# US 2019/0318499 A1 · Image-based position detection method, image-based position detection apparatus, device and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0318499 A1 - Document ID: US20190318499A1 - Status: Published application - Kind: A1 - Application number: 16/454,910 - Filed: 2019-06-27 - Published: 2019-10-17 - Earliest claimed: 2018-07-03 - Assignees: Baidu Online Network Technology (Beijing) Co., Ltd. - Applicants: Baidu Online Network Technology (Beijing) Co., Ltd. - Inventors: Xubin LI; Jian WANG; Shilei WEN; Errui DING; Hao SUN; Le KANG; Yingze BAO; Mingyu CHEN; Zhizhen CHI; Zeyu LIU; Chengyue ZHANG - Web page: https://patentgrep.com/patent/US20190318499A1 ## CPC - G06T 7/254: involving subtraction of images - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 7/55: from multiple images - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/30196: Human being; Person - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Embodiments of the present application provide an image-based position detection method, an apparatus, a device and a storage medium. Images captured at the same time by a plurality of photographing devices mounted in different orientations are acquired, where the plurality of photographing devices are synchronous in time; a two-dimensional position of a target object in each of the images is detected; and a three-dimensional position of the target object in an actual space is determined based on the two-dimensional position of the target object in each of the images and internal parameters and external parameters of the plurality of photographing devices. The embodiments of the present application implement a three-dimensional positioning solution based on a plurality of cameras, thereby improving the reliability and accuracy of object positioning. ## Claims ### Claim 1 An image-based position detection method, comprising: acquiring images captured at a same time by a plurality of photographing devices mounted in different orientations, wherein the plurality of photographing devices are synchronous in time; detecting a two-dimensional position of a target object in each of the images; and determining a three-dimensional position of the target object in an actual space based on the two-dimensional position of the target object in each of the images and internal parameters and external parameters of the plurality of photographing devices. ### Claim 2 (depends on 1) The method according to claim 1, wherein the detecting a two-dimensional position of a target object in each of the images comprises: detecting the two-dimensional position of the target object in each of the images based on a preset detection model. ### Claim 3 (depends on 2) The method according to claim 2, wherein the detecting the two-dimensional position of the target object in each of the images based on a preset detection model comprises: detecting a two-dimensional position of each part of the target object in each of the images based on the preset detecting model; and determining the two-dimensional position of the target object as a whole in each of the images based on the two-dimensional position of each part of the target object in each of the images. ### Claim 4 (depends on 1) The method according to claim 1, wherein the images comprise depth images. ### Claim 5 (depends on 4) The method according to claim 4, wherein before the detecting a two-dimensional position of a target object in each of the images, the method further comprises: acquiring the depth images captured by the plurality of photographing devices when the target object is not in the actual space as reference images; the detecting a two-dimensional position of a target object in each of the images comprises: determining, for each of the photographing devices, the two-dimensional position of the target object in each of the images based on a difference between depth information of a depth image captured by the photographing device at the time of capture and depth information of a reference image captured by the photographing device. ### Claim 6 (depends on 1) The method according to claim 1, wherein after determining a three-dimensional position of the target object in an actual space based on the two-dimensional position of the target object in each of the images and internal parameters and external parameters of the plurality of photographing devices, the method further comprises: correcting the two-dimensional position of the target object in the images captured by each of the photographing devices based on the three-dimensional position of the target object in the actual space and the external parameter and the internal parameter of each of the photographing devices. ### Claim 7 An image-based position detection apparatus, comprising: one or more processors; and a storage apparatus, configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to: acquire images captured at a same time by a plurality of photographing devices mounted in different orientations, wherein the plurality of photographing devices are synchronous in time; detect a two-dimensional position of a target object in each of the images; and determine a three-dimensional position of the target object in an actual space based on the two-dimensional position of the target object in each of the images and internal parameters and external parameters of the plurality of photographing devices. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein the one or more programs further cause the processor to: detect the two-dimensional position of the target object in each of the images based on a preset detection model. ### Claim 9 (depends on 8) The apparatus according to claim 8, wherein the one or more programs further cause the processor to: detect a two-dimensional position of each part of the target object in each of the images based on the preset detection model; and determine the two-dimensional position of the target object as a whole in each of the images based on the two-dimensional position of each part of the target object in each of the images. ### Claim 10 (depends on 7) The apparatus according to according to claim 7, wherein the images comprise depth images. ### Claim 11 (depends on 10) The apparatus according to according to claim 10, wherein the one or more programs further cause the processor to: acquire the depth images captured by the plurality of photographing devices when the target object is not in the actual space as reference images; and determine, for each of the photographing devices, the two-dimensional position of the target object in each of the images based on a difference between depth information of a depth image captured by the photographing device at the time of capture and depth information of a reference image captured by the photographing device. ### Claim 12 (depends on 7) The apparatus according to claim 7, wherein the one or more programs further cause the processor to: correct the two-dimensional position of the target object in the images captured by each of the photographing devices based on the three-dimensional position of the target object in the actual space and the external parameter and the internal parameter of each of the photographing devices. ### Claim 13 (depends on 1) A computer readable storage medium, having a computer program stored thereon, wherein the program, when executed by a processor, implements the method according to claim 1.