CN102243075A - Car-mounted non-scale traffic accident spot rapid reconnaissance system based on binocular visual sense - Google Patents
Car-mounted non-scale traffic accident spot rapid reconnaissance system based on binocular visual sense Download PDFInfo
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Abstract
The invention relates to a car-mounted non-scale traffic accident spot rapid reconnaissance system based on binocular visual sense. The system comprises two parts of car-mounted spot reconnaissance equipment and an information processing system. The car-mounted spot reconnaissance equipment carries out photography reconnaissance and information acquisition by triggering a binocular camera. The information processing system comprises an image processing module, a spot picture drafting module and an accident case management module. The image processing module carries out image processing on reconnaissance photographs and realizes coordinate transition and image splicing for dimension marks of spot picture drafting. The spot picture drafting module completes and prints a traffic accident spot picture drafting, according to a mode of combining graph database call and dimension marks. The accident case management module carries out classification management on reconnaissance photographs, spot picture and relevant information, in a case form. According to the invention, pretreatment on a traffic accident spot is not required; an integrated operation of the equipment is easy; measurement precision is high; and only one person is needed to complete all operations in a traffic accident spot reconnaissance vehicle.
Description
Technical field
The photogrammetric field of the scene of a traffic accident that is based on the binocular vision principle that the present invention relates to a kind ofly utilizes the photogrammetric equipment of no scale that the scene of a traffic accident is taken and utilizes corresponding Software tool comparison film to carry out the evidence-obtaining system of reconnoitring that algorithm process calculates each element coordinate of the scene of a traffic accident and draws traffic accident scene diagram thereby especially relate to.
Background technology
Site survey of traffic accident is identified by traffic hazard and reproduction is analyzed most important.Domestic and international most of site survey of traffic accident is based on classic methods such as experience judgement, tape measuring, artificial drawing at present, problems such as easy generation information omission and misjudgment, in case reconnoitre end, the scene is promptly removed, if above problem takes place, can't carry out second extraction to field data.On the other hand, along with the growth of the Freeway Development and the magnitude of traffic flow, traditional exploration method also exists the low problem of blocking up that forms easily of work efficiency.Therefore, traditional site survey of traffic accident method can't effectively satisfy the actual needs that the current scene of a traffic accident is reconnoitred processing fast.
The photogrammetric binocular vision principle that is based on, the grey scale signal of image is converted to digital signal by coupling device (CCD), and methods such as application image processing, pattern-recognition, artificial intelligence and computer vision are obtained a special kind of skill of reference object relevant information.Investigation retrieval to the prior art document is found, at present domestic still do not have in the vehicular of usefulness do not have photogrammetric quick investigation system product of the scale scene of a traffic accident and pertinent literature, the site survey of traffic accident personnel can't realize in the site survey of traffic accident car that the photography of the scene of a traffic accident reconnoitres evidence obtaining and information acquisition processing.
Summary of the invention
The present invention is intended to solve at least one of above-mentioned technological deficiency.For this reason, the objective of the invention is to propose a kind of vehicular and do not have the quick investigation system of the scale scene of a traffic accident, in conjunction with the actual demand of site survey of traffic accident,, scene of a traffic accident information acquisition, image mosaic, scene photo drafting and traffic hazard data information management support for providing omnidistance.The present invention need not the scene of a traffic accident is carried out pre-service (put and demarcate thing or mark etc.), only need a people in the site survey of traffic accident car, can finish whole operations, simplify the site survey of traffic accident program, shorten the mapping time, for vehicle supervision department provides the work facility; On the other hand, application image splicing of the present invention is realized the multi-view image splicing of the large scene scene of a traffic accident, has strengthened the adaptability of quick investigation system for the complicated and diversified scene of a traffic accident.
For this reason, the present invention proposes a kind of vehicular based on binocular vision does not have the quick investigation system of the scale scene of a traffic accident, comprises vehicular site inspection equipment and information handling system two parts, as shown in Figure 1.Wherein, vehicular site inspection equipment need not that the scene of a traffic accident is carried out the photography that pre-service can realize the scene of a traffic accident and reconnoitres and information acquisition, will reconnoitre photo and be directed into information handling system and be used for photogrammetric and scene photo is drawn; Information handling system comprises image processing module, scene photo drafting module and accident case administration module; Image processing module, the photo of reconnoitring that vehicular site inspection equipment is taken carries out Flame Image Process, realizes coordinate conversion and image mosaic according to the calibrating parameters of vehicular site inspection equipment, generates convert file, is used for the size marking that scene photo is drawn; The scene photo drafting module according to the concrete condition of traffic hazard, calls the mode that combines with size marking by the picture library symbol, and the drafting of finishing scene photo generates prints; Accident case administration module receives the photo of vehicular site inspection equipment shooting and the scene photo that the scene photo drafting module generates, and these information are carried out Classification Management with the form of case, as shown in Figure 2.
Vehicular site inspection equipment comprises four function sub-modules: taking module, display module, control module and supplementary module.Taking module comprises two non-measurement industrial cameras, through behind the experimental calibration of internal and external parameter, two non-measurement industrial cameras are under the mode of operation of synchronous triggering, and the group of photos of shooting is to the measurement of the three-dimensional reconstruction, distance between two points and the distance between beeline and dot that are used for spatial point and straight line in described information handling system and the splicing of image coordinate system; Display module is integrated with the form and the vehicle-mounted industrial computer of user function software, is connected with two industrial cameras by switch, realizes the centralized displaying in the industrial camera shooting visual field; Control module comprises user function software and soft hardware equipment such as elevating lever and The Cloud Terrace, can realize the shooting direction control and the synchronous triggering of two industrial cameras, thereby effectively guarantees the physics realization of the pre-calibration principle of vehicular site inspection equipment binocular vision; Supplementary module comprises switch, industrial camera protective cover and vehicle-mounted bracket.
Image processing module comprises eight function sub-modules: three-dimensional reconstruction module, distance between beeline and dot measurement module, image coordinate system concatenation module and the data interface module of camera internal and external parameter initialization module, camera lens distortion correction module, spatial point three-dimensional reconstruction module, distance between two points measurement module, straight line.Camera internal and external parameter initialization module to reconnoitring before photo handles, reads the camera internal and external parameter that obtains by the calibration experiment in advance form with matrix in the memory field, calls for the subsequent images processing procedure; Camera lens distortion correction module is carried out lens distortion calibration by correcting algorithm to the image that reads in, thereby eliminates the measuring error that lens distortion causes in theory; Spatial point three-dimensional reconstruction module, same group take about in two width of cloth images, select the subpoint of space o'clock on two width of cloth images, thereby obtain spatial point respectively about projected pixel coordinate on two width of cloth images, the projective transformation matrix of two width of cloth images about can obtaining respectively according to camera internal and external parameter matrix, and then calculate the world coordinates of spatial point under world coordinate system according to space geometry knowledge; The distance between two points measurement module with the world coordinates that obtains behind two some three-dimensional reconstructions of needs measurement under the world coordinate system, calculates the distance of reconnoitring point-to-point transmission in the photo according to space geometry distance between two points formula; The three-dimensional reconstruction module of straight line, by get space line about any 2 points on the projection straight line in two width of cloth images, two-dimentional straight-line equation in two width of cloth images about acquisition, obtain the projective transformation matrix of two width of cloth images according to camera internal and external parameter matrix, utilize the space geometry knowwhy that straight line is carried out three-dimensional reconstruction, obtain the straight-line equation under the world coordinate system; The distance between beeline and dot measurement module, about select any 2 points on the projection straight line in two width of cloth images, then about select desire to measure in two width of cloth images point, according to the spatial point coordinate behind the three-dimensional reconstruction and straight-line equation calculation level distance to straight line; The image coordinate system concatenation module, with the image transitions obtained under the scene of a traffic accident different angles under the same coordinate system, thereby realize the unification of live element coordinate information; Data interface module, on-the-spot coordinate information, distance between two points information, distance between beeline and dot information that information handling system is obtained write in the specific file, finish the data-interface work with the scene photo drafting module.
The scene photo drafting module runs on the Windows operating system of Microsoft, with the spatial data that image processing module obtains the symbol of drawing is accurately located, formation meets the traffic accident scene diagram of national regulation, and realizes the preservation and the printout of scene photo.The scene photo drafting module comprises six function sub-modules: case information module, symbol administration module, graphical interaction module, spatial data import module, scene photo print module and notes generation module.The case information module is filled up to related content on the scene photo of output automatically, and the case information of filling in comprises: accident spot, time of casualty, weather, pavement properties, surveyors name, draughtsman's name, case brief description and drawing time; The symbol administration module loads the scene of a traffic accident symbol of element and make up, and selects the interface for the traffic police provides; The graphical interaction module realizes that traffic police and scene photo drafting module carry out the mutual of symbol manipulation, comprise symbol selection, move, rotation and zoom function, for the user of software provides interactive interface; Spatial data imports module, for the scene of a traffic accident symbol of element that needs are accurately located, starts image processing module and finishes relevant measurement and location, imports corresponding locator data information, the accurate location of finishing the symbol of element; The scene photo print module, the scene photo that is used for completing prints output, and carries out picture frame setting and case information output according to code requirement; The notes generation module according to the traffic element of current drafting, carries out code name automatically to element and distributes, and form descriptive matter in which there, and filling in of actual conditions is carried out in the formation space.
Accident case administration module receives the photo of vehicular site inspection equipment shooting and the scene photo that the scene photo drafting module generates, and, classify according to accident collision form, accident vehicle type, time of casualty, these features of incident highway section and to preserve management the form of these information with case.Accident case administration module by the authority setting of software and hardware form, is opened search and query function to traffic hazard processing that possesses corresponding authority and analyst according to the management and the research needs of traffic hazard case.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 vehicular does not have the quick investigation system functional module structure of scale scene of a traffic accident figure;
Fig. 2 vehicular does not have the quick investigation system workflow diagram of the scale scene of a traffic accident;
Fig. 3 vehicular site inspection equipment work process flow diagram;
Fig. 4 image processing module workflow diagram;
Fig. 5 scene photo drafting module workflow diagram.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Below by the embodiment that is described with reference to the drawings is exemplary, only is used to explain the present invention, and can not be interpreted as limitation of the present invention.
There is not the quick investigation system of the scale scene of a traffic accident below with reference to the accompanying drawing description according to the vehicular based on binocular vision of the embodiment of the invention.
Do not have the quick investigation system of the scale scene of a traffic accident based on the vehicular of binocular vision according to an embodiment of the invention and comprise vehicular site inspection equipment and information handling system two parts, wherein information handling system comprises image processing module, scene photo drafting module and accident case administration module again, wherein:
Vehicular site inspection equipment collection industrial camera, externally connected with display screen and control device are one, reconnoitre the visual field by the externally connected with display screen centralized displaying, by two industrial cameras of control device synchronous triggering, realize that the photography of the scene of a traffic accident is reconnoitred and information acquisition;
The image processing module of information handling system carries out Flame Image Process according to the calibrating parameters of vehicular site inspection equipment to reconnoitring photo, realizes coordinate conversion and image mosaic, generates convert file, is used for the size marking that scene photo is drawn;
The scene photo drafting module of information handling system according to the concrete condition of traffic hazard, calls the mode that combines with size marking by the picture library symbol, and the drafting of finishing scene photo generates prints;
The accident case administration module of information handling system receives the photo of vehicular site inspection equipment shooting and the accident relevant informations such as scene photo that the scene photo drafting module generates, and these information are carried out Classification Management with the form of case.
Vehicular site inspection equipment is the core technology that vehicular does not have the quick investigation system of the scale scene of a traffic accident, collection industrial camera, vehicle-mounted industrial computer and control device are one, highly integrated easy and simple to handle, only need a people in the site survey of traffic accident car, can finish whole operations, as shown in Figure 3.Vehicular site inspection equipment is connected with two industrial cameras by switch, and the form by the user function software realizes that two industrial cameras reconnoitre the centralized displaying and the synchronous triggering in the visual field, finishes the information acquisition of the scene of a traffic accident and reconnoitres evidence obtaining.Compare with the photogrammetric equipment of reconnoitring of the existing scene of a traffic accident, this equipment is directly taken and is reconnoitred, need not to put the function design and the working method of demarcating thing or mark in the scene of a traffic accident, help to improve site survey of traffic accident efficient, simplify workflow, thereby further slow down owing to reconnoitre the traffic congestion that need seal off the area and cause, effectively discongest the principal contradiction in the present site survey of traffic accident work, only need a people in the site survey of traffic accident car, can finish whole operations, greatly improved site survey of traffic accident personnel's condition of work.Vehicular site inspection equipment is by two industrial cameras of user function software synchronous triggering, not only effectively simplified the workflow of site survey of traffic accident evidence obtaining, greatly reduced the technical requirement of user interface to the site inspection personnel, and avoided because maloperation causes the possibility of reconnoitring the evidence obtaining error, on the other hand, the synchronous triggering pattern of user function software can also effectively guarantee the physics realization of the pre-calibration principle of vehicular site inspection equipment binocular vision, and promptly the synchronous triggering shoot function has guaranteed the validity of two industrial camera calibrating external parameters.Be integrated in user function software on the vehicle-mounted industrial computer and realized that two industrial cameras reconnoitre the centralized displaying in the visual field, help the site inspection personnel to grasp the shooting situation of two industrial cameras (at a distance of about 120cm) easily, the exploration that has effectively guaranteed the binocular vision principle realizes, promptly two industrial cameras coincidence scope of reconnoitring the visual field shows.
Vehicular site inspection equipment comprises four function sub-modules: taking module, display module, control module and supplementary module.
Taking module comprises two non-measurement industrial cameras, valid pixel 1,000 ten thousand, highest resolution 3648 * 2736,1 Zoom Lens.Through behind the experimental calibration of internal and external parameter, two non-measurement industrial cameras are under the mode of operation of synchronous triggering, and the group of photos of shooting is measured and the image coordinate system splicing three-dimensional reconstruction, distance between two points and the distance between beeline and dot of the spatial point that can be used for image processing module and straight line.
Display module is integrated with the form and the vehicle-mounted industrial computer of user function software, is connected with two industrial cameras by switch, realizes the centralized displaying in the industrial camera shooting visual field.
Control module comprises user function software, elevating lever and The Cloud Terrace, can realize the shooting direction control and the synchronous triggering of two industrial cameras, thereby effectively guarantees the physics realization of the pre-calibration principle of vehicular site inspection equipment binocular vision.
Supplementary module comprises switch, industrial camera protective cover and vehicle-mounted bracket, functions such as the physical positioning of realization vehicular site inspection equipment, data interaction, power supply.
The workflow of respective figure 3, the using method of vehicular site inspection equipment is as follows:
1. start the vehicular scene of a traffic accident on the vehicle-mounted industrial computer and reconnoitre the user function software of equipment fast.
2. click " opening camera ", image formats stored and path are set according to reconnoitring needs.
3. observe the shooting picture of user function software,, adjust lift height, pitching and the gyrobearing that the vehicular scene of a traffic accident is reconnoitred equipment fast by elevating lever and tripod head controlling device according to reconnoitring needs.
4. click " candid photograph photo ", carry out the photography of the scene of a traffic accident and reconnoitre the evidence obtaining operation.
5. close the user function software, recover original height and the orientation that the vehicular scene of a traffic accident is reconnoitred equipment fast by elevating lever and tripod head controlling device.
The image processing module of information handling system, photogrammetric software according to independent development, reconnoitre photo and carry out Flame Image Process for some groups by vehicular site inspection equipment is obtained, according to the industrial camera internal and external parameter that obtains by calibration experiment in advance, utilize the binocular vision theory that spatial point, space line are carried out three-dimensional reconstruction, and then can measure the information such as distance that each group is reconnoitred the distance of point-to-point transmission in the photo, put straight line of obtaining, as shown in Figure 4.
Image processing module comprises eight function sub-modules: three-dimensional reconstruction module, distance between beeline and dot measurement module, image coordinate system concatenation module and the data interface module of camera internal and external parameter initialization module, camera lens distortion correction module, spatial point three-dimensional reconstruction module, distance between two points measurement module, straight line.
Camera internal and external parameter initialization module to reconnoitring before photo handles, reads the camera internal and external parameter that obtains by the calibration experiment in advance form with matrix in the memory field, calls for the subsequent images processing procedure.
Camera lens distortion correction module is carried out lens distortion calibration by correcting algorithm to the image that reads in, thereby eliminates the measuring error that lens distortion causes in theory.
Spatial point three-dimensional reconstruction module, same group take about in two width of cloth images, select the subpoint of space o'clock on two width of cloth images, thereby obtain spatial point respectively about projected pixel coordinate on two width of cloth images, the projective transformation matrix of two width of cloth images about can obtaining respectively according to camera internal and external parameter matrix, and then can calculate the world coordinates of spatial point under world coordinate system according to space geometry knowledge.
The distance between two points measurement module, the world coordinates under the world coordinate system that obtains behind two some three-dimensional reconstructions with the needs measurement calculates the distance of reconnoitring point-to-point transmission in the photo according to space geometry distance between two points formula.
The three-dimensional reconstruction module of straight line, by get space line about any 2 points on the projection straight line in two width of cloth images, two-dimentional straight-line equation in two width of cloth images about acquisition, can obtain the projective transformation matrix of two width of cloth images according to camera internal and external parameter matrix, utilize the space geometry knowwhy to carry out three-dimensional reconstruction, obtain the straight-line equation under the world coordinate system straight line.
The distance between beeline and dot measurement module, about select straight line (can describe this straight line at any 2 on straight line) in two width of cloth images, then about select desire to measure in two width of cloth images point, the spatial point coordinate behind the three-dimensional reconstruction is:
P(x
0，y
0，z
0)
Straight-line equation behind the three-dimensional reconstruction is:
The distance of then putting straight line is:
Wherein
The workflow of respective figure 4, the using method of distance between two points measurement module and distance between beeline and dot measurement module is as follows:
1. double-click the icon of image processing module, enter user interface.
2. click " opening 2 width of cloth images " button, eject and select the image dialog box, double-click earlier and select the LOOK LEFT image, double-click then and select the LOOK RIGHT image, can in user interface, check same group of right visual angle, left and right sides image.
3. click " measuring 2 distances " button, with in the view of the left and right sides 2 drag to respectively on two points will measuring, can demonstrate the distance of measured point-to-point transmission in real time.During selected element, can use mouse roller that the point of selecting is carried out part and amplify accurately location, back, avoid occurring a little being forbidden the measuring error that causes owing to getting.
4. measure the distance that the scene of a traffic accident is put straight line if desired, click " measurement point is to the distance of line " button, select the point and the straight line of required measurement in the view of the left and right sides, can demonstrate the distance of measured point in real time to straight line.When selected element and straight line, can use mouse roller that the point of selecting is carried out part and amplify accurately location, back, avoid occurring a little being forbidden the measuring error that causes owing to getting.
The workflow of respective figure 4, the image coordinate system concatenation module, with the image transitions obtained under the scene of a traffic accident different angles under the same coordinate system, thereby realize the unification of live element coordinate information, idiographic flow is as follows:
1. at first select one group comprise reference point and datum line information about two images as benchmark image (father figure), selection reference point and datum line are determined earth axes, utilize the coordinate system transformation principle that the coordinate and the straight-line equation of following of camera coordinates system are transformed into by under reference point and the determined earth axes of datum line then, note corresponding rotation matrix and translation vector.
2. choose another group image (subgraph) and carry out the coordinate system splicing, require selected image and benchmark image to comprise the zone, road of overlapping, so that can utilize overlay information to carry out the coordinate system splicing with benchmark image (father figure).Utilize non-coplanar 4 points in space of overlapping region, calculate transition matrix and translation vector between subgraph and the father figure, and then calculate rotation matrix and the translation vector of this subgraph with respect to earth axes, note the rotation matrix and the translation vector of this picture group sheet correspondence.
3. repeat 2 steps, comprised the required full detail of site survey of traffic accident up to spliced image.
4. utilize through spliced image the coordinate of scene of a traffic accident coherent element under earth axes in the computed image.
Data interface module, scene of a traffic accident coordinate information, distance between two points information, distance between beeline and dot information that image processing module is obtained write in the specific file, finish the data-interface work with the scene photo drafting module, for the information of scene photo drafting module is obtained the approach that facilitates fast.
The scene photo drafting module of information handling system is to be applied to the computer drawing software system that traffic accident scene diagram is drawn, run on the Windows operating system of Microsoft, with the spatial data that image processing module obtains the symbol of drawing is accurately located, formation meets the traffic accident scene diagram of national regulation, and realizes the preservation and the printout of scene photo.
The scene photo drafting module comprises six function sub-modules: case information module, symbol administration module, graphical interaction module, spatial data import module, scene photo print module and notes generation module, and corresponding workflow as shown in Figure 5.
The case information module, related content will be filled up on the scene photo of output automatically, and the case information of filling in comprises accident spot, time of casualty, weather, pavement properties, surveyors name, draughtsman's name, case brief description and drawing time etc.
The symbol administration module loads the scene of a traffic accident symbol of element of system and make up, and selects the interface for the traffic police provides.
The graphical interaction module realizes that traffic police and scene photo drafting module carry out the mutual of symbol manipulation, comprise symbol selection, move, rotation and zoom function, for the user of software provides interactive interface.
Spatial data imports module, for the scene of a traffic accident symbol of element that needs are accurately located, starts image processing module and finishes relevant measurement and location, imports the accurate location that corresponding locator data information is finished the symbol of element.
The scene photo print module, the scene photo that is used for completing prints output, and carries out picture frame setting and case information output according to code requirement.
The notes generation module according to the traffic element of current drafting, carries out code name automatically to element and distributes, and form descriptive matter in which there, and filling in of actual conditions is carried out in the formation space.
The accident case administration module of information handling system, receive the photo of vehicular site inspection equipment shooting and the accident relevant informations such as scene photo that the scene photo drafting module generates, and, classify according to features such as accident collision form, accident vehicle type, time of casualty, incident highway sections and to preserve management the form of these information with case.This module can by the authority setting of software and hardware form, be opened search and query function to traffic hazard processing that possesses corresponding authority and analyst according to the management and the research needs of traffic hazard case.
In the description of this instructions, concrete feature, structure, material or characteristics that the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example description are contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete feature, structure, material or the characteristics of description can be with the suitable manner combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple variation, modification, replacement and modification to these embodiment under the situation that does not break away from principle of the present invention and aim, scope of the present invention is limited by claim and equivalent thereof.
Claims (6)
1. the vehicular based on binocular vision does not have the quick investigation system of the scale scene of a traffic accident, it is characterized in that, comprises vehicular site inspection equipment and information handling system two parts, wherein:
Described vehicular site inspection equipment need not that the scene of a traffic accident is carried out the photography that pre-service can realize the scene of a traffic accident and reconnoitres and information acquisition;
Described information handling system comprises image processing module, scene photo drafting module and accident case administration module;
Described image processing module carries out Flame Image Process according to the calibrating parameters of vehicular site inspection equipment to reconnoitring photo, realizes coordinate conversion and image mosaic, generates convert file, is used for the size marking that scene photo is drawn;
Described scene photo drafting module according to the concrete condition of traffic hazard, calls the mode that combines with size marking by the picture library symbol, and the drafting of finishing traffic accident scene diagram generates prints;
Described accident case administration module receives the photo of vehicular site inspection equipment shooting and the scene photo that the scene photo drafting module generates, and these information are carried out Classification Management with the form of case.
2. the vehicular based on binocular vision according to claim 1 does not have the quick investigation system of the scale scene of a traffic accident, it is characterized in that, described vehicular site inspection equipment comprises four function sub-modules: taking module, display module, control module and supplementary module, wherein:
Described taking module comprises two non-measurement industrial cameras, through behind the experimental calibration of internal and external parameter, two non-measurement industrial cameras are under the mode of operation of synchronous triggering, and the group of photos of shooting is to the measurement of the three-dimensional reconstruction, distance between two points and the distance between beeline and dot that are used for spatial point and straight line in described information handling system and the splicing of image coordinate system;
Described display module is integrated with the form and the vehicle-mounted industrial computer of user function software, is connected with two industrial cameras by switch, realizes the centralized displaying in the industrial camera shooting visual field;
Described control module comprises user function software, elevating lever and The Cloud Terrace, can realize the shooting direction control and the synchronous triggering of two industrial cameras, thereby effectively guarantees the physics realization of the pre-calibration principle of vehicular site inspection equipment binocular vision;
Described supplementary module comprises switch, industrial camera protective cover and vehicle-mounted bracket.
3. the vehicular based on binocular vision according to claim 1 does not have the quick investigation system of the scale scene of a traffic accident, it is characterized in that, described image processing module comprises eight function sub-modules: three-dimensional reconstruction module, distance between beeline and dot measurement module, image coordinate system concatenation module and the data interface module of camera internal and external parameter initialization module, camera lens distortion correction module, spatial point three-dimensional reconstruction module, distance between two points measurement module, straight line, wherein:
Described camera internal and external parameter initialization module to reconnoitring before photo handles, reads the camera internal and external parameter that obtains by the calibration experiment in advance form with matrix in the memory field, calls for the subsequent images processing procedure;
Described camera lens distortion correction module is carried out lens distortion calibration by correcting algorithm to the image that reads in, thereby eliminates the measuring error that lens distortion causes in theory;
Described spatial point three-dimensional reconstruction module, same group take about in two width of cloth images, select the subpoint of space o'clock on two width of cloth images, thereby obtain spatial point respectively about projected pixel coordinate on two width of cloth images, the projective transformation matrix of two width of cloth images about can obtaining respectively according to camera internal and external parameter matrix, and then calculate the world coordinates of spatial point under world coordinate system according to space geometry knowledge;
Described distance between two points measurement module with the world coordinates that obtains behind two some three-dimensional reconstructions of needs measurement under the world coordinate system, calculates the distance of reconnoitring point-to-point transmission in the photo according to space geometry distance between two points formula;
The three-dimensional reconstruction module of described straight line, by get space line about any 2 points on the projection straight line in two width of cloth images, two-dimentional straight-line equation in two width of cloth images about acquisition, obtain the projective transformation matrix of two width of cloth images according to camera internal and external parameter matrix, utilize the space geometry knowwhy that straight line is carried out three-dimensional reconstruction, obtain the straight-line equation under the world coordinate system;
Described distance between beeline and dot measurement module, about select any 2 points on the projection straight line in two width of cloth images, then about select desire to measure in two width of cloth images point, according to the spatial point coordinate behind the three-dimensional reconstruction and straight-line equation calculation level distance to straight line;
Described image coordinate system concatenation module arrives the image transitions of obtaining under the scene of a traffic accident different angles under the same coordinate, thereby realizes the unification of live element coordinate information;
Described data interface module, on-the-spot coordinate information, distance between two points information, distance between beeline and dot information that described information handling system is obtained write in the specific file, finish the data-interface work with described scene photo drafting module.
4. the vehicular based on binocular vision according to claim 1 does not have the quick investigation system of the scale scene of a traffic accident, it is characterized in that, described scene photo drafting module runs on the Windows operating system of Microsoft, with the spatial data that image processing module obtains the symbol of drawing is accurately located, formation meets the traffic accident scene diagram of national regulation, and realizes the preservation and the printout of scene photo.
5. the vehicular based on binocular vision according to claim 1 does not have the quick investigation system of the scale scene of a traffic accident, it is characterized in that, described scene photo drafting module comprises six function sub-modules: case information module, symbol administration module, graphical interaction module, spatial data import module, scene photo print module and notes generation module, wherein:
Described case information module is filled up to related content on the scene photo of output automatically, and the case information of filling in comprises accident spot, time of casualty, weather, pavement properties, surveyors name, draughtsman's name, case brief description and drawing time;
Described symbol administration module loads the scene of a traffic accident symbol of element and make up, and selects the interface for the traffic police provides;
Described graphical interaction module realizes that traffic police and described scene photo drafting module carry out the mutual of symbol manipulation, comprise symbol selection, move, rotation and zoom function, for the user of software provides interactive interface;
Described spatial data imports module, and the scene of a traffic accident symbol of element for needs are accurately located starts described image processing module and finishes relevant measurement and location, imports corresponding locator data information, the accurate location of finishing the symbol of element;
Described scene photo print module, the scene photo that is used for completing prints output, and carries out picture frame setting and case information output according to code requirement;
Described notes generation module according to the traffic element of current drafting, carries out code name automatically to element and distributes, and form descriptive matter in which there, and filling in of actual conditions is carried out in the formation space.
6. the vehicular based on binocular vision according to claim 1 does not have the quick investigation system of the scale scene of a traffic accident, it is characterized in that, described accident case administration module receives the photo of vehicular site inspection equipment shooting and the scene photo that the scene photo drafting module generates, and, classify according to accident collision form, accident vehicle type, time of casualty, these features of incident highway section and to preserve management the form of these information with case.Described accident case administration module by the authority setting of software and hardware form, is opened search and query function to traffic hazard processing that possesses corresponding authority and analyst according to the management and the research needs of traffic hazard case.
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| CN103400498A (en) * | 2013-08-14 | 2013-11-20 | 中国人民解放军第三军医大学第三附属医院 | Accident spot map generation method based on electronic map and data acquisition system |
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| CN105314122A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Unmanned aerial vehicle for emergency commanding and lane occupation evidence taking |
| CN106152946A (en) * | 2015-03-31 | 2016-11-23 | 酷派软件技术（深圳）有限公司 | A kind of method of Measuring Object length and terminal |
| CN109814721A (en) * | 2019-02-19 | 2019-05-28 | 湖北警官学院 | The scene of a traffic accident based on VR technology disposes learning training system and method |
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| CN104598509A (en) * | 2013-09-24 | 2015-05-06 | 彩滋公司 | automated imaging of customizable products |
| CN104598509B (en) * | 2013-09-24 | 2018-02-09 | 彩滋公司 | The automated imaging of customizable products |
| CN106152946A (en) * | 2015-03-31 | 2016-11-23 | 酷派软件技术（深圳）有限公司 | A kind of method of Measuring Object length and terminal |
| CN106152946B (en) * | 2015-03-31 | 2019-08-02 | 酷派软件技术（深圳）有限公司 | A kind of method and terminal measuring object length |
| CN105314122A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Unmanned aerial vehicle for emergency commanding and lane occupation evidence taking |
| CN109814721A (en) * | 2019-02-19 | 2019-05-28 | 湖北警官学院 | The scene of a traffic accident based on VR technology disposes learning training system and method |
| CN111062990A (en) * | 2019-12-13 | 2020-04-24 | 哈尔滨工程大学 | Binocular vision positioning method for underwater robot target grabbing |
| CN111062990B (en) * | 2019-12-13 | 2023-06-02 | 哈尔滨工程大学 | Binocular vision positioning method for underwater robot target grabbing |
| CN115049822A (en) * | 2022-05-26 | 2022-09-13 | 中国科学院半导体研究所 | Three-dimensional imaging method and device |
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