Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Object position determination method and device and engineering machinery
The invention provides an object position determination method and device and engineering machinery, and belongs to the technical field of engineering machinery. The object position determination method comprises the steps that a first position of a to-be-measured object is acquired, and the first position is position information of the to-be-measured object in an image pixel coordinate system when the to-be-measured object is shot through a monocular camera; a first position of the to-be-measured object is obtained, and the first position is position information of the to-be-measured object in an image pixel coordinate system when the to-be-measured object is shot through the monocular camera; converting the first position into a position of the to-be-measured object relative to an engineering machinery coordinate system based on the pose of the monocular camera relative to the engineering machinery coordinate system and a conversion relation between a preset image pixel coordinate system and a camera coordinate system; and obtaining the position of the to-be-measured object based on the position of the to-be-measured object relative to the engineering machinery coordinate system. Therefore, the position information of the object can be obtained by using the monocular camera.
本发明提供一种物体位置确定方法、装置及工程机械，属于工程机械技术领域。物体位置确定方法包括：获取待测物体的第一位置，第一位置为在通过单目相机拍摄待测物体时，待测物体在图像像素坐标系下的位置信息；获取待测物体的第一位置，第一位置为在通过单目相机拍摄待测物体时，待测物体在图像像素坐标系下的位置信息；基于单目相机相对于工程机械坐标系下的位姿、预置的图像像素坐标系与相机坐标系的转换关系，将第一位置转换为待测物体相对于工程机械坐标系的位置；基于待测物体相对于工程机械坐标系的位置，得到待测物体的位置。从而可以实现利用单目相机获取物体的位置信息。
Object position determination method and device and engineering machinery
The invention provides an object position determination method and device and engineering machinery, and belongs to the technical field of engineering machinery. The object position determination method comprises the steps that a first position of a to-be-measured object is acquired, and the first position is position information of the to-be-measured object in an image pixel coordinate system when the to-be-measured object is shot through a monocular camera; a first position of the to-be-measured object is obtained, and the first position is position information of the to-be-measured object in an image pixel coordinate system when the to-be-measured object is shot through the monocular camera; converting the first position into a position of the to-be-measured object relative to an engineering machinery coordinate system based on the pose of the monocular camera relative to the engineering machinery coordinate system and a conversion relation between a preset image pixel coordinate system and a camera coordinate system; and obtaining the position of the to-be-measured object based on the position of the to-be-measured object relative to the engineering machinery coordinate system. Therefore, the position information of the object can be obtained by using the monocular camera.
本发明提供一种物体位置确定方法、装置及工程机械，属于工程机械技术领域。物体位置确定方法包括：获取待测物体的第一位置，第一位置为在通过单目相机拍摄待测物体时，待测物体在图像像素坐标系下的位置信息；获取待测物体的第一位置，第一位置为在通过单目相机拍摄待测物体时，待测物体在图像像素坐标系下的位置信息；基于单目相机相对于工程机械坐标系下的位姿、预置的图像像素坐标系与相机坐标系的转换关系，将第一位置转换为待测物体相对于工程机械坐标系的位置；基于待测物体相对于工程机械坐标系的位置，得到待测物体的位置。从而可以实现利用单目相机获取物体的位置信息。
Object position determination method and device and engineering machinery
物体位置确定方法、装置及工程机械
HU YAOGE (Autor:in) / YUAN YE (Autor:in) / WU YUANFENG (Autor:in) / GUO JIANYANG (Autor:in) / DAI QUNLIANG (Autor:in)
16.08.2024
Patent
Elektronische Ressource
Chinesisch
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