The invention discloses a fisheye camera tracking and image acquisition system based on attitude correction, and the system comprises the following steps: 1, respectively installing an attitude correction system, an image acquisition system, a behavior decision system and an error detection and correction system at the corresponding positions of a robot or a vehicle, and enabling the robot or the vehicle to be connected with an airborne computer; the method has the beneficial effects that the main visual field and ground information are simultaneously obtained through the wide angle of the fisheye camera, the ground image is subjected to homographic transformation through the attitude information to obtain the orthographic projection image, and path recognition, tracking processing and decision control are simplified. According to the method, the error detection and correction system is used in the data transmission process, the checksum is recalculated at the receiving end through the error detection and correction system and compared with the received checksum, and if the checksum is inconsistent with the received checksum, it is indicated that data may have errors; and the retransmission mechanism can require the transmitting end to retransmit the data when an error is detected.
本发明公开了一种基于姿态矫正的鱼眼相机循迹与图像采集系统,它包括以下步骤:步骤1:通过将姿态矫正系统、图像采集系统、行为决策系统和错误检测与纠正系统分别安装在机器人或车辆的对应位置处,并且使其与机载电脑连接。有益效果在于:本发明通过鱼眼相机的广角同时获取主视野与地面信息,并通过姿态信息对地面图像进行单应变换获取正投影图像,简化路径识别与循迹处理及决策控制。本发明通过在数据输送过程中使用错误检测与纠正系统,通过错误检测和纠正系统在接收端重新计算校验和并与接收到的校验和进行比较,如果不一致则表明数据可能存在错误,而重传机制能够在检测到错误时要求发送端重新发送数据。
Fisheye camera tracking and image acquisition system based on attitude correction
一种基于姿态矫正的鱼眼相机循迹与图像采集系统
2024-08-20
Patent
Electronic Resource
Chinese
IPC: | H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr |
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