CN114168695A - Target position determining method, device, terminal and storage medium - Google Patents
Target position determining method, device, terminal and storage medium Download PDFInfo
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Abstract
The application relates to a method, a device, a terminal and a storage medium for determining a target position, which belong to the technical field of image processing, and comprise the steps of obtaining a target image and a map containing a target, and obtaining a homography matrix from the target image to the map based on an affine transformation method; acquiring a target area in the map, and acquiring geographic coordinates of a target in the target image according to the homography matrix and the target area; wherein the target area is an area containing a target in the map. The method and the device have the effect of obtaining the geographic coordinates of the target.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a method, an apparatus, a terminal, and a storage medium for determining a target position.
Background
The method comprises the steps of shooting a target object or a target area by using a camera to obtain an image containing the target object or the target area, wherein the image does not contain geographic coordinates, so that the geographic coordinates, namely the geographic position, of the target object or the target area cannot be obtained.
For example, an image including a target such as an illegal building or an illegal area captured by a fixed camera such as an urban road monitoring camera needs a target position determination method for obtaining geographic coordinates of the target.
Disclosure of Invention
In order to obtain geographic coordinates of a target, the application provides a target position determining method, a target position determining device, a target position determining terminal and a storage medium.
In a first aspect, the present application provides a method for determining a target location, which adopts the following technical solutions:
a target location determination method, comprising:
acquiring a target image and a map containing a target, and acquiring a homography matrix from the target image to the map based on an affine transformation method;
acquiring a target area in the map, and acquiring geographic coordinates of a target in the target image according to the homography matrix and the target area; wherein the target area is an area containing a target in the map.
By adopting the technical scheme, the target image does not have a geographic position, but the map contains the geographic position, such as longitude and latitude; the mapping of the target area between the target image and the map is completed through the homography matrix, so that the geographic coordinates, namely the geographic position, of the target in the target image are obtained.
Preferably, the obtaining the geographic coordinates of the target in the target image according to the homography matrix and the target area includes:
acquiring a plurality of first coordinates according to the target area; wherein the first coordinate is a corner coordinate of the target area;
acquiring a plurality of third coordinates according to the homography matrix and the plurality of first coordinates; the third coordinate is a corner coordinate of a ground area, the ground area is an area mapped to a map by an image area, and the image area is an area corresponding to the target area in the target image;
and acquiring the geographic coordinates of the target in the target image according to the homography matrix, the plurality of third coordinates and a preset ground resolution.
Preferably, the obtaining of the geographic coordinates of the target in the target image according to the homography matrix, the plurality of third coordinates and a preset ground resolution includes:
acquiring a ground area according to the plurality of third coordinates;
acquiring pixels according to the third coordinates and a preset ground resolution;
acquiring a homography matrix inverse matrix according to the homography matrix;
and acquiring the geographic coordinates of the target in the target image according to the homography matrix inverse matrix, the plurality of third coordinates and the pixels.
Preferably, the obtaining the geographic coordinates of the target in the target image according to the homography matrix inverse matrix, the plurality of third coordinates and the pixels includes:
dividing the ground area into a plurality of pixel points according to the pixels;
acquiring image pixel coordinates of a plurality of pixel points according to the homography matrix inverse matrix, the pixels and a plurality of third coordinates;
and obtaining the geographic coordinates of the target in the target image based on the image pixel coordinates of the plurality of pixel points.
Preferably, the obtaining image pixel coordinates of a plurality of pixel points according to the homography matrix inverse matrix, the pixel and the plurality of third coordinates comprises:
acquiring image pixel coordinates of a plurality of pixel points according to the homography matrix inverse matrix, the pixels and the third coordinates, and acquiring initial coordinates of the pixel points;
and rounding the initial coordinate based on an image interpolation method to obtain a rounded image pixel coordinate.
Preferably, after obtaining the geographic coordinates of the target in the target image based on the image pixel coordinates of the plurality of pixel points, the method includes:
splicing a plurality of pixel points into a complete mapping chart according to the pixel coordinates of the image;
overlaying the map into a target image based on the geographic coordinates and a plurality of second coordinates; and the second coordinate is the corner coordinate of the image area.
By adopting the technical scheme, the mapping graph is covered in the target image, so that the target image containing the geographic coordinates is obtained, and the geographic coordinates of the target can be conveniently inquired in the target image by a worker.
Preferably, before the overlaying the map into the target image based on the geographic coordinates, the method includes:
and carrying out transparent processing on the mapping map based on a transparent channel.
In a second aspect, the present application provides a target position determining apparatus, which adopts the following technical solutions:
a target position determining apparatus includes a target position determining unit,
the first acquisition module is used for acquiring a target image and a map containing a target and acquiring a homography matrix from the target image to the map based on an affine transformation method;
the second acquisition module is used for acquiring a target area in the map and acquiring the geographic coordinate of a target in the target image according to the homography matrix and the target area; wherein the target area is an area containing a target in the map.
In a third aspect, the present application provides a target location determining terminal, which adopts the following technical solution:
a target position determination terminal comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that performs the target position determination method of any of the first aspects.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium storing a computer program that can be loaded by a processor and that executes the target position determination method of any one of the first aspect.
Drawings
Fig. 1 is a schematic flowchart of a target position determining method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of mapping from an image space to a map space provided in an embodiment of the present application.
Fig. 3 is a schematic diagram of a map that is not subjected to transparent processing and a map that is subjected to transparent processing according to an embodiment of the present application.
Fig. 4 is a block diagram of a target position determining apparatus according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a target location determining terminal according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
The present embodiment provides a target position determining method, as shown in fig. 1, the main flow of which is described as follows (steps S101 to S102):
step S101: and acquiring a target image and a map containing a target, and acquiring a homography matrix from the target image to the map based on an affine transformation method.
The target can be a target object or a target area, and the target object or the target area is shot by using a camera to obtain a target image containing the target object or the target area; a map containing the target is also obtained.
For example, the target is an illegal building or an illegal area, and the target is photographed by a fixed camera such as an urban road monitoring camera to obtain a target image, which does not have geographic coordinates. And then obtaining a map containing the target, wherein the map has geographic coordinates, at least 3 pairs of homonymous points are obtained by manually marking the target image and the map, and when the homonymous points are obtained, the map features and historical identification data are used for automatically correcting errors, so that the obtained homonymous points are more accurate. On the basis of an affine transformation method, calculating to obtain a homography matrix from a target image to a map by using at least 3 pairs of obtained homonymous points; wherein the homonymous point is a point representing the same position in the target image and the map.
In order to ensure that a homography matrix with high accuracy is obtained, the embodiment obtains the homography matrix at least based on 4 pairs of homography points.
In the process of acquiring the homography matrix, the P-G algorithm is corrected by using artificial calibration assistance, the positioning offset is automatically corrected by using a camera inclination correction algorithm, the geographic coordinate acquired each time is compared with the actual coordinate, the positioning offset is acquired and used for updating the homography matrix, and therefore the more accurate homography matrix is acquired.
Step S102: acquiring a target area in a map, and acquiring geographic coordinates of a target in a target image according to the homography matrix and the target area; the target area is an area containing a target in the map.
In the embodiment, the map space for placing the map is provided with an independent map coordinate system; the image space in which the target image is placed also has an independent image coordinate system.
And drawing a target area containing a target in the map space, wherein the target area can be obtained through manual marking.
The target area is an area formed by connecting corner points of L targets in sequence, assuming that L is 4, coordinates of the four points are defined as first coordinates, and the four first coordinates are respectively (X)min,Ymin)、(Xmin,Ymax)、(Xmax,Ymin) And (X)max,Ymax)。
An image area is contained in the image space, the image area contains a target, and the image area corresponds to the target area. The image area is an area formed by connecting L corner points in sequence, assuming that L is 4, the coordinates of the four points are defined as second coordinates, and the four second coordinates are (0,0), (imgmwidth, imghehght) and (0, imghehght), respectively.
The image area is mapped to a map space to form a ground area, and the coordinates of L points constituting the ground area are defined as third coordinates. For example, L is 4, and the four third coordinates are (x)min,ymin)、(xmin,ymax)、(xmax,ymin) And (x)max,ymax)。
Wherein the first coordinate and the third coordinate correspond one to one, specifically, (X)min,Ymin) And (x)min,ymin) Corresponding to (X)min,Ymax) And (x)min,ymax) Corresponding to (X)max,Ymin) And (x)max,ymin) Corresponding to (X)max,Ymax) And (x)max,ymax) And correspondingly.
At this point, the first and second coordinates are known, the third coordinate is unknown, and correspondingly, the ground area is unknown.
And obtaining a third coordinate based on the first coordinate and the homography matrix, wherein the specific formula is as follows:
wherein, X 'is the abscissa of the first coordinate, Y' is the ordinate of the first coordinate, X 'is the abscissa of the third coordinate, Y' is the ordinate of the third coordinate, h is the homography matrix.
And sequentially substituting each first coordinate into the formula to obtain a corresponding third coordinate, and further obtaining the ground area based on the obtained third coordinate.
Referring to fig. 2, the mapping from the image space to the map space is done according to the second and third coordinates, i.e. the second and third coordinates are one-to-one, in particular, (0, imghight) and (x)min,ymin) Corresponding to (0,0) and (x)min,ymax) Corresponding to (imgWidth, imgHeight) and (x)max,ymin) Corresponding to (imgWidth,0) and (x)max,ymax) And correspondingly.
And then, obtaining pixels according to the third coordinate and a preset ground resolution, wherein the specific formula is as follows:
P＝M×N；
wherein int means rounding, gridSize means a predetermined ground resolution, and P means a pixel.
And dividing the ground area into a plurality of pixel points according to the pixels, and acquiring the map pixel coordinate of each pixel point based on the L third coordinates and the pixels. For example, the L third coordinates are (2,2), (2,10), (10,2) and (10,10), respectively, and the pixel is 2 × 2, and the map pixel coordinates are (2,2), (2,4), (2,6), (2,8), (2,10), (4,2), (4,4), (4,6), (4,8), (4,10), (6,2), (6,4), (6,6), (6,8), (6,10), (8,2), (8,4), (8,6), (8,8), (8,10), (10,2) (10,4), (10,6), (10,8) and (10,10), respectively.
Acquiring initial coordinates of a plurality of pixel points according to the homography matrix inverse matrix and the plurality of map pixel coordinates; the homography matrix inverse matrix is an inverse matrix of the homography matrix, and the initial coordinate is a coordinate of mapping of the map pixel coordinate from the map space to the image space.
The specific calculation formula of the initial coordinates is as follows:
wherein, X "is the abscissa of the map pixel coordinate, Y" is the ordinate of the map pixel coordinate, X "is the abscissa of the initial coordinate, Y" is the ordinate of the initial coordinate, invertseh is the homography matrix inverse matrix.
After the initial coordinates are obtained, the abscissa and the ordinate of the initial coordinates may not be integer values, so that the abscissa and the ordinate of the initial coordinates are rounded by using an image interpolation method, and the rounded initial coordinates are defined as image pixel coordinates. The image interpolation method in this embodiment may specifically be a bilinear interpolation method, which takes into account the requirements of both interpolation speed and accuracy.
According to the obtained image pixels of the plurality of pixel pointsAnd coordinates, namely acquiring the geographic coordinates of the target in the target image. For example, the coordinates of the acquired plurality of image pixels are (A) respectively1，B1)、(A1，B2)、(A1，B3)、(A2，B1)、(A2，B2)、(A2，B3)、(A3，B1)、(A3，B2) And (A)3，B3) Geographic coordinates are defined as (I, J), then ((I, J) ═ a1，B1)，(A1，B3)，(A3，B1)，(A3，B3))。
Further, after the geographic coordinates are obtained, the same coordinates of the pixel coordinates of the multiple images are subjected to overlapping processing, and therefore the multiple pixel points are spliced into a complete mapping map.
Refer to fig. 3. Based on the transparent channel, the mapping map is subjected to transparent processing, and an area without content is set to be transparent, so that the image content is prevented from being shielded.
The acquired pixel coordinates of the plurality of images correspond to the plurality of second coordinates one by one, so that the map subjected to the transparent processing is covered into the target image according to the geographic coordinates and the plurality of second coordinates.
For example, (0, imgHeight) and (A)1，B1) Corresponding to (0,0) and (A)1，B3) Corresponding to (imgWidth, imgHeight) and (A)3，B1) Corresponding to (imgWidth,0) and (A)3，B3) Correspondingly, the corresponding second coordinate is covered by the pixel coordinate of the image, so that the map subjected to the transparency processing is covered into the target image, and the target image containing the geographic position, namely the actual spatial position is obtained.
In order to better implement the method, the embodiment of the present application further provides a target position determining apparatus, which may be specifically integrated in a target position determining terminal, such as a terminal or a server, where the terminal may include, but is not limited to, a mobile phone, a tablet computer, or a desktop computer.
Fig. 4 is a block diagram of a target position determining apparatus according to an embodiment of the present application, and as shown in fig. 4, the apparatus mainly includes:
the first obtaining module 201 is configured to obtain a target image and a map that include a target, and obtain a homography matrix from the target image to the map based on an affine transformation method;
the second obtaining module 202 is used for obtaining a target area in the map and obtaining the geographic coordinates of a target in the target image according to the homography matrix and the target area; the target area is an area containing a target in the map.
Various changes and specific examples in the method provided by the above embodiment are also applicable to the target position determining apparatus of the present embodiment, and through the foregoing detailed description of the target position determining method, those skilled in the art can clearly know the implementation method of the target position determining apparatus in the present embodiment, and for the sake of brevity of the description, detailed descriptions are not provided herein.
In order to better execute the program of the method, the embodiment of the present application further provides a target position determination terminal, as shown in fig. 5, the target position determination terminal 300 includes a memory 301 and a processor 302.
The target position determining terminal 300 may be implemented in various forms including devices such as a mobile phone, a tablet computer, a palm computer, a notebook computer, and a desktop computer.
The memory 301 may be used to store, among other things, instructions, programs, code sets, or instruction sets. The memory 301 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as obtaining a homography matrix and a homography matrix inverse matrix, etc.), instructions for implementing the target position determination method provided by the above embodiments, and the like; the storage data area may store data and the like involved in the target position determination method provided in the above-described embodiment.
An embodiment of the present application provides a computer-readable storage medium, including: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk. The computer-readable storage medium stores a computer program that can be loaded by a processor and executes the target position determination method of the above-described embodiments.
The specific embodiments are merely illustrative and not restrictive, and various modifications that do not materially contribute to the embodiments may be made by those skilled in the art after reading this specification as required, but are protected by patent laws within the scope of the claims of this application.
Claims (10)
1. A method for determining a location of a target, comprising:
acquiring a target image and a map containing a target, and acquiring a homography matrix from the target image to the map based on an affine transformation method;
acquiring a target area in the map, and acquiring geographic coordinates of a target in the target image according to the homography matrix and the target area; wherein the target area is an area containing a target in the map.
2. The method of claim 1, wherein the obtaining geographic coordinates of the object in the object image according to the homography matrix and the object region comprises:
acquiring a plurality of first coordinates according to the target area; wherein the first coordinate is a corner coordinate of the target area;
acquiring a plurality of third coordinates according to the homography matrix and the plurality of first coordinates; the third coordinate is a corner coordinate of a ground area, the ground area is an area mapped to a map by an image area, and the image area is an area corresponding to the target area in the target image;
and acquiring the geographic coordinates of the target in the target image according to the homography matrix, the plurality of third coordinates and a preset ground resolution.
3. The method according to claim 2, wherein the obtaining geographic coordinates of the target in the target image according to the homography matrix, the plurality of third coordinates and a preset ground resolution comprises:
acquiring a ground area according to the plurality of third coordinates;
acquiring pixels according to the third coordinates and a preset ground resolution;
acquiring a homography matrix inverse matrix according to the homography matrix;
and acquiring the geographic coordinates of the target in the target image according to the homography matrix inverse matrix, the plurality of third coordinates and the pixels.
4. The method of claim 3, wherein obtaining geographic coordinates of the object in the image of the object based on the inverse homography matrix, the plurality of third coordinates, and the pixels comprises:
dividing the ground area into a plurality of pixel points according to the pixels;
acquiring image pixel coordinates of a plurality of pixel points according to the homography matrix inverse matrix, the pixels and a plurality of third coordinates;
and obtaining the geographic coordinates of the target in the target image based on the image pixel coordinates of the plurality of pixel points.
5. The method of claim 4, wherein obtaining image pixel coordinates of a plurality of pixel points according to the homography inverse matrix, the pixel and a plurality of third coordinates comprises:
acquiring image pixel coordinates of a plurality of pixel points according to the homography matrix inverse matrix, the pixels and the third coordinates, and acquiring initial coordinates of the pixel points;
and rounding the initial coordinate based on an image interpolation method to obtain a rounded image pixel coordinate.
6. The method according to claim 4 or 5, wherein after obtaining the geographic coordinates of the object in the object image based on the image pixel coordinates of the plurality of pixel points, the method comprises:
splicing a plurality of pixel points into a complete mapping chart according to the pixel coordinates of the image;
overlaying the map into a target image based on the geographic coordinates and a plurality of second coordinates; and the second coordinate is the corner coordinate of the image area.
7. The method of claim 6, prior to said overlaying said map into a target image based on said geographic coordinates, comprising:
and carrying out transparent processing on the mapping map based on a transparent channel.
8. An object position determination apparatus, comprising,
the first acquisition module is used for acquiring a target image and a map containing a target and acquiring a homography matrix from the target image to the map based on an affine transformation method;
the second acquisition module is used for acquiring a target area in the map and acquiring the geographic coordinate of a target in the target image according to the homography matrix and the target area; wherein the target area is an area containing a target in the map.
9. A target position determination terminal comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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Application publication date: 20220311 |