Visual positioning system and method based on high reflective infrared identification

A visual positioning method based on highly infrared-reflective identification, for determining a relative displacement and attitude of a moving target, wherein the moving target moves in an environment where a plurality of passive infrared identification points is disposed, and the moving target is equipped with an infrared camera configured to photograph the infrared identification points under irradiation of an infrared light source, the method comprising the following steps:

• a) shooting, by the infrared camera equipped in the moving target, a first image comprising the infrared identification points, and recording a first shooting time;
• b) determining whether a number of infrared identification points in the first image is at least three and the infrared identification points are not on a same straight line;
• if yes, selecting one or more groups of at least three points that are not on a same straight line and constructing a first family polygon, and performing step c);
• otherwise, returning to the step a);
• c) after a first time interval, shooting, by the infrared camera equipped in the moving target, a second image comprising the infrared identification points, and recording a second shooting time;
• d) determining whether a number of infrared identification points in the second image is at least three and the infrared identification points are not on a same straight line;
• if yes, selecting one or more groups of at least three points that are not on a same straight line and constructing a first family polygon, and performing step e);
• otherwise, returning to the step c);
• and
• e) calculating a relative displacement and/or shape change between the first family polygon and the second family polygon, and obtaining a relative displacement and attitude of the moving target at the second shooting time relative to the first shooting time.