CN101893443B - System for manufacturing road digital orthophoto map - Google Patents
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- CN101893443B CN101893443B CN2010102217700A CN201010221770A CN101893443B CN 101893443 B CN101893443 B CN 101893443B CN 2010102217700 A CN2010102217700 A CN 2010102217700A CN 201010221770 A CN201010221770 A CN 201010221770A CN 101893443 B CN101893443 B CN 101893443B
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Abstract
The invention relates to a system for manufacturing a road digital orthophoto map, belonging to the plotting technical field. The system comprises a vehicle-mounted sensor module, a data fusion module and an image processing module, wherein the vehicle-mounted sensior module is connected with the data fusion module to transmit vehicle body positioning information, the image processing module is connected with the vehicle-mounted sensor module to transmit road information, and the data fusion module is connected with the image processing module to transmit real-time positioning information of the vehicle body. The system greatly improves the freshness of the road digital photo map, reduces the collecting cost of the digital photo map, relieves the safe limit for manufacturing the road digital photo map, civilianizes the manufacturing process of the digital photo map, and enables more enterprises to selectively manufacture the digital photo map meeting their own requirements.
Description
Technical field
What the present invention relates to is a kind of system of technical field of mapping, specifically is a kind of manufacturing system of road digital orthophotomap.
Background technology
Photomap is a kind of map that has the ground remote sensing image; Utilize airphoto or satellite remote-sensing image mostly; Through geometric correction, projective transformation and engineer's scale naturalization, use certain map symbol, annotation, directly reflect the map of map subject geographic entity and space distribution.In today of digital informationization, digitized geography information has become city and even whole country requisite supporting condition in macro-level policy-making and planning management.
The digital orthoimage techniques make use technology such as Computer Image Processing, pattern-recognition; Objectively respond face of land present situation through influence true to nature, abundant colors; Characteristics such as draw with traditional photomap and line that map has compared that abundant information, atural object are directly perceived, high efficiency, drafting period are short, detect in flood detections, river transition, damage caused by a drought, agricultural the yield by estimation, the soil covers utilizes monitoring resource, desertification watch, forest monitoring with the soil, the shore line is protected and biological variation monitoring on many application are arranged.
Find from the retrieval of prior art document: at present along with the development of the rise of intelligent transportation notion and GPS navigation of future generation system, GPS map datum producer and the more comprehensive Traffic Information of its terminal user needs.Nowadays known digital orthoimage map mainly is to adopt aerophotograph or adopt the high resolution ratio satellite remote-sensing view data to obtain cartographic information.Though they can represent the situation of urban road for people.But there is following problem:
1. freshness is low: because the ground clearance of aviation and satellite is far away excessively, make traditional photomap can't differentiate in the road such as marks such as walkway, turning mark, guardrails.
2. cost is high: satellite and space equipment cost are too high, are not easy to the development and the popularization of digitized video map.
3. be difficult for obtaining: relate to many restrictions such as public safety, national defence because satellite and space flight are taken, make that obtaining of digitized video map is very difficult, be difficult to civil nature.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency that prior art exists, a kind of manufacturing system of road digital orthophotomap is provided.The present invention has solved the problem that original technology is expensive, hang down freshness, be difficult for obtaining, thereby has made the road image map that more wide applications arranged through with the carrier of car as map data collecting.
The present invention realizes through following technical scheme:
The present invention includes: onboard sensor module, data fusion module and image processing module; Wherein: the onboard sensor module transporting body locating information that links to each other with data fusion module; Image processing module links to each other with the onboard sensor module and transmits road information; Link to each other with the image processing module real-time positioning information of transporting body of data fusion module, image processing module output road digital orthophotomap.
Described onboard sensor module is gathered road information and car body locating information; Comprise: carry car, picture pick-up device, tarnsition velocity collector, the carrier phase global positioning system laser radar of unifying; Wherein: picture pick-up device is arranged on and carries around the outer front car light of car; The tarnsition velocity collector is arranged on the bottom of carrying car, and the carrier phase GPS is arranged on carries the outer top of car, and it is outer foremost that laser radar is arranged on carrier; Picture pick-up device links to each other with image processing module and transmits road image information; Laser radar links to each other with image processing module and transmits path formation information, and the carrier phase GPS links to each other with data fusion module and transmits the car body locating information of carrying car, and the tarnsition velocity collector links to each other with data fusion module to transmit and carries a real-time steering wheel corner and the velocity information of car.
Described tarnsition velocity collector is two rotary encoders or inertial navigation system.
Described data fusion module is handled vehicle location information; Comprise: dead reckoning submodule, Kalman filtering submodule and interpolation submodule; Wherein: the dead reckoning submodule links to each other with the onboard sensor module to transmit and carries real-time steering wheel corner and the velocity information of car; The Kalman filtering submodule links to each other with the onboard sensor module and transmits the car body locating information of carrying car; Link to each other with the image processing module real-time positioning information of transporting body of link to each other with the interpolation submodule real-time pose information of transporting body of the dead reckoning submodule real-time posture information of transporting body that links to each other with the Kalman filtering submodule, Kalman filtering submodule, interpolation submodule.
Described image processing module comprises: contrary perspective transform submodule, world coordinates transformation submodule and map splicing submodule; Wherein: contrary perspective transform submodule links to each other with the onboard sensor module and transmits road image information and path formation information; Link to each other with the data fusion module real-time positioning information of transporting body of world coordinates transformation submodule; The world coordinates transformation submodule real-time road surface vertical view behind the transmission removal road protrusions thing that links to each other with contrary perspective transform submodule; Map splicing submodule links to each other with the world coordinates transformation submodule and transmits the real-time road surface vertical view that contains posture information, map splicing submodule output road digital orthophotomap.
Described map splicing submodule comprises: robustness regression estimation unit, extraction flag information unit and pointwise weighted mean unit; Wherein: the robustness regression unit links to each other with the world coordinates transformation submodule and transmits the real-time road surface vertical view that contains posture information; Extraction flag information unit links to each other with the robustness regression estimation unit and transmits the real-time road surface vertical view after putting in order; The pointwise weighted units links to each other to transmit with extraction flag information unit and contains the real-time road surface vertical view of distinguishing pavement marker information, pointwise weighted mean unit output road digital orthophotomap.
Compared with prior art; The invention has the beneficial effects as follows: the freshness that has significantly improved the road digital photomap; Reduced the cost that the digitized video map is gathered; Removed the safe limit that the road digital photomap is made,, made more enterprise selectively to make and meet the digitized video map that oneself requires digitized video cartography civil nature.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention.
Fig. 2 is the plan structure synoptic diagram of onboard sensor module;
Wherein: 1-left side camera, the right camera of 2-, 3-laser radar, 4-front-wheel rotary encoder, 5-trailing wheel rotary encoder, 6-carrier phase GPS.
Fig. 3 is the side-looking structural representation of onboard sensor module.
Embodiment
Below in conjunction with accompanying drawing system of the present invention is further described: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Embodiment
As shown in Figure 1; Present embodiment comprises: onboard sensor module, data fusion module and image processing module; Wherein: the onboard sensor module transporting body locating information that links to each other with data fusion module; Link to each other with the image processing module real-time positioning information of transporting body of the image processing module transmission road information that links to each other with the onboard sensor module, data fusion module, image processing module is exported the road digital orthophotomap.
As shown in Figures 2 and 3; Described onboard sensor module is gathered road information and car body locating information; Comprise: carry car, picture pick-up device, tarnsition velocity collector, carrier phase GPS 6 and laser radar 3, wherein: picture pick-up device is arranged on and carries around the outer front car light of car, and the tarnsition velocity collector is arranged on the bottom of carrying car; Carrier phase GPS 6 is arranged on carries the outer top of car; It is outer foremost that laser radar 3 is arranged on carrier, and picture pick-up device links to each other with image processing module and transmits road image information, and laser radar 3 links to each other with image processing module and transmits path formation information; Carrier phase GPS 6 links to each other with data fusion module and transmits the car body locating information of carrying car, and the tarnsition velocity collector links to each other with data fusion module to transmit and carries a real-time steering wheel corner and the velocity information of car.
Described year car is the common minibus of buying on the market, in the speed of a motor vehicle per hour is controlled at 100 kilometers.
Described picture pick-up device comprises: left camera 1 and right camera 2; Wherein: left camera 1 is arranged on around the left front car light that carries car; Right camera 2 is arranged on around the right front car light that carries car, and left camera 1 links to each other with image processing module respectively with right camera 2 and transmits road image information.
The resolution of left camera 1 and right camera 2 all is 320*240 in the present embodiment, 8 meters of effective field of view coverage distances, and effective coverage range is for carrying each 1 track (totally 3 tracks) about track, car place, and the image frame per second is per second 15 width of cloth.
Described tarnsition velocity collector comprises: front-wheel rotary encoder 4 and trailing wheel rotary encoder 5; Wherein: front-wheel rotary encoder 4 be arranged on the front axle that carries car and with car in knuckle section link to each other with power section; Trailing wheel rotary encoder 5 be arranged on the rear axle that carries car and with car in knuckle section link to each other with power section, front-wheel rotary encoder 4 links to each other with data fusion module respectively with trailing wheel rotary encoder 5 and transmits a year real-time steering wheel corner and the velocity information of car.
The precision of front-wheel rotary encoder 4 and trailing wheel rotary encoder 5 all is 2500 lines in the present embodiment.
Laser radar 3 in the present embodiment is a single line laser radar 3.
The data frequency of described carrier phase GPS 6 is 5 hertz, and bearing accuracy is 2 centimetres.
Described data fusion module is handled vehicle location information; Comprise: dead reckoning submodule, Kalman filtering submodule and interpolation submodule; Wherein: the dead reckoning submodule links to each other with trailing wheel rotary encoder 5 to transmit with front-wheel rotary encoder 4 respectively and carries real-time steering wheel corner and the velocity information of car; The Kalman filtering submodule links to each other with carrier phase GPS 6 and transmits the car body locating information of carrying car; The dead reckoning submodule real-time posture information of transporting body that links to each other with the Kalman filtering submodule; Link to each other with the image processing module real-time positioning information of transporting body of link to each other with the interpolation submodule real-time pose information of transporting body of Kalman filtering submodule, interpolation submodule.
Described dead reckoning submodule utilizes front-wheel rotary encoder 4 and trailing wheel rotary encoder 5 to obtain the steering wheel corner and the velocity information of car bodies, thereby calculates the pose of car body, is characterized in data smoothing but the cumulative errors that can't eliminate is arranged.
Described Kalman filtering submodule has merged dead reckoning information under carrier phase GPS 6 high-precision location information, thereby has obtained high-precision vehicle orientation information.
Described interpolation submodule is shared the error between Kalman filtering submodule and the dead reckoning submodule; Utilize continuous, the data-intensive and Kalman filtering submodule of dead reckoning data variation to locate accurate characteristics simultaneously, obtain more crypto set, level and smooth, accurate in locating information.
Described image processing module comprises: contrary perspective transform submodule, world coordinates transformation submodule and map splicing submodule; Wherein: contrary perspective transform submodule links to each other with right camera 2 with left camera 1 respectively and transmits road image information; Contrary perspective transform submodule links to each other with laser radar 3 and transmits path formation information; Link to each other with the interpolation submodule real-time positioning information of transporting body of world coordinates transformation submodule; The world coordinates transformation submodule real-time road surface vertical view behind the transmission removal road protrusions thing that links to each other with contrary perspective transform submodule; Map splicing submodule links to each other with the world coordinates transformation submodule and transmits the real-time road surface vertical view that contains posture information, map splicing submodule output road digital orthophotomap.
The camera calibration data that described contrary perspective transform submodule utilization is gathered in advance change real-time road surface oblique view into vertical view; And the path formation information of utilizing laser radar 3 to record is removed the image that tangible protrusion (for example fence) is produced in the road; The concrete course of work is: utilize instrument such as tape measure to set up accurate coordinates system at ground level; Then the position through some points on the ground with they in image; Be that system of equations is set up in position in the camera plane, solve eight parameters at last, utilize system of equations that these eight parameters form can the coordinate of arbitrfary point in the coordinate of arbitrfary point in the ground level and the camera plane be changed; Above after conversion, utilizing laser radar 3 detection roads whether tangible thrust is arranged, in image, remove all images at protrusion and its rear.
The final locating information of described world coordinates transformation submodule data fusion module output; And laser radar 3, left camera 1 and right camera 2 are in the installation site of carrying on the car; Each width of cloth vertical view is done the operation of convergent-divergent, translation and rotation; Pointwise is pasted on the global map, pastes size and can select arbitrarily, thereby confirm the pose in global map for the contrary perspective of each width of cloth changes the road overhead view image that finishes.
Described map splicing submodule comprises: robustness regression estimation unit, extraction flag information unit and pointwise weighted mean unit; Wherein: the robustness regression unit links to each other with the world coordinates transformation submodule and transmits the real-time road surface vertical view that contains posture information; Extraction flag information unit links to each other with the robustness regression estimation unit and transmits the real-time road surface vertical view after putting in order; The pointwise weighted units links to each other to transmit with extraction flag information unit and contains the real-time road surface vertical view of distinguishing pavement marker information, pointwise weighted mean unit output road digital orthophotomap.
The course of work of map splicing submodule is in the present embodiment: at first adopt robustness regression to estimate each width of cloth vertical view denoising; Utilize HSV (a kind of color space) color recognition to extract the point of the yellowish-white dichromatism (being the color of Road Signs) in the road then; And according to the distance and closely far away little principle pointwise tax power of every bit from corresponding camera, last comprehensive color extraction result and weight are carried out map and are spliced.Present embodiment is about to its piecemeal when global map is made, piece resolution is 1000*1000, utilizes the two-dimensional array inquiry behind the piecemeal.
The course of work of present embodiment: camera collection road image information, laser radar 3 is gathered path formation information, utilizes contrary perspective transform to obtain Real-time Road and is just penetrating overhead view image and removing the interference that obvious protrusion brings.Rotary encoder and carrier phase GPS 6 collection vehicle locating information.Utilize dead reckoning, Kalman filtering and interpolation processing that encoder information and carrier phase GPS 6 information are merged the final locating information of acquisition.Utilize each final locating information constantly that road corresponding is just being penetrated overhead view image and be transformed in the global map, utilize the map splicing to handle the information of lap.At last the global map piecemeal is stored, called.
Present embodiment is gathered automobile as the digitized video map carrier.Utilize that the vehicle cost is low, overhead nearer, advantage that do not receive safe limit has remedied the deficiency of original technology; Make the many enterprises comprise gps data manufacturer can freely obtain high freshness, road digital photomap cheaply; Thereby be beneficial to the civil nature of digitized video map, expanded its use prospect greatly.
Claims (4)
1. the manufacturing system of a road digital orthophotomap; Comprise: onboard sensor module, data fusion module and image processing module; It is characterized in that the onboard sensor module transporting body locating information that links to each other with data fusion module, the image processing module transmission road information that links to each other with the onboard sensor module; Link to each other with the image processing module real-time positioning information of transporting body of data fusion module, image processing module output road digital orthophotomap;
Described onboard sensor module is gathered road information and car body locating information; Comprise: carry car, picture pick-up device, tarnsition velocity collector, the carrier phase global positioning system laser radar of unifying; Wherein: picture pick-up device comprises left camera and right camera; Left side camera is arranged on around the left front car light that carries car, and right camera is arranged on around the right front car light that carries car, and the tarnsition velocity collector comprises front-wheel rotary encoder and trailing wheel rotary encoder; The front-wheel rotary encoder be arranged on the front axle that carries car and with car in knuckle section link to each other with power section; The trailing wheel rotary encoder be arranged on the hind axle that carries car and with car in knuckle section link to each other with power section, the carrier phase GPS is arranged on carries the outer top of car, laser radar is arranged on carrier foremost outward; Picture pick-up device links to each other with image processing module and transmits road image information; Laser radar links to each other with image processing module and transmits path formation information, and the carrier phase GPS links to each other with data fusion module and transmits the car body locating information of carrying car, and the tarnsition velocity collector links to each other with data fusion module to transmit and carries a real-time steering wheel corner and the velocity information of car;
Described data fusion module is handled vehicle location information; Comprise: dead reckoning submodule, Kalman filtering submodule and interpolation submodule; Wherein: the dead reckoning submodule links to each other with the trailing wheel rotary encoder to transmit with the front-wheel rotary encoder respectively and carries real-time steering wheel corner and the velocity information of car; The Kalman filtering submodule links to each other with the carrier phase GPS and transmits the car body locating information of carrying car; The dead reckoning submodule links to each other to come the real-time posture information of transporting body with the Kalman filtering submodule; Kalman filtering submodule and interpolation submodule link to each other to come the real-time pose information of transporting body, and interpolation submodule and image processing module link to each other to come the real-time positioning information of transporting body.
2. the manufacturing system of road digital orthophotomap according to claim 1 is characterized in that, described tarnsition velocity collector is two rotary encoders or inertial navigation system.
3. the manufacturing system of road digital orthophotomap according to claim 1; It is characterized in that; Described image processing module comprises: contrary perspective transform submodule, world coordinates transformation submodule and map splicing submodule; Wherein: contrary perspective transform submodule links to each other with right camera with left camera respectively and transmits road image information; Contrary perspective transform submodule links to each other with laser radar and transmits path formation information; World coordinates transformation submodule and interpolation submodule link to each other to come the real-time positioning information of transporting body; The world coordinates transformation submodule links to each other with contrary perspective transform submodule and transmits the real-time road surface vertical view of removing behind the road protrusions thing, and map splicing submodule links to each other with the world coordinates transformation submodule and transmits the real-time road surface vertical view that contains posture information, map splicing submodule output road digital orthophotomap.
4. the manufacturing system of road digital orthophotomap according to claim 3; It is characterized in that; Described map splicing submodule comprises: robustness regression estimation unit, extraction flag information unit and pointwise weighted mean unit; Wherein: the robustness regression unit links to each other with the world coordinates transformation submodule and transmits the real-time road surface vertical view that contains posture information; Extract the flag information unit and link to each other with the robustness regression estimation unit and transmit the real-time road surface vertical view after the arrangement, the pointwise weighted units with extract the flag information unit and link to each other to transmit and contain the real-time road surface vertical view of distinguishing pavement marker information, pointwise weighted mean unit output road digital orthophotomap.
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