CN103389042A - Ground automatic detecting and scene height calculating method based on depth image - Google Patents
Ground automatic detecting and scene height calculating method based on depth image Download PDFInfo
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Abstract
Provided is a ground automatic detecting and scene height calculating method based on a depth image. If h obtained through calculation of a certain point meets the condition that H1<h<H2 and d<Thsmooth, the point is judged to be on the ground. All points meeting the condition are extracted, a region with the largest area is found through a binary image labeling method, and the region is identified to be the ground. After the ground is judged, l3 of the ground region in an L_matrix is averaged to obtain indication of a plane normal vector under a camera coordinate system. An average value of the ground region h is the installing height of a camera. For any image point, a height calculation formula is as follows. By means of the method, the depth image is used for conducting ground automatic detecting, and the height between all the points and the ground is calculated in the scene according to a ground detecting result. The height information enables an intelligent monitoring system and an intelligent robot to understand the scene deeply and thoroughly.
Description
Technical field
The present invention relates to a kind of ground detection and height measurement method, be specially the method for the automatic detection in a kind of ground based on depth image and scene high computational.
Background technology
In the application of modern intelligent monitor system and intelligent robot, the detection on ground has considerable meaning for the path planning of target detection and robot, but traditional optics and acoustic sensor all can not be very stable, ground detected.
Summary of the invention
Technical matters solved by the invention is to provide the method for the automatic detection in a kind of ground based on depth image and scene high computational, it utilizes depth image to carry out the automatic detection on ground, again according to the result of ground detection, calculate in scene a little apart from the height on ground.These elevation informations make intelligent monitor system and intelligent robot more deep for the understanding of scene, thorough.
Technical matters solved by the invention realizes by the following technical solutions:
The method of the automatic detection in a kind of ground based on depth image and scene high computational, concrete steps are as follows:
Step (1), background modeling
At first, to complete static scene, utilize depth camera to gather M frame depth image depth
m, m=1,2 ... M,, to adding up of M frame depth image, obtain cumulative and image S, add up simultaneously the number of times that on each pixel, the significant depth value occurs in M frame depth image, obtain a width and represent the image Valid of effective value occurrence number in the M two field picture, its image value is calculated as follows:
；
Order
, can obtain the background depth map after multiframe is level and smooth;
Step (2), utilize the parameter of depth camera Intrinsic Matrix, calculate the coordinate of background under the depth camera coordinate system, pixel (u, v) is located the Coordinate calculation method of background under camera coordinate system and is:
, and with x
c(u, v), y
c(u, v), z
c(u, v) preserves, and obtains the onesize image x of three width and background depth map
c, y
c, z
c
In the latter half of step (3), At Background Depth image Valid,, to each pixel (u ', v '), choose three and lay respectively at
Point, wherein bias represents the image distance of the pixel of the current needs of the pixel distance of choosing judgement;
Step (4), respectively at image x
c, y
c, z
cIn, read four points (u ', v '),
Image value, and according to following manner, be arranged in a little coordinate:
Step (5), utilize p
2, p
3, p
4Fit Plane, order
, utilize the normal vector on cross product digital simulation plane
, and calculate this plane and p
1Apart from d (u, v)=(p
1-p
2) * l
3, and the camera coordinate system initial point therewith the distance h (u, v) on plane=-p
2* l
3, herein * dot product between number two vectors of expression; Simultaneously with l
3Preserve according to the order of image coordinate (u ', v ') as a vector, i.e. L_matrix (u ', v ')=l
3
Step (6), all points are done the operation of step (3), step (4), step (5), obtain d and h a little;
Step (7), utilize priori, the camera altitude range H that input is estimated
1, H
2If the h that certain point calculates meets H
1＜h＜H
2And d＜Th
Smooth, judge that so this point rest on the ground; Th wherein
SmoothFor judgement p
1, p
2, p
3, p
4The threshold value on same plane whether;
Step (8), all are met the point that step (7) provides condition extract, and find a zone of area maximum by the Pixel Labeling in Binary Images method, it is ground that this zone namely is identified as;
Step (9), after having judged ground, with the l of ground region in the L_matrix matrix
3Average, obtain one
, this
Be the expression of planar process vector under camera coordinate system; And the mean value of ground region h
Be the setting height(from bottom) of video camera;
Step (10), to the Subgraph picture point
, it highly can calculate according to following formula:
As preferred version: step is established in (7)
.
Compared with prior art, the invention has the beneficial effects as follows: the method it utilize depth image to carry out the automatic detection on ground, then according to the result of ground detection, calculate in scene a little apart from the height on ground.These elevation informations make intelligent monitor system and intelligent robot more deep for the understanding of scene, thorough.
Embodiment
In order to make technological means of the present invention, creation characteristic, workflow, using method reach purpose and effect is easy to understand, below further set forth the present invention.
For a better understanding of the present invention, at first some concepts are defined or illustrate.
1, depth image: refer to export and comprise by depth camera the image of depth information of scene, from normal image represent the gray scale of scene or color different, depth image represents is range information between scene point and depth camera.
2, depth camera: refer to utilize one of following three kinds of technology or three kinds of technology to merge the video camera that obtains depth information of scene, these three kinds of technology refer to:
Structure light coding (structure light coding),
Binocular vision technology (binocular),
Time-of-flight method (time of flight).
3, depth camera intrinsic parameter (intrinsic parameters) matrix: this matrix is by the focal distance f of depth camera, picture dot size dx, dy, normalization focal length
, and the coordinate (u of photocentre in image coordinate system
0, v
0) be expressed as
.
4, ground a: plane that refers in scene to occupy the latter half maximum area in depth image, requirement in the fitting depth video camera, makes depth image the latter half can be good at reflecting the depth information on ground by adjusting the camera setting angle.
The method of the automatic detection in a kind of ground based on depth image and scene high computational, concrete steps are as follows:
Step (1), background modeling
At first, to the scene of fully static (not having the sport foreground target), utilize depth camera to gather M frame depth image depth
m, m=1,2 ... M,, to adding up of M frame depth image, obtain cumulative and image S, add up simultaneously the number of times that on each pixel, the significant depth value occurs in M frame depth image, obtain a width and represent the image Valid of effective value occurrence number in the M two field picture, its image value is calculated as follows:
Order
, can obtain the background depth map after multiframe is level and smooth;
Step (2), utilize the parameter of depth camera intrinsic parameter (intrinsic parameters) matrix, calculate the coordinate of background under the depth camera coordinate system, pixel (u, v) is located the Coordinate calculation method of background under camera coordinate system and is:
, and with x
c(u, v), y
c(u, v), z
c(u, v) preserves, and obtains the onesize image x of three width and background depth map
c, y
c, z
c.
In the latter half of step (3), At Background Depth image Valid,, to each pixel (u ', v '), choose three and lay respectively at
The point, wherein bias represents the image distance of the pixel of the current needs judgement of the pixel distance of choosing, need to prove, the arrangement mode of three points is not strict with according to the coordinate that provides and is chosen, can be also to choose three points according to any regular, the variation of this reconnaissance mode, do not change essence of the present invention.
Step (4), respectively at image x
c, y
c, z
cIn, read four points
,
Image value, and according to following manner, be arranged in a little coordinate:
Step (5), utilize p
2, p
3, p
4Fit Plane, order
, utilize the normal vector on cross product digital simulation plane
, and calculate this plane and p
1Apart from d (u, v)=(p
1-p
2) * l
3, and the camera coordinate system initial point therewith the distance h (u, v) on plane=-p
2* l
3, herein * dot product between number two vectors of expression; Simultaneously with l
3Preserve according to the order of image coordinate (u ', v ') as a vector, i.e. L_matrix (u ', v ')=l
3.
Step (6), all points are done step (3), step (4), the operation of step (5), obtain d and h a little.
Step (7), utilize priori, the camera altitude range H that input is estimated
1, H
2If the h that certain point calculates meets H
1＜h＜H
2And d＜Th
Smooth, Th wherein
SmoothFor judgement p
1, p
2, p
3, p
4Threshold value on same plane, generally be made as
, judge that so this point rest on the ground.
Step (8), all are met the point that step (7) provides condition extract, and find a zone of area maximum by the Pixel Labeling in Binary Images method, it is ground that this zone namely is identified as.
Step (9), after having judged ground, with the l of ground region in the L_matrix matrix
3Average, obtain one
, this
Be the expression of planar process vector under camera coordinate system; And the mean value of ground region h
Be the setting height(from bottom) of video camera.
Step (10), to the Subgraph picture point
, it highly can calculate according to following formula:
Above demonstration and described ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (2)
1. the ground based on depth image is detected and the method for scene high computational automatically, it is characterized in that, concrete steps are as follows:
Step (1), background modeling
At first, to complete static scene, utilize depth camera to gather M frame depth image depth
m, m=1,2 ... M,, to adding up of M frame depth image, obtain cumulative and image S, add up simultaneously the number of times that on each pixel, the significant depth value occurs in M frame depth image, obtain a width and represent the image Valid of effective value occurrence number in the M two field picture, its image value is calculated as follows:
Order
, can obtain the background depth map after multiframe is level and smooth;
Step (2), utilize the parameter of depth camera Intrinsic Matrix, calculate the coordinate of background under the depth camera coordinate system, pixel (u, v) is located the Coordinate calculation method of background under camera coordinate system and is:
, and with x
c(u, v), y
c(u, v), z
c(u, v) preserves, and obtains the onesize image x of three width and background depth map
c, y
c, z
c
In the latter half of step (3), At Background Depth image Valid,, to each pixel (u ', v '), choose three and lay respectively at
Point, wherein bias represents the image distance of the pixel of the current needs of the pixel distance of choosing judgement;
Step (4), respectively at image x
c, y
c, z
cIn, read four points (u ', v '),
Image value, and according to following manner, be arranged in a little coordinate:
Step (5), utilize p
2, p
3, p
4Fit Plane, order
, utilize the normal vector on cross product digital simulation plane
, and calculate this plane and p
1Apart from d (u, v)=(p
1-p
2) * l
3, and the camera coordinate system initial point therewith the distance h (u, v) on plane=-p
2* l
3, herein * dot product between number two vectors of expression; Simultaneously with l
3Preserve according to the order of image coordinate (u ', v ') as a vector, i.e. L_matrix (u ', v ')=l
3
Step (6), all points are done the operation of step (3), step (4), step (5), obtain d and h a little;
Step (7), utilize priori, the camera altitude range H that input is estimated
1, H
2If the h that certain point calculates meets H
1＜h＜H
2And d＜Th
Smooth, judge that so this point rest on the ground; Th wherein
SmoothFor judgement p
1, p
2, p
3, p
4The threshold value on same plane whether;
Step (8), all are met the point that step (7) provides condition extract, and find a zone of area maximum by the Pixel Labeling in Binary Images method, it is ground that this zone namely is identified as;
Step (9), after having judged ground, with the l of ground region in the L_matrix matrix
3Average, obtain one
, this
Be the expression of planar process vector under camera coordinate system; And the mean value of ground region h
Be the setting height(from bottom) of video camera;
Step (10), to the Subgraph picture point
, it highly can calculate according to following formula:
2. the method for the automatic detection in the ground based on depth image according to claim 1 and scene high computational, is characterized in that, step is established in (7)
.
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| CN104361575A (en) * | 2014-10-20 | 2015-02-18 | 湖南戍融智能科技有限公司 | Automatic ground testing and relative camera pose estimation method in depth image |
| CN105832336A (en) * | 2016-03-18 | 2016-08-10 | 京东方科技集团股份有限公司 | Body height measurement system and method |
| CN107016697A (en) * | 2017-04-11 | 2017-08-04 | 杭州光珀智能科技有限公司 | A kind of height measurement method and device |
| WO2017152529A1 (en) * | 2016-03-09 | 2017-09-14 | 京东方科技集团股份有限公司 | Determination method and determination system for reference plane |
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| CN107633210A (en) * | 2017-08-28 | 2018-01-26 | 上海欧忆能源科技有限公司 | Building site ascend a height monitoring system, method, apparatus, medium and equipment violating the regulations |
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| CN107220632A (en) * | 2017-06-12 | 2017-09-29 | 山东大学 | A kind of pavement image dividing method based on normal direction feature |
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| CN111429509A (en) * | 2020-03-24 | 2020-07-17 | 北京大学深圳研究生院 | Centralized measuring and calculating method for height of target object |
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Application publication date: 20131113 |