A method of personnel location based on monocular camera in complex terrain

Abstract

This article proposed a method based on monocular camera for locating people in complex terrain. The coordinates of the person in the 3D space are derived from the image coordinates of the person’s and the feature points in the model of the complex terrain. First, using the monocular camera, camera internal parameters and image coordinate system and combining some reference points in the three-dimensional world coordinate system, the three-dimensional point cloud of complex terrain can be obtained. And the 3D model of a complex terrain can be obtained by triangles generated by the region growing method. Second, the TensorFlow object detection model is used to detect people in the frame image of the video. The lower midpoint of the marked rectangular used to identify the person in image is taken as the person’s image coordinate point. The person’s 3D coordinates can be obtained from the person’s image coordinates combined with the 3D coordinates of the feature points in the already established model. Finally, the positioning of people in a complex terrain based on monocular camera can be done.