CN112304305A - Vehicle initial positioning method and system combined with marker image - Google Patents
Vehicle initial positioning method and system combined with marker image Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a vehicle initial positioning method and system combining a marker image, which comprises the steps of scanning and establishing a map of an underground parking lot, fixing the marker image and the position of the marker image in the map, calculating rotation R and translation T between a camera and the marker image by utilizing a PnP algorithm, calculating the coordinate of the camera relative to the map, and completing initial positioning. According to the method, the initial positioning task based on the marker image is used, and only a plurality of marker images need to be arranged at the entrance of the underground parking scene in advance, so that when the marker image is observed by using a camera sensor on a vehicle, the calculation of the initial position can be completed by using a PnP algorithm, and the method is simple, low in cost, high in calculation speed and stable.
Description
Technical Field
The invention relates to the technical field of initial positioning of a vehicle by utilizing a marker image in a free parking scene, in particular to a method and a system for initial positioning of the vehicle by combining the marker image.
Background
The parking lot refers to a place for parking vehicles, can be divided into a warm garage, a cold garage, an underground parking lot and an open parking lot, and is mainly used for keeping and parking the vehicles. By the end of 2011, the stock of domestic automobiles reaches 10578 thousands (including three-wheeled automobiles and 1228 thousands of low-speed trucks), which is 16.4 percent higher than that of the last year, wherein the stock of private automobiles is 7872 thousands, which is 20.4 percent higher. The difficulty of driving and parking becomes a big problem which troubles urban traffic, according to the construction experience of international cities, the parking position should be 1.1 to 1.2 times of the motor vehicle holding amount, and the occupation of road parking becomes a common phenomenon due to insufficient public parking spaces, so that traffic jam and confusion caused by the difficulty of driving and parking become social attention and a focus problem of common people attention.
The traditional parking lot construction of China still occupies a leading position, the urban population of various countries in the world is increased rapidly after the beginning of the 20 th century, particularly after the second world war, the quantity of motor vehicles is increased rapidly, the demand for parking places is increased more and more, in recent years, cars in China enter ordinary resident families at an astonishing development speed, people can enjoy rapidness and convenience, and meanwhile, people must face a series of problems caused by the fact that the cars are parked, wherein the parking problems are one of more and more prominent problems.
The traditional parking needs a person to drive a vehicle to park, and the existing automatic driving automatic parking scheme mostly adopts the scheme of matching a GPS (global positioning system), a laser sensor, a map and the like to complete the initial positioning of the vehicle. The initial positioning in the free parking scene by using the GPS sensor has some obvious problems, and when the free parking scene is positioned in an underground parking lot, the GPS signal is too weak, so that an accurate initial positioning task cannot be completed.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problem that the existing GPS has weak signal in an underground parking lot and cannot accurately position.
Therefore, the invention provides a vehicle initial positioning method combined with a marker image, which can accurately position in an underground parking lot.
In order to solve the technical problems, the invention provides the following technical scheme: scanning and establishing a map of an underground parking lot; fixing the marker image and the position of the marker image in a map; calculating rotation R and translation T between the camera and the marker image by utilizing a PnP algorithm; and calculating the coordinates of the camera relative to the map to complete the initial positioning.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: calibrating the camera and the vehicle body or the laser sensor and the vehicle body to determine the translation and rotation relationship between the camera and the vehicle; measuring the three-axis offset of the vehicle center and the camera center by using a ruler, and calculating the transformation relation of the three-axis offset; scanning a map of the underground parking lot by using a visual or laser SLAM technology, navigating and planning a path; and (5) making a map.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: pasting a plurality of marker images on the wall surface near the entrance of the parking lot; measuring the offset of x, y and z quantities relative to the origin of the map by using a measuring tool; obtaining the position of each marker in a map coordinate system; and fixing the marker image.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: using a marker image in an aruco library; using a series of coded images in the library to respectively correspond to each of the belonged IDs; obtaining an image as a binary image; and detecting and identifying the binary image.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: positioning the position of the marker in the image by using a detection and identification algorithm of an aruco library; measuring the side length of a marker image; and calculating the rotation and translation of the camera relative to the marker image by utilizing a PnP algorithm according to the four corner points of the marker image and the corresponding relation of the image.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: the marker image needs to be printed on paper in advance; measuring the actual edge length of the image on the paper; pasting the marker image; and when the camera shoots the marker image, the position of the marker image is calculated.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: indirectly obtaining rotation R and translation T from the camera to a map coordinate system by utilizing the PnP algorithm; completing the initial positioning; initiating the visual SLAM or laser SLAM; and tracking and positioning the vehicle in real time.
As a preferable aspect of the method for initially positioning a vehicle by combining a marker image according to the present invention, wherein: constructing a transformation matrix relation by using the detected four corner points of the marker image and the corresponding contraposition relation of the four corner points in the image; solving an equation to obtain pose transformation of the camera relative to the marker image; the position and pose of the marker image relative to the map origin is stored in the map in advance, and the position and pose of the vehicle relative to the map origin is obtained; the transformation of the camera relative to the map is the transformation of the marker image relative to the map x the transformation of the camera relative to the marker image.
As a preferred scheme of the vehicle initial positioning system combined with the marker image underground parking scene, the invention comprises the following steps: a detection module: the system comprises a scanning unit and an identification unit, wherein the scanning unit scans an underground parking scene by combining a scanner with the vision or laser SLAM technology, a map is built and stored in a storage unit in a detection module, an aroco library in the identification unit identifies the pose of the marker image in the map, and a sensor observes the marker image; a calculation module: the marker image acquisition device comprises a solver and a processing center, wherein after the position of the marker image in the map is acquired, a matrix is constructed by the solver through a PnP algorithm, an equation is solved to obtain rotation R and translation T from a camera to the marker image, and the processing center can be indirectly converted into the rotation R and the translation T from the camera to the map coordinate system to obtain an initial position; a location tracking module: the visual tracking and positioning system comprises a tracker and a starter, wherein the tracker positions the initial position, the starter starts the visual or laser SLAM to track and position the vehicle in real time, and the tracker is not influenced by signals in an underground parking lot and improves the positioning performance.
The invention has the beneficial effects that: according to the method, the initial positioning task based on the marker image is used, and only a plurality of marker images need to be arranged at the entrance of the underground parking scene in advance, so that when the marker image is observed by using a camera sensor on a vehicle, the calculation of the initial position can be completed by using a PnP algorithm, and the method is simple, low in cost, high in calculation speed and stable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a schematic flow chart of a method for initially positioning a vehicle in combination with a marker image according to the present invention;
FIG. 2 is a schematic block diagram of a vehicle initial positioning system combined with a marker image underground parking scene according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1, for a first embodiment of the present invention, a method for initially positioning a vehicle in combination with a marker image is provided, and as shown in fig. 1, the method for initially positioning a vehicle in combination with a marker image includes scanning and establishing a map of an underground parking lot, fixing the marker image and its position in the map, calculating a rotation R and a translation T between a camera and the marker image by using a PnP algorithm, and calculating coordinates of the camera relative to the map, thereby completing initial positioning. The PnP algorithm is a pair of known n spatial 3D points corresponding to the 2D point of the image, and calculates the pose of the camera or the pose of the object, which are equivalent. The transformation from the world coordinate system to the camera coordinate system requires a matrix [ R | t ], where R is the rotation matrix and t is the displacement vector; if the world coordinate system is X and the camera coordinate system corresponds to X ', then X' ═ R | t ] ×; the transformation from the camera coordinate system to the ideal screen coordinate system requires an internal parameter matrix C; then the ideal screen coordinate system L ═ C ═ R | t ×. Obtaining [ R | t ], knowing coordinates (X) of a plurality of key points on the template in a world coordinate system, then obtaining coordinates (L) of corresponding points on the template in a screen coordinate system in a frame captured by a camera, obtaining an initial value of [ R | t ] by solving a linear equation system, and then iteratively solving an optimal transformation matrix [ R | t ] by utilizing a nonlinear least square method.
Specifically, referring to fig. 1, a method for initially positioning a vehicle in combination with a marker image includes,
s1: a map of the underground parking lot is scanned and built. The steps to be explained are as follows:
calibrating a camera and a vehicle body or calibrating a laser sensor and the vehicle body to determine the translation and rotation relationship between the camera and the vehicle;
measuring the triaxial deviation between the vehicle center and the camera center by using a ruler, and calculating the transformation relation;
scanning a map of the underground parking lot by using a visual or laser SLAM technology, navigating and planning a path;
and (5) making a map.
S2: the marker image and its location in the map are fixed. Wherein, it is required to be noted that:
pasting a plurality of marker images on the wall surface near the entrance of the parking lot;
measuring the offset of x, y and z quantities relative to the origin of the map by using a measuring tool;
obtaining the position of each marker in a map coordinate system;
and fixing the marker image.
Further, the fixed image may further include,
using a marker image in an aruco library;
using a series of coded images in the library to respectively correspond to each of the belonged IDs;
obtaining an image as a binary image;
and detecting and identifying the binary image.
S3: and calculating rotation R and translation T between the camera and the marker image by utilizing a PnP algorithm. What should be further described in this step is:
positioning the position of the marker in the image by using a detection and identification algorithm of an aruco library;
measuring the side length of a marker image;
and calculating the rotation and translation of the camera relative to the marker image by utilizing a PnP algorithm according to the four corner points of the marker image and the corresponding relation of the image.
Preferably, the measuring the side length of the marker image specifically comprises,
the marker image needs to be printed on paper in advance;
measuring the actual edge length of the image on the paper;
pasting a marker image;
when the camera shoots the marker image, the position of the marker image is calculated.
S4: and calculating the coordinates of the camera relative to the map to complete the initial positioning. Wherein, it is required to be noted that:
indirectly obtaining rotation R and translation T from a camera to a map coordinate system by utilizing a PnP algorithm;
completing the initial positioning;
starting a visual SLAM or a laser SLAM;
and tracking and positioning the vehicle in real time.
Further, the initial positioning specifically includes,
constructing a transformation matrix relation by using four corner points of the detected marker image and the corresponding contraposition relation of the four corner points in the image;
solving an equation to obtain pose transformation of the camera relative to a marker image;
the method comprises the steps that a marker image is transformed and stored relative to the position and posture of a map origin in a map in advance, and the position and posture transformation of a vehicle relative to the map origin is obtained;
the transformation of the camera relative to the map is the transformation of the marker image relative to the map x the transformation of the camera relative to the marker image.
Preferably, in this embodiment, it should be noted that, in the conventional parking method, a driver is required to drive a vehicle to determine whether to park, and in many existing automatic driving automatic parking positioning methods, schemes such as GPS, laser sensor and map matching are adopted to complete initial positioning of the vehicle, in a popular way, an image acquisition module is used to capture an image around the vehicle, an image processing module generates an AVM image from the image acquired by the image acquisition module, when the control module enters a parking guidance mode, a parking position mark is displayed around the vehicle in the AVM image, after a target parking position is selected by using the parking position mark, a point mark for setting an initial moving position that can enter the target parking position is displayed, and the vehicle is guided to move to the initial moving position by using the point mark, guiding the vehicle to enter the target parking space when the vehicle reaches the initial moving position; the method has some obvious problems in the initial positioning in the free parking scene by utilizing the GPS sensor, and when the free parking scene is positioned in an underground parking lot, the GPS signal is too weak to complete an accurate initial positioning task.
In order to better verify and explain the technical effects adopted in the method, the embodiment selects the traditional automatic driving automatic parking positioning method and the method to carry out comparison test, compares the test results by means of scientific demonstration, and verifies the real effect of the method; in order to verify that the method of the present invention has higher positioning accuracy compared with the conventional method, the present embodiment respectively measures and compares the positioning accuracy of the simulated vehicle by using the conventional automatic driving automatic parking positioning method and the method of the present invention.
And (3) testing conditions are as follows: running a vehicle on a simulation platform to simulate running and simulate a parking positioning scene, adopting ten groups of GPS positioning data and combined marker image data as test samples, respectively carrying out steering angle test by manual operation of a traditional method and obtaining test result data; by adopting the method, the automatic test equipment is started, MATLB software is used for simulation test, simulation data are obtained according to the experimental result, ten groups of data are tested by the two methods, the positioning degree of each group of data is obtained by calculation, the error is calculated by comparing with the actual operation parameter input by simulation, and the result is shown in the following table:
table 1: the two test methods compare the test result data table.
| Group of | Degree of actual positioning | Error value/% of conventional method | Error value/% of the method of the invention |
| First group | (1.085,1.085) | 1.697 | 0.978 |
| Second group | (3.3014,2.1928) | 1.531 | 0.996 |
| Third group | (2.855,2.855) | 1.455 | 0.981 |
| Fourth group | (2.5436,3.2325) | 1.665 | 0.935 |
| Fifth group | (4.625,4.625) | 1.734 | 0.897 |
| Sixth group | (3.1398,2.9823) | 1.256 | 0.965 |
| Seventh group | (5.512,5.512) | 1.851 | 0.987 |
| Eighth group | (3.221,2.5032) | 1.653 | 0.886 |
| Ninth group | (5.842,5.842) | 1.442 | 0.965 |
| Tenth group | (4.3215，4.6542) | 1.647 | 0.894 |
Referring to table 1, it can be seen that the error value of the conventional method is greater than that of the method of the present invention, and the positioning accuracy of the method of the present invention is improved by 8% compared with the conventional method, which is of positive significance for promoting the research and development of the full-automatic driving and parking positioning of the intelligent vehicle, and verifies the real effect of the method of the present invention.
Example 2
Referring to fig. 2, a second embodiment of the present invention is different from the first embodiment in that a system for initial positioning of a vehicle in combination with a marker image underground parking scene is provided, the system comprises a detection module 100, a calculation module 200 and a position tracking module 300, the detection module 100: the system comprises a scanning unit 101 and an identification unit 102, wherein the scanning unit 101 scans an underground parking scene through a scanner 101a in combination with a visual or laser SLAM technology, a map is built and stored in a storage unit 103 in a detection module 100, an aroco library 102a in the identification unit 102 identifies the pose of a marker image in the map, and the marker image is observed through a sensor 102 b; the calculation module 200: the method comprises a solver 201 and a processing center 202, after the position of a marker image in a map is obtained, a matrix is constructed by the solver 201 through a PnP algorithm, an equation is solved to obtain a rotation R and a translation T between a camera and the marker image, and the processing center 202 can indirectly convert the rotation R and the translation T between the camera and a map coordinate system to obtain an initial position; the location tracking module 300: the tracking device comprises a tracker 301 and an initiator 302, wherein the tracker 301 is used for positioning an initial position, the initiator 302 is used for starting vision or laser SLAM to track and position a vehicle in real time, and the tracker 301 is not influenced by signals in an underground parking lot and is improved in positioning performance.
Specifically, the detection module 100 further includes an image acquisition unit 103, where the image acquisition unit 103 acquires image data and distance data of surrounding objects from the vehicle body, and transmits the image data and the distance data to the processing center 202 through a data line for analysis and processing to obtain a current position, a target position, and surrounding environmental parameters of the vehicle; the method comprises the steps that an arico library 102a identifies positions of four corner points of a marker in a picture to determine an ID of the marker, a scanner 101a detects a candidate region of the marker, and a solver 201 analyzes and determines the marker by utilizing a solved matrix equation; the tracker 301 tracks the marker in real time after determining the position of the marker, and starts vision or a laser SLAM technology through the starter 302 to track and position, different from the former GPS positioning, the tracking and positioning effect cannot be influenced because of weak signals in an underground parking lot, and high accuracy can be achieved.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the methods may be implemented in any type of computing platform operatively connected to a suitable connection, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the above steps in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques of the present invention. A computer program can be applied to input data to perform the functions herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. A vehicle initial positioning method combined with a marker image is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
scanning and establishing a map of an underground parking lot;
fixing a marker image and the position of the marker image in a map;
calculating rotation R and translation T between the camera and the marker image by utilizing a PnP algorithm;
and calculating the coordinates of the camera relative to the map to complete the initial positioning.
2. The method of claim 1, wherein the method of initially locating a vehicle in combination with a marker image comprises: the building of the map of the underground parking lot includes,
calibrating the camera and the vehicle body or the laser sensor and the vehicle body to determine the translation and rotation relationship between the camera and the vehicle;
measuring the three-axis offset of the vehicle center and the camera center by using a ruler, and calculating the transformation relation of the three-axis offset;
scanning a map of the underground parking lot by using a visual or laser SLAM technology, navigating and planning a path;
and (5) making a map.
3. The method of claim 1 or 2, wherein the method of initial positioning of a vehicle in combination with a marker image comprises: the fixed image, measurement location, includes,
pasting a plurality of marker images on the wall surface near the entrance of the parking lot;
measuring the offset of x, y and z quantities relative to the origin of the map by using a measuring tool;
obtaining the position of each marker in a map coordinate system;
and fixing the marker image.
4. A method of initially positioning a vehicle in combination with a marker image as recited in claim 3, wherein: the fixed image may also specifically comprise,
using a marker image in an aruco library;
using a series of coded images in the library to respectively correspond to each of the belonged IDs;
obtaining an image as a binary image;
and detecting and identifying the binary image.
5. The method of claim 1, wherein the method of initially locating a vehicle in combination with a marker image comprises: the PnP algorithm calculates the rotation R and translation T from camera to marker image including,
positioning the position of the marker in the image by using a detection and identification algorithm of an aruco library;
measuring the side length of a marker image;
and calculating the rotation and translation of the camera relative to the marker image by utilizing a PnP algorithm according to the four corner points of the marker image and the corresponding relation of the image.
6. The method of claim 5, wherein the method of initially locating a vehicle in combination with a marker image comprises: the measuring of the edge length of the marker image specifically comprises the following steps,
the marker image needs to be printed on paper in advance;
measuring the actual edge length of the image on the paper;
pasting the marker image;
and when the camera shoots the marker image, the position of the marker image is calculated.
7. The method of claim 1 or 5, wherein the method of initial positioning of a vehicle in combination with a marker image comprises: the initial positioning includes the steps of,
indirectly obtaining rotation R and translation T from the camera to a map coordinate system by utilizing the PnP algorithm;
completing the initial positioning;
initiating the visual SLAM or laser SLAM;
and tracking and positioning the vehicle in real time.
8. The method of claim 7, wherein the method of initially locating a vehicle in combination with a marker image comprises: the initial positioning may also specifically comprise that,
constructing a transformation matrix relation by using the detected four corner points of the marker image and the corresponding contraposition relation of the four corner points in the image;
solving an equation to obtain pose transformation of the camera relative to the marker image;
the position and pose of the marker image relative to the map origin is stored in the map in advance, and the position and pose of the vehicle relative to the map origin is obtained;
the transformation of the camera relative to the map is the transformation of the marker image relative to the map x the transformation of the camera relative to the marker image.
9. The utility model provides a combine marker image underground parking scene vehicle initial positioning system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
detection module (100): the system comprises a scanning unit (101) and an identification unit (102), wherein the scanning unit (101) scans an underground parking scene through a scanner (101a) in combination with the visual or laser SLAM technology, a map is built and saved in a storage unit (103) in a detection module (100), an arico library (102a) in the identification unit (102) identifies the pose of the marker image in the map, and the marker image is observed through a sensor (102 b);
a calculation module (200): the marker image acquisition device comprises a solver (201) and a processing center (202), after the position of the marker image in the map is acquired, a matrix is constructed by the solver (201) through a PnP algorithm, an equation is solved to obtain rotation R and translation T from a camera to the marker image, and the processing center (202) can be indirectly converted into the rotation R and the translation T from the camera to the map coordinate system to obtain an initial position;
location tracking module (300): the tracking device comprises a tracker (301) and an initiator (302), wherein the tracker (301) is used for positioning the initial position, the initiator (302) is used for starting the vision or laser SLAM to track and position the vehicle in real time, and the tracker (301) is not influenced by signals in an underground parking lot and improves the positioning performance.
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