CN103186892B - Aerial Images is utilized to generate the method and system of equal proportion outdoor scene scene photo - Google Patents
Aerial Images is utilized to generate the method and system of equal proportion outdoor scene scene photo Download PDFInfo
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Abstract
The present invention proposes a kind of method and system utilizing Aerial Images to generate outdoor scene scene photo, the method comprises the steps: that structure is taken photo by plane platform; Shooting scene of the accident overhead view image; Geometry correction is carried out to described overhead view image; Coordinate transform is carried out to described overhead view image, by the coordinate system transformation of described overhead view image to equal proportion outdoor scene coordinate system; And extraction mark is carried out to accident factors information.The present invention can utilize the image of taking photo by plane to obtain truly careful two-dimentional equal proportion outdoor scene scene photo by geometry correction and coordinate transform, efficiently and accurately each key element in the reduction scene of the accident.
Description
Technical field
The present invention relates to scene of a traffic accident technology for information acquisition field, be specifically related to a kind of method and system utilizing Aerial Images to generate equal proportion outdoor scene scene photo.
Background technology
The drafting of scene of the accident exploration and scene photo is the first link of Traffic Accident Disposing.Main task comprises measurement and equal proportion drafting, the floor photo etc. of on-the-spot multiple key element.To in the shooting of the scene of a traffic accident, usual employing camera is taken, each photo shot can only reflect the accident conditions on a direction, reducing the scene of the accident needs to utilize situ measurements to carry out manual drawing schematic diagram on coordinate paper, and at present the scene of the accident is measured main dependence and is manually carried out, therefore there is following several respects limitation in manual drawing schematic diagram: (1) efficiency is extremely low, and the measurement drafting time is long, is unfavorable for the fast quick-recovery of the scene of a traffic accident; (2) manual measurement precision is lower, and manual drawing standard differs, the ratio of more difficult assurance car, road, vestige; (3) some key parameters are easily omitted, and cannot make up; (4) secondary checking cannot be carried out to accident scene.If in some disputable accident to part measurement size produce conflict between doubt or measurement size time, cannot secondary checking be carried out.
Summary of the invention
In order to overcome the defect existed in above-mentioned prior art, the object of this invention is to provide a kind of method and system utilizing Aerial Images to generate equal proportion outdoor scene scene photo, the present invention can utilize the image of taking photo by plane to pass through geometry correction, coordinate transform obtains two-dimentional equal proportion outdoor scene scene photo, efficiently and accurately each key element in the reduction scene of the accident.
In order to realize above-mentioned purpose of the present invention, according to a first aspect of the invention, the invention provides a kind of method utilizing Aerial Images to generate equal proportion outdoor scene scene photo, comprise the steps:
S1: construct platform of taking photo by plane;
S2: shooting scene of the accident overhead view image;
S3: geometry correction is carried out to described overhead view image;
S4: carry out coordinate transform to described overhead view image, by the coordinate system transformation of described overhead view image to equal proportion outdoor scene coordinate system.
S5: to utilize known reference distance to mark accident factors information extraction as scale in equal proportion outdoor scene coordinate system.
The method utilizing Aerial Images to generate equal proportion outdoor scene scene photo of the present invention can utilize the image of taking photo by plane to pass through geometry correction, coordinate transform obtains truly careful scene of the accident two dimensional image, full and accurate traffic accident scene diagram is generated again, efficiently and accurately reduction scene of the accident picture through image measurement, mark.Compared with prior art, measurement drafting time of the present invention short, ultrahigh in efficiency, is beneficial to the fast quick-recovery of the scene of a traffic accident; The present invention accurately can mark the position to car, road, vestige, and key parameter is preserved complete, and measuring accuracy is high, and the measuring error that human factor can be avoided to cause and gained scene photo arbitrarily can not be revised by subjectivity; In addition, the present invention can store the image of the scene of the accident, calls when needs, can carry out secondary checking to accident scene.
In the preferred embodiment of the present invention, the step of described geometry correction is:
S31: utilize two-dimensional calibrations plate to demarcate camera, construct image mapping equation, obtain inner parameter and the external parameter of camera, described inner parameter comprises distortion factor;
S32: the numerical value of distortion factor is adjusted to 0, keeps other parameter constant, obtains the inner parameter matrix of new camera;
S33: the inner parameter utilizing camera old substitutes into image mapped equation, solve the imaging plane coordinate that distorted image pixel coordinate is corresponding, recycle described new camera internal parameter and substitute into image mapped equation, bring imaging plane coordinate surface into new image mapped equation, obtain the image pixel coordinates after correcting, then realize color reduction by gray-level interpolation.
In another kind of preferred implementation of the present invention, the described two-dimensional calibrations plate that utilizes is demarcated camera, construct image mapping equation, and the step of the inner parameter and external parameter that obtain camera is:
S311: prepare two-dimensional calibrations plate, described two-dimensional calibrations plate has the pattern with certain area that at least two, radiuses high with background contrasts and ranks spacing are fixed;
S312: utilize camera to be calibrated to take the image containing described scaling board of different angles;
S313: utilize image recognition algorithm search for the pattern in shooting image and locate and extract center-of-mass coordinate;
S314: utilize the two-dimentional actual coordinate of pattern and the described center-of-mass coordinate of extraction on scaling board to set up mapping equation, ask its optimum solution, obtain camera internal parameter and external parameter, described mapping equation is:
P
w＝P
c*R+Τ；
Wherein, R is rotation matrix, and Τ is translation matrix, and described R, Τ are the external parameter of camera; P
wfor world coordinates, with (x
w, y
w, z
w) represent coordinate points in world coordinates, P
cfor it transforms to the coordinate in camera coordinates system, with (x
c, y
c, z
c) represent coordinate points in camera coordinates system; F is focal length, and u, v are desirable imaging plane coordinate; K is distortion factor, and u', v' are actual imaging planimetric coordinates; R is pixel line number, and c is pixel columns, S
x, S
yfor picture centre pixel coordinate, C
x, C
yfor the coordinate of principal point in imaging coordinate system.
The present invention can the distortion of correcting camera shooting image, obtains real scene of the accident picture, reduces scene of the accident picture efficiently and accurately.
In the preferred embodiment of the present invention, the coordinate transformation equation adopted in described step S4 is:
Wherein, a, b, c, d, e, f, u, v are coordinate transformation parameter, when calculating, choose 4 reference points and set up 8 equations, and each reference point all needing to have areal coordinate and corresponding two dimensional image coordinate two-dimensionally.
The present invention obtains truly careful scene of the accident two dimensional image by coordinate transform, then generates full and accurate traffic accident scene diagram through image labeling.
In order to realize above-mentioned purpose of the present invention, according to a second aspect of the invention, the invention provides a kind of system utilizing Aerial Images to generate equal proportion outdoor scene scene photo, comprise can go up to the air mobile device and the camera that carries thereof, the image of the described camera shooting scene of the accident by described image transmitting to processor, described processor to correct image, obtains real accident scene according to method of the present invention.
The system utilizing Aerial Images to generate digitizing scene photo of the present invention can the distorted image of correcting camera machine shooting, obtains real scene of the accident picture, reduces scene of the accident picture efficiently and accurately.
In the preferred embodiment of the present invention, described camera passes through zigbee module by the image transmitting of the scene of the accident to processor.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is that the present invention utilizes Aerial Images to generate the structural representation of the system of equal proportion outdoor scene scene photo;
Fig. 2 is that the present invention utilizes Aerial Images to generate the process flow diagram of the method for equal proportion outdoor scene scene photo.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, unless otherwise prescribed and limit, it should be noted that, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
The invention provides a kind of system utilizing Aerial Images to generate equal proportion outdoor scene scene photo, as shown in Figure 1, it comprises can go up to the air mobile device 2 and the camera 1 that carries thereof, in present embodiment, can go up to the air mobile device 2 can for but be not limited to telecontrolled aircraft.The image of the scene of the accident 3 taken by camera 1 and by image transmitting to processor 4, processor, to correct image, obtains real accident scene.In the present embodiment, camera 1 passes through zigbee module by the image transmitting of the scene of the accident to processor 4, and processor 4 can process the image of camera shooting in real time.The same when needing image pickup method to take with camera with disposal route, the present invention does not repeat at this.
Present invention also offers a kind of method utilizing Aerial Images to generate equal proportion outdoor scene scene photo, as shown in Figure 2, comprise the steps:
The first step: structure is taken photo by plane platform, in the present embodiment, platform of taking photo by plane for can steadily hovering can utilize GPS positioning flight, comprises can go up to the air mobile device 2 and the camera 1 that carries thereof.
Second step: shooting scene of the accident overhead view image, in the present embodiment, can by some fixed scenes of the scene of the accident, such as traffic sign, vehicles etc., as pattern identification plate, in the embodiment be more preferably of the present invention, can be provided with at least 4 pattern identification plates in the scene of the accident, the phase mutual edge distance of this pattern scaling board is known, for videographic measurment scale.In the present embodiment, in pattern identification plate, the shape of pattern is circular.In the present embodiment, the size of the phase mutual edge distance of pattern scaling board is relevant with the precision of coordinate transform, and the phase mutual edge distance of pattern scaling board is larger, and the precision of coordinate transform is higher, and in the present embodiment, the neighbor distance of preferred pattern scaling board is 2 meters.The present invention utilizes pattern identification plate as coordinatometer, carries out coordinate transform, efficiently and accurately to the image of differing heights shooting.
3rd step: geometry correction is carried out to described overhead view image.In the present embodiment, camera adopts wide-angle lens, image radial distortion is comparatively serious, due to will image measurement be carried out, therefore geometry correction to be carried out to the image of distortion, utilize scaling board and calibrating procedure to demarcate aerial camera, and after utilizing the inherent parameter of renewal camera, image mapped equation carry out geometry correction to image.In the present embodiment, the step of geometry correction is:
S31: utilize two-dimensional calibrations plate to demarcate camera, construct image mapping equation, obtain inner parameter and the external parameter of camera, inner parameter comprises distortion factor.In the present embodiment, concrete steps are:
First, prepare two-dimensional calibrations plate, described two-dimensional calibrations plate has the pattern with certain area that at least 9, radiuses high with background contrasts and ranks spacing are fixed, in the preferred embodiment of the present invention, pattern comprises at least 9 circular diagrams separated from one another.
Then, utilizing camera to be calibrated to take the image containing described scaling board of different angles, when taking, ensureing bright and clear, shooting clear patterns.
Again, image recognition algorithm is utilized to search for the pattern in shooting image and locate and extract center-of-mass coordinate.
Finally, the two-dimentional actual coordinate of pattern and the described center-of-mass coordinate of extraction on scaling board is utilized to set up mapping equation, ask its optimum solution, in the present embodiment, least square method is utilized to solve mapping equation, obtain camera internal parameter and external parameter, in the present embodiment, inner parameter comprises focal length, distortion factor, principal point for camera coordinate, picture centre pixel coordinate, picture size in imaging coordinate system; External parameter comprises rotation matrix and the translation matrix of image, thus completes camera calibration, and in the preferred embodiment of the present invention, the mapping equation of employing is:
P
w＝P
c*R+Τ；
Wherein, R is rotation matrix, and Τ is translation matrix, and described R, Τ are the external parameter of camera; P
wfor world coordinates, with (x
w, y
w, z
w) represent coordinate points in world coordinates, P
cfor it transforms to the coordinate in camera coordinates system, with (x
c, y
c, z
c) represent coordinate points in camera coordinates system; F is focal length, and u, v are desirable imaging plane coordinate; K is distortion factor, and u', v' are actual imaging planimetric coordinates; R is pixel line number, and c is pixel columns, S
x, S
yfor picture centre pixel coordinate, C
x, C
yfor the coordinate of principal point in imaging coordinate system.
S32: the numerical value of distortion factor is adjusted to 0, keeps other parameter constant, obtains the inner parameter matrix of new camera;
S33: the inner parameter utilizing camera old substitutes into image mapped equation, solve the imaging plane coordinate that distorted image pixel coordinate is corresponding, recycle described new camera internal parameter and substitute into image mapped equation, bring imaging plane coordinate surface into new image mapped equation, obtain the image pixel coordinates after correcting, then realize color reduction by gray-level interpolation.In the present embodiment, gray-level interpolation method can for but be not limited to nearest neighbor interpolation, namely to get around distortion pixel the gray scale of the nearest adjoint point pixel grey scale of four adjoint point pixel middle distances as this point.
The method utilizing Aerial Images to generate equal proportion outdoor scene scene photo of the present invention can the distortion of correcting camera shooting image, obtains real scene of the accident picture, reduces scene of the accident picture efficiently and accurately.
4th step: carry out coordinate transform to described overhead view image, by the coordinate system transformation of described overhead view image to equal proportion outdoor scene coordinate system.
In the present embodiment, utilize homogeneous coordinate transformation that the overhead view image of shooting is converted into equal proportion outdoor scene coordinate system, this equal proportion outdoor scene coordinate system and ground coordinate are translation relation, the image pixel dimensions of object and physical size direct proportionality on floor.In the present embodiment, the homogeneous coordinate transformation equation of employing is:
Wherein, a, b, c, d, e, f, u, v are coordinate transformation parameter, when calculating, choose 4 reference points and set up 8 equations, and each reference point all needing to have areal coordinate and corresponding two dimensional image coordinate two-dimensionally from described pattern identification plate.In the present embodiment, 4 reference points can be arranged in same pattern identification plate, also can be arranged in different pattern identification plate, preferably adopt in different pattern identification plate, in the embodiment that the present invention is more preferably, in each pattern identification plate, choose a reference point.
In the present embodiment, pixel filling can be adopted the pixel of the image before coordinate transform to be mapped one at a time in the image after getting back to coordinate transform and determine its gray level.If before coordinate transform image pixel-map to image after coordinate transform four pixels between, then its gray-scale value is determined by grey scale interpolation algorithm, preferred employing nearest neighbor interpolation, namely the adjoint point pixel grey scale that around capture vegetarian refreshments, four adjoint point pixel middle distances are nearest as the gray scale of this point, thus makes image truer.
5th step: to utilize known reference distance to mark accident factors information extraction as scale in described equal proportion outdoor scene coordinate system.In present embodiment, the relative distance of image in pattern identification plate can be utilized as coordinatometer, accident factors information extraction is marked; Also the material object that relative position can be selected from the scene of the accident fixing is coordinatometer, marks accident factors information extraction.
It should be noted that, the present invention is not only applicable to the scene of a traffic accident, is suitable for too scenes such as demolition site, and the on-the-spot map generalization method of concrete equal proportion outdoor scene can refer to step of the present invention and carries out, and these methods are all among protection scope of the present invention.
The image of taking photo by plane that can utilize of the present invention obtains truly careful scene of the accident two dimensional image by geometry correction and coordinate transform, then generates full and accurate traffic accident scene diagram through image labeling, efficiently and accurately reduction scene of the accident picture.Measurement drafting time of the present invention short, ultrahigh in efficiency, is beneficial to the fast quick-recovery of the scene of a traffic accident; The present invention accurately can mark the position to car, road, vestige, and key parameter is preserved complete, and measuring accuracy is high, and the measuring error that human factor can be avoided to cause and gained scene photo arbitrarily can not be revised by subjectivity; In addition, the present invention can store the image of the scene of the accident, calls when needs, can carry out secondary checking to accident scene.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalents thereof.
Claims (4)
1. utilize Aerial Images to generate a method for equal proportion outdoor scene scene photo, it is characterized in that, comprise the steps:
S1: construct platform of taking photo by plane;
S2: shooting scene of the accident overhead view image;
S3: geometry correction is carried out to described overhead view image, the step of described geometry correction is:
S31: utilize two-dimensional calibrations plate to demarcate camera, construct image mapping equation, obtain inner parameter and the external parameter of camera, described inner parameter comprises distortion factor, and concrete steps are:
S311: prepare two-dimensional calibrations plate, described two-dimensional calibrations plate has the pattern with certain area that at least 9, radiuses high with background contrasts and ranks spacing are fixed;
S312: utilize camera to be calibrated to take the image containing described scaling board of different angles;
S313: utilize image recognition algorithm search for the pattern in shooting image and locate and extract center-of-mass coordinate;
S314: utilize the two-dimentional actual coordinate of pattern and the described center-of-mass coordinate of extraction on scaling board to set up mapping equation, ask its optimum solution, obtain camera internal parameter and external parameter, described mapping equation is:
P
w＝P
c*R+Τ；
Wherein, R is rotation matrix, and Τ is translation matrix, and described R, Τ are the external parameter of camera; P
wfor world coordinates, with (x
w, y
w, z
w) represent coordinate points in world coordinates, P
cfor it transforms to the coordinate in camera coordinates system, with (x
c, y
c, z
c) represent coordinate points in camera coordinates system; F is focal length, and u, v are desirable imaging plane coordinate; K is distortion factor, and u', v' are actual imaging planimetric coordinates; R is pixel line number, and c is pixel columns, S
x, S
yfor picture centre pixel coordinate, C
x, C
yfor the coordinate of principal point in imaging coordinate system;
S32: the numerical value of distortion factor is adjusted to 0, keeps other parameter constant, obtains the inner parameter matrix of new camera;
S33: the inner parameter utilizing camera old substitutes into image mapped equation, solve the imaging plane coordinate that distorted image pixel coordinate is corresponding, recycle described new camera internal parameter and substitute into image mapped equation, bring imaging plane coordinate surface into new image mapped equation, obtain the image pixel coordinates after correcting, then realize color reduction by gray-level interpolation;
S4: carry out coordinate transform to described overhead view image, by the coordinate system transformation of described overhead view image to equal proportion outdoor scene coordinate system;
S5: to utilize known reference distance to mark accident factors information extraction as scale in described equal proportion outdoor scene coordinate system.
2. utilize Aerial Images to generate the method for equal proportion outdoor scene scene photo as claimed in claim 1, it is characterized in that, the coordinate transformation equation adopted in described step S4 is:
Wherein, a, b, c, d, e, f, u, v are coordinate transformation parameter, when calculating, choose 4 reference points and set up 8 equations, and each reference point all needing to have areal coordinate and corresponding two dimensional image coordinate two-dimensionally.
3. the system utilizing Aerial Images to generate equal proportion outdoor scene scene photo, it is characterized in that, comprise can go up to the air mobile device (2) and the camera (1) that carries thereof, described camera (1) shooting the scene of the accident (3) image and by described image transmitting to processor (4), described processor (4) method according to claim 1 utilizes Aerial Images to generate digitizing scene photo, obtains real accident scene.
4. utilize Aerial Images to generate the system of equal proportion outdoor scene scene photo as claimed in claim 3, it is characterized in that, described camera (1) by zigbee module by the image transmitting of the scene of the accident to processor (4).
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103366555B (en) * | 2013-07-01 | 2015-06-17 | 中国人民解放军第三军医大学第三附属医院 | Aerial image-based traffic accident scene image rapid generation method and system |
| CN103363961A (en) * | 2013-07-09 | 2013-10-23 | 中国人民解放军第三军医大学第三附属医院 | Aerial image-based determination method of three-dimensional information of traffic accident scene based on s |
| CN103400362B (en) * | 2013-07-30 | 2015-11-25 | 中国人民解放军第三军医大学第三附属医院 | Accident close-range figure and Aerial Images merge the method obtaining clear scene graph mutually |
| 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) |
| CN103473756B (en) * | 2013-09-11 | 2016-01-20 | 中国人民解放军第三军医大学第三附属医院 | Autoregistration merges the method for Aerial Images and close shot image |
| CN105550669A (en) * | 2016-01-27 | 2016-05-04 | 大连楼兰科技股份有限公司 | Intelligent accident survey method based on image identification |
| CN109765936A (en) * | 2016-08-19 | 2019-05-17 | 杭州零智科技有限公司 | The positioning and control method of mobile terminal, device and unmanned plane |
| CN108109173B (en) * | 2016-11-25 | 2022-06-28 | 宁波舜宇光电信息有限公司 | Visual positioning method, camera system and automation equipment |
| CN109816751A (en) * | 2017-11-20 | 2019-05-28 | 南京模幻天空航空科技有限公司 | Navigation channel Accident Handling Method based on unmanned plane aerial photography and Visual identification technology |
| CN109163706A (en) * | 2018-07-17 | 2019-01-08 | 长沙市公安局交通警察支队 | Traffic accident scene diagram method for drafting and system, plotting equipment and storage medium |
| CN110873863A (en) * | 2018-08-29 | 2020-03-10 | 杭州海康威视数字技术股份有限公司 | Target display method, radar system and electronic equipment |
| CN113074701A (en) * | 2020-01-03 | 2021-07-06 | 南京模幻天空航空科技有限公司 | Non-tower-scale traffic accident field measurement method based on machine vision and image recognition |
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| CN102254318A (en) * | 2011-04-08 | 2011-11-23 | 上海交通大学 | Method for measuring speed through vehicle road traffic videos based on image perspective projection transformation |
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| US9036915B2 (en) * | 2010-01-29 | 2015-05-19 | The Hong Kong University Of Science And Technology | Architectural pattern detection and modeling in images |
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| CN102254318A (en) * | 2011-04-08 | 2011-11-23 | 上海交通大学 | Method for measuring speed through vehicle road traffic videos based on image perspective projection transformation |
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