CN108645342A - A kind of road width extracting method based on path locus and high resolution image - Google Patents
A kind of road width extracting method based on path locus and high resolution image Download PDFInfo
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- CN108645342A CN108645342A CN201810379889.7A CN201810379889A CN108645342A CN 108645342 A CN108645342 A CN 108645342A CN 201810379889 A CN201810379889 A CN 201810379889A CN 108645342 A CN108645342 A CN 108645342A
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The road width extracting method based on path locus and high resolution image that the invention discloses a kind of, including following implementation steps, edge detection is carried out for high-definition remote sensing data, testing result vector quantization, generate line of vector, based on adjacent node on path locus, buffering area is established successively, and cut the line of vector of previous step generation, the length and slope of line of vector are calculated successively, length and slope and edge of immediate two line of vector of path locus as road, count to obtain the width of road using perpendicular bisector and maximum probability.Existing road vectors track is combined by the present invention with high resolution image on the spot, the automatic screening at edge is realized by length and slope two indices, improve the extraction accuracy of road edge, reduce the influence of width extraction error band caused by being blocked due to road surrounding objects, statistical rules meets traffic service specification, has very strong application.
Description
Technical field
The present invention relates to road width extractive technique fields, more particularly to one kind being based on path locus and high resolution image
Road width extracting method.
Background technology
Road width refer to include driveway and the width on pavement, do not include the greening width on the outside of pavement.Road
Width is determined by the volume of traffic, according to use task, function and the flow of highway, road quality classification be divided into highway, Class I highway,
Five Class II highway, Class III highway, Class IV highway grades.Road width is to describe an important attribute of road, and describe
The important indicator of road grade.Road width not only influences the trip experience of the public, also influences the safety of the public.Cause
This, needs the width value for road to carry out accurately estimation.
Currently, estimating that the research of width of roadway is fewer using high-resolution remote sensing image, width of roadway is mostly by artificial
It is measured on the spot or high-resolution remote sensing image manually measures acquisition, need to spend a large amount of man power and material, it is difficult to obtain area
Road width on domain, and due to artificial subjective factor, it is also easy to produce measurement error.In addition, some scholars are carrying out road extraction
Research process in, carry out the extraction of pavement of road, and then extract the center line of road or extract the rank of road width, compared with
Carry out the research of the specific width value of road less.
Invention content
Technical problems based on background technology, the present invention propose a kind of based on path locus and high resolution image
Road width extracting method, the present invention is on the basis of existing road vectors data, using high-definition remote sensing image data,
The width in automatic estimation section.This method extracts the tool of road width during can generally investigating and verify as road attribute,
It improves generaI investigation and verifies the efficiency of work, the extraction that the verification for carrying out road construction progress and road can also be assisted to be destroyed by a calamity.
A kind of road width extracting method based on path locus and high resolution image proposed by the present invention, including it is following
Implementation steps：
S1：Edge detection is carried out for high-definition remote sensing data；
S2：The testing result vector quantization of generation generates line of vector；
S3：Based on adjacent node on path locus, buffering area is established successively, and cuts the line of vector of previous step generation；
S4：The length and slope of line of vector, length and slope and immediate two line of vector of path locus are calculated successively
Edge as road；
S5：Perpendicular bisector based on path locus calculates the length with road edge intersection；
S6：According to the feature that the width in section is uniform, width value of the maximum length value of probability of occurrence as section.
Preferably, in the S1, edge detection is carried out to high-resolution remote sensing image, the main purpose of the step is extraction
Edge line provides potential edge for road width estimation.
Preferably, in the S2, raster data is converted to the arrow of identical Geographical projections by edge detection results vector quantization
Line number evidence is measured, the purpose of the step is vector data relative to raster data, it is easier to carry out length and slope calculates.
Preferably, wide to have buffering area of the adjacent node foundation with one fixed width, buffering area on road in the S3
Degree is equally determined by the plan range of path locus and the road on high-resolution remote sensing image, can be generated on a section more
A buffering area utilizes buffering area to cut vector edge successively.
Preferably, in the S4, traverse each line of vector in buffering area, calculate the length of line of vector, and with existing road
Link length compares between the corresponding node in road, and immediate three line of vector of length are as alternative route, then by candidate vector line
Interior joint slope and the close length of path locus slope are cumulative, the case where according to edge, determine that accumulated value occupied road track is saved
The accounting of point length, is more than edge of the line of vector as road of accounting, and the general boundary of accounting range is in 40%~80%, preferred value
It is 60%.
Preferably, it in the S5, behind the edge for obtaining road, using the two adjacent nodes of path locus, can obtain
Extend to the midpoint of the perpendicular bisector of road, two adjacent nodes to both sides along perpendicular bisector, the friendship with the grid where road edge
The distance between point, the i.e. width for this section of road.
Preferably, in the S6, so that the section is obtained the estimated value of multiple section width, width estimated value is fallen in histogram
In figure, width value of the average value of the highest section estimated value of the frequency as section in histogram.
Having the beneficial effect that in the present invention：
1, the present invention forms minibuffer area using path locus adjacent node, cuts vector edge, then by length and tiltedly
Two parameters of rate realize the screening at edge as judge index by screening rule, improve the extraction essence of road edge
Degree so that the extraction of road width is more accurate, edge screening rule, make the present invention be applicable not only to path locus with it is distant
The case where feeling road overlapping on image is also applied for path locus and there is the case where offset relative to road on remote sensing image；
2, this method is using the uniform feature of a section width in road, the width that the perpendicular bisector of adjacent node is obtained
Value is placed in histogram, width value of the average value of the highest range inner width angle value of the frequency as the section, the party in histogram
Method is reduced blocked due to road surrounding objects caused by width extraction error band influence, statistical rules meets traffic service
Specification has very strong application.
Description of the drawings
Fig. 1 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
Degree of having a lot of social connections extracts flow chart；
Fig. 2 is a kind of side of the road width extracting method based on path locus and high resolution image proposed by the present invention
Edge testing result schematic diagram；
Fig. 3 is a kind of arrow of the road width extracting method based on path locus and high resolution image proposed by the present invention
It measures edge and simplifies front and back schematic diagram；
Fig. 4 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
Road Track Pick-up buffering area schematic diagram；
Fig. 5 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
The parameter schematic diagram of Road Edge extraction；
Fig. 6 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
Road Edge extracts flow chart；
Fig. 7 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
Road Edge the selection result figure；
Fig. 8 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
Degree of having a lot of social connections extracts result histogram；
Fig. 9 is a kind of road of the road width extracting method based on path locus and high resolution image proposed by the present invention
Rail mark and high score image experimental data schematic diagram.
Specific implementation mode
Below in conjunction with the figure in the embodiment of the present invention, the scheme in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-9, a kind of road width extracting method based on path locus and high resolution image, including following step
Suddenly：
Edge detection is carried out to high resolution image.
Edge detection is carried out to remote sensing image, Canny algorithms progress edge detection is utilized in this example.
Buffering area is established based on existing path locus, and cuts edge detection results.
1) it is based on existing road and establishes buffering area, the width (W) of buffering area is by path locus and high-resolution remote sensing image
On the plan range of road determine that buffering area is generally wanted can be comprising the road on the remote sensing image corresponding to road.Such as it is slow
The width for rushing area is 30 meters.
2) using the buffering area generated, edge detection results are cut.As shown in Figure 2.
The edge detection results vector quantization of generation.
1) raster data image generated carries out vector quantization.
2) vector quantization result is simplified.The purpose of the step is sawtooth existing for removal line of vector, makes linear smoothing, such as
Shown in Fig. 3.
Based on adjacent node on path locus, buffering area is established successively, and cuts the line of vector of previous step generation.
1) node section of the adjacent node composition of path locus, sequentially generates the buffering area of W width.Due to euclidean distance between node pair
It is inconsistent, and road has the characteristic of equivalent width, adjacent node of the euclidean distance between node pair less than 3 meters does not generate buffering area, with drop
Low operand.
2) buffering area generated cuts the line of vector that the 3rd step generates.Schematic diagram is shown in Fig. 4.
The length and slope of the line of vector in buffering area are calculated successively, and length and slope and original path locus are immediate
Edge of two line of vector as road.The parameter schematic diagram of road edge extraction is shown in Fig. 5.The flow chart of road edge extraction is shown in
Fig. 6.
1) length of path locus is calculated.The calculation formula of length is as follows, and unit is rice.Wherein, the 1st i is i-th of tunnel
Section, the 2nd i are i-th of vector section in i-th of section.
2) length of line of vector in buffering area is traversed.Select length and immediate three line of vector of path locus length.
Each line of vector in buffering area, uses L(i, i)It indicates, the 1st i is i-th of node side in a section, and the 2nd i is the buffering
I-th of vector section in area.Assuming that vector section shares m node, the length C of each line of vector(i, i)It indicates.C(i, i)Calculating
Formula is as follows.
3) slope of path locus, unit degree of being are calculated.
Slope frThe specific formula for calculation of (i, i) is as follows：
fr(i, i)=tan-1(kr(i, i))
4) slope of adjacent node in three line of vector is calculated successively, and accumulative slope value and path locus slope difference are small
In the length of 10 degree of node, cumulative length value is more than the line of vector of path length 60% as route edge.
Slope f between line of vector node(i, i)(j) specific formula for calculation is as follows：
f(i, i)=tan-1(k(i, i)(j))
With first node L at first vector edge on i-th of buffering area(i, i)(1) (x, y) and second node
L(i, i)(2) for (x, y), the calculation formula of length is as follows between node：
Line of vector L(i, i)The upper node for being less than 10 degree with known route track slope deviation and calculation formula it is as follows：
Wherein, n is line of vector L(i, i)Upper and known trajectory slope differences are less than 10 degree of section number.
If vector line length of the slope differences of three line of vector and known route less than 10% and being all higher than 60%, select
Select the road edge as the node of difference in length minimum；If there are two to be less than in three line of vector is more than 60%, select
Select two road edges as the node；If 2 and the above route are less than 60% in three line of vector, it is slow to abandon this
Rush the extraction at route edge and the calculating of road width in area.
Road edge the selection result figure is as shown in Figure 7.
Perpendicular bisector based on path locus calculates the length with road edge intersection.
1) after the edge L (i, 1) and L (i, 2) for obtaining road, vector edge line is converted to grating image.
2) the two adjacent node p (i, i) of path locus and p (i, i+1) are utilized, the perpendicular bisector of road can be obtained, in
The calculation formula of the slope k z (i, i) and intercept az (i, i) of vertical line are specific as follows：
3) midpoint of two adjacent nodes extends along perpendicular bisector to both sides, between the intersection point of the grid where road edge
Distance, i.e. the width for this section of road.Assuming that the intersection point of extended line and road edge is X1 (i) (x, y) and X2 (i) (x, y),
Then the calculation formula of distance between two points is：
According to the feature that the width of same a road section is uniform, width value is fallen in histogram, the frequency is highest in histogram
Width value of the average value of interval value as section.
1) by the calculating of above-mentioned 6 steps, certain section can obtain the estimated value of multiple section width.
2) it is 1.25~20.25 meters the width value in section to be put into codomain, is divided into 0.5 meter of histogram.
3) select to fall into width value of the average value of the highest interval value of the section frequency as section.As shown in Figure 8.
Fig. 9 is the path locus data and high score image demonstration effect figure that the present invention uses.
The road width extraction result of the present invention see the table below：
" image visualization interpretation result " in table is the artificial result measured from remote sensing image using relevant speciality software；
" approximation " is the canonical representation of present invention extraction result, as can be seen from the results, road width of the invention extraction
Method, accuracy of the error amount within 1m can reach 91.67%, can meet the accuracy requirement of practical application.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of road width extracting method based on path locus and high resolution image, which is characterized in that including following reality
Apply step：
S1：Edge detection is carried out for high-definition remote sensing data；
S2：The testing result vector quantization of generation generates line of vector；
S3：Based on adjacent node on path locus, buffering area is established successively, and cuts the line of vector of previous step generation；
S4：The length and slope of line of vector, length and slope and the immediate two line of vector conducts of path locus are calculated successively
The edge of road；
S5：Perpendicular bisector based on path locus calculates the length with road edge intersection；
S6：According to the feature that the width in section is uniform, width value of the maximum length value of probability of occurrence as section.
2. a kind of road width extracting method based on path locus and high resolution image according to claim 1,
It is characterized in that, in the S1, edge detection is carried out to high-resolution remote sensing image, the main purpose of the step is extraction edge
Line provides potential edge for road width estimation.
3. a kind of road width extracting method based on path locus and high resolution image according to claim 1,
It is characterized in that, in the S2, raster data is converted to the vector line number of identical Geographical projections by edge detection results vector quantization
Purpose according to, the step is vector data relative to raster data, it is easier to carry out length and slope calculates.
4. a kind of road width extracting method based on path locus and high resolution image according to claim 1,
It is characterized in that, in the S3, establishes the buffering area with one fixed width to have adjacent node on road, buffering sector width is by road
Rail mark and the plan range of the road on high-resolution remote sensing image determine, multiple buffering area can be generated on a section,
Buffering area is utilized to cut vector edge successively.
5. a kind of road width extracting method based on path locus and high resolution image according to claim 1,
It is characterized in that, in the S4, traverses each line of vector in buffering area, calculate the length of line of vector, and corresponding to existing road
Node between link length compare, immediate three line of vector of length are as alternative route, then by candidate vector line interior joint
Slope and the close length of path locus slope are cumulative, the case where according to edge, determine accumulated value occupied road track node's length
Accounting, be more than edge of the line of vector as road of accounting, the general boundary of accounting range is in 40%~80%, preferred value
60%.
6. a kind of road width extracting method based on path locus and high resolution image according to claim 1,
It is characterized in that, in the S5, behind the edge for obtaining road, using the two adjacent nodes of path locus, road can be obtained
Perpendicular bisector, the midpoints of two adjacent nodes extends along perpendicular bisector to both sides, between the intersection point of the grid where road edge
Distance, i.e. the width for this section of road.
7. a kind of road width extracting method based on path locus and high resolution image according to claim 1,
It is characterized in that, in the S6, so that the section is obtained the estimated value of multiple section width, width estimated value is fallen in histogram,
Width value of the average value of the highest section estimated value of the frequency as section in histogram.
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| CN110827347A (en) * | 2019-11-14 | 2020-02-21 | 青岛盈智科技有限公司 | Road width surveying method and device and surveying vehicle |
| CN110827347B (en) * | 2019-11-14 | 2022-08-26 | 青岛盈智科技有限公司 | Road width surveying method and device and surveying vehicle |
| CN111189424A (en) * | 2019-12-27 | 2020-05-22 | 中国交通通信信息中心 | Road data bending degree detection method based on multistage search radius |
| CN111189424B (en) * | 2019-12-27 | 2021-08-17 | 中国交通通信信息中心 | Road data bending degree detection method based on multistage search radius |
| CN111696153A (en) * | 2020-06-03 | 2020-09-22 | 杭州市勘测设计研究院 | Method, equipment and system for extracting road center line |
| CN112115817A (en) * | 2020-09-01 | 2020-12-22 | 国交空间信息技术（北京）有限公司 | Remote sensing image road track correctness checking method and device based on deep learning |
| CN113140021A (en) * | 2020-12-25 | 2021-07-20 | 杭州今奥信息科技股份有限公司 | Vector line generating method, system and computer readable storage medium |
| CN113139454A (en) * | 2021-04-19 | 2021-07-20 | 国交空间信息技术（北京）有限公司 | Road width extraction method and device based on single image |
| CN113139454B (en) * | 2021-04-19 | 2024-04-23 | 国交空间信息技术（北京）有限公司 | Road width extraction method and device based on single image |
| CN113447013A (en) * | 2021-06-24 | 2021-09-28 | 北京百度网讯科技有限公司 | Construction road recognition method, construction road recognition apparatus, construction road recognition device, storage medium, and program product |
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