CN102980562B - System and method for scene of traffic accident image processing - Google Patents
System and method for scene of traffic accident image processing Download PDFInfo
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- CN102980562B CN102980562B CN201210461033.7A CN201210461033A CN102980562B CN 102980562 B CN102980562 B CN 102980562B CN 201210461033 A CN201210461033 A CN 201210461033A CN 102980562 B CN102980562 B CN 102980562B
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- 206010039203 Road traffic accident Diseases 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title abstract description 25
- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000003672 processing method Methods 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 9
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Abstract
The invention provides a system and method for scene of a traffic accident image processing. A scene of a traffic accident image processing system comprises an imaging device and an image processing device, wherein the image processing device and the imaging device have data transmission path. The image processing device comprises the following steps: obtaining the relationship between the coordinate system in the image and the world coordinate system; obtaining the coordinate in the world coordinate system of the point S waiting to be measured in the image; obtaining the expression of the datum line in the world coordinate system in the image; selecting a plurality of subpoints in the datum line in the image and when the straight line formed by one of the subpoints and point S is perpendicular to the datum line in the world coordinate system, then recording the selected subpoint T; identifying the line between S and T in the image. The system and method for scene of the traffic accident image processing is applied to the traffic accident site disposal and can improve efficiency and precision.
Description
Technical field
The present invention relates to a kind of image processing techniques, particularly utilize the technology that image is measured image Scene.
Background technology
In traffic accident survey processes, a critical step measures the scene of a traffic accident, such as, measure the data such as position, direction of accident vehicle.To the understanding of accident generating process and the confirmation of responsibility of accident, there is important function by measuring the critical data obtained.
Generally need to carry out temporary transient closing to scene, to retain on-the-spot reset condition as far as possible to the measurement of correlation of the scene of a traffic accident.This in-site measurement Problems existing is: close the on-the-spot public vehicles that affect and pass through, thus cause secondary to block up; Because Measuring Time is longer, easily produce the reset condition that unexpected influence factor destorys the scene in this course, make to be difficult to realize the accurate identification to the accident fact.For this reason, people introduce image measurement technology.Image measurement technology in the application mode of scene of a traffic accident process is: quick obtaining image scene at the scene, comprise the scale of known geometric data in image, the coordinate system obtained like this on image just can set up relation by scale and on-the-spot world coordinate system.After the image obtaining q.s, just can recover to be open to traffic, relevant in-site measurement can by realizing the image scene measurement obtained.The data obtained after measuring image scene can form traffic accident situ map (hereinafter referred to as scene photo), to record on-the-spot critical data.Traffic accident treatment professional analyzes traffic accident according to scene photo.
The scene of a traffic accident process of above-mentioned introducing image measurement technology can improve in-situ processing efficiency, reduces the traffic impact to public vehicles.But from the angle of traffic accident treatment professional, the information embodied with the traffic accident situ map that special symbol is drawn is more abstract, cannot express details factors in the scene of a traffic accident in detail further.If can identify critical data and boost line in image at the scene, the wheel of such as accident vehicle to the roadside vertical line as datum line, then, except the data measured, can also take into account other on-the-spot key elements to traffic accident identification simultaneously.But this demand faces a problem: by calculating the elements such as world coordinate system next one point or line to the data in image, return in image process at inverse, due to reasons such as lens distortions, inverse algorithm exists comparatively big error.Element under world coordinate system does not correctly identify out by inverse algorithm in the picture.To the vertical line in roadside, this problem is described for wheel: by the calculating to scene of traffic accident image, world coordinate system can be obtained get off and take turns to the vertical line in roadside, but when this vertical line inverse is returned image coordinate system, vertical line there will be problem that can not be crossing with roadside (datum line), or intersected, but the point that hangs down has deviation.Such result can make traffic accident treatment professional occur severe deviations to accident diagnoses.
Summary of the invention
In order to solve the problem that the element under world coordinate system correctly can not be identified in the picture in prior art, the invention provides a kind of scene of traffic accident image treatment system and method.
Technical scheme of the present invention is as follows:
Scene of traffic accident image treatment system, comprises imaging device and has the image processing apparatus of data transmission path with described imaging device, and described imaging device generates scene of traffic accident image; Put the scale of known geometric data in the described scene of a traffic accident, described scale occurs in described image;
Described image processing apparatus performs following steps:
A, with described scale for intermediary, obtain the relation between coordinate system and world coordinate system in described image;
B, obtain the coordinate of some S under world coordinate system to be measured in described image;
C, obtain the expression formula of datum line under world coordinate system in described image;
D, on datum line described in described image, select some subpoints, when judging that under world coordinate system one of described subpoint and the straight line that S is formed are vertical with described datum line, then this subpoint is recorded as T;
E, in described image, identify the line of S and T.
Preferably, judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straightway with one of described subpoint respectively, the subpoint that wherein the shortest straightway is corresponding is T.
Preferably, judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straight line or straightway with one of described subpoint respectively, calculate the angle of described straight line or straightway and described datum line, when described angle is right angle, then this straight line or described subpoint corresponding to straightway are T.
Preferably, on described datum line, in step D, select the step of some subpoints to comprise: to be pivot through the straight line of S with S, and rotate with predetermined progress, described straight line formation crossing with described datum line crosspoint when rotating to a position; Described crosspoint is described subpoint.
Preferably, judge that the step of described straight line or straightway and described datum line angle comprises: the trigonometric function value calculating described straight line or straightway and described datum line angle, when the difference of the described trigonometric function value the obtained trigonometric function value corresponding to right angle is in accuracy rating, then think that this angle is right angle.
Preferably, step e also comprises: the length value identifying the line of S and T in described image.
Scene of traffic accident image processing method, puts the scale of known geometric data in the described scene of a traffic accident, described scale occurs in described image; Also comprise the steps:
A, with described scale for intermediary, obtain the relation between coordinate system and world coordinate system in described image;
B, obtain the coordinate of some S under world coordinate system to be measured in described image;
C, obtain the expression formula of datum line under world coordinate system in described image;
D, on datum line described in described image, select some subpoints, when judging that under world coordinate system one of described subpoint and the straight line that S is formed are vertical with described datum line, then this subpoint is recorded as T;
E, in described image, identify the line of S and T.
Preferably, in described scene of traffic accident image processing method, judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straightway with one of described subpoint respectively, the subpoint that wherein the shortest straightway is corresponding is T.
Preferably, in described scene of traffic accident image processing method, judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straight line or straightway with one of described subpoint respectively, calculate the angle of described straight line or straightway and described datum line, when described angle is right angle, then this straight line or described subpoint corresponding to straightway are T.
Preferably, in described scene of traffic accident image processing method, on described datum line, the step of some subpoints is selected to comprise in step D: be pivot through the straight line of S with S, and rotate with predetermined progress, described straight line formation crossing with described datum line crosspoint when rotating to a position; Described crosspoint is described subpoint.
Technique effect of the present invention:
Technical scheme of the present invention, by datum line in the picture being selected some subpoints (i.e. the subpoint of S on datum line), next under world coordinate system, judge that whether the line of subpoint and the point to be measured selected is perpendicular to described datum line, if vertical, then on datum line, corresponding point is exactly the subpoint T (forward projection point) sought.Subpoint can be selected with comparalive ease in the picture, in other words can the scope at clear and definite forward projection point place relatively easily.Under actual coordinates, the subpoint selected is verified, thus can forward projection point be determined.Now clear and definite forward projection point position in the picture, therefore can realize making respective identification in the picture smoothly.The present invention can avoid inverse from world coordinate system to return image process, also just avoids the mark on image caused due to inverse algorithm and occurs the problem of deviation achieving object of the present invention.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of scene of traffic accident image treatment system of the present invention.
Fig. 2 is the flow chart that in Fig. 1, image processing apparatus performs step.
Fig. 3 is the flow chart of the example selecting T point.
Fig. 4 is the flow chart of another example selecting T point.
Detailed description of the invention
Main word in the present invention is described.
Image (in) coordinate system, after referring to picked-up on-the-spot formation image, the coordinate system of two dimensional surface in image.
World coordinate system, referring to on-the-spot actual coordinate system, is three-dimensional system of coordinate in essence, but under this application-specific scene of traffic accident treatment, the meaningfully plane coordinate system on road surface.The relation between road surface plane coordinate system and image coordinate system can be obtained, thus realize the conversion between two coordinate systems.
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail.
Fig. 1 display be the composition structure of scene of traffic accident image treatment system of the present invention, the image processing apparatus comprising imaging device and be connected with described imaging device.Imaging device can be the imaging device that digital camera etc. is commonly used, and image processing apparatus can be the computer-processing equipments such as PC, and device has image processing program.Imaging device carries out imaging to the scene of a traffic accident, and the image formed is transferred to image processing apparatus by data transmission path (such as data wire).
Fig. 2 shows the main flow of image processing apparatus process scene of traffic accident image, below describes in detail.
First, the relation in described image between coordinate system and world coordinate system is obtained.If desired reach the object to on-the-spot field survey by the measurement of image, then must opening relationships between image coordinate system and world coordinate system, set up conversion relation in other words, so that the measurement realized in the picture can be converted into on-the-spot real data.The relation obtaining image coordinate system and world coordinate system has multiple existing method, takes a single example be described at this.In the process of imaging at the scene, put the scale of the geometric datas such as known dimensions at the scene, scale also occurs in the picture.Because the geometric data of scale is known, scale therefore can be utilized as intermediary, set up the transformation relation of image coordinate system and world coordinate system.
Second step, obtains the coordinate of some S under world coordinate system to be measured in described image.Usually the point measured can clearly be needed in the picture, such as automotive wheel and ground contact points.And then need to mark the point to be measured vertical line to datum line (such as highway sideline).By this vertical line, traffic accident treatment professional just can carry out crucial judgement to traffic accident.The image of usual utilization routine, to the direct algorithms of reality, can obtain the coordinate of point to be measured under world coordinate system in image.
3rd step, obtains the expression formula of datum line under world coordinate system in described image.The datum line of specifying in the picture, by carrying out normal operation method process to two points on datum line, obtaining the coordinate under world coordinate system, thus can set up the expression formula of the datum lines such as linear equation.
4th step, determines forward projection point.In this step, by rough mode datum line in the picture obtains some candidate points, subpoint T is there is in these candidate points, namely the line of T and S is perpendicular to datum line, T is the orthographic projection of S on datum line in other words, symbol T refers in particular to this point exactly in the present invention, is main calculation results.Obtain the coordinate of these candidate points under world coordinate system, utilize candidate point and S to set up straight line respectively, calculate the angle of this straight line and datum line, when angle is right angle, then this candidate point is the line of T, S and T is the vertical line of datum line.
5th step, identifies the line of S and T in the picture.Determine T point in the 4th step after, corresponding candidate point can be found accordingly in the drawings, identify the line of S and T in the picture, judge intuitively from image to facilitate traffic accident treatment professional.Preferably, under world coordinate system, calculate the distance of S and T, and this distance is marked in the picture.
In the scene of a traffic accident, if the length at scene is comparatively large, and the Limited information that an image holds, the information at the larger scene of length is not comprised by an image.Multiple images can be obtained on this length direction for this reason.Scene of traffic accident image treatment system of the present invention multiple images to above-mentioned acquisition process.Coordinate system due to image all can be set up with world coordinate system and contact, and scene of traffic accident image treatment system of the present invention obtains the common interface point of adjacent two images, and namely this interface point all occurs in adjacent two images.Scene of traffic accident image treatment system so by described common interface point by the coordinate system of adjacent two images connect, the critical data of multiple Image Acquisition connects the most at last.When obtaining field sketch, the critical data in multiple images described can embody a concentrated reflection of in a sketch, is convenient to the foundation that traffic accident treatment professional has an entirety to judge.
Fig. 3 and Fig. 4 further illustrate details for the two kinds of methods how selecting T point.
First also be the point determining roughly some candidates in the method for Fig. 3 display, under world coordinate system, then calculate the length of these candidate points and S line section respectively, the candidate point of wherein the shortest line section correspondence is T.This method make use of a little the shortest to straight line vertical line section principle.Certainly, the application of this method is in order to ensure precision, and the density of candidate point should be reasonable.
Fig. 4 shows the another kind of method selecting T point.
First, be that the center of circle forms a virtual circle in the picture with S.This virtual radius of a circle can be arbitrary dimension.
Secondly, a radius of described imaginary circles is that pivot rotates once with S, and the angle of rotation sets according to the requirement of final result precision.Now this radius is formed or represents vectorial V.
3rd, under world coordinate system, try to achieve trigonometric function (such as cosine) value of angle between vectorial V and datum line in previous step.
4th, judge whether the trigonometric function value (such as cosine value) that " the 3rd " obtains meets to the corresponding trigonometric function value (such as cosine value) at right angle.This needs the absolute value of both calculating difference, and calculates relative error, sees and whether meets required precision.If do not meet required precision, just think the corresponding trigonometric function value not meeting right angle, the line of this point and S is not orthogonal to datum line in other words, then forward second step to and continue to perform (radius continues to rotate once).
5th, if meet required precision, just can think the corresponding trigonometric function value meeting right angle, the crosspoint of vectorial V place straight line and datum line is T.
Method of the present invention then follows the example shown in Fig. 2 to Fig. 4, carries out detailed description above, repeats no more.
It should be noted that and the foregoing is only preferred embodiment of the present invention, not thereby limit scope of patent protection of the present invention, the present invention can also adopt equivalent technologies to replace.Therefore the equivalence change that all utilizations description of the present invention and diagramatic content are done, or directly or indirectly apply to other correlative technology fields and be all in like manner all contained in the scope that the present invention contains.
Claims (10)
1. scene of traffic accident image treatment system, comprises imaging device and has the image processing apparatus of data transmission path with described imaging device, it is characterized in that:
Described imaging device generates scene of traffic accident image; Put the scale of known geometric data in the described scene of a traffic accident, described scale occurs in described image;
Described image processing apparatus performs following steps:
A, with described scale for intermediary, obtain the relation between coordinate system and world coordinate system in described image;
B, obtain the coordinate of some S under world coordinate system to be measured in described image;
C, obtain the expression formula of datum line under world coordinate system in described image;
D, on datum line described in described image, select some subpoints, when judging that under world coordinate system one of described subpoint and the straight line that S is formed are vertical with described datum line, then this subpoint is recorded as T;
E, in described image, identify the line of S and T.
2. scene of traffic accident image treatment system according to claim 1, it is characterized in that: judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straightway with one of described subpoint respectively, the subpoint that wherein the shortest straightway is corresponding is T.
3. scene of traffic accident image treatment system according to claim 1, it is characterized in that: judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straight line or straightway with one of described subpoint respectively, calculate the angle of described straight line or straightway and described datum line, when described angle is right angle, then this straight line or described subpoint corresponding to straightway are T.
4. scene of traffic accident image treatment system according to claim 3, it is characterized in that: on described datum line, in step D, select the step of some subpoints to comprise: be pivot through the straight line of S with S, and rotate with predetermined progress, described straight line formation crossing with described datum line crosspoint when rotating to a position; Described crosspoint is described subpoint.
5. scene of traffic accident image treatment system according to claim 3 or 4, it is characterized in that: judge that the step of described straight line or straightway and described datum line angle comprises: the trigonometric function value calculating described straight line or straightway and described datum line angle, when the difference of the described trigonometric function value the obtained trigonometric function value corresponding to right angle is in accuracy rating, then think that this angle is right angle.
6. scene of traffic accident image treatment system according to claim 5, is characterized in that: step e also comprises: the length value identifying the line of S and T in described image.
7. scene of traffic accident image processing method, is characterized in that: the scale putting known geometric data in the described scene of a traffic accident, and described scale occurs in described image; Also comprise the steps:
A, with described scale for intermediary, obtain the relation between coordinate system and world coordinate system in described image;
B, obtain the coordinate of some S under world coordinate system to be measured in described image;
C, obtain the expression formula of datum line under world coordinate system in described image;
D, on datum line described in described image, select some subpoints, when judging that under world coordinate system one of described subpoint and the straight line that S is formed are vertical with described datum line, then this subpoint is recorded as T;
E, in described image, identify the line of S and T.
8. scene of traffic accident image processing method according to claim 7, it is characterized in that: judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straightway with one of described subpoint respectively, the subpoint that wherein the shortest straightway is corresponding is T.
9. scene of traffic accident image processing method according to claim 7, it is characterized in that: judge in step D that described subpoint and the straight line that S is formed are vertical with described datum line and comprise the steps: that S forms straight line or straightway with one of described subpoint respectively, calculate the angle of described straight line or straightway and described datum line, when described angle is right angle, then this straight line or described subpoint corresponding to straightway are T.
10. scene of traffic accident image processing method according to claim 9, it is characterized in that: on described datum line, in step D, select the step of some subpoints to comprise: be pivot through the straight line of S with S, and rotate with predetermined progress, described straight line formation crossing with described datum line crosspoint when rotating to a position; Described crosspoint is described subpoint.
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| CN103400498B (en) * | 2013-08-14 | 2015-12-09 | 中国人民解放军第三军医大学第三附属医院 | Based on scene of the accident drawing generating method and the generation system of electronic chart and data acquisition system (DAS) |
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| CN1055342C (en) * | 1995-10-10 | 2000-08-09 | 王秀美 | Computer-aided traffic accident site surveying system |
| JPH10267621A (en) * | 1997-03-24 | 1998-10-09 | Komatsu Ltd | Apparatus and method for measurement of height of object |
| JP4102324B2 (en) * | 2004-03-29 | 2008-06-18 | 株式会社トプコン | Surveying data processing system, surveying data processing program, and electronic map display device |
| CN101033966A (en) * | 2007-04-12 | 2007-09-12 | 上海交通大学 | Photography measurement method of scene of a traffic accident |
| CN101319895B (en) * | 2008-07-17 | 2011-08-31 | 上海交通大学 | Hand-hold traffic accident fast on-site coordinate machine |
| CN202057328U (en) * | 2011-04-12 | 2011-11-30 | 清华大学 | Vehicle-mounted scale-free traffic accident scene quick surveying system based on binocular vision |
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