A Method of Personnel Location Based on Monocular Camera in Complex Terrain

  • Yanqiong Liu
  • Gang ShiEmail author
  • Qing Cui
  • Yuhong Sheng
  • Guoqun Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10996)


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.


Personnel position Monocular camera Complex terrain 3D modeling TensorFlow Object detection 


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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  • Yanqiong Liu
    • 1
  • Gang Shi
    • 1
    • 2
    Email author
  • Qing Cui
    • 1
  • Yuhong Sheng
    • 1
  • Guoqun Liu
    • 3
  1. 1.Xinjiang UniversityUrumqiChina
  2. 2.Tsinghua UniversityBeijingChina
  3. 3.Shandong UniversityQingdaoChina

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