CN101739829A - Video-based vehicle overspeed monitoring method and system - Google Patents
Video-based vehicle overspeed monitoring method and system Download PDFInfo
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- CN101739829A CN101739829A CN200910242053A CN200910242053A CN101739829A CN 101739829 A CN101739829 A CN 101739829A CN 200910242053 A CN200910242053 A CN 200910242053A CN 200910242053 A CN200910242053 A CN 200910242053A CN 101739829 A CN101739829 A CN 101739829A
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Abstract
The invention provides a video-based vehicle overspeed monitoring method and a video-based vehicle overspeed monitoring system. The method comprises the following steps: firstly, performing standardization and enhancement on originally acquired images through image pretreatment; then, acquiring the vehicle speed of a dynamic target through dynamic target segmentation, the dynamic target tracking and the vehicle speed measurement, and judging whether the dynamic target is overspeed through the vehicle speed; and finally, finishing the identification of the plate number of the dynamic target and transmitting the data to a monitoring center through the plate number positioning and character recognition. The video-based vehicle overspeed monitoring system realizes full-automatic monitoring and networking, and has convenient erection, low cost and higher practical value. The video-based vehicle overspeed monitoring system has strong universality, strong openness, and strong extensibility. In addition, the video-based vehicle overspeed monitoring system is unnecessarily embedded with a wayside induction coil, adopts video to detect the overspeed state in a non-contact way, integrates the vehicle speed measurement and the plate number identification at the front end of the system, and has low requirement on the communication bandwidth.
Description
Technical field
The present invention relates to intelligent mapping techniques field, be specifically related to a kind of method for monitoring overspeed of vehicle and system based on video.
Background technology
Along with the fast development of national economy, the vehicle that travels on the highway is more and more, and speed is also more and more faster, and the case relevant with vehicular traffic also is continuous ascendant trend, and cases such as escaping behavior after traffic accident happen occasionally.How to use the means of science to help public security department effectively to control overspeed violation phenomenon on the highway, arrest escape vehicle, become public security traffic department problem anxious to be solved.
At present, the mature system that can finish the monitoring overspeed function has: based on microwave radar with based on the overspeed monitoring system of laser.They at vehicle through out-of-date, the information of utilizing the frequency change of transmitted wave to come monitoring vehicle, still, this system can not provide comprehensively transport information such as the type, license plate number of hypervelocity automobile, the processing and arrest escape vehicle of can't in time break rules and regulations.
Summary of the invention
At problems of the prior art, the purpose of this invention is to provide a kind of method for monitoring overspeed and system based on video.These method and system can be utilized video image processing technology, by video frequency speed-measuring and license plate recognition technology, automobile on the highway track is carried out contactless monitoring, obtain running state information such as the over-speed vehicles speed of a motor vehicle, the number-plate number, photo violating the regulations, can be applicable to highway administration, escape vehicle and occasion such as arrest.
For achieving the above object, the technical solution used in the present invention is: a kind of method for monitoring overspeed of vehicle based on video may further comprise the steps:
(1) utilize camera to gather video image on the highway in real time, and with image digitazation;
(2) image after the above-mentioned digitizing is carried out pre-service, described pre-service comprises the geometric correction of imagery, figure image intensifying and image filtering;
(3), and determine to exist the movement locus and the travel speed of vehicle according to whether having vehicle in the pretreated spectral discrimination visual field;
(4) car plate that occurs vehicle in the step (3) is discerned;
(5) judge according to the travel speed of vehicle whether vehicle exceeds the speed limit, report to the police if then the video image of the travel speed of the license plate number of this vehicle, vehicle, vehicle is sent to Surveillance center.
Further, this method is further comprising the steps of: (6) judge that according to license plate number whether vehicle is other vehicles of hit-and-run vehicle or needs monitoring, report to the police if then the video image of the license plate number of this vehicle, vehicle is sent to Surveillance center.
For realizing said method, the invention provides a kind of overspeed monitoring system for vehicle based on video, comprise with lower device:
Video image acquisition and digitalizer: be used for gathering video image on the highway in real time by camera, and with image digitazation;
Image preprocess apparatus: be used for the image after the digitizing is carried out pre-service, described pre-service comprises the geometric correction of imagery, figure image intensifying and image filtering;
Vehicle detection apparatus: be used for judging whether pretreated image visual field exists vehicle, and determine to exist the movement locus and the travel speed of vehicle;
Car plate recognition device: be used for the car plate of detected vehicle is discerned;
Warning device: be used to judge whether the travel speed of vehicle exceeds the speed limit, if then the license plate number of this vehicle, the travel speed of vehicle, the video image of vehicle are reached Surveillance center.
Further, described warning device is used to also judge whether detected vehicle is other vehicles of hit-and-run vehicle or needs monitoring, if then the license plate number of this vehicle, the video image of vehicle are reached Surveillance center.
Effect of the present invention is: adopt method and system of the present invention, the full-automatic monitoring and the networking of overspeed monitoring system have been realized, have set up conveniently that cost is not high, have higher utility, can in time obtain running state information such as the speed of a motor vehicle, the number-plate number and photo violating the regulations.The automatic car plate recognition speed of the present invention is fast, accuracy rate is high, in real time violating the regulations handle provide may, and this system's highly versatile, open strong, extendability is strong; In addition, this system need not to bury underground ground induction coil, adopts video non-contact detecting overspeed condition, and vehicle speed measurement and car plate identification are integrated in system front end, and communication bandwidth requires little.
Description of drawings
Fig. 1 is the process flow diagram of a kind of method for monitoring overspeed of vehicle based on video in the embodiment of the invention;
Fig. 2 is the system chart of a kind of overspeed monitoring system for vehicle based on video in the embodiment of the invention;
Fig. 3 is the process flow diagram of car plate recognition processing module in the embodiment of the invention;
Fig. 4 is the synoptic diagram of the character recognition decision tree of character recognition module in the embodiment of the invention.
Embodiment
The present invention is described further below in conjunction with Figure of description and embodiment.
The invention provides a kind of method for monitoring overspeed of vehicle based on video, as shown in Figure 1, it may further comprise the steps:
Step S11: image acquisition and digitizing;
Utilize camera to gather video image on the highway in real time, and with the video image digitizing that collects.
Step S12: image pre-service;
Image after the above-mentioned digitizing is carried out pre-service, and described pre-service comprises the geometric correction of imagery, figure image intensifying and image filtering.In the present embodiment, what the image unification was adopted is 256 rank gray level images, and the method for expanding with gray level strengthens image.To 0--255, image car plate sharpness after treatment obviously improves with gradation of image scope linear expansion.What image filtering adopted is non-linear median filtering algorithm, and this filtering is verified to have very strong noise suppression effect.Consider the efficient of algorithm, do not carry out the medium filtering of two-dimentional 8 neighborhoods, wherein only on each row, carry out one-dimensional filtering, i.e. I (x)=median (I (x-1), I (x), I (x+1));
Step S13: vehicle detection;
According to whether having vehicle in the pretreated spectral discrimination visual field, and determine to exist the movement locus and the travel speed of vehicle;
Carry out over-speed vehicles when detecting from video image, can adopt, based on the method for background difference with based on the method for optical flow field based on the frame-to-frame differences point-score.In the present embodiment, have the characteristics of strong correlation according to handled video image, adopted the inter-frame difference object detection method, concrete grammar is:
1) dynamic object is cut apart;
Gray level image is changed into black and white binary image, target rough edge profile is carried out mathematical morphology filter to remove ground unrest, extract and detect objective contour and other parameters, obtain entering the object size parameter of visual field, wherein, realize by following formula during the conversion of image:
Wherein, I
T-1(x y) is t-1 visual pixel (x, y) gray scale constantly; I
t(x y) is t visual pixel (x, y) gray scale constantly; T gets 8-16 in the present invention for setting thresholding.
2) dynamic target tracking and travel speed are measured;
Based on the motion target area that obtains in the step 1), carry out dynamic target tracking and movement velocity and estimate.Adopt the method for traditional Feature Points Matching to carry out tracking of maneuvering target in the present embodiment, so that utilize the parallax of unique point to calculate the speed of a motor vehicle.Its main points are: select one group of unique point with invariance in the moving target window of a two field picture, mate with the similar unique point in the next frame image, thereby try to achieve parallax.The method of Feature Points Matching that Here it is.
Adopt the Moravac operator as the feature point extraction operator.It is based on a desirable unique point, and gray scale has very big variance on all directions around it.
The step of described feature point extraction comprises:
A. calculate the favorable values M of pixel:
In the formula, i=n-2 ..., n+2; J=m-2 ..., m+2; M, n are the row, column sequence of window center pixel, g
I, jFor (i j) locates the gray-scale value of image;
B. determine the alternative features point, if the favorable values M of pixel is greater than empirical value, then this pixel is the alternative features point; Otherwise this pixel is not a unique point;
C. determine unique point with the method that suppresses local non-maximum M value;
Check whether the M value of each alternative features point is the interior maximal value of a certain size 5 * 5 window, if several alternative features points are arranged, then get the maximum pixel of M value as unique point in window, all the other all remove.For guaranteeing the accuracy of coupling, the absolute value sum minimum that adopts covariance maximum and difference is as dual criterion, and the choice of decision match point is to strengthen the reliability of matching result.After finding match point, utilize both parallaxes and the visual field in advance demarcated in the minor increment of image minimum resolution representative and the interval time of image acquisition, just can calculate target velocity, according to this value prediction target reposition and judge whether hypervelocity.
Step S14: car plate identification;
Car plate identification comprises car plate location and character recognition, and the car plate location mainly comprises the location in vehicle license zone and cutting apart of character;
1) location in vehicle license zone the steps include:
A. utilize the horizontal edge of colour edging sobel operator extraction image;
B. utilize the global threshold method that gradient image is carried out binaryzation;
C. the gradient image after the binaryzation is carried out the morphology horizontal expansion;
2) realize cutting apart of character by vertical projection method, since the inevitable gap location in intercharacter or character of character projection in vertical direction obtain local minimum near, and character format write, character, size restrictions and some other conditions of licence plate should be satisfied in this position.Utilize vertical projection method that the Character segmentation in the automobile image under the complex environment is had effect preferably, its concrete steps are:
A, earlier bottom-up image is lined by line scan until the pixel that runs into first black and noted, from top to bottom image is lined by line scan until finding first black picture element again, determine image altitude range roughly;
B, in described altitude range roughly from left to right by row scan, think the reference position of Character segmentation when running into first black picture element, continue scanning, there is not black picture element until running into to have in the row, think that then this Character segmentation finishes, scan low order end according to above-mentioned method then always, obtain the more accurate width range of each character until image;
C, in the more accurate width range of each known character, according to the method for the first step, lining by line scan and obtain the accurate altitude range of each character from top to bottom and from bottom to top respectively.
3) behind the car plate location, will discern character.License plate recognition technology after deliberation is ripe, mainly contains at present based on template matching algorithm with based on artificial neural network algorithm.Character binaryzation after at first will cutting apart based on template matching algorithm, and its size is scaled the size of template in the character database, mate with all templates then, select optimum matching as a result of at last.Treat identification character based on artificial neural network's algorithm and carry out feature extraction, come the neural network training divider with the acquisition feature then.
In the present embodiment, the identification of character is to realize by the method that neural network is discerned: according to the feature of the character that extracts, send into character recognition decision tree as shown in Figure 4, which character utilizes the character recognition decision tree to analyze each character that splits specifically is.
The feature of described character specifically comprises:
1) number of edges
Referring to that the edge of a character is communicated with the number of profile, is 2 as the number of edges of character 6;
2) edge gravity center
It is 2 character that edge gravity center is primarily aimed at number of edges, calculates the coordinate of top, two edges and bottom respectively, is designated as y
Edge1 Top, y
Edge1 Bottom, y
Edge2 Top, y
Edge2 Bottom, the difference at two edges of this that ask respectively again
So work as D
Top/ D
Bottom＜0.5, edge gravity center is at the first half; Work as D
Top/ D
Bottom＞2, edge gravity center is in Lower Half;
3) contour feature value
Utilize the single order differential variation tendency definition of profile to constitute the elementary cell of character outline, be divided into five classes: a left side tiltedly, right tiltedly, straight line, circular arc, sudden change;
4) duty information
Utilize top, bottom, left side, the right side of contour feature calculating character image and all directions of 45 degree that are clipped in the middle to the duty amount in totally 12 zones;
5) stroke number
Take to a certain position of character up and down or about draw arbitrarily straight line, check its number of times through white portion;
6) projection
Character is carried out vertically and horizontal projection the projection amount of statistics diverse location;
7) nose
Calculate the white line length of vertical or horizontal direction connected region, find out wherein the longest one then, can look for also and can look in entire image in certain zone;
8) area ratio
Calculate the area that character is put in a certain zone, be mainly used to distinguish such as " 0 " or " D " and characters such as " Q ".Need when quadraturing the black region that white connected region comprises is filled.
Step S15: judge according to the travel speed of vehicle whether vehicle exceeds the speed limit, if then the license plate number of this vehicle, the travel speed of vehicle, the data such as video image of vehicle are sent to Surveillance center.
Judge according to license plate number whether vehicle is other vehicles of hit-and-run vehicle or needs monitoring, if then the license plate number of this vehicle, the data such as video image of vehicle are sent to Surveillance center.
For realizing said method, the invention provides a kind of overspeed monitoring system based on video, as shown in Figure 2, it comprises with lower module:
Video image acquisition and digitalizer 21: be used for gathering video image on the highway in real time by camera, and with image digitazation;
Image preprocess apparatus 22: be used for the image after the digitizing is carried out pre-service, described pre-service comprises the geometric correction of imagery, figure image intensifying and image filtering;
Vehicle detection apparatus 23: be used for judging whether pretreated image visual field exists vehicle, and determine to exist the movement locus and the travel speed of vehicle;
Car plate recognition device 24: be used for the car plate of detected vehicle is discerned;
Data link 25: be used to judge whether the travel speed of vehicle exceeds the speed limit, if then the license plate number of this vehicle, the travel speed of vehicle, the data such as video image of vehicle are reached Surveillance center.
Described warning device 25 is used to also judge whether detected vehicle is other vehicles of hit-and-run vehicle or needs monitoring, if then the license plate number of this vehicle, the data such as video image of vehicle are reached Surveillance center.
As shown in Figure 2, vehicle detection apparatus 23 comprises that target cuts apart module 231, target tracking module 232 and speed measurement module 233.Car plate recognition device 24 comprises car plate identification module 241 and character recognition module 242.
As shown in Figure 3, for vehicle detection apparatus 23, its workflow is: at first utilize colour edging sobel operator (medium filtering S31) to extract the horizontal edge of image, utilize the global threshold method that gradient image is carried out image binaryzation S32, then the gradient image after the binaryzation is carried out the adjustment S33 that the morphology horizontal expansion is promptly finished degree of tilt, by Character segmentation S34, adopt the identification of finishing character based on artificial neural network algorithm identification S35 then, finish information output at last.
An application example on highway: adopt method and system proposed by the invention, front monitoring front-end is at first gathered the panoramic picture of highway by camera, and utilize panoramic picture to carry out over-speed vehicles and detect, as detect vehicles peccancy, start the work of close shot high-definition camera, gather the close shot image and utilize the automatic car plate identification of close shot image, its recognition result can branch number-plate number character, number-plate number photo, vehicle driving against traffic regulations photo are saved in overspeed violation vehicle data storehouse respectively, for handle afterwards; Transmit the number-plate number of vehicles peccancy, photographic intelligence violating the regulations by wireless or cable data delivery module from the processing server violating the regulations at trend freeway facility center, handle to break rules and regulations in real time.The invention belongs to a kind of intelligent mapping techniques, can improve the effect of visualization of image, strengthen picture contrast, guarantee that camera is kept the frame per second of publishing picture at a high speed under the dark surrounds.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technology thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. method for monitoring overspeed of vehicle based on video, its step comprises:
(1) utilize camera to gather video image on the highway in real time, and with image digitazation;
(2) image after the above-mentioned digitizing is carried out pre-service, described pre-service comprises the geometric correction of imagery, figure image intensifying and image filtering;
(3), and determine to exist the movement locus and the travel speed of vehicle according to whether having vehicle in the pretreated spectral discrimination visual field;
(4) car plate that occurs vehicle in the step (3) is discerned;
(5) judge according to the travel speed of vehicle whether vehicle exceeds the speed limit, if then the license plate number of this vehicle, the travel speed of vehicle, the video image of vehicle are sent to Surveillance center.
2. a kind of method for monitoring overspeed of vehicle based on video as claimed in claim 1 is characterized in that this method also comprises:
(6) judge according to license plate number whether vehicle is other vehicles of hit-and-run vehicle or needs monitoring, if then the license plate number of this vehicle, the video image of vehicle are sent to Surveillance center.
3. a kind of method for monitoring overspeed of vehicle as claimed in claim 1 based on video, it is characterized in that: in the step (2), what described figure image intensifying was adopted is the method for gray level expansion, what described image filtering adopted is non-linear median filtering algorithm, wherein only carries out one-dimensional filtering on each row.
4. as the described a kind of method for monitoring overspeed of vehicle of one of claim 1 to 3, it is characterized in that: in the step (3), carrying out over-speed vehicles when detecting, adopting based on the frame-to-frame differences point-score, based on the method for background difference with based on the method for optical flow field based on video.
5. a kind of method for monitoring overspeed of vehicle based on video as claimed in claim 4 is characterized in that, when carrying out the over-speed vehicles detection, adopts based on the frame-to-frame differences point-score, specifically may further comprise the steps:
1) dynamic object is cut apart;
The detection of over-speed vehicles realizes by the inter-frame difference object detection method, concrete grammar is: gray level image is changed into black and white binary image, target rough edge profile is carried out mathematical morphology filter, extraction detects the objective contour parameter, obtain entering the object size parameter of visual field, wherein, realize by following formula during the conversion of image:
Wherein, I
T-1(x y) is t-1 visual pixel (x, y) gray scale constantly; I
t(x y) is t visual pixel (x, y) gray scale constantly; T is for setting thresholding, and its span is 8-16;
2) dynamic target tracking and travel speed are measured;
Select one group of unique point with invariance in the moving target window of a two field picture, mate with the similar unique point in the next frame image, thereby try to achieve parallax, the tracking of dynamic object is that the method by Feature Points Matching realizes;
The step of described feature point extraction comprises:
A. calculate the favorable values M of pixel:
In the formula, i=n-2 ..., n+2; .j=m-2 ..., m+2; M, n are the row, column sequence of window center pixel, g
IjFor (i j) locates the gray-scale value of image;
B. determine the alternative features point, if the favorable values M of pixel is greater than empirical value, then this pixel is the alternative features point; Otherwise this pixel is not a unique point;
C. determine unique point with the method that suppresses local non-maximum M value, concrete grammar is: the M value of each alternative features point in the check window, get the maximum pixel of M value as unique point.
6. a kind of method for monitoring overspeed of vehicle as claimed in claim 5 based on video, it is characterized in that: the calculating of dynamic object speed is by after finding match point, calculate the interval time of the minor increment of image minimum resolution representative and image acquisition in the visual field that utilizes both parallaxes and demarcated in advance, and judge whether hypervelocity according to result of calculation.
7. as the described a kind of method for monitoring overspeed of vehicle of one of claim 1 to 4, it is characterized in that in the step (4), the method for described car plate identification may further comprise the steps based on video:
1) location in vehicle license zone the steps include:
A. utilize the horizontal edge of colour edging sobel operator extraction image;
B. utilize the global threshold method that gradient image is carried out binaryzation;
C. the gradient image after the binaryzation is carried out the morphology horizontal expansion;
2) adopt vertical projection method that the vehicle license Region Segmentation is become single character;
3) the single character that extracts after cutting apart is discerned.
8. a kind of method for monitoring overspeed of vehicle as claimed in claim 7 based on video, it is characterized in that, in the step 3), employing is discerned character based on artificial neural network algorithm, be specially: the feature of extracting character, according to the character feature that extracts, send into the character recognition decision tree, utilize the analysis of character recognition decision tree to determine concrete character.
9. overspeed monitoring system for vehicle based on video, it comprises with lower device:
Video image acquisition and digitalizer: be used for gathering video image on the highway in real time by camera, and with image digitazation;
Image preprocess apparatus: be used for the image after the digitizing is carried out pre-service, described pre-service comprises the geometric correction of imagery, figure image intensifying and image filtering;
Vehicle detection apparatus: be used for judging whether pretreated image visual field exists vehicle, and determine to exist the movement locus and the travel speed of vehicle;
Car plate recognition device: be used for the car plate of detected vehicle is discerned;
Warning device: be used to judge whether the travel speed of vehicle exceeds the speed limit, if then the license plate number of this vehicle, the travel speed of vehicle, the video image of vehicle are reached Surveillance center.
10. a kind of overspeed monitoring system as claimed in claim 9 based on video, it is characterized in that: described warning device is used to also judge whether detected vehicle is other vehicles of hit-and-run vehicle or needs monitoring, if then the license plate number of this vehicle, the video image of vehicle are reached Surveillance center.
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