Feature Point Ranging and Positioning Method Based on Monocular Vision
In the monocular vision ranging system,the camera installation deviation will cause the inconsistencies between the camera head's pitch angle and the model's pitch angle,which will affect the accuracy of the long-distance monocular vision ranging and positioning.To solve this problem,we propose a pitch angle correction method based on gradient de-scent method.According to the principle of monocular vision ranging and the actual distance between the reference point and the camera,the objective function of the gradient descent method is constructed.By differentiating the first order of the objective function,the gradient of the objective function is ob-tained.The pitch angle that makes the value of the objective function less than the set threshold is calculated iteratively,which is taken as the optimal pitch angle of the monocular vision ranging model.Under these conditions,the function relation-ship between pixel coordinates and actual coordinates is con-structed according to the monocular vision imaging principle,and the actual coordinates of feature points are calculated.The experiment and application of spherical camera as image acquisition equipment show that the relative errors of ranging results are within 4%,which proves that the method can accu-rately correct the pitch angle of monocular vision ranging,en-sure the ranging accuracy,and effectively determine the coor-dinates of feature points.
computer visionmonocular vision rangingpitch anglegradient descent methodspherical camera
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