Outdoor camera positioning method and device based on GPS and IMU information

• Main Authors: WANG XINWEN, GU MINGZHU, MING RUICHENG, ZHAO WEIJIE, CHAO JIANSHU, QIU CHUANGYI
• Format: Patent
• Language: Chinese; English
• Published: 16.08.2022
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides an outdoor camera positioning method and device based on GPS and IMU information, the method needs to provide a checkerboard calibration plate provided with a GPS device and an IMU device, the surface of the checkerboard calibration plate is provided with black and white lattices with the same size, and the method comprises the following steps: S1, obtaining a motion video of the checkerboard calibration plate through a camera, and determining the motion video of the checkerboard calibration plate according to the motion video of the checkerboard calibration plate; extracting and screening out checkerboard images at different positions and directions from the video as a first checkerboard image; s2, calibrating the first checkerboard image by using a Zhang's calibration method to obtain a calibrated internal reference matrix and an external reference matrix of the camera; and S3, calculating the GPS position information of the camera according to the plurality of groups of first checker