CN115731288A - Positioning method and device, electronic equipment and storage medium - Google Patents
Positioning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The disclosure relates to a positioning method and apparatus, an electronic device and a storage medium, wherein the method comprises: acquiring multi-frame images of a target scene in real time; establishing a three-dimensional map based on a target scene according to preset marks in multi-frame images; determining first position information of an optical center of image acquisition equipment when each frame of image is acquired according to the three-dimensional map and the multi-frame images; based on the first position information, a relative positional relationship between the optical center and the rotational axis of the turntable is determined. According to the positioning method disclosed by the embodiment of the disclosure, the three-dimensional map of the target scene can be obtained through the image shot by the image acquisition equipment in the rotation process, and then the position of the optical center in the three-dimensional map is determined, so that the target position information of the rotation axis of the turntable in the three-dimensional map is determined, and therefore the relative position relationship between the optical center and the rotation axis of the turntable can be obtained, the installation precision is improved, and the image splicing precision is further improved.
Description
Technical Field
The present disclosure relates to the field of image processing, and in particular, to a positioning method and apparatus, an electronic device, and a storage medium.
Background
The image splicing technology is a multidisciplinary cross processing technology integrating the fields of computer vision, image processing and the like, is mainly used for obtaining full-view-angle images, plays an important role in a plurality of fields of medical minimally invasive surgery, geological survey, aerospace, security monitoring and the like, and has a very wide application prospect. The image acquisition mode can be divided into revolving stage shooting, airborne platform shooting and handheld device shooting, and wherein the image quality and the stability that the revolving stage was shot are better.
The image stitching process can be divided into image registration and image fusion stages. The image registration accuracy determines the image stitching quality. Image registration methods can be classified into pixel-based, transform domain-based, and feature-based equal registration methods. The most widely used method is a feature-based registration method which is high in precision and robustness. Feature-based methods match Features of two images by finding feature points, such as feature points, feature regions, feature edges, etc., where the most common are feature points, which are composed of keypoints and descriptors, and the well-known point Features are SIFT (Scale-invariant feature transform), SURF (accelerated Up Robust Features), ORB (Oriented Fast and Rotated Brief Features), etc. However, image stitching is performed based on the feature point matching method, and the following assumption conditions are required to be satisfied: the overlapping area of the images, i.e. the feature points in the two images are in the same plane, or the optical center position of the camera does not change, i.e. the motion of the camera is a pure rotational motion.
Due to the diversity of environmental scenes, it is not satisfied that the image overlapping regions are the same plane in the world coordinate system in most cases. The multi-region image stitching puts higher requirements on the image stitching alignment accuracy, and therefore, the camera motion needs to be ensured to be pure rotation motion as much as possible. However, in actual mounting, it is difficult to determine the positional relationship between the optical center of the camera and the rotation axis of the turntable, so that it is difficult to ensure mounting accuracy of the camera, and it is difficult to perform a pure rotational motion during rotation.
Disclosure of Invention
The disclosure provides a positioning method and device, an electronic device and a storage medium.
According to an aspect of the present disclosure, there is provided a positioning method including: acquiring multi-frame images of a target scene in real time, wherein a rotary table is arranged in the target scene, an image acquisition device is arranged on the rotary table, the multi-frame images are acquired by the image acquisition device in the process of rotating along with the rotary table, and a plurality of positions in the target scene are provided with preset marks; establishing a three-dimensional map based on the target scene according to the preset mark shot in the multi-frame image; determining first position information of an optical center of the image acquisition equipment in the three-dimensional map when each frame of image is acquired according to the three-dimensional map and the multi-frame images; and determining the relative position relation between the optical center and the rotation axis of the turntable according to the first position information.
In a possible implementation manner, establishing a three-dimensional map based on the target scene according to the preset mark shot in the multi-frame image includes: determining a first position relation among the preset marks according to second position information of the preset marks in each frame image; and obtaining the three-dimensional map according to the first position relation.
In a possible implementation manner, during the rotation, the image capturing device passes through the same position at least twice, and obtains the three-dimensional map according to the first positional relationship, including: determining third position information of each preset mark in the three-dimensional map according to the first position relation; obtaining the three-dimensional relationship graph according to the third position information; and correcting the three-dimensional relationship graph according to at least two frames of images acquired by the image acquisition equipment at the same position and the first position relationship to acquire the three-dimensional map.
In a possible implementation manner, determining, according to the three-dimensional map and the multiple frames of images, first position information of an optical center of the image capturing device in the three-dimensional map when each frame of image is acquired includes: determining a second position relation between fourth position information of a preset mark in each frame image and the position of the optical center of the image acquisition equipment according to the internal reference of the preset image acquisition equipment; and determining first position information of the optical center in the three-dimensional map according to the position of the preset mark in the three-dimensional map and the second position relation.
In one possible implementation, determining a relative positional relationship between the optical center and the rotation axis of the turntable from the first positional information includes: fitting the first position information of the optical center when the plurality of images are acquired to acquire target position information of the rotation axis; determining a relative positional relationship between the first positional information and the target positional information.
In one possible implementation, the method further includes: and adjusting the installation position of the image acquisition equipment according to the relative position relationship, so that the optical center of the image acquisition equipment coincides with the rotation axis.
In one possible implementation, the method further includes: correcting the image acquired by the image acquisition equipment according to the relative position relation; or determining a third positional relationship between the target surface of the image acquisition device and the rotation axis according to the relative position information, and correcting the image acquired by the image acquisition device according to the third positional relationship.
According to an aspect of the present disclosure, there is provided a positioning apparatus including: the system comprises an image acquisition module, a processing module and a display module, wherein the image acquisition module is used for acquiring multi-frame images of a target scene in real time, a turntable is arranged in the target scene, an image acquisition device is arranged on the turntable, the multi-frame images are acquired by the image acquisition device in the process of rotating along with the turntable, and a plurality of positions in the target scene are provided with preset marks; the map acquisition module is used for establishing a three-dimensional map based on the target scene according to the preset marks shot in the multi-frame images; the optical center determining module is used for determining first position information of the optical center of the image acquisition equipment in the three-dimensional map when each frame of image is acquired according to the three-dimensional map and the multi-frame image; and the position determining module is used for determining the relative position relation between the optical center and the rotating axis of the rotary table according to the first position information.
In one possible implementation, the map obtaining module is further configured to: determining a first position relation among the preset marks according to second position information of the preset marks in each frame image; and obtaining the three-dimensional map according to the first position relation.
In a possible implementation manner, during the rotation, the image capturing device passes through the same position at least twice, and the map obtaining module is further configured to: determining third position information of each preset mark in the three-dimensional map according to the first position relation; obtaining the three-dimensional relationship graph according to the third position information; and correcting the three-dimensional relationship graph according to at least two frames of images acquired by the image acquisition equipment at the same position and the first position relationship to acquire the three-dimensional map.
In one possible implementation, the optical center determining module is further configured to: determining a second position relation between fourth position information of a preset mark in each frame image and the position of the optical center of the image acquisition equipment according to internal parameters of the preset image acquisition equipment; and determining first position information of the optical center in the three-dimensional map according to the position of the preset mark in the three-dimensional map and the second position relation.
In one possible implementation, the position determining module is further configured to: fitting first position information of an optical center when the plurality of images are acquired to obtain target position information of a rotation axis; determining a relative positional relationship between the first positional information and the target positional information.
In one possible implementation, the apparatus further includes: and the adjusting module is used for adjusting the installation position of the image acquisition equipment according to the relative position relationship, so that the optical center of the image acquisition equipment coincides with the rotation axis.
In a possible implementation manner, the apparatus further includes a correction module, which corrects the image acquired by the image acquisition device according to the relative position relationship; or determining a third positional relationship between the target surface of the image acquisition device and the rotation axis according to the relative position information, and correcting the image acquired by the image acquisition device according to the third positional relationship.
According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: the above-described positioning method is performed.
According to an aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-described positioning method.
According to the positioning method disclosed by the embodiment of the disclosure, the three-dimensional map can be obtained through the multi-frame images acquired in the rotation process of the image acquisition equipment, and the three-dimensional map is corrected through the error of the third position information of the same preset mark, so that the accurate three-dimensional map is obtained. And then the position of the optical center in the three-dimensional map is determined so as to determine the target position information of the rotating axis of the rotary table in the three-dimensional map, so that the relative position relationship between the optical center and the rotating axis of the rotary table can be obtained, the installation precision is improved, and the image splicing precision is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flow chart of a positioning method according to an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a correction process according to an embodiment of the present disclosure;
fig. 3A and 3B show application diagrams of a positioning method according to an embodiment of the present disclosure;
FIG. 4 shows a block diagram of a positioning device according to an embodiment of the present disclosure;
FIG. 5 shows a block diagram of an electronic device according to an embodiment of the disclosure;
fig. 6 illustrates a block diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of a, B, and C, and may mean including any one or more elements selected from the group consisting of a, B, and C.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 shows a flow chart of a positioning method according to an embodiment of the present disclosure, as shown in fig. 1, the method comprising:
in step S11, obtaining a multi-frame image of a target scene in real time, where the target scene is provided with a turntable, the turntable is provided with an image acquisition device, the multi-frame image is acquired by the image acquisition device in a process of rotating with the turntable, and multiple positions in the target scene are provided with preset marks;
in step S12, a three-dimensional map based on the target scene is established according to the preset mark captured in the multi-frame image;
in step S13, determining first position information of an optical center of the image acquisition device in the three-dimensional map when each frame of image is acquired according to the three-dimensional map and the multiple frames of images;
in step S14, a relative positional relationship between the optical center and the rotation axis is determined based on the first positional information.
According to the positioning method disclosed by the embodiment of the disclosure, the three-dimensional map of the target scene can be established through the image shot by the image acquisition equipment in the rotation process, and then the position of the optical center in the three-dimensional map is determined, so that the target position information of the rotation axis of the turntable in the three-dimensional map is determined, and therefore the relative position relationship between the optical center and the rotation axis of the turntable can be determined, the installation precision is improved, and the image splicing precision is further improved.
In a possible implementation manner, in order to obtain a three-dimensional map of a target scene, a plurality of preset marks may be set in the target scene, and an image of the target scene is obtained during a movement process of an image acquisition device, where the image may include the shot preset marks, and further, a position relationship of each preset mark in the three-dimensional map may be determined based on a position relationship between the preset marks in each image, so that the three-dimensional map is established based on the preset marks.
In a possible implementation manner, in step S11, a turntable, i.e., a device for carrying the image capturing apparatus and rotating, may be provided in the target scene, so that the image capturing apparatus captures an image during the rotation. Preset marks can be arranged around the turntable, so that the image acquisition equipment shoots the preset marks in the process of rotating and shooting the images to determine the position relation of each mark in the images, and further determine the position relation of a plurality of marks in a three-dimensional space (such as a three-dimensional map to be established).
In a possible implementation manner, the image capturing device may be disposed on the turntable, and as the turntable rotates, the image capturing device may capture multiple frames of images around the turntable. During the rotation, the image-capturing device may be caused to pass the same position at least twice, for example, may be rotated more than one revolution, so that the created three-dimensional map is corrected by taking the image at the same position twice.
In one possible implementation manner, in step S12, a three-dimensional map of the target scene may be established based on multiple frames of images captured by the image capturing device during the rotation process. In an example, the preset marks can use Aruco identification codes with the diameter of 35mm, each Aruco identification code is unique, and the position relation between the preset marks in the image can be conveniently determined, so that the position relation of the preset marks in a three-dimensional space is further determined, and a three-dimensional map is built based on the preset marks.
In one possible implementation, step S12 may include: determining a first position relation among the preset marks according to second position information of the preset marks in each frame image; and obtaining the three-dimensional map according to the first position relation.
In an example, a three-dimensional map can be built by synchronizing positioning and mapping. For example, the positional relationship between the preset marks may be determined in an image acquired by the image acquisition apparatus. For example, in the 1 st image, the second position information of the preset mark 1, the preset mark 2 and the preset mark 3 may be determined, and the position relationship among the three may be determined, for example, the preset mark 1 is at the leftmost end of the three preset marks, the preset mark 2 is at the right side 3cm of the preset mark 1, the two are at the same height, the preset mark 3 is at the right side 3cm of the preset mark 2, and the like, and the two are at the same height. In the 2 nd image, the second position information of the preset mark 2, the preset mark 3 and the preset mark 4 can be determined, and the position relationship among the three can be determined, for example, the preset mark 3 is 3cm on the right side of the preset mark 2, the two are at the same height, the preset mark 4 is 2cm on the right side of the preset mark 3, the two are at the same height, but the included angle between the orientation of the preset mark 4 and the orientation of the preset mark 3 is 90 degrees. According to the information, the preset mark 1, the preset mark 2, the preset mark 3 and the preset mark 4 are at the same height, the included angle between the preset mark 4 and the orientation of the other three preset marks is 90 degrees, meanwhile, the distances among the four preset marks and the like can be known, and further, the first position relation of the four preset marks in a three-dimensional space (namely, a three-dimensional map) can be determined. Through the mode, the position relation among all the preset marks shot by the image acquisition equipment in the rotation process can be further determined. The number of the preset marks and the positional relationship between the preset marks are not limited in the present disclosure.
In an example, the preset marks may be used as points in a three-dimensional map, and after determining the position relationship of all the preset marks in the three-dimensional map, the position of each preset mark in the three-dimensional map may be determined, so as to establish the three-dimensional map. For example, in the three-dimensional map building process, a three-dimensional coordinate system may be built based on a first frame image (e.g., a three-dimensional modeling may be performed using a captured image, which is an initialization image used in modeling) acquired by an image capturing apparatus. In a three-dimensional coordinate system, an X-Y plane can be set as an imaging plane, and the image acquisition device is rotated around a Y axis with a rotation trajectory in an X-Z plane.
In a possible implementation manner, in the process of determining the first positional relationship, an error may be generated, for example, a distance error, an angle error, and the like may be generated, and the error may be accumulated as the number of the preset marks increases, for example, when the image acquired by the image acquisition apparatus is detected, it may be determined that the preset mark 2 is 3cm on the right side of the preset mark 1 and the preset mark 3 is 3cm on the right side of the preset mark 2, and in practice, the preset mark 2 is 2.5cm on the right side of the preset mark 1 and the preset mark 3 is 2.5cm on the right side of the preset mark 2, and then an error of the distance measurement when the positional relationship is determined twice may be accumulated, for example, two errors of 0.5cm are accumulated to be 1cm. The error accumulation process can enable the position relation error of each preset mark in the three-dimensional map to be larger, and enable the error of the established three-dimensional map to be larger.
In a possible implementation, the above-mentioned error can be corrected by an image captured by the image capturing device at least twice at the same position, in response to the above-mentioned problem. During the rotation of the image acquisition device, the image acquisition device rotates more than one circle, and then the image acquisition device may pass through the same position twice (for example, the position where the two rotations start), for example, the 1 st frame image is acquired at the position, the nth frame image (n is a positive integer greater than 1) is also acquired at the position, and based on the 1 st, 2' -8230301 and the n-th frame images, the position relationship between the preset marks in the images can be determined, and then the position of each preset mark can be determined in the three-dimensional space, and the preset mark in the n-th frame image is the same as the preset mark in the 1 st frame image, and if the positions of the same preset marks are different, the error is accumulated when the position relationship is determined, and further, the error accumulated between the same preset marks can be corrected by, that is, the error accumulated error is eliminated, so that the created three-dimensional map is more accurate.
In a possible implementation manner, obtaining the three-dimensional map according to the first position relationship includes: determining third position information of each preset mark in the three-dimensional map according to the first position relation; obtaining the three-dimensional relationship graph according to the third position information; and correcting the three-dimensional relationship graph according to at least two frames of images acquired by the image acquisition equipment at the same position and the first position relationship to acquire the three-dimensional map.
Fig. 2 shows a schematic diagram of a correction process according to an embodiment of the present disclosure. As shown in fig. 2, by determining the positional relationship between the preset marks, the position of each preset mark in the three-dimensional map, that is, the third positional information (that is, the position before loop detection correction in fig. 2) can be determined. For example, a first preset mark in the first frame image may be used as a reference point, and third position information of other preset marks in the three-dimensional map may be determined by a position relationship between the other preset marks and the reference point. Based on the third position information, a three-dimensional relationship map of each preset mark, i.e., an uncorrected three-dimensional map, can be determined.
In a possible implementation manner, the three-dimensional relationship map may be corrected according to at least two frames of images acquired by the image acquisition device at the same position and the first position relationship, so as to obtain the three-dimensional map. In an example, the preset mark in the two images of the same position obtained is the same, and the third position information thereof should also be consistent, if there is an error between the third position information of the preset mark calculated by the first position relationship (e.g., the third position information of the preset mark in the nth image calculated by the positional relationship of the nth image and the preset mark in the previous image) and the actual third position information of the preset mark (e.g., the third position information of the preset mark directly determined based on the 1 st image), a correction may be made based on the error to eliminate the error, that is, to obtain the position after the loop detection correction in fig. 2. In an example, the error may be eliminated by a BA beam adjustment method or a loop detection correction method, and the present disclosure does not limit the method of eliminating the error. After the above-described error is eliminated, a corrected three-dimensional relationship map, i.e., a three-dimensional map, can be obtained. Based on this three-dimensional map, the position of the axis of rotation can be calculated with greater accuracy, i.e., the center of the circle of the corrected trajectory fit in fig. 2.
In this way, the three-dimensional map can be corrected by the error of the third position information of the same preset mark, so that an accurate three-dimensional map is obtained, and the accuracy of the obtained position of the rotation axis of the turntable is improved.
In one possible implementation, in step S13, first position information of an optical center of the image capture device in the three-dimensional map at the time of acquiring each frame image may be determined. The image acquisition device such as a camera has specific optical parameters, such as focal length, target surface and the like, namely, internal parameters of the image acquisition device, and the optical center position of the image acquisition device can be determined through the internal parameters of the image acquisition device, the positions of the preset marks in the image shot by the image acquisition device and the positions of the preset marks in the three-dimensional space. Step S13 may include: determining a second position relation between fourth position information of a preset mark in each frame image and the position of the optical center of the image acquisition equipment according to the internal reference of the preset image acquisition equipment; and determining first position information of the optical center in the three-dimensional map according to the position of the preset mark in the three-dimensional map and the second position relation.
In an example, the preset mark shot in the image can be projected on the target surface of the image acquisition device as the preset mark in the three-dimensional map, and the first position information of the optical center in the three-dimensional map can be determined based on the projection relation and the second position relation between the preset mark in the image and the optical center.
In an example, the second positional relationship between the fourth positional information of the preset mark and the position of the optical center of the image capturing device may be determined by an internal reference of the image capturing device, for example, the target surface of the image capturing device is perpendicular to the optical axis of the image capturing device, the optical center is located on the optical axis, and the distance of the optical center from the target surface is determined, and thus, the target surface may be determined based on the fourth positional information of the plurality of preset marks, and the second positional relationship of the fourth positional information and the optical center may be determined based on the above positional relationship of the optical center and the target surface.
In an example, a relationship between the position of the preset mark in the three-dimensional map (i.e., the third position information) and the fourth position information in the image may also be determined based on the above projection relationship, and further, the first position information of the optical center in the three-dimensional map may be determined based on the above two sets of position relationships (i.e., the second position relationship between the optical center and the fourth position information of the preset mark in the image, and the projection relationship between the fourth position information of the preset mark in the image and the third position information of the preset mark in the three-dimensional map), for example, the first position information of the optical center may be inferred based on the third position information and the above two sets of position relationships. In the above manner, the first position information of the optical center of the image acquisition device in the three-dimensional map when each frame of image is acquired is determined.
In one possible implementation, in step S14, the relative position relationship between the optical center and the rotation axis may be determined by first position information of the optical centers of the plurality of cameras at a plurality of times (i.e., the times at which the respective frame images are captured).
In an example, if the camera optical center coincides with the rotation axis of the turntable, the first position information at each instant also coincides, i.e. the optical center is always in a position coinciding with the rotation axis. If the optical center of the camera does not coincide with the rotation axis of the turntable, the trajectory of each first position information may form a circle centered on the position of the rotation axis during the rotation of the turntable.
In one possible implementation, step S14 may include: fitting first position information of an optical center when the plurality of images are acquired to obtain target position information of a rotation axis; determining a relative positional relationship between the first positional information and the target positional information. In an example, the circle center position, that is, the position of the rotation axis may be obtained by polynomial fitting, least squares fitting, or the like, and a relative positional relationship between the first position information and the target position information, for example, a distance relationship, an angle relationship, or the like, may be determined.
In an example, the first position information of the plurality of optical centers is on a locus of a circular locus formed by fitting, and the position of the rotation axis is the center of the circular locus, so that a relative positional relationship between the position of the optical centers on the circular locus and the position of the rotation axis at the center of the circle is determined, for example, a distance between the two (i.e., a radius of the circular locus) is determined, and if the installation position of the image pickup apparatus is adjustable, the installation position of the image pickup apparatus may be adjusted based on the distance, that is, the position of the optical centers of the image pickup apparatus is adjusted toward the center of the circle, the adjusted distance being the radius of the circular locus, so that the optical centers coincide with the position of the rotation axis.
In one possible implementation, after determining the position of the rotation axis, if the optical center position of the image capturing device does not coincide with the position of the rotation axis, the installation position of the image capturing device may be adjusted, and the method further includes: and adjusting the installation position of the image acquisition equipment according to the relative position relationship, so that the optical center of the image acquisition equipment coincides with the rotation axis. Namely, the optical center of the image acquisition equipment can be coincided with the rotation axis through adjustment, so that the image acquisition equipment can perform pure rotation motion in the rotation process of the rotary table, and the improvement of the splicing precision of the shot images is facilitated.
In one possible implementation, if the image capturing device is difficult to adjust the mounting position, for example, the mounting position of the image capturing device is fixed, and there is a fixed error between the optical center of the image capturing device and the rotation axis of the turntable, a registration error in the image captured by the image capturing device may be compensated based on the error to improve the stitching accuracy. The method further comprises the following steps: correcting the image acquired by the image acquisition equipment according to the relative position relation; or determining a third positional relationship between the target surface of the image acquisition device and the rotation axis according to the relative position information, and correcting the image acquired by the image acquisition device according to the third positional relationship.
In an example, the projection transformation can also be performed on the image shot by the image acquisition device directly through the relative position relationship between the target position information of the rotation axis and the optical center (i.e., the position error between the target position information and the optical center), so as to compensate the image registration error, and improve the splicing accuracy of a plurality of images shot by the image acquisition device.
In an example, the angular relationship between the target surface and the optical axis of the image acquisition device is determined (i.e. perpendicular), and thus a third positional relationship (angular relationship) between the target surface and the rotation axis can be determined by the relative positional relationship between the target position information of the rotation axis and the first position information of the optical center (i.e. the positional error therebetween) and the angular relationship between the target surface and the optical axis. And then the images shot by the image acquisition equipment can be subjected to projective transformation through the third position relation, and the image registration error is compensated, so that the splicing precision of the images shot by the image acquisition equipment is improved. In the example, the target surface is in a perpendicular relationship with the optical axis and should be in a parallel relationship with the rotation axis, but if the third positional relationship (angular relationship) is not in a parallel relationship, compensation and correction can be performed by the third positional relationship to improve the stitching accuracy of the captured images.
According to the positioning method disclosed by the embodiment of the disclosure, the three-dimensional map can be obtained through the multi-frame images acquired in the rotation process of the image acquisition equipment, and the three-dimensional map is corrected through the error of the third position information of the same preset mark, so that the accurate three-dimensional map is obtained. And then the position of the optical center in the three-dimensional map is determined so as to determine the target position information of the rotating axis of the rotary table in the three-dimensional map, so that the relative position relationship between the optical center and the rotating axis of the rotary table can be obtained, correction can be carried out based on the relative position relationship, the installation precision is improved, and the image splicing precision is further improved.
Fig. 3A and 3B are schematic application diagrams illustrating a positioning method according to an embodiment of the disclosure, and as shown in fig. 3A, the preset mark may be an Aruco identification code, and the arico identification codes are different from each other, that is, each of the Aruco identification codes is unique.
In a possible implementation manner, as shown in fig. 3B, a preset mark may be set around the turntable, so that the image capturing device captures the preset mark in the process of rotating and capturing an image. The position relation of each mark in the image is determined, and then the position relation of a plurality of marks in the three-dimensional map is determined, and the three-dimensional map can be built. Further, a three-dimensional map with higher accuracy can be obtained by rotating the image pickup device more than one revolution, passing the image pickup device through the same position at least twice, and eliminating accumulated errors based on the positions of the preset marks in the two frames of images picked up at the same position.
In a possible implementation manner, a position relationship between position information of the preset mark in each frame image and an optical center of the image acquisition device may be determined based on a preset internal reference of the image acquisition device, and the position information of the optical center in the three-dimensional map may be obtained based on the position relationship and a position of the preset mark in the three-dimensional map.
In a possible implementation manner, if the optical center is not coincident with the rotation axis, the track of the optical center is a circle, the position of the optical center is fitted, the obtained circle center is the position of the rotation axis, and the installation position of the image acquisition device can be adjusted so that the optical center is coincident with the rotation axis, thereby improving the splicing accuracy of the images shot by the image acquisition device.
In a possible implementation manner, the positioning method can be used in the fields of image processing and the like, and the optical center of the image acquisition device can be coincided with the rotation axis, so that the registration accuracy of the image shot by the image acquisition device is improved, and the splicing accuracy of the images is further improved. The present disclosure does not limit the application field of the positioning method.
Fig. 4 shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure, as shown in fig. 4, the apparatus comprising: the system comprises an image acquisition module 11, a processing module and a display module, wherein the image acquisition module 11 is used for acquiring multi-frame images of a target scene in real time, a turntable is arranged in the target scene, an image acquisition device is arranged on the turntable, the multi-frame images are acquired by the image acquisition device in a rotating process along with the turntable, and preset marks are arranged at a plurality of positions in the target scene; the map acquisition module 12 is configured to establish a three-dimensional map based on the target scene according to the preset mark shot in the multi-frame image; the optical center determining module 13 is configured to determine, according to the three-dimensional map and the multiple frames of images, first position information of an optical center of the image acquisition device in the three-dimensional map when each frame of image is acquired; and a position determining module 14 for determining a relative positional relationship between the optical center and the rotation axis of the turntable according to the first position information.
In one possible implementation, the map obtaining module is further configured to: determining a first position relation among the preset marks according to second position information of the preset marks in each frame image; and obtaining the three-dimensional map according to the first position relation.
In a possible implementation manner, during the rotation, the image capturing device passes through the same position at least twice, and the map obtaining module is further configured to: determining third position information of each preset mark in the three-dimensional map according to the first position relation; obtaining the three-dimensional relation graph according to the third position information; and correcting the three-dimensional relationship graph according to at least two frames of images acquired by the image acquisition equipment at the same position and the first position relationship to acquire the three-dimensional map.
In one possible implementation, the optical center determining module is further configured to: determining a second position relation between fourth position information of a preset mark in each frame image and the position of the optical center of the image acquisition equipment according to the internal reference of the preset image acquisition equipment; and determining first position information of the optical center in the three-dimensional map according to the position of the preset mark in the three-dimensional map and the second position relation.
In one possible implementation, the position determining module is further configured to: fitting the first position information of the optical center when the plurality of images are acquired to acquire target position information of the rotation axis; determining a relative positional relationship between the first positional information and the target positional information.
In one possible implementation, the apparatus further includes: and the adjusting module is used for adjusting the installation position of the image acquisition equipment according to the relative position relation, so that the optical center of the image acquisition equipment is coincided with the rotation axis.
In a possible implementation manner, the apparatus further includes a correction module, which corrects the image acquired by the image acquisition device according to the relative position relationship; or determining a third positional relationship between the target surface of the image acquisition device and the rotation axis according to the relative position information, and correcting the image acquired by the image acquisition device according to the third positional relationship.
It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted.
In addition, the present disclosure also provides a positioning apparatus, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any one of the positioning methods provided in the present disclosure, and the descriptions and descriptions of the corresponding technical solutions and the corresponding descriptions in the methods section are omitted for brevity.
It will be understood by those of skill in the art that in the above method of the present embodiment, the order of writing the steps does not imply a strict order of execution and does not impose any limitations on the implementation, as the order of execution of the steps should be determined by their function and possibly inherent logic.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and for specific implementation, reference may be made to the description of the above method embodiments, and for brevity, details are not described here again
Embodiments of the present disclosure also provide a computer-readable storage medium, on which computer program instructions are stored, and when executed by a processor, the computer program instructions implement the above method. The computer readable storage medium may be a non-volatile computer readable storage medium.
An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured as the above method.
The electronic device may be provided as a terminal, server, or other form of device.
Fig. 5 is a block diagram illustrating an electronic device 800 in accordance with an example embodiment. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.
Referring to fig. 5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.
The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.
Fig. 6 is a block diagram illustrating an electronic device 1900 in accordance with an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 6, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the methods described above.
The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932 TM ，Mac OS XTM ，UnixTM,Linux TM ，FreeBSD TM Or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the disclosure are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method of positioning, comprising:
the method comprises the steps of obtaining multi-frame images of a target scene in real time, wherein a rotary table is arranged in the target scene, image acquisition equipment is arranged on the rotary table, the multi-frame images are acquired by the image acquisition equipment in the process of rotating along with the rotary table, and preset marks are arranged at multiple positions in the target scene;
establishing a three-dimensional map based on the target scene according to the preset mark shot in the multi-frame image;
determining first position information of an optical center of the image acquisition equipment in the three-dimensional map when each frame of image is acquired according to the three-dimensional map and the multi-frame images;
and determining the relative position relation between the optical center and the rotation axis of the turntable according to the first position information.
2. The method according to claim 1, wherein the step of building a three-dimensional map based on the target scene according to the preset mark shot in the multi-frame image comprises:
determining a first position relation among the preset marks according to second position information of the preset marks in each frame image;
and obtaining the three-dimensional map according to the first position relation.
3. The method according to claim 2, characterized in that during the rotation the image acquisition device passes the same position at least twice,
obtaining the three-dimensional map according to the first position relationship, including:
determining third position information of each preset mark in the three-dimensional map according to the first position relation;
obtaining the three-dimensional relation graph according to the third position information;
and correcting the three-dimensional relationship graph according to at least two frames of images acquired by the image acquisition equipment at the same position and the first position relationship to obtain the three-dimensional map.
4. The method of claim 1, wherein determining, from the three-dimensional map and the plurality of frames of images, first position information of an optical center of the image acquisition device in the three-dimensional map when acquiring each frame of image comprises:
determining a second position relation between fourth position information of a preset mark in each frame image and the position of the optical center of the image acquisition equipment according to the internal reference of the preset image acquisition equipment;
and determining first position information of the optical center in the three-dimensional map according to the position of the preset mark in the three-dimensional map and the second position relation.
5. The method of claim 1, wherein determining a relative positional relationship between the optical center and the axis of rotation of the turntable from the first positional information comprises:
fitting first position information of an optical center when the plurality of images are acquired to obtain target position information of a rotation axis;
determining a relative positional relationship between the first positional information and the target positional information.
6. The method of claim 1, further comprising:
and adjusting the installation position of the image acquisition equipment according to the relative position relationship, so that the optical center of the image acquisition equipment coincides with the rotation axis.
7. The method of claim 1, further comprising:
correcting the image acquired by the image acquisition equipment according to the relative position relation; or alternatively
And determining a third positional relationship between the target surface of the image acquisition equipment and the rotation axis according to the relative position information, and correcting the image acquired by the image acquisition equipment according to the third positional relationship.
8. A positioning device, comprising:
the system comprises an image acquisition module, a processing module and a display module, wherein the image acquisition module is used for acquiring multi-frame images of a target scene in real time, a turntable is arranged in the target scene, an image acquisition device is arranged on the turntable, the multi-frame images are acquired by the image acquisition device in the process of rotating along with the turntable, and a plurality of positions in the target scene are provided with preset marks;
the map acquisition module is used for establishing a three-dimensional map based on the target scene according to the preset marks shot in the multi-frame images;
the optical center determining module is used for determining first position information of the optical center of the image acquisition equipment in the three-dimensional map when each frame of image is acquired according to the three-dimensional map and the multi-frame image;
and the position determining module is used for determining the relative position relation between the optical center and the rotating axis of the rotary table according to the first position information.
9. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to: performing the method of any one of claims 1 to 7.
10. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 7.
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| CN117294954A (en) * | 2023-11-27 | 2023-12-26 | 启迪数字科技(深圳)有限公司 | Positioning method, device and equipment for image acquisition device based on three-dimensional model |
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| CN117294954A (en) * | 2023-11-27 | 2023-12-26 | 启迪数字科技(深圳)有限公司 | Positioning method, device and equipment for image acquisition device based on three-dimensional model |
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