CN104504904A - Mobile acquisition method of transportation facility - Google Patents
Mobile acquisition method of transportation facility Download PDFInfo
- Publication number
- CN104504904A CN104504904A CN201510009317.6A CN201510009317A CN104504904A CN 104504904 A CN104504904 A CN 104504904A CN 201510009317 A CN201510009317 A CN 201510009317A CN 104504904 A CN104504904 A CN 104504904A
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- CN
- China
- Prior art keywords
- traffic sign
- video
- frame
- transportation
- vehicle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a mobile acquisition method of a transportation facility. An acquisition vehicle is provided with an acquisition controller and a GPS (Global Position System) position indicator, wherein the roof of the acquisition vehicle is fixed with a vehicle-mounted fixing frame on which a plurality of cameras are fixed, each camera and the GPS position indicator are electrically connected with the controller respectively, the acquisition vehicle travels according to an appointed road section, encountered traffic signs are collected, collection videos, collection time and GPS information and other traffic facility metadata are stored and identified, information acquisition and statistics of all traffic facilities of the road section R are completed and synchronized with data in the traffic sign database. The mobile acquisition method is characterized in that the traffic sign data in the traffic facility metadata is automatically extracted by a traffic sign detecting and indentifying technology, through a straight line detection and character recognition technology, the traffic sign attribution is automatically input and identified and an attribute information table is fabricated, and the error caused by manually marking is greatly avoided when the manpower demand is greatly reduced.
Description
Technical field
The present invention relates to traffic information collection technical field, refer in particular to a kind of means of transportation mobile collection method.
Background technology
Effective means of transportation data grasp road macroscopic view situation for road operational management person, accurate assurance and the deciding factor forming correct Emergency decision in real time.
Traditional means of transportation acquisition method is mainly artificial collection and vehicle collection: artificial acquisition mode is for collector is to means of transportation place, adopt the mode record that camera is taken pictures and manual entry (papery form or hand-held palm PC) combines, workload is large, often depend on artificial cognition and inquiry, easily occur that leakage is adopted and the problems such as repeated acquisition; Vehicle collection gathers friendship by vehicle-mounted vidicon, costly, and follow-up need datamation to be processed is loaded down with trivial details.
Summary of the invention
In order to solve existing means of transportation data acquisition adopt artificial gather then easily to leak adopt and repeated acquisition, adopt vehicle collection problem then, the present invention proposes a kind of means of transportation mobile collection method, with low cost, be easy to install, simple operation, dirigibility is high, and subsequent treatment is convenient and data precision is high.
The technical solution adopted in the present invention is: a kind of means of transportation mobile collection method, comprises the steps:
(1) preparation is gathered: one, preparation for acquiring car, gather car and be provided with acquisition controller, GPS orientator, the roof gathering car is fixed with vehicle-mounted fixing rack, and vehicle-mounted fixing rack is fixed with some video cameras, each video camera, GPS orientator are electrically connected with acquisition controller respectively;
(2) gather car to advance according to the section R specified, the traffic sign run into is gathered, store and gather video V
m, gather moment T
mand GPS information GPS
m, wherein m is the sequence number of traffic sign;
(3) the collection video V obtained by step (2)
mwith GPS information GPS
maccording to collection moment T
mauto-matching, can obtain the means of transportation metadata DATA of section R;
(4) to each collection video V
mmeans of transportation metadata process, obtain meet the attribute list of traffic sign;
(5) repeat step (2) to (4) several times, complete information acquisition and the statistics of all means of transportation of section R, and carry out synchronous with the data of traffic sign database.
As preferably, described vehicle-mounted fixing rack is L-type structure, the long leg of L-type structure divides and is horizontally fixed on car body front end, the short side part of L-type structure is fixed on the forward right side of car body, video camera has three, be respectively the first video camera, second video camera and the 3rd video camera, first video camera is arranged at half section, the left side that vehicle-mounted fixing rack L-type structure long leg divides, half section, the right side that the L-type structure long leg that second video camera is arranged at vehicle-mounted fixing rack divides and divide in 45 ° towards the L-type structure long leg with vehicle-mounted fixing rack, 3rd video camera is arranged at the L-type structure short side part of vehicle-mounted fixing rack and is 45 ° towards the L-type structure short side part with vehicle-mounted fixing rack.
As preferably, be provided with switch in described collection car, the input end of switch is electrically connected with each video camera, and the output terminal of switch is electrically connected with acquisition controller.
As preferably, in described step (2), extract the correspondence gathered in video and gather 10 frame pictures before and after the moment as the alternative mark picture of traffic sign.
As preferably, in described step (3), the means of transportation metadata DATA acquisition methods of section R is: gather video V
mbe made up of multiple frame, i.e. V
m={ FRAME
i(1≤i≤K), K is totalframes, Frame
ibe the traffic sign video frame images of the i-th frame, means of transportation metadata DATA
i=<Frame
i, LON
i, LAT
i>, LON
i, LAT
ilongitude, the latitude in this frame picture shooting moment respectively, Frame
iresolution be fw*fh.
As preferably, described step (4) specifically comprises the steps:
A () is by traffic sign video frame images Frame
ibe hsv color space from RGB color space conversion;
(b) in hsv color space by traffic sign video frame images Frame
iin redness, blueness, yellow and black carry out color segmentation;
C () is to the traffic sign video frame images Frame after step (b) process
inoise remove is carried out with mean filter;
D () obtains traffic sign video frame images Frame by field table computing method
iconnected region and calculate its minimum enclosed rectangle, the length and width of minimum enclosed rectangle is respectively w, h;
E () extracts the SIFT feature of 128 dimensions to connected region, carry out identity type identification to connected region, obtains identity type information;
F () extracts the straight line information in traffic mark by Hough transformation;
G () extracts LBP feature in connected region, by extracting the character information of sign board based on the character recognition engine of SVM;
H straight line information that () combining step (e) to (g) obtains, character information and identity type information, obtain the attribute list of this traffic sign.
As preferably, in described step (d), boundary rectangle size is positioned at the extraneous connected region of w ∈ [fw/85, fw/10] and removes.
As further preferred, in described step (d), by boundary rectangle size | the connected region of w-h|>0.3max{fw, fh} is removed.
As preferably, described acquisition controller is connected with GPS orientator and is connected by USB data line.
As preferably, described acquisition controller is connected with GPS orientator and is connected by blue teeth wireless.
The invention has the beneficial effects as follows: cost is low, simple operation, network sharing is good, can telemanagement, has real-time and can be applied to emergency management and rescue intelligent management, largely avoid the error that artificial mark is introduced while significantly reducing manpower requirement.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention's collection used car.
In figure, 1-acquisition controller, 2-switch, 3-GPS orientator, 4-first video camera, 5-second video camera, 6-the 3rd video camera, 7-vehicle-mounted fixing rack, 8-car body.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
A kind of means of transportation mobile collection method, comprises the steps:
(1) preparation is gathered: make acquisition plan and gather route R, one, preparation for acquiring car.
Gather car as shown in Figure 1, the car body 8 gathering car is provided with the GPS orientator 3 of acquisition controller 1, switch 2, technical grade, vehicle-mounted fixing rack 7 is fixed with on front side of the roof of car body 8, vehicle-mounted fixing rack 7 is fixed with three video cameras, be respectively the first video camera 4, second video camera 5, the 3rd video camera 6, first video camera 4, second video camera 5, the 3rd video camera 6 connect the input end of switch 2 respectively, and output terminal, the GPS orientator 3 of switch 2 are electrically connected with acquisition controller 1 respectively.
Vehicle-mounted fixing rack 7 is L-type structure, and the long leg of L-type structure divides and is horizontally fixed on car body 8 front end, and the short side part of L-type structure is fixed on the forward right side of car body 8.First video camera 4 is arranged at half section, the left side that vehicle-mounted fixing rack 7L type structure long leg divides, half section, the right side that the L-type structure long leg that second video camera 5 is arranged at vehicle-mounted fixing rack 7 divides and divide in 45 ° towards the L-type structure long leg with vehicle-mounted fixing rack 7, the 3rd video camera 6 is arranged at the L-type structure short side part of vehicle-mounted fixing rack 7 and is 45 ° towards the L-type structure short side part with vehicle-mounted fixing rack 7.
Wherein, GPS orientator 3 is other Global Positioning System (GPS) instrument of technical grade, and acquisition controller 1 is computing machine (PC), and acquisition controller 1, switch 2 and vehicle-mounted fixing rack 7 are all provided with vibration abatement, weakens or eliminates car body and shake the impact brought.Acquisition controller 1, switch 2 and video camera be the synchronous good time first.The video camera of three different angles of the present invention is by the photo of shooting place of arrival and/image and be sent to acquisition controller 1, GPS orientator 3 by switch 2 and obtain accurate positional information and be sent to acquisition controller 1.
(2) gather car to advance according to the section R specified, the traffic sign run into is gathered, store and gather video V
m, gather moment T
mand GPS information GPS
m, wherein m is the sequence number of traffic sign, and 10 frame pictures before and after the correspondence collection moment in the video of extraction collection are simultaneously as the alternative mark picture of traffic sign.
(3) the collection video V obtained by step (2)
mwith GPS information GPS
maccording to collection moment T
mauto-matching, can obtain the means of transportation metadata DATA of section R: gather video V
mbe made up of multiple frame, i.e. V
m={ FRAME
i(1≤i≤K), K is totalframes, Frame
ibe the traffic sign video frame images of the i-th frame, means of transportation metadata DATA
i=<Frame
i, LON
i, LAT
i>, LON
i, LAT
ilongitude, the latitude in this frame picture shooting moment respectively, Frame
iresolution be fw*fh.
(4) to each collection video V
mmeans of transportation metadata process, obtain meet the attribute list of traffic sign, detailed step is as follows:
A () is by traffic sign video frame images Frame
ibe hsv color space from RGB color space conversion.
(b) in hsv color space by traffic sign video frame images Frame
iin redness, blueness,
Yellow and black carries out color segmentation.
C () is to the traffic sign video frame images Frame after step (b) process
inoise remove is carried out with mean filter.
D () obtains traffic sign video frame images Frame by field table computing method
iconnected region and calculate its minimum enclosed rectangle, the length and width of minimum enclosed rectangle is respectively w, h.Wherein, boundary rectangle size is positioned at the extraneous connected region of w ∈ [fw/85, fw/10] to remove; Further, by boundary rectangle size | the connected region of w-h|>0.3max{fw, fh} is removed.
E () extracts the SIFT feature of 128 dimensions to connected region, carry out identity type identification to connected region, obtains identity type information.
Connected region is extracted to the SIFT feature of 128 dimensions, type of sign identification is carried out to connected region.SIFT feature is extracted as conventional image processing algorithm, and this does not add and repeats.The traffic sign type that the present invention relates to comprises: 1-Warning Mark, 2-warning notice, 3-prohibitory sign, 4-fingerpost and 5-auxiliary sign.From the traffic sign database set up in advance, the attribute of this traffic sign type is read according to the type of sign (as warning notice) identified, such as space of a whole page type, space of a whole page width, highly, reflective membrane grade, road component quantity, left-hand rotation road, right-hand rotation road, next crossing etc., the attribute that wherein design standards is relevant, as space of a whole page type, space of a whole page width, highly, the result read in the direct usage data storehouses of property value such as reflective membrane grade, need the property value judging further to obtain, as road component quantity, left-hand rotation road, right-hand rotation road, next crossing etc. is obtained by subsequent step.
F () extracts the straight line information in traffic mark by Hough transformation.Hough transformation is conventional image processing algorithm, and this does not add and repeats.
G () extracts LBP feature in connected region, by extracting the character information of sign board based on the character recognition engine of SVM, comprise word and numeral.LBP feature extraction is conventional image processing algorithm, and this does not add and repeats.
H straight line information that () combining step (e) to (g) obtains, character information and identity type information, obtain the attribute list of this traffic sign.
By above step, the traffic sign annotation results information after identifying and marking that completes comprises: road number, acquisition tasks, acquisition plan, acquisition time, longitude, latitude, the attribute list of traffic sign.
(5) repeat step (2) to (4) several times, complete information acquisition and the statistics of all means of transportation of section R, and carry out synchronous with the data of traffic sign database.
The present invention adopts road traffic sign detection and recognition technology automatically to extract traffic sign data in means of transportation metadata, complete by straight-line detection and character recognition technologies the making that traffic mark attribute automatic input completes identification and AIT, while significantly reducing manpower requirement, largely avoid the error that artificial mark is introduced.
Claims (8)
1. a means of transportation mobile collection method, is characterized in that: comprise the steps:
(1) preparation is gathered: one, preparation for acquiring car, gather car and be provided with acquisition controller, GPS orientator, the roof gathering car is fixed with vehicle-mounted fixing rack, and vehicle-mounted fixing rack is fixed with some video cameras, each video camera, GPS orientator are electrically connected with acquisition controller respectively;
(2) gather car to advance according to the section R specified, the traffic sign run into is gathered, store and gather video V
m, gather moment T
mand GPS information GPS
m, wherein m is the sequence number of traffic sign;
(3) the collection video V obtained by step (2)
mwith GPS information GPS
maccording to collection moment T
mauto-matching, can obtain the means of transportation metadata DATA of section R;
(4) to each collection video V
mmeans of transportation metadata process, obtain meet the attribute list of traffic sign;
(5) repeat step (2) to (4) several times, complete information acquisition and the statistics of all means of transportation of section R, and carry out synchronous with the data of traffic sign database.
2. a kind of means of transportation mobile collection method according to claim 1, it is characterized in that: described vehicle-mounted fixing rack is L-type structure, the long leg of L-type structure divides and is horizontally fixed on car body front end, the short side part of L-type structure is fixed on the forward right side of car body, video camera has three, be respectively the first video camera, second video camera and the 3rd video camera, first video camera is arranged at half section, the left side that vehicle-mounted fixing rack L-type structure long leg divides, half section, the right side that the L-type structure long leg that second video camera is arranged at vehicle-mounted fixing rack divides and divide in 45 ° towards the L-type structure long leg with vehicle-mounted fixing rack, 3rd video camera is arranged at the L-type structure short side part of vehicle-mounted fixing rack and is 45 ° towards the L-type structure short side part with vehicle-mounted fixing rack.
3. a kind of means of transportation mobile collection method according to claim 1 and 2, it is characterized in that: be provided with switch in described collection car, the input end of switch is electrically connected with each video camera, and the output terminal of switch is electrically connected with acquisition controller.
4. a kind of means of transportation mobile collection method according to claim 1, is characterized in that: in described step (2), and 10 frame pictures before and after the correspondence collection moment in extraction collection video are as the alternative mark picture of traffic sign.
5. a kind of means of transportation mobile collection method according to claim 1, it is characterized in that: in described step (3), the means of transportation metadata DATA acquisition methods of section R is: gather video V
mbe made up of multiple frame, i.e. V
m={ FRAME
i(1≤i≤K), K is totalframes, Frame
ibe the traffic sign video frame images of the i-th frame, means of transportation metadata DATA
i=<Frame
i, LON
i, LAT
i>, LON
i, LAT
ilongitude, the latitude in this frame picture shooting moment respectively, Frame
iresolution be fw*fh.
6. a kind of means of transportation mobile collection method according to claim 5, is characterized in that: the means of transportation metadata process in described step (4) specifically comprises the steps:
A () is by traffic sign video frame images Frame
ibe hsv color space from RGB color space conversion;
(b) in hsv color space by traffic sign video frame images Frame
iin redness, blueness, yellow and black carry out color segmentation;
C () is to the traffic sign video frame images Frame after step (b) process
inoise remove is carried out with mean filter;
D () obtains traffic sign video frame images Frame by field table computing method
iconnected region and calculate its minimum enclosed rectangle, the length and width of minimum enclosed rectangle is respectively w, h;
E () extracts the SIFT feature of 128 dimensions to connected region, carry out identity type identification to connected region, obtains identity type information;
F () extracts the straight line information in traffic mark by Hough transformation;
G () extracts LBP feature in connected region, by extracting the character information of sign board based on the character recognition engine of SVM;
H straight line information that () combining step (e) to (g) obtains, character information and identity type information, obtain the attribute list of this traffic sign.
7. a kind of means of transportation mobile collection method according to claim 6, is characterized in that: in described step (d), boundary rectangle size is positioned at the extraneous connected region of w ∈ [fw/85, fw/10] and removes.
8. a kind of means of transportation mobile collection method according to claim 7, is characterized in that: in described step (d), by boundary rectangle size | the connected region of w-h|>0.3max{fw, fh} is removed.
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| CN105118287A (en) * | 2015-09-01 | 2015-12-02 | 南京理工大学 | General investigation system of road traffic sign information |
| CN105469351A (en) * | 2015-11-23 | 2016-04-06 | 招商局重庆交通科研设计院有限公司 | Information recovery method aiming at road traffic facility and system thereof |
| CN105608893A (en) * | 2016-01-15 | 2016-05-25 | 腾讯科技（深圳）有限公司 | Data acquisition method and apparatus, and terminal |
| CN105741552A (en) * | 2016-04-28 | 2016-07-06 | 桂林电子科技大学 | Urban traffic facility acquiring and processing device equipped on floating car |
| CN106599846A (en) * | 2016-12-15 | 2017-04-26 | 徐州工程学院 | Identification method of traffic sign board easily identified through computer vision identification |
| CN106650724A (en) * | 2016-10-31 | 2017-05-10 | 北京汽车集团有限公司 | Method and device for building traffic sign database |
| CN108918532A (en) * | 2018-06-15 | 2018-11-30 | 长安大学 | A kind of through street traffic sign breakage detection system and its detection method |
| CN114745525A (en) * | 2022-04-08 | 2022-07-12 | 中国矿业大学 | Intelligent fixed-point inspection method for parasitic carrier type highway accessory facilities |
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