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WO2016062076A1 - Procédé de positionnement basé sur un appareil de prise de vues, dispositif, et système de positionnement - Google Patents

Procédé de positionnement basé sur un appareil de prise de vues, dispositif, et système de positionnement Download PDF

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Publication number
WO2016062076A1
WO2016062076A1 PCT/CN2015/079089 CN2015079089W WO2016062076A1 WO 2016062076 A1 WO2016062076 A1 WO 2016062076A1 CN 2015079089 W CN2015079089 W CN 2015079089W WO 2016062076 A1 WO2016062076 A1 WO 2016062076A1
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WIPO (PCT)
Prior art keywords
camera
target object
determining
latitude
formula
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Ceased
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PCT/CN2015/079089
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English (en)
Chinese (zh)
Inventor
胡德莲
曾鸣
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ZTE Corp
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ZTE Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders

Definitions

  • the invention relates to the field of positioning technology, in particular to a method, a device and a positioning system for realizing positioning based on a camera.
  • the current camera positioning technology mainly includes the following solutions:
  • Solution 1 Using a single camera to identify the human body features (eyes and shoulders), calculate the distance of the person to the camera by calculating the coordinate displacement of the human eye and the shoulder in each frame of the image, thereby completing the personnel positioning information collection.
  • the disadvantages of this program are:
  • the camera needs higher precision, can clearly distinguish the human eye image
  • the face can not be blocked.
  • Solution 2 Using a wide-angle camera, positioning is performed by pre-setting the reference object and the reference point, and then performing image correction to calculate the displacement from the reference point.
  • the disadvantages of this program are:
  • Solution 3 Using multiple cameras, each camera is divided into regions, and the initial positioning is achieved by the camera's own coordinates and the monitoring area range association.
  • the disadvantages of this program are:
  • the embodiment of the invention provides a method, a device and a positioning system for realizing positioning based on a camera, which can locate the absolute position of the target object based on a camera, and the solution of the invention does not need to perform image training, and does not need to set a reference. Things.
  • an embodiment of the present invention provides a method for implementing positioning based on a camera, including:
  • determining a horizontal distance between the target object and the camera according to an imaging result of the target object during shooting, and a focal length of the camera including:
  • H c the height of the target surface specification of the camera
  • Y ei is a circumscribed rectangle The highest pixel position
  • Y oi is the lowest pixel position of the circumscribed rectangle
  • H p is the number of pixels of the height of the camera resolution
  • the horizontal distance D of the target object from the camera is determined according to the following formula:
  • determining a horizontal angle between the target object and the camera according to an imaging result of the target object during the shooting, and a focal length of the camera including:
  • w W c ⁇ [(X ei -X oi ) ⁇ W p ]; wherein W c is a width of a target surface specification of the camera; X ei is a circumscribed rectangle The leftmost pixel position; X oi is the rightmost pixel position of the circumscribed rectangle; W p is the number of pixels of the width of the camera resolution;
  • determining absolute position information of the target object according to the absolute position information of the camera, the horizontal distance of the target object and the camera, and the horizontal angle including:
  • the target object has a character string representing its membership; the method for implementing positioning based on the camera further includes:
  • the absolute location information of the target object is updated to the storage space according to the determined membership.
  • the method for performing positioning based on a camera further includes:
  • another embodiment of the present invention further provides an apparatus for realizing positioning based on a camera, including:
  • a camera module configured to shoot a target object
  • An image processing module configured to determine a horizontal distance and a horizontal angle of the target object from the camera according to an imaging result of the target object during shooting, and a focal length of the camera;
  • the position determining module is configured to determine absolute position information of the target object according to the absolute position information of the camera, the horizontal distance of the target object and the camera, and the horizontal angle.
  • the image image processing module includes:
  • a first determining submodule configured to determine a circumscribed rectangle of the target object in the imaging result
  • a third determining submodule configured to determine a horizontal distance D between the target object and the camera according to the following formula:
  • the image processing module further includes:
  • the location determining module includes:
  • a sixth determining sub-module configured to determine an angle ⁇ between the target object and the latitude according to the horizontal angle ⁇ of the target object with respect to the camera, and the angle ⁇ between the imaging direction of the camera and the latitude set in advance;
  • the ninth determining submodule is configured to determine a latitude coordinate of the target object according to ⁇ 1 and a latitude coordinate of the camera, and determine a longitude coordinate of the target object according to ⁇ 2 and a longitude coordinate of the camera.
  • the target object has a character string representing a membership; and the method for implementing positioning based on a camera:
  • the maintenance module is configured to maintain a storage space in which the absolute location information of each member is recorded in real time;
  • An identification module configured to identify a character string of the target object during shooting
  • An identity determining module configured to determine a membership of the target object according to the identified string
  • an update module configured to update the absolute location information of the target object to the storage space according to the determined membership.
  • the device for positioning based on the camera further includes:
  • Obtaining a module configured to obtain a user-initiated positioning request for a target member
  • a feedback module configured to acquire absolute location information of the target member from the storage space according to the positioning request, and feed the obtained absolute location information to the user.
  • another embodiment of the present invention further provides a positioning system, including:
  • the above-described device for realizing positioning based on a camera for realizing positioning based on a camera.
  • FIG. 1 is a schematic diagram showing the steps of a method for positioning based on a camera according to the present invention
  • FIGS. 2-4 are schematic perspective views of a camera and a target object according to the present invention.
  • FIG. 5 is a schematic structural diagram of an apparatus for realizing positioning based on a camera according to the present invention.
  • FIG. 6 is a schematic flow chart of the positioning system of the invention in the working process.
  • an embodiment of the present invention provides a method for implementing positioning based on a camera, including:
  • Step 11 shooting a target object through a camera
  • Step 12 determining, according to an imaging result of the target object during shooting, and a focal length of the camera, a horizontal distance and a horizontal angle between the target object and the camera;
  • Step 13 Determine absolute position information of the target object according to absolute position information of the camera, a horizontal distance between the target object and the camera, and a horizontal angle.
  • the method of the present invention only needs one camera to locate the absolute position information of the target object; in addition, the target can be determined according to the imaging result of the target object during the shooting process and the focal length of the camera.
  • the relative position of the object and the camera does not require training for the human body or the distance reference object, so the method is easier to implement and more practical.
  • determining a horizontal distance between the target object and the camera includes:
  • Step 121 Determine a circumscribed rectangle of the target object in the imaging result
  • Step 123 Determine a horizontal distance D between the target object and the camera according to the following formula:
  • FIG. 2 is a diagram showing an example of photographing of a camera and a target object.
  • the ellipse represents the camera
  • the height H represents the actual height of the target object
  • h represents the imaging height of the target object
  • f represents the focal length of the camera.
  • the circumscribed rectangle of the target object in the imaging is determined, and the circumscribed rectangle Ri (Xoi, Yoi, Xei, Yei) in the corresponding imaging of the target object is obtained, and X ei is the leftmost pixel position of the circumscribed rectangle, X Oi is the rightmost pixel position of the circumscribed rectangle, Y ei is the highest pixel position of the circumscribed rectangle, and Y oi is the lowest pixel position of the circumscribed rectangle.
  • the method for determining the circumscribed rectangle in the binary digital image area is prior art, and reference may be made to the existing literature, “An Algorithm and Implementation for Obtaining the Minimum Circumscribed Rectangle of an Image Region”;
  • h(i) the height pixel number of the target object
  • h(i) Yei–Yoi
  • the pixel specification of the camera is known in advance, such as 640 ⁇ 480.
  • 640 is the number of pixels of the camera, and by Yei–Yoi, the height pixel number of the external matrix can be obtained.
  • ⁇ 7 is the horizontal angle of the camera (this angle is preferably 30°, which can be set according to the actual situation).
  • H can be set according to the actual situation. For example, if the target object is a person, then H takes an average height of 1.7m, and there is a deviation range of 20cm in the target object, and the positioning information error does not exceed 1m.
  • ⁇ 1 is approximately equal to 22.4°
  • determining a horizontal angle between the target object and the camera includes:
  • Steps 124 to 126 are described in detail below.
  • the ellipse represents the camera
  • the P point represents the target object
  • f is the camera focal length
  • the calculation method is as follows:
  • the method includes:
  • Step 131 determining an angle ⁇ between the target object and the latitude according to the horizontal angle ⁇ of the target object with respect to the camera, and the angle ⁇ between the imaging direction of the camera and the latitude set in advance;
  • Step 134 Determine latitude coordinates of the target object according to ⁇ 1 and latitude coordinates of the camera, and determine longitude coordinates of the target object according to ⁇ 2 and longitude coordinates of the camera.
  • Steps 131 to 134 are described in detail below:
  • the latitude difference ⁇ 1 of the target object relative to the camera is determined; wherein, V1 is the actual geographical distance corresponding to 1 latitude, and may be 111000 m;
  • ⁇ 2 D ⁇ cos ( ⁇ ) ⁇ V2, determine the latitude difference ⁇ 2 of the target object relative to the camera; wherein, V2 is the actual geographical distance corresponding to 1 longitude, may take 111000m;
  • the latitude and longitude of the target object can be determined according to the latitude and longitude of the dotted line of the camera, and the positioning is finally completed.
  • the camera is 130° east longitude and 10° east ⁇ 1. If the target object appears on the west side of the camera, the target object can be determined to be 120° east longitude. If the target object appears on the east side of the camera, the target object can be determined to be eastward by 140°.
  • the camera is 30° north latitude and 10° ⁇ 1. If the target object appears on the south side of the camera, the target object can be determined to be 20° north latitude.
  • the target object north latitude can be determined 40. °.
  • the above method for determining the latitude and longitude of the target object is the basic knowledge of geography, and will not be described in detail herein.
  • a feasible but not unique method for determining the target object at the camera position may be: determining whether the target object is south or back relative to the camera according to the camera orientation, for example, the camera is in the northeast direction, and then the target object is The camera is measured; and, according to the existing image processing technology, the target object is determined on the east side or the west side of the camera, for example, according to the captured image.
  • the pixel position of the circumscribed rectangle and the position of the center pixel of the camera to determine whether the target object is on the east or west side of the camera.
  • the method for positioning based on the camera further includes:
  • Step 14 maintaining a storage space in which the absolute position information of each member is recorded in real time
  • Step 15 Identify a character string of the target object during shooting
  • Step 16 determining the membership of the target object according to the identified string
  • Step 17 Update the absolute location information of the target object to the storage space according to the determined membership.
  • the method of the present invention can locate a person, each person's uniform carries his or her own work number, and identifies the identity of the target object by identifying the work object, thereby real-time recording the position of each person. information.
  • the storage space is used to provide a positioning service to the user, that is, the method for positioning based on the camera further includes:
  • Step 18 Acquire a location request initiated by the user for the target member.
  • Step 19 Acquire absolute location information of the target member from the storage space according to the positioning request, and feed back the obtained absolute location information to the user.
  • the method of the present invention can identify the identity of the camera object and the positioning information, and provide a query interface to the user, which is suitable for application scenarios such as production lines and prisons.
  • an embodiment of the present invention further provides an apparatus for realizing positioning based on a camera, as shown in FIG. 5, including:
  • a camera module configured to shoot a target object
  • An image processing module configured to determine a horizontal distance and a horizontal angle of the target object from the camera according to an imaging result of the target object during shooting, and a focal length of the camera;
  • the position determining module is configured to determine absolute position information of the target object according to the absolute position information of the camera, the horizontal distance of the target object and the camera, and the horizontal angle.
  • the image processing module includes:
  • a first determining submodule configured to determine a circumscribed rectangle of the target object in the imaging result
  • a third determining submodule configured to determine a horizontal distance D between the target object and the camera according to the following formula:
  • the image processing module further includes:
  • the location determining module includes:
  • a sixth determining sub-module configured to determine an angle ⁇ between the target object and the latitude according to the horizontal angle ⁇ of the target object with respect to the camera, and the angle ⁇ between the imaging direction of the camera and the latitude set in advance;
  • the ninth determining submodule is configured to determine a latitude coordinate of the target object according to ⁇ 1 and a latitude coordinate of the camera, and determine a longitude coordinate of the target object according to ⁇ 2 and a longitude coordinate of the camera.
  • the target object has a character string indicating a membership; the device in this embodiment further includes:
  • the maintenance module is configured to maintain a storage space in which the absolute location information of each member is recorded in real time;
  • An identification module configured to identify a character string of the target object during shooting
  • An identity determining module configured to determine a membership of the target object according to the identified string
  • an update module configured to update the absolute location information of the target object to the storage space according to the determined membership.
  • Obtaining a module configured to obtain a user-initiated positioning request for a target member
  • a feedback module configured to acquire absolute location information of the target member from the storage space according to the positioning request, and feed the obtained absolute location information to the user.
  • the device of the present embodiment corresponds to the method for realizing positioning based on the camera of the present invention, and can achieve the same technical effect.
  • an embodiment of the present invention further provides a positioning system, including: the above-mentioned device for realizing positioning based on a camera.
  • the positioning system includes: a camera module; a DVR conversion module (set to convert an analog signal of an image captured by the camera module into a digital signal); and an extraction module (as the image processing module, The identification module and the set of identity determination modules; the location determination module; the maintenance module; the ETL module (as a combination of the above-mentioned receiving module and the feedback module); and the application system (as the external operation interface of the system).
  • the module signal of the image directly captured by the camera module is sent to the DVR conversion module.
  • the DVR conversion module converts the analog signal into a digital signal
  • the DVR conversion module sends the digital signal to the target extraction module
  • the target extraction module obtains the circumscribing rectangle of the motion region of the target object by using the circumscribed rectangle algorithm of the binary digital image introduced above;
  • the extraction module identifies the job number information on the work clothes of the target object by job number positioning, character segmentation, and character recognition algorithm;
  • the extraction module integrates and sends the analysis result to the location determining module
  • the position determining module calculates the horizontal distance of the target object to the camera according to the horizontal distance calculation method described above;
  • the position determining module calculates the horizontal angle between the target object and the camera according to the horizontal angle calculation method described above;
  • the position determining module determines the absolute position information (ie, the positioning information) of the target object according to the horizontal angle between the target object and the camera, the horizontal distance, and the absolute position information of the camera;
  • the location determining module integrates the positioning information of the target object and the job number information to report to the maintenance module;
  • the ETL module sets a timer, which is used to periodically obtain the positioning information to be processed from the maintenance module;
  • the ETL module periodically obtains the processed positioning information from the positioning analysis module
  • the ETL module cleans the acquired positioning data into the warehouse
  • the application system queries the stored data through the ETL module to obtain the cleaned positioning information
  • the application system uses the locating location information for service display.
  • the method, device and positioning system based on the camera for realizing the positioning have the following beneficial effects: the positioning function is realized by using a single common camera, the requirement for the camera itself is reduced, and the versatility is improved; Relying on the reference point and reference object calibration, the complexity of system deployment is reduced, making the camera positioning simple and easy; reducing the dependence on objective imaging factors and improving the effectiveness of camera positioning information.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
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Abstract

La présente invention concerne un procédé de positionnement basé sur un appareil de prise de vues, un dispositif, et un système positionnement. Le procédé de positionnement comprend les étapes suivantes : un objet cible est photographié au moyen d'un appareil de prise de vues (11) ; en fonction du résultat d'imagerie de l'objet cible pendant la prise de vues, ainsi que de la longueur focale de l'appareil de prise de vue, la distance horizontale et l'angle horizontal entre l'objet cible et l'appareil de prise de vues sont déterminés (12) ; en fonction des informations de position absolue de l'appareil de prise de vues, et de la distance horizontale et d'un angle horizontal entre l'objet cible et l'appareil de prise de vues, les informations de position absolue de l'objet cible sont déterminées (13). Le procédé de positionnement et le dispositif et le système de positionnement sont susceptibles de déterminer sur la base d'un appareil de prise de vues la position absolue d'un objet cible, et ne nécessitent pas d'apprentissage d'images ni d'agencement d'un objet de référence, et par conséquent sont plus faciles à mettre en œuvre.
PCT/CN2015/079089 2014-10-22 2015-05-15 Procédé de positionnement basé sur un appareil de prise de vues, dispositif, et système de positionnement Ceased WO2016062076A1 (fr)

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CN201410566342.X 2014-10-22
CN201410566342.XA CN105588543B (zh) 2014-10-22 2014-10-22 一种基于摄像头实现定位的方法、装置及定位系统

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