Abstract: Using a single camera localization, it needs to set the geometric constraint of the characteristic points between the images and the actual object, and set up the mathematical equations, in order to get the closed solution of object in the camera coordinate system. The three-dimensional position of the object in the world coordinates system is obtained by solving the equation. A single camera positioning technology to position the indoor airship in science and technology museum is proposed, and the location problem of the science and technology museum indoor airship autonomous navigation is solved. Experiment shows that this method is simple and practicable, and can be used in engineering application. It has high practical value and theoretical significance.

Key words: computer vision, camera calibration, three-dimensional localization, geometric information

摘要： 采用单个摄像机进行定位时，需要设定图像中的特征点和实际物体特征点间的几何约束关系，建立数学方程，来获取摄像机坐标系中物体位置的封闭解，通过求解该方程获得物体在世界坐标下的三维位置。提出了利用单摄像机视觉定位技术于科技馆室内飞艇定位中，解决了科技馆室内飞艇自主航行的定位问题。实验表明，该方法简单易行，可用于工程实际应用中，具有较高的实用价值。

关键词: 计算机视觉, 摄像机标定, 三维定位, 几何信息