary optical axis pitch angle and the pitching misalignment
The pitch angle of vector.
A kind of positioning device, comprising: the first video monitor unit, the second video monitor unit, the first space time information obtain
Unit, the second space time information acquiring unit and positioning device unit, in which:
First video monitor unit, for monitoring the band positioning target；
The first space time information acquiring unit is connected with first video monitor unit, for obtaining described
The temporal information of each monitored picture in one video monitor unit；
Second video monitor unit, for monitoring the band positioning target；
The second space time information acquiring unit is connected with second video monitor unit, for obtaining described
The temporal information of each monitored picture in two video monitor units；
The positioning device unit, is mounted on video monitoring server end, with first video monitor unit, described
One space-time information acquisition unit, second video monitor unit are connected with the second space time information acquiring unit, are used for
Target to be positioned is arbitrarily chosen in goal systems, when the positioning target appears in the first video monitor unit and second simultaneously
When in the monitored picture of video monitor unit, chosen in first video monitor unit and second video monitor unit
The target monitoring picture in synchronization occurs, respectively according to the first video monitoring list in corresponding target monitoring picture
The angular relationship of first and described second video monitor unit and the target to be positioned, building and the target association to be positioned
First parametric equation and the second parametric equation, according to first parametric equation and second parametric equation, calculate it is described to
Position the coordinate of target.
Compared with prior art, the present invention includes the following advantages:
The invention discloses a kind of localization methods, comprising: target to be positioned is arbitrarily chosen in goal systems；When described fixed
When position target is appeared in simultaneously in the monitored picture of the first video monitor unit and the second video monitor unit, in first view
The target monitoring picture occurred in synchronization is chosen in frequency monitoring unit and second video monitor unit；Respectively in correspondence
Target monitoring picture according to first video monitor unit and second video monitor unit and the mesh to be positioned
Target angular relationship, the first parametric equation and the second parametric equation of building and the target association to be positioned；According to described
One parametric equation and second parametric equation calculate the coordinate of the target to be positioned.It is to be positioned in above-mentioned localization method
Target is any selection, in position fixing process, does not need target to be positioned and itself cooperates on one's own initiative, so that it may complete positioning.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of positioning device structural schematic diagram disclosed in the embodiment of the present application；
Fig. 2 is a kind of localization method flow chart disclosed in the embodiment of the present application；
Fig. 3 defines schematic diagram for a kind of orientation angle-dependent parameter disclosed in the embodiment of the present application；
Fig. 4 defines schematic diagram for a kind of pitching angle-dependent parameter disclosed in the embodiment of the present application；
Fig. 5 is a kind of location algorithm flow diagram disclosed in the embodiment of the present application；
Fig. 6 is a kind of positioning device structure schematic diagram disclosed in the embodiment of the present application.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The invention discloses a kind of localization method, device and equipment, apply in field of locating technology, wherein location technology
It is divided into positive location and two kinds of Passive Positioning.So-called positive location refers to, is intended to complete the target of positioning itself, actively completes itself
Positioning.Such as common Beidou/GPS positioning, core is to position the cooperation of target itself active, and it is fixed to complete itself
Position.It is well known that Beidou/GPS positioning and core algorithm are ranging localizations, itself is completed by Beidou/GPS signal receiving device
With the ranging between multiple navigation satellites, and accordingly complete positioning and timing function.Positive location technical solution further includes optics
Cooperative target positioning, bluetooth positioning and indoor positioning technologies based on electromagnetic field etc., belong to positive location technology scope.Institute
Meaning Passive Positioning refers to, is intended to complete the target of positioning itself, it is undesirable to complete self poisoning, or not to this position fixing process
Know, the cooperation of any technical aspect will not be provided.Therefore, it is impossible to which assume can be in target body mounted antennas or optics
Cooperative target；Certainly, the technological approaches of hidden installation positioner is under the jurisdiction of positive location scope.
Positioning device and method involved in the embodiment of the present invention are to belong to Passive Positioning scope.Meanwhile location technology
Field can also be divided into ranging localization, angle finding position fixing and ranging+angle finding position fixing.Wherein, so-called ranging localization, at least needs three
A distance is established Simultaneous Equations according to the distance between space two o'clock formula and is solved, obtains the position coordinates of target；So-called survey
Angle positioning, then at least measure the point coordinate at two azimuths, known two cameras, localization method of the present invention is exactly this
Technology scope；So-called ranging+angle finding position fixing, should a coordinate, know again gauger and positioning the distance between target and
Orientation transmits coordinate using vector, obtains the positioning result of target.
Localization method of the present invention based on angle finding position fixing is applied to positioning device, wherein the positioning device
Structural schematic diagram is as shown in Figure 1, comprising: includes: the first video monitor unit, the second video monitor unit, the first space time information
Acquiring unit, the second space time information acquiring unit and positioning device unit, in which:
First video monitor unit, for monitoring the band positioning target；
The first space time information acquiring unit is connected with first video monitor unit, for obtaining described
The temporal information of each monitored picture in one video monitor unit；
Second video monitor unit, for monitoring the band positioning target；
The second space time information acquiring unit is connected with second video monitor unit, for obtaining described
The temporal information of each monitored picture in two video monitor units；
The positioning device unit, is mounted on video monitoring server end, with first video monitor unit, described
One space-time information acquisition unit, second video monitor unit are connected with the second space time information acquiring unit, are used for
Target to be positioned is arbitrarily chosen in goal systems, when the positioning target appears in the first video monitor unit and second simultaneously
When in the monitored picture of video monitor unit, chosen in first video monitor unit and second video monitor unit
The target monitoring picture in synchronization occurs, respectively according to the first video monitoring list in corresponding target monitoring picture
The angular relationship of first and described second video monitor unit and the target to be positioned, building and the target association to be positioned
First parametric equation and the second parametric equation, according to first parametric equation and second parametric equation, calculate it is described to
Position the coordinate of target.
In the embodiment of the present invention, first video monitor unit and second video monitor unit can be camera shooting
Head, digital camera or other preferred monitoring devices, if first video monitor unit and the second video monitoring list
Collected member is continuous monitor video, in order to obtain the monitored picture at each moment in the monitor video, is needed to institute
State monitor video carry out take out frame operation, the present invention implement in, with first video monitor unit and second video monitoring
Unit be camera for be illustrated.
In the embodiment of the present invention, the first space time information acquiring unit and the second space time information acquiring unit are bases
In Beidou satellite navigation system, but with no restriction to the type of navigation system.
In the embodiment of the present invention, in the positioning device, it is also necessary to obtain first video monitor unit and described
The coordinate and key light shaft position of second video monitor unit, store it in the video monitoring server of the positioning device unit
End, if being needed when the camera in first video monitor unit and second video monitor unit is rotatable
The relevant parameter of first video monitor unit and second video monitor unit is modified in calculating process.
In the embodiment of the present invention, the execution process of the localization method based on the positioning device is as shown in Figure 1, include step
It is rapid:
S101, target to be positioned is arbitrarily chosen in goal systems；
In the embodiment of the present invention, the goal systems is the system for positioning target comprising the band, wherein the target system
System can be system etc. of indoor locating system, streetscape video monitoring system or airspace monitoring, and the target to be positioned can be with
For vehicle, personnel, unmanned plane and other targets.The selection of the target to be positioned be it is random, do not need to be set in advance
It sets.
S102, the monitoring of the first video monitor unit and the second video monitor unit is appeared in simultaneously when the positioning target
When in picture, the mesh occurred in synchronization is chosen in first video monitor unit and second video monitor unit
Mark monitored picture；
In the embodiment of the present invention, after selecting the target to be positioned, judge whether the target to be positioned exists simultaneously
In the monitored picture of first video monitor unit and second video monitor unit, if so, respectively described first
The monitor video of video monitor unit and second video monitor unit takes out frame at multiple monitored pictures, in first video
It is chosen in multiple monitored pictures of monitoring unit and second video monitor unit and occurs to draw in the target monitoring of synchronization
Face, wherein first video monitor unit and second video monitor unit respectively correspond a target monitoring picture.When
There are when multiple target monitoring pictures for meeting condition, can arbitrarily be chosen.
S103, respectively in corresponding target monitoring picture according to first video monitor unit and second video
The angular relationship of monitoring unit and the target to be positioned, building and the first parametric equation of the target association to be positioned and the
Two parametric equations；
In the embodiment of the present invention, for first video monitor unit, first video monitor unit and institute are determined
The azimuth for stating target configuration target vector to be positioned determines first video monitor unit and the target configuration to be positioned
The pitch angle of target vector, according to the azimuth, the coordinate of the pitch angle and first video monitor unit determines
One parametric equation, wherein the determination method of second parametric equation is identical as first parametric equation, no longer superfluous herein
It states.
S104, according to first parametric equation and second parametric equation, calculate the coordinate of the target to be positioned.
In the embodiment of the present invention, the described first singular equation and second parametric equation are and the target to be positioned
Associated equation carries out simultaneous solution to first parametric equation and second parametric equation, is calculated described undetermined
The coordinate of position target.
The invention discloses a kind of localization methods, comprising: target to be positioned is arbitrarily chosen in goal systems；When described fixed
When position target is appeared in simultaneously in the monitored picture of the first video monitor unit and the second video monitor unit, in first view
The target monitoring picture occurred in synchronization is chosen in frequency monitoring unit and second video monitor unit；Respectively in correspondence
Target monitoring picture according to first video monitor unit and second video monitor unit and the mesh to be positioned
Target angular relationship, the first parametric equation and the second parametric equation of building and the target association to be positioned；According to described
One parametric equation and second parametric equation calculate the coordinate of the target to be positioned.It is to be positioned in above-mentioned localization method
Target is any selection, in position fixing process, does not need target to be positioned and itself cooperates on one's own initiative, so that it may complete positioning.
In the embodiment of the present invention, based on above-mentioned localization method, under City scenarios, the widely distributed video in street is utilized
Monitoring information can complete the continuous positioned alternate of positioning target, form a more continuous space-time trajectory.Meanwhile it is described
Localization method can be converted into the barrier ranging technology method in the automatic obstacle-avoiding application in automatic Pilot field.Extension,
In automatic Pilot scene, when barrier occurs, it can use two video collectors or two numbers for being mounted on automotive front end
Code camera completes the acquisition and calculating of relative coordinate
In the embodiment of the present invention, it is assumed that first video monitor unit is camera A, second video monitor unit
For camera B.Wherein, the camera A acquisition video information in first video monitor unit, the first space time information obtain single
The space time information of first acquisition camera A after completing fusion, while being sent to video monitoring server end and being stored and processed；
Similarly, the service logic of the camera B of the second video monitor unit kind and the second space time information acquiring unit is same as above.
In fig. 3, azimuthal definition and major parameter are described.Fig. 3 is a top view, defines and meets
The north orientation N of CGCS2000 standard；Horizontal sextant angle α a0 between the primary optical axis and north orientation of camera A；The primary optical axis of camera B with
Horizontal sextant angle α b0 between north orientation；In the visual field of camera A, the azimuthal misalignment angle α a1 of target O to be positioned；In camera B
The visual field in, the azimuthal misalignment angle α b1 of O to be positioned.
In above-mentioned parameter, α a0, α b0 are the known quantities demarcated in advance；In this figure, not specified known quantity there are two,
That is: camera A point coordinate (xa, ya, za)；Camera B point coordinate (xb, yb, zb) is the AB seat for meeting CGCS2000 coordinate system
Mark；The above known quantity can complete Accurate Calibration in dress at the beginning of equipment, and store and arrive server end.
In figure 4, definition and the major parameter of pitch angle are described, Fig. 4 is a front view, define day to and water
Put down to；Vertical angle β a0 between the primary optical axis and horizontal direction of camera A；It is perpendicular between the primary optical axis and horizontal direction of camera B
Straight angle β b0；In the visual field of camera A, the pitching misalignment β a1 of target object O；In the visual field of camera B, object
The pitching misalignment β b1 of body O；
In above-mentioned parameter, β a0, β b0 are the known quantities demarcated in advance, can complete Accurate Calibration in dress at the beginning of equipment, and
Store server end.
In use, it can be according to implementing in process described in Fig. 5 in engineering:
(1) when camera is installed, by taking camera A as an example, the coordinate of acquisition camera A and the orientation of primary optical axis are needed；
(2) in (1), the acquisition method of the coordinate of camera A is, using Beidou/GPS-RTK equipment, to obtain longitude latitude
Elevation is spent, northeast day coordinate system is established, coordinate is respectively defined as (xa, ya, za)；
(3) in (1), the acquisition method in camera A primary optical axis orientation is: measuring camera A installation point and camera shooting respectively
The azimuth of the line of the photograph central region point of head A acquisition and pitch angle；
(4) in (3), the selection of camera A photograph central region point needs after camera is installed, acquisition
One photo chooses a landmark point of visual field center；
(5) measurement method of azimuth and pitch angle is in (3), above the camera A point at 50cm and described in step 4
Landmark point above be respectively arranged two Beidous/GPS-RTK antenna at 50cm, utilize RTK (real time dynamic differential), resolve orientation
Angle (being defined as α a0) and pitch angle (being defined as β a0)；
(6) polarity and value range at the azimuth and pitch angle that resolve in (5) are that the initial orientation information is
Refer under CGCS2000 coordinate system, using north orientation as benchmark 0, overlook is positive direction clockwise, [0 °, 360 °) distribution in section
's；The initial pitch information refers to, with level for 0, upward (looking up) is positive direction, is distributed in (- 90 °, 90 °) section
's；
(7) it by coordinate and azimuth, pitch angle information, is written in the corresponding server storage file of camera A, needs
It is noted that for initial alignment azimuth pitch angle can be needed with mobile camera, while orientation/bow is recorded in real time
Face upward mobile message；
(8) when carrying out the positioning of the target O to be positioned, it has to be assumed that camera A has collected the image letter of O
Breath, it is assumed herein that under the conditions of, using optical image heart extractive technique, the position of a pixel is obtained, while calculating this as imago
The azimuthal misalignment angle of member and pitching misalignment；
(9) the so-called misalignment in (8) is defined as the angle that pixel deviates picture centre, for the phase of particular focal length
Machine, this deviation angle are proportional to pixel number；The wherein offset that azimuthal misalignment angle is horizontally oriented, pitching misalignment are vertical
The offset in direction；
(10) the azimuthal misalignment angle in the visual field camera A for defining the target O to be positioned is α a1, pitching misalignment
For β a1；
(11) by that can obtain above, the direction of straight line AO is (α a0+ α a1, β a0+ β a1)；
(12) by A point coordinate and AO rectilinear direction, it can be deduced that the parametric equation of AO straight line:
Wherein, m is parameter, and α a0+ α a1 is the azimuth of straight line AO；β a0+ β a1 is the pitch angle of straight line AO；
(13) the same method of step 1-12 is utilized, B point coordinate and BO rectilinear direction is can use, obtains the ginseng of straight line BO
Number equation:
Wherein, n is parameter, and α b0+ α b1 is the azimuth of straight line AO；β b0+ β b1 is the pitch angle of straight line BO；
(14) coordinate of the target O to be positioned can be by straight line AO equation and straight line BO solving simultaneous equation, solution of equation
Method does not repeat herein.
(15) the above calculation method has a short-cut method, is exactly the mould using sine direct solution line segment AO, obtains
O point coordinate is solved to (12) later, are brought directly to；Similarly, it also can use the mould that sine solves line segment BO, bring into
(13) O point coordinate is solved；
(16) solution of the sine described in (15) is: as shown in Fig. 3,
(17) in (16) ∠ ABO, ∠ BAO method for solving, do not repeat them here
Based on above-mentioned localization method, in the embodiment of the present invention, a kind of positioning device is additionally provided, the positioning device
Structural block diagram is as shown in Figure 6, comprising:
First, which chooses module 201, second, chooses module 202, building module 203 and computing module 204.
Wherein,
Described first chooses module 201, for arbitrarily choosing target to be positioned in goal systems；
Described second chooses module 202, for when the positioning target while appearing in the first video monitor unit and the
When in the monitored picture of two video monitor units, selected in first video monitor unit and second video monitor unit
Take the target monitoring picture occurred in synchronization；
The building module 203, for respectively in corresponding target monitoring picture according to the first video monitoring list
The angular relationship of first and described second video monitor unit and the target to be positioned, building and the target association to be positioned
First parametric equation and the second parametric equation；
The computing module 204, for according to first parametric equation and second parametric equation, calculate it is described to
Position the coordinate of target.
The invention discloses a kind of positioning devices, comprising: target to be positioned is arbitrarily chosen in goal systems；When described fixed
When position target is appeared in simultaneously in the monitored picture of the first video monitor unit and the second video monitor unit, in first view
The target monitoring picture occurred in synchronization is chosen in frequency monitoring unit and second video monitor unit；Respectively in correspondence
Target monitoring picture according to first video monitor unit and second video monitor unit and the mesh to be positioned
Target angular relationship, the first parametric equation and the second parametric equation of building and the target association to be positioned；According to described
One parametric equation and second parametric equation calculate the coordinate of the target to be positioned.It is to be positioned in above-mentioned positioning device
Target is any selection, in position fixing process, does not need target to be positioned and itself cooperates on one's own initiative, so that it may complete positioning.
In the embodiment of the present invention, the building module 203 includes:
First determination unit 205, the second determination unit 206 and third determination unit 207.
Wherein,
First determination unit 205 is used in target monitoring picture corresponding with the target video monitoring unit,
Determine the azimuth of the target video monitoring unit Yu the target configuration target vector to be positioned；
Second determination unit 206 is used in target monitoring picture corresponding with the target video monitoring unit,
Determine the pitch angle of the target video monitoring unit Yu the target configuration target vector to be positioned；
The third determination unit 207, for according to the azimuth, the pitch angle and target video monitoring to be single
The coordinate of member, determines corresponding parametric equation.
In the embodiment of the present invention, first determination unit 205 includes:
First determines that subelement 208, second determines that subelement 209 and third determine subelement 210.
Wherein,
Described first determines subelement 208, for determining the primary optical axis azimuth of the target video monitoring unit；
Described second determines subelement 209, for determining the target to be positioned in the target video monitoring unit
Azimuthal misalignment angle；
The third determines subelement 210, for determining institute according to the primary optical axis azimuth and the azimuthal misalignment angle
State the azimuth of target vector.
In the embodiment of the present invention, second determination unit 206 includes:
4th determines that subelement the 211, the 5th determines that subelement 212 and the 6th determines subelement 213.
Wherein,
Described 4th determines subelement 211, for determining the primary optical axis pitch angle of the target video monitoring unit；
Described 5th determines subelement 212, for determining the target to be positioned in the target video monitoring unit
Pitching misalignment；
Described 6th determines subelement 213, for determining institute according to the primary optical axis pitch angle and the pitching misalignment
State the pitch angle of target vector.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
A kind of localization method provided by the present invention, device and equipment are described in detail above, it is used herein
A specific example illustrates the principle and implementation of the invention, and the above embodiments are only used to help understand
Method and its core concept of the invention；At the same time, for those skilled in the art is having according to the thought of the present invention
There will be changes in body embodiment and application range, in conclusion the content of the present specification should not be construed as to the present invention
Limitation.
Claims (10)
1. a kind of localization method characterized by comprising
Target to be positioned is arbitrarily chosen in goal systems；
When the positioning target appears in the monitored picture of the first video monitor unit and the second video monitor unit simultaneously,
It is chosen in first video monitor unit and second video monitor unit and occurs to draw in the target monitoring of synchronization
Face；
Respectively according to first video monitor unit and second video monitor unit in corresponding target monitoring picture
With the angular relationship of the target to be positioned, first parametric equation and second parameter side of the building with the target association to be positioned
Journey；
According to first parametric equation and second parametric equation, the coordinate of the target to be positioned is calculated.
2. the method according to claim 1, wherein respectively according to described in corresponding target monitoring picture
The angular relationship of one video monitor unit and second video monitor unit and the target to be positioned, building with it is described undetermined
The first parametric equation and the second parametric equation of position target association, comprising:
In target monitoring picture corresponding with the target video monitoring unit, the target video monitoring unit and institute are determined
State the azimuth of target configuration target vector to be positioned；
In target monitoring picture corresponding with the target video monitoring unit, the target video monitoring unit and institute are determined
State the pitch angle of target configuration target vector to be positioned；
According to the azimuth, the coordinate of the pitch angle and the target video monitoring unit determines corresponding parametric equation.
3. according to the method described in claim 2, it is characterized in that, being supervised in target corresponding with the target video monitoring unit
It controls in picture, determines the azimuth of the target video monitoring unit Yu the target configuration target vector to be positioned, comprising:
Determine the primary optical axis azimuth of the target video monitoring unit；
Determine azimuthal misalignment angle of the target to be positioned in the target video monitoring unit；
According to the primary optical axis azimuth and the azimuthal misalignment angle, the azimuth of the target vector is determined.
4. according to the method described in claim 2, it is characterized in that, being supervised in target corresponding with the target video monitoring unit
It controls in picture, determines the pitch angle of the target video monitoring unit Yu the target configuration target vector to be positioned, comprising:
Determine the primary optical axis pitch angle of the target video monitoring unit；
Determine pitching misalignment of the target to be positioned in the target video monitoring unit；
According to the primary optical axis pitch angle and the pitching misalignment, the pitch angle of the target vector is determined.
5. the method according to claim 1, wherein further include:
The coordinate and primary optical axis orientation of first video monitor unit and second video monitor unit are acquired.
6. a kind of positioning device characterized by comprising
First chooses module, for arbitrarily choosing target to be positioned in goal systems；
Second chooses module, for appearing in the first video monitor unit and the second video monitoring list simultaneously when the positioning target
When in the monitored picture of member, chooses and occur same in first video monitor unit and second video monitor unit
The target monitoring picture at moment；
Module is constructed, for respectively in corresponding target monitoring picture according to first video monitor unit and described second
The angular relationship of video monitor unit and the target to be positioned, the first parametric equation of building and the target association to be positioned
With the second parametric equation；
Computing module, for calculating the target to be positioned according to first parametric equation and second parametric equation
Coordinate.
7. device according to claim 6, which is characterized in that the building module includes:
First determination unit, for determining the mesh in target monitoring picture corresponding with the target video monitoring unit
Mark the azimuth of video monitor unit and the target configuration target vector to be positioned；
Second determination unit, for determining the mesh in target monitoring picture corresponding with the target video monitoring unit
Mark the pitch angle of video monitor unit and the target configuration target vector to be positioned；
Third determination unit is used for according to the azimuth, the coordinate of the pitch angle and the target video monitoring unit, really
Fixed corresponding parametric equation.
8. device according to claim 7, which is characterized in that first determination unit includes:
First determines subelement, for determining the primary optical axis azimuth of the target video monitoring unit；
Second determines subelement, for determining azimuthal misalignment of the target to be positioned in the target video monitoring unit
Angle；
Third determines subelement, for determining the target vector according to the primary optical axis azimuth and the azimuthal misalignment angle
Azimuth.
9. device according to claim 7, which is characterized in that second determination unit includes:
4th determines subelement, for determining the primary optical axis pitch angle of the target video monitoring unit；
5th determines subelement, for determining pitching misalignment of the target to be positioned in the target video monitoring unit
Angle；
6th determines subelement, for determining the target vector according to the primary optical axis pitch angle and the pitching misalignment
Pitch angle.
10. a kind of positioning device characterized by comprising when the first video monitor unit, the second video monitor unit, first
Empty information acquisition unit, the second space time information acquiring unit and positioning device unit, in which:
First video monitor unit, for monitoring the band positioning target；
The first space time information acquiring unit is connected with first video monitor unit, for obtaining first view
The temporal information of each monitored picture in frequency monitoring unit；
Second video monitor unit, for monitoring the band positioning target；
The second space time information acquiring unit is connected with second video monitor unit, for obtaining second view
The temporal information of each monitored picture in frequency monitoring unit；
The positioning device unit, is mounted on video monitoring server end, with first video monitor unit, it is described first when
Empty information acquisition unit, second video monitor unit are connected with the second space time information acquiring unit, in mesh
Target to be positioned is arbitrarily chosen in mark system, when the positioning target appears in the first video monitor unit and the second video simultaneously
When in the monitored picture of monitoring unit, chooses and occur in first video monitor unit and second video monitor unit
In the target monitoring picture of synchronization, respectively in corresponding target monitoring picture according to first video monitor unit and
The angular relationship of second video monitor unit and the target to be positioned, building and the first of the target association to be positioned
Parametric equation and the second parametric equation calculate described to be positioned according to first parametric equation and second parametric equation
The coordinate of target.
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