CN104268882A - High-speed moving object detecting and speed measuring method and system based on double-linear-array cameras - Google Patents
High-speed moving object detecting and speed measuring method and system based on double-linear-array cameras Download PDFInfo
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- CN104268882A CN104268882A CN201410515629.XA CN201410515629A CN104268882A CN 104268882 A CN104268882 A CN 104268882A CN 201410515629 A CN201410515629 A CN 201410515629A CN 104268882 A CN104268882 A CN 104268882A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention relates to the technical field of image processing, and provides a high-speed moving object detecting and speed measuring method and system based on double-linear-array cameras. The system comprises a preprocessing module used for pre-calibrating parameters, the double-linear-array cameras used for obtaining two images respectively, a movement detecting module used for detecting a moving object in the images, a matching operation module used for carrying out the matching operation on the left image and the right image, an extraction module used for obtaining movement pixel track points and the pixel difference of the two images, a first calculation module used for calculating the time difference when the moving object passes through the two cameras and calculating the movement direction angle of the object, and a second calculation module used for calculating the movement speed of the object. According to the detecting system based on the double-linear-array cameras, the matching calculation is carried out according to the two images, the movement speed of the object is worked out, the high-speed moving object can be detected in real time, the movement speed of the object can be worked out in real time, and the movement track direction can be judged.
Description
[technical field]
The present invention relates to technical field of image processing, particularly relate to a kind of real time high-speed moving object segmentation based on twin-line array camera and speed measurement treatment method and system.
[background technology]
Along with the development of social modernization, to compete for speed the fields such as match in commercial production, Vehicle Detection, physical culture, detection for high-speed moving object has very high requirement, and then higher technical requirement is also proposed to high-speed motion detection identifying processing technology, the existing single linear array camera based on high speed carries out shooting image and detects, and moving object can be detected in real time; And be not that very fast object can detect in real time and calculate its speed based on the method for face battle array camera for movement velocity.
But, high-speed moving object due to its movement velocity high, common high speed camera does not reach requirement for the detection of high-speed moving object, cannot detect even at all and recognize swiftly passing object, camera based on single line battle array reliably can detect high-speed moving object efficiently, but moving object speed cannot be detected in real time, with practical requirement.
Given this, the defect overcome existing for the prior art is the art problem demanding prompt solution.
[summary of the invention]
The technical problem to be solved in the present invention is to provide a kind of real time high-speed moving object segmentation based on twin-line array camera and speed measurement treatment method and system.
The present invention adopts following technical scheme:
High-speed moving object based on twin-line array camera detects and a speed-measuring method, comprises the steps:
S0, acquisition parameters are demarcated in advance;
S1, twin-line array camera obtain two width images respectively;
S2, from described image, detect moving object according to Gaussian Background model sport detection algorithm;
The described moving object that S3, basis detect, the relevant matches of carrying out left and right two width image sub-pixels calculates;
S4, according to matching result, obtain pixel difference and the track of the corresponding two width images of moving object;
S5, the calculating mistiming of moving object between two cameras, calculate the movement direction angle of object;
S6, try to achieve move distance according to movement direction angle and horizontal range, calculate the movement velocity of object.
Further, described acquisition parameters is demarcated in advance and is comprised,
S101, twin-line array camera is set is in same level position, and accurately measure the horizontal range of described twin-line array camera;
The object of S102, the fixing movement velocity of shooting, carries out the coupling of sub-pixel according to two width shooting images;
S103, the shooting time that calculates between two cameras of pixel difference obtained according to described horizontal range, movement velocity and matching primitives are poor;
S104, calibrating parameters is set: horizontal range, shooting time are poor.
Another technical scheme of the present invention is:
High-speed moving object based on twin-line array camera detects and a velocity-measuring system, comprises,
Pretreatment module, demarcates in advance for acquisition parameters;
Twin-line array camera, for obtaining two width images respectively;
Motion detection block, for detecting moving object according to Gaussian Background model sport detection algorithm from described image;
Matching operation module, for according to the described moving object detected, carries out the relevant matches calculating of left and right two width image sub-pixels;
Extraction module, for according to matching result, obtains pixel difference and the track of the corresponding two width images of moving object;
First computing module, for calculating the movement direction angle of the mistiming of moving object between two cameras and calculating object;
Second computing module, for trying to achieve move distance according to movement direction angle and horizontal range, calculates the movement velocity of object.
Further, described acquisition parameters is demarcated in advance and is comprised,
S101, twin-line array camera is set is in same level position, and accurately measure the horizontal range of described twin-line array camera;
The object of S102, the fixing movement velocity of shooting, carries out the coupling of sub-pixel according to two width shooting images;
S103, the shooting time that calculates between two cameras of pixel difference obtained according to described horizontal range, movement velocity and matching primitives are poor;
S104, calibrating parameters is set: horizontal range, shooting time are poor.
Compared with prior art, beneficial effect of the present invention is: the detection system that the present invention is based on twin-line array camera, matching primitives is carried out according to two width images, move distance is tried to achieve according to movement direction angle and horizontal range, calculate the movement velocity of object, not only high-speed moving object can be detected in real time, and the movement velocity of object can be calculated in real time and judge movement locus direction.
[accompanying drawing explanation]
Fig. 1 is that a kind of high-speed moving object that the embodiment of the present invention provides detects the process flow diagram with speed-measuring method.
Fig. 2 is the process flow diagram that acquisition parameters that the embodiment of the present invention provides is demarcated in advance.
[embodiment]
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
The present invention is based on the detection system of twin-line array camera, the parameter before setting shooting, make twin-line array camera in locations of structures, be in same level position, be apart a fixing horizontal range, demarcate the mistiming of shot object between two cameras.
Moving object image is gathered respectively through twin-line array camera, obtain two width image informations, detect moving object respectively, left and right two width images carry out the matching primitives of sub-pixel, obtain motion pixel tracing point and calculate the mistiming of two camera shootings according to the pixel difference of two width images after coupling, calculate the movement direction angle of object and then try to achieve move distance according to horizontal range, finally calculating speed of moving body.
embodiment 1:
The embodiment of the present invention 1 provides a kind of high-speed moving object based on twin-line array camera and detects and velocity-measuring system, comprises,
Pretreatment module, demarcates in advance for acquisition parameters;
Twin-line array camera, for obtaining two width images respectively;
Motion detection block, for detecting moving object according to Gaussian Background model sport detection algorithm from above-mentioned image;
Matching operation module, for according to the above-mentioned moving object detected, carries out the relevant matches calculating of left and right two width image sub-pixels;
Extraction module, for according to matching result, obtains pixel difference and the track of the corresponding two width images of moving object;
First computing module, for calculating the movement direction angle of the mistiming of moving object between two cameras and calculating object;
Second computing module, for trying to achieve move distance according to movement direction angle and horizontal range, calculates the movement velocity of object.
The present invention is based on the detection system of twin-line array camera, matching primitives is carried out according to two width images, move distance is tried to achieve according to movement direction angle and horizontal range, calculate the movement velocity of object, not only high-speed moving object can be detected in real time, and the movement velocity of object can be calculated in real time and judge movement locus direction.
embodiment 2:
As shown in Figure 1, the embodiment of the present invention 2 provides a kind of high-speed moving object based on twin-line array camera and detects and speed-measuring method,
Step S0, acquisition parameters are demarcated in advance;
Step S1, twin-line array camera obtain two width images respectively;
Step S2, from above-mentioned image, detect moving object according to Gaussian Background model sport detection algorithm;
Wherein, fail in the picture moving object to be detected, then continue to return execution step S1;
The above-mentioned moving object that step S3, basis detect, the relevant matches of carrying out left and right two width image sub-pixels calculates;
Step S4, according to matching result, obtain pixel difference and the track of the corresponding two width images of moving object;
Step S5, the calculating mistiming of moving object between two cameras, calculate the movement direction angle of object;
Step S6, try to achieve move distance according to movement direction angle and horizontal range, calculate the movement velocity of object.
embodiment 3:
The embodiment of the present invention 3 is on the basis of embodiment 1 or 2, and preferably, as shown in Figure 2, above-mentioned acquisition parameters is demarcated in advance and comprised,
Step S101, twin-line array camera is set is in same level position, and accurately measure the horizontal range of above-mentioned twin-line array camera;
The object of step S102, the fixing movement velocity of shooting, carries out the coupling of sub-pixel according to two width shooting images;
Step S103, the shooting time that calculates between two cameras of pixel difference obtained according to above-mentioned horizontal range, movement velocity and matching primitives are poor;
Step S104, calibrating parameters is set: horizontal range, shooting time are poor.
In the above-described embodiments, the mistiming equals horizontal pixel difference and is multiplied by camera collection speed, and movement direction of object angle calculates according to the pixel difference of two width images at level and vertical direction.
Movement velocity equals move distance divided by run duration, and the mistiming is run duration, and move distance is tried to achieve according to the horizontal range between two cameras and movement angle.
High-speed moving object based on twin-line array camera provided by the invention detects with speed-measuring method and system according to the not consubstantiality sense interaction demand data model set up, can quick and precisely identification maneuver, and make corresponding mutual response, be applicable to the realization of machine human body sense interactive product rapidly and efficiently.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the high-speed moving object based on twin-line array camera detects and a speed-measuring method, it is characterized in that, comprises the steps:
S0, acquisition parameters are demarcated in advance;
S1, twin-line array camera obtain two width images respectively;
S2, from described image, detect moving object according to Gaussian Background model sport detection algorithm;
The described moving object that S3, basis detect, the relevant matches of carrying out left and right two width image sub-pixels calculates;
S4, according to matching result, obtain pixel difference and the track of the corresponding two width images of moving object;
S5, the calculating mistiming of moving object between two cameras, calculate the movement direction angle of object;
S6, try to achieve move distance according to movement direction angle and horizontal range, calculate the movement velocity of object.
2. the high-speed moving object based on twin-line array camera according to claim 1 detects and speed-measuring method, and it is characterized in that, described acquisition parameters is demarcated in advance and comprised,
S101, twin-line array camera is set is in same level position, and accurately measure the horizontal range of described twin-line array camera;
The object of S102, the fixing movement velocity of shooting, carries out the coupling of sub-pixel according to two width shooting images;
S103, the shooting time that calculates between two cameras of pixel difference obtained according to described horizontal range, movement velocity and matching primitives are poor;
S104, calibrating parameters is set: horizontal range, shooting time are poor.
3. the high-speed moving object based on twin-line array camera according to claim 1 detects and speed-measuring method, it is characterized in that, in step S5, the described mistiming equals horizontal pixel difference and is multiplied by camera collection speed, and described movement direction of object angle calculates according to the pixel difference of two width images at level and vertical direction.
4. the high-speed moving object based on twin-line array camera according to claim 1 detects and speed-measuring method, it is characterized in that, in step S6, described movement velocity equals move distance divided by run duration, wherein, mistiming is run duration, and described move distance is tried to achieve according to the horizontal range between two cameras and movement angle.
5. the high-speed moving object based on twin-line array camera detects and a velocity-measuring system, it is characterized in that, comprises,
Pretreatment module, demarcates in advance for acquisition parameters;
Twin-line array camera, for obtaining two width images respectively;
Motion detection block, for detecting moving object according to Gaussian Background model sport detection algorithm from above-mentioned image;
Matching operation module, for according to the above-mentioned moving object detected, carries out the relevant matches calculating of left and right two width image sub-pixels;
Extraction module, for according to matching result, obtains pixel difference and the track of the corresponding two width images of moving object;
First computing module, for calculating the movement direction angle of the mistiming of moving object between two cameras and calculating object;
Second computing module, for trying to achieve move distance according to movement direction angle and horizontal range, calculates the movement velocity of object.
6. the high-speed moving object based on twin-line array camera according to claim 5 detects and velocity-measuring system, and it is characterized in that, described acquisition parameters is demarcated in advance and comprised,
S101, twin-line array camera is set is in same level position, and accurately measure the horizontal range of described twin-line array camera;
The object of S102, the fixing movement velocity of shooting, carries out the coupling of sub-pixel according to two width shooting images;
S103, the shooting time that calculates between two cameras of pixel difference obtained according to described horizontal range, movement velocity and matching primitives are poor;
S104, calibrating parameters is set: horizontal range, shooting time are poor.
7. the high-speed moving object based on twin-line array camera according to claim 5 detects and velocity-measuring system, it is characterized in that, the described mistiming equals horizontal pixel difference and is multiplied by camera collection speed, and described movement direction of object angle calculates according to the pixel difference of two width images at level and vertical direction.
8. the high-speed moving object based on twin-line array camera according to claim 5 detects and velocity-measuring system, it is characterized in that, described movement velocity equals move distance divided by run duration, wherein, mistiming is run duration, and described move distance is tried to achieve according to the horizontal range between two cameras and movement angle.
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| CN105898143A (en) * | 2016-04-27 | 2016-08-24 | 维沃移动通信有限公司 | Moving object snapshotting method and mobile terminal |
| CN105915846A (en) * | 2016-04-26 | 2016-08-31 | 成都通甲优博科技有限责任公司 | Monocular and binocular multiplexed invading object monitoring method and system |
| CN106933355A (en) * | 2017-01-24 | 2017-07-07 | 北京富龙飞科技有限公司 | The quick method for obtaining moving object information in real time in augmented reality |
| WO2018140547A1 (en) * | 2017-01-25 | 2018-08-02 | Carrier Corporation | Line array detection and imaging system |
| WO2018140549A1 (en) * | 2017-01-25 | 2018-08-02 | Carrier Corporation | Line array cameras for a man over board detection system |
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| CN112379121A (en) * | 2020-11-14 | 2021-02-19 | 邓权塑业科技（湖南）有限公司 | Speed measurement metering method and system for online production pipeline |
| CN113504385A (en) * | 2021-06-30 | 2021-10-15 | 上海爱观视觉科技有限公司 | Method and device for measuring speed of a plurality of cameras |
| CN113709371A (en) * | 2021-08-27 | 2021-11-26 | 苏州立创致恒电子科技有限公司 | Following imaging method and system for relatively moving object |
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| CN105915846B (en) * | 2016-04-26 | 2019-09-20 | 成都通甲优博科技有限责任公司 | A kind of the invader monitoring method and system of the multiplexing of list binocular |
| CN105898143B (en) * | 2016-04-27 | 2019-05-17 | 维沃移动通信有限公司 | A kind of grasp shoot method and mobile terminal of moving object |
| CN105898143A (en) * | 2016-04-27 | 2016-08-24 | 维沃移动通信有限公司 | Moving object snapshotting method and mobile terminal |
| CN109890575A (en) * | 2016-08-25 | 2019-06-14 | Lg电子株式会社 | Mobile robot and its control method |
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| WO2018140549A1 (en) * | 2017-01-25 | 2018-08-02 | Carrier Corporation | Line array cameras for a man over board detection system |
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| KR102481485B1 (en) | 2017-01-25 | 2022-12-26 | 캐리어 코포레이션 | Line Array Detection and Imaging System |
| CN109118522A (en) * | 2018-10-22 | 2019-01-01 | 首都医科大学附属北京同仁医院 | A kind of respiratory tract ciliary movement characteristic analysis method and device |
| CN113853158B (en) * | 2019-07-22 | 2024-05-14 | 松下知识产权经营株式会社 | Walking function evaluation device, walking function evaluation system, walking function evaluation method, recording medium, and cognitive function evaluation device |
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| CN110956877A (en) * | 2019-12-10 | 2020-04-03 | 康忠文 | Vehicle learning auxiliary method and system based on camera |
| CN112379121A (en) * | 2020-11-14 | 2021-02-19 | 邓权塑业科技（湖南）有限公司 | Speed measurement metering method and system for online production pipeline |
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| CN113709371B (en) * | 2021-08-27 | 2023-11-03 | 苏州立创致恒电子科技有限公司 | Follow imaging method and system of relatively moving object |
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| CN114973175A (en) * | 2022-05-24 | 2022-08-30 | 深圳市航盛电子股份有限公司 | Moving object detection method, device, terminal device and storage medium |
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