CN105651207A - Laser and image processing based vehicular side skewing angle dynamic measurement method and device - Google Patents
Laser and image processing based vehicular side skewing angle dynamic measurement method and device Download PDFInfo
- Publication number
- CN105651207A CN105651207A CN201610100230.4A CN201610100230A CN105651207A CN 105651207 A CN105651207 A CN 105651207A CN 201610100230 A CN201610100230 A CN 201610100230A CN 105651207 A CN105651207 A CN 105651207A
- Authority
- CN
- China
- Prior art keywords
- laser
- image
- vehicle
- generating unit
- line
- Prior art date
- 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.)
- Pending
Links
- 238000012545 processing Methods 0.000 title claims abstract description 31
- 238000000691 measurement method Methods 0.000 title claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims description 15
- 239000000284 extract Substances 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000006467 substitution reaction Methods 0.000 claims description 6
- 210000004877 mucosa Anatomy 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 abstract description 7
- 230000001133 acceleration Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001413 cellular effect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 241001134453 Lista Species 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a laser and image processing based vehicular side skewing angle dynamic measurement method and device. The method comprises the steps of: arranging two lasers and one imaging unit on the vehicle in parallel laterally on a vehicle as measurement units, wherein the lasers and the imaging unit are collinear horizontally and the line type light spot irradiated on the ground by the laser is within a viewing field of the imaging unit; vertically emitting line laser downwards by the laser and forming line type light spots parallel to the direction of the longitudinal axis of the vehicle on the ground; and vertically shooting a video downwards by the imaging unit; reading video data in real time by a processing unit, extracting each frame of image, and extracting the center position of the laser light spots in the images; and calculating the side skewing angle of the vehicle relative to the ground according to the relative positions of two laser light spots.
Description
Technical field
The present invention relates to state of motion of vehicle detection field, more specifically, relate to a kind of based on laser and image placeVehicle roll angle dynamic measurement method and the device of reason.
Background technology
Vehicle side inclination angle is an important parameter in vehicle movement process, the dynamic change at research vehicle side inclination angleCan increase the understanding to vehicle movement rule, for the safety control strategy to vehicle provides foundation. Existing at presentMany vehicle safety control technologys and application of installation in vehicle, for example anti-lock braking system ABS, vehicleStabilitrak VSC etc. The good operation of these devices depends on accurate state of motion of vehicle numberAccording to. In addition, the parameters relationships such as vehicle side inclination angle and vehicle load, vehicle height of center of mass are close, know vehicle sideInclination angle has valuable help to the integrality of understanding vehicle. Therefore, at Real-time Obtaining vehicle side inclination angle to vehicleEntirety control there is important function.
At present the real-time measurement at vehicle side inclination angle is extensively adopted to inertial sensor, by accelerometer and gyroInstrument sensor obtains respectively acceleration and the angular velocity data of 3 orthogonal directions of vehicle. In the effect of the earth's core gravityUnder, the accekeration that accelerometer detects changes along with the variation at vehicle side inclination angle, can calculate thusTo vehicle side inclination angle. But there is static drift and dynamic drift in common accelerometer, counts on the one hand on the other handToo large according to noise, cause precision low, thereby need to melt in conjunction with the good gyro sensor of dynamic propertyClose filtering processing. But, because inertial sensor is unstable, be subject to the factors such as the acceleration of vehicle own simultaneouslyImpact, is only used common inertial sensor to be still difficult to detect vehicle side inclination angle, more accurate ground. And it is high-precisionThe inertial sensor of degree adopts well behaved sensor element and outstanding filtering algorithm, simultaneously in conjunction with GPSDifference locate mode is carried out correction error, thereby precision is relatively high. But high accuracy inertial sensor price is highHigh, cannot obtain at present extensive use.
Summary of the invention
In order to overcome the not high enough and unsettled shortcoming of current vehicle inertia sensor measurement vehicle roll angular accuracy,The present invention proposes a kind of vehicle roll angle dynamic measurement method based on laser and image processing, measurement of the present inventionUnit has higher precision, and is subject to the interference of vehicle movement little, can effectively reduce measurement noise, withTime data processing and calculating complexity lower, angle of heel that can real-time, convenient calculating vehicle.
Another object of the present invention is to propose a kind of vehicle roll angle kinetic measurement based on laser and image processingDevice.
For the problems referred to above, the present invention proposes following technical scheme:
A vehicle roll angle dynamic measurement method based on laser and image processing, comprising:
Image-generating unit, two line laser light sources are installed side by side along lateral direction of car level, and Ear Mucosa Treated by He Ne Laser Irradiation is red to groundColo(u)r streak type hot spot is parallel to longitudinal direction of car, respectively measures assembly and vehicle and forms a kind of special geometrical relationship;
Image-generating unit is taken two LASER Light Sources and is beaten the red line style hot spot on ground, and transmitting image is single to processingUnit, LASER Light Source and image-generating unit are arranged on outside vehicle, and all hang down with ground in laser and image-generating unit axisDirectly. LASER Light Source, image-generating unit are calibrated;
Processing unit carries out analytical calculation to laser image, obtains vehicle side inclination angle;
Described processing unit to the analytical calculation process at vehicle side inclination angle is: according to LASER Light Source, image-generating unit,Geometrical relationship between ground hot spot and vehicle obtains operation relation formula; Processing unit reads out often from video flowingOne two field picture; The pixel data of some row in abstract image, does binary conversion treatment, identifies on laser figure lineSome pixel; Obtaining the straight line of each laser beam on image according to the pixel on laser figure line expressesFormula, thus the pixel distance of two laser figure lines obtained; By pixel distance and the relevant geometrical relationship of laser figure lineFormula is calculated vehicle side inclination angle.
Operation principle of the present invention: broken line ABCDE is that the vehicle Three Degree Of Freedom of simplifying rolls model. Laser lightBetween source, ground laser beam, image-generating unit and vehicle, form a kind of dimensional measurement model. When vehicle is without inclinationTime, Ear Mucosa Treated by He Ne Laser Irradiation is JF to the distance of ground twice line style hot spot, the distance of twice laser on imageFor l1. In the time that vehicle occurs to roll, the distance of twice laser figure line is l2. According to image-forming principle, haveHave according to geometrical relationship Wherein Order According to various aboveCan obtainBecause vehicle side inclination angle is generally less than 10 °, whenIn (corresponding angle-30 °～30 °) time, has, The vehicle roll that therefore can be simplifiedAngle calculation expressionAccording to the expression formula after simplifying, only need to demarcate AC=a+b andCE=c+d and l1For the value of needs demarcation. While carrying vehicle movement inclination, from image, calculate in real time l2,To k, substitution vehicle side inclination angle calculation expression obtains vehicle roll angle. Assume picture cellular installation in positionWhen A, in like manner can obtain calculating the expression formula at vehicle side inclination angleFor convenience of description,Below only be discussed as the situation that picture cellular installation is ordered at B.
The present invention sends signal message with LASER Light Source, because laser has the characteristic of straightline propagation, hasVery high precision and stability, is not subject to the impact of the factors such as vehicle acceleration, is therefore irradiated to the light letter on groundNumber can reflect vehicle side inclination angle more accurately. Image-generating unit is constantly taken and is swashed by the mode of photographyOptical signal information. Because image-generating unit and LASER Light Source keep relative static substantially, thereby the image of taking can notProduce obviously fuzzy. In image processing process, only extract the pixel of some row and extract laser figure line, simultaneously carAngle of heel calculation expression is simple, and input variable is few, and therefore arithmetic speed is than very fast, and real-time is good.
A vehicle roll angle dynamic measurement device based on laser and image processing, comprises following components:Independently two LASER Light Sources; Image-generating unit and the processing unit of electrical connection; LASER Light Source and image-generating unit are along carTransverse horizontal side by side, is installed on the bottom of car body, and light source axis is perpendicular to road surface; Image-generating unit perpendicular toThe Linear Laser hot spot that is irradiated to ground is taken on road surface; Image-generating unit constantly extracts laser signal letter from imageBreath, calculates vehicle side inclination angle in real time.
Wherein Treatment Analysis and the computational process of processing unit to image mainly comprises: read each from image-generating unitFrame image data; Extract the pixel data of some row in image and do binary conversion treatment, extracting laser figurePixel on line; Calculate the straight line expression formula of per pass laser figure line and calculate its pixel distance according to pixelFrom; The pixel distance substitution vehicle side inclination angle calculation expression of laser figure line is obtained to vehicle side inclination angle.
Compared with current conventional vehicle side inclination angle detection technique, the feature of this detection scheme is: adopt laserAs output signal, effectively reduce noise jamming, improve accuracy of detection; LASER Light Source, image-generating unit etc. and carBetween body, form a kind of geometrical relationship of being convenient to calculating; Image-generating unit can detect ground laser more accuratelyLight is along with the variable quantity of vehicle roll; Processing unit can be real by image processing fast and simple operationTime, obtain vehicle side inclination angle easily.
Brief description of the drawings
Fig. 1 is the flow chart of vehicle roll angle measuring device in the present invention.
Fig. 2 is signal conveying flow figure in vehicle roll angular measurement process of the present invention.
Fig. 3 is vehicle roll schematic diagram.
Fig. 4 is that a kind of conventional vehicle Three Degree Of Freedom rolls model, is the simplification to Fig. 1 vehicle roll.
Fig. 5 is a kind of three-dimensional orthogonal coordinate system that the present invention adopts for convenience of calculating, and wherein the origin of coordinates is positioned atHorizontal plane, and center in four wheels of vehicle. X-axis is pointed to longitudinal direction of car, i.e. the vehicle side of advancingTo. Y-axis is pointed to the left side of vehicle forward direction, i.e. lateral direction of car. Z axis, perpendicular to XOY plane, hangs downDirectly in ground.
Fig. 6 is a kind of geometrical model that calculates vehicle side inclination angle that the present invention builds. Wherein, broken line ABCDE isThe vehicle Three Degree Of Freedom of simplifying rolls model, and D is positioned on the inclination rotating shaft of car body, A, B, the equal position of COn car body, prolong lateral direction of car level and install. A, 2 of B are the position of two line laser light sources, imagingUnit is also installed on B point. . Each LASER Light Source sends laser vertically downward with the angle of departure of β size, beatsGround light m, n are parallel with X-axis respectively, i.e. X||m||n. J, F are respectively the point on m, n, and JF is flatRow, in Y-axis, is the distance that LASER Light Source is irradiated to ground twice line style hot spot. Auxiliary dotted line AH is verticalIn AB and through J point. Auxiliary dotted line BG is perpendicular to AB and through F point. AH, BG length keep hConstant, i.e. h=c+d. I is the intersection point of straight line BJ and HG. AB, BC, CD, DE length be respectively a,b、c、d。
Fig. 7 is the geometrical model after vehicle roll in the present invention, and φ is vehicle side inclination angle. Due to LASER Light Source positionPut and immobilize, and auxiliary dotted line AH, BG length keep, when after the inclination that vehicle generation angle is φ,There is respective change in J, F, I, H, G position.
Red bright line in Fig. 8 is the twice that two line laser light sources that image-generating unit photographs are irradiated to groundThe line style hot spot being parallel to each other.
Fig. 9 is that processing unit carries out the image after binary conversion treatment to the image photographing.
The red straight line of Figure 10 is the laser rays that processing unit extracts, and l is the distance between two laser figure lines.
Exemplary illustration in accompanying drawing is a kind of detailed description of the invention of the present invention, can not be interpreted as this patentRestriction. In accompanying drawing, the size scaling of some assembly, model are chosen and other any small adjustment all belong to this speciallyWithin the right category of profit. Some nonessential details in the present invention does not describe in detail one by one, but does not affect thisUnderstanding and the claim of invention.
Detailed description of the invention
In order to understand better patent of the present invention, below in conjunction with accompanying drawing and concrete case study on implementation to technology of the present inventionScheme is described further.
Existing vehicle roll angular measurement scheme exists sensor noise large, and the shortcoming that data precision is low, causes difficultyTo obtain accurate result. In order to overcome these technical difficulties, the present invention does not adopt mechanics sensor as measurementUnit, and adopt the higher optical pickocff of signal accuracy. The present invention has built by LASER Light Source, imaging listA kind of geometrical relationship that is easy to calculating that unit, Ear Mucosa Treated by He Ne Laser Irradiation form to light and the vehicle on ground. By video figurePicture can obtain the variation of ground laser signal easily. Measuring unit signal accuracy of the present invention is high, and input becomesAmount is few, and computation complexity is low, and cost compare is low, is therefore suitable for vehicle roll angular measurement.
The measuring method at the vehicle side inclination angle based on laser and image, its operation principle is as follows: Three Degree Of FreedomVehicle roll model is to be conventional vehicle roll model at present, as shown in Fig. 3～Fig. 5. The present invention in connection withThis model is introduced vehicle roll angular measurement principle. When vehicle is when rolling, Ear Mucosa Treated by He Ne Laser Irradiation is to ground twiceThe distance of line style hot spot is JF, and the distance of twice laser on image is l1, as shown in Figure 6, Figure 7. Work as carOccur roll time, the distance of twice laser on image is l2. According to image-forming principle, haveAccording toGeometrical relationship has Wherein Order According to above various passableObtain Because vehicle side inclination angle is generally less than 10 °, when (rightAnswer angle-30 °～30 °) time has, The vehicle side inclination angle calculation expression that therefore can be simplifiedLength A C=a+b and CE=c+d and l1For the value of needs demarcation. Carry vehicle movement sideWhile inclining, from image, calculate in real time l2, obtaining k, substitution vehicle side inclination angle calculation expression obtains vehicle rollAngle.
The present invention sends signal message with LASER Light Source, because laser has the characteristic of straightline propagation, hasVery high precision and stability, is not subject to the impact of the factors such as vehicle acceleration, is therefore irradiated to the hot spot energy on groundEnough variations that reflects vehicle side inclination angle more accurately. Image-generating unit constantly obtains laser by the mode of shootingSignal message. Because image-generating unit and LASER Light Source keep relative static substantially, thereby the image of taking can not produceRaw obviously fuzzy. The pixel that only extracts some row in image processing process is extracted laser image, simultaneously vehicleAngle of heel calculation expression is simple, and input variable is few, and therefore arithmetic speed is than very fast.
Based on above principle, the present invention proposes the measurement side at the vehicle side inclination angle that a kind of laser and image combineMethod. This measuring method part comprises: two line laser light sources that level is arranged side by side, perpendicular to road surface to issuingPenetrate laser, form on the ground the bright line style hot spot of twice; Image-generating unit is taken ground downwards perpendicular to road surfaceLaser facula; Processing unit reads the data of each two field picture from image-generating unit, extract laser figure line and calculateVehicle side inclination angle.
Based on above measuring method, the measurement scheme at vehicle side inclination angle is proposed below: first at the car body of vehicleAlong lateral direction of car level, two line laser light sources are installed side by side below, then Calibration of Laser light source, imaging are large respectivelyUnit rolls the horizontal range of rotating shaft and the vertical range to ground to car body. LASER Light Source downwards transmitting swashsLight, image-generating unit is taken ground line style hot spot and is formed image. The computational process of processing unit is: extract some rowView data; The data that extract are carried out to binaryzation, extract lasing image vegetarian refreshments; By lasing image vegetarian refreshments meterCalculate laser figure line; The image distance that calculates twice laser, substitution vehicle side inclination angle calculation expression, obtains carAngle of heel.
Based on above vehicle roll angle measuring method, be described further below in conjunction with accompanying drawing and measurement scheme.
The dynamic measurement device at a kind of vehicle side inclination angle based on laser and image of the present invention, its vehicle rollThe concrete implementation step of angle measuring method is as follows:
Step 1: level is installed two LASER Light Sources side by side along lateral direction of car level outside vehicle bottom. InstallAn image-generating unit, and substantially overlap with one of them LASER Light Source position, apart from road surface vertical height30～50cm. Image-generating unit used can be taken RGB24 position coloured picture. For ensureing picture quality, image-generating unitShould support 480 × 320 or higher resolution ratio. Two LASER Light Sources should keep certain distance, approximately 30～50cm,Being irradiated to the line style hot spot that ground forms must be within the image-generating unit visual field, and per pass hot spot and longitudinal direction of carParallel.
Step 2: under the condition at vehicle without inclination, Calibration of Laser light source, imaging big unit roll and revolve to car bodyThe level of rotating shaft and to the vertical range on road surface, the initial distance of twice laser figure line on image.
Step 3: in the time of vehicle movement, LASER Light Source is Emission Lasers always, forms parallel red of twice on groundLook laser line style hot spot, as shown in Figure 8. In order to ensure to measure the real-time that angle of heel detects, image-generating unit is pressedThe speed of 30 frame left and right per second is taken laser facula. Laser signal forms twice on image by image-generating unitParallel red figure line.
Step 4: extract laser signal from image slices vegetarian refreshments p (i, j) (i represents image line, and j represents image column).In order to reduce operand, the pixel of an extracting part branch is processed, and ensures selected row and laser figure line phaseHand over. Set the red component threshold value of red laser image, the image of choosing is made to binary conversion treatment, extract sharpPoint p (i in light image1,j1)、p(i2,j2)、p(i3,j3)、p(i4,j4) ... obtain laser figure according to least square methodThe expression formula y=kx+b of picture. For convenience of calculation, in the time that being installed, image-generating unit makes image row or column and laser figureLine parallel, selects row parallel here, and laser expression formula can be expressed as x=x'. The figure line of twice laser can divideBe not expressed as x1＝x1'、x2＝x2', its image distance is l=x1-x2, vehicle without roll time length be l1。
Step 5: in vehicle movement process, calculate in real time laser figure line apart from l, as shown in figure 10. ObtainProportionality coefficientBy proportionality coefficient substitution vehicle side inclination angle expression formulaObtain vehicle sideInclination angle. In order to improve computational accuracy, computational process adopts the methods such as LPF to do certain filter to input variableRipple processing.
Step 6: constantly repeating step four and step 5, obtains the real-time angle value that vehicle dynamic rolls.
Through preliminary test, the present invention has very high precision in the time of the static angle of heel of measuring vehicle, calculates knotFruit error, in 0.5 °, and is generally less than 0.3 °. Result of calculation has comprised device alignment error, operation mistakeThe error of bringing is calculated in poor, simplification. In kinetic measurement situation, laser signal is also along with vehicle roll is correspondingSignificant change occurs, and therefore the present invention can be used for the kinetic measurement of vehicle roll angle.
In accompanying drawing can there is variation to a certain degree in geometrical model each several part relative position, and image-generating unit can be installedIn any one LASER Light Source position. The parts of measurement mechanism used also have polytype. Any based on thisThe scheme modifying of invention vehicle roll angular measurement model and detailed description of the invention are all at rights protection model of the present inventionWithin farmland.
Claims (2)
1. the vehicle roll angle dynamic measurement method based on laser and image processing, is characterized in that,
Image-generating unit, two line laser light sources are installed side by side along lateral direction of car level, and Ear Mucosa Treated by He Ne Laser Irradiation is parallel to longitudinal direction of car to the red line style hot spot on ground, between LASER Light Source, image-generating unit, ground hot spot and vehicle, forms geometrical relationship;
Image-generating unit is taken two LASER Light Sources and is beaten the red line style hot spot on ground, and transmitting image is to processing unit, LASER Light Source and image-generating unit are arranged on outside vehicle, and laser and image-generating unit axis all perpendicular to the ground, LASER Light Source, image-generating unit are calibrated;
Processing unit carries out analytical calculation to laser image, obtains vehicle side inclination angle;
Described processing unit to the analytical calculation process at vehicle side inclination angle is: obtain operation relation formula according to the geometrical relationship between LASER Light Source, image-generating unit, ground hot spot and vehicle; Processing unit reads out each two field picture from the video flowing of laser image; The pixel data of some row in abstract image, does binary conversion treatment, identifies some pixel on laser figure line; Obtain the straight line expression formula of each laser beam on image according to the pixel on laser figure line, thereby obtain the pixel distance of two laser figure lines; Pixel distance and relevant geometrical relationship formula by laser figure line are calculated vehicle side inclination angle.
2. the vehicle roll angle dynamic measurement device based on laser and image processing, is characterized in that, comprises following components: independently two LASER Light Sources; Image-generating unit and the processing unit of electrical connection;
LASER Light Source and image-generating unit, along lateral direction of car horizontal Tile, are installed on the bottom of car body, and light source axis is perpendicular to road surface; Image-generating unit is taken the Linear Laser hot spot that is irradiated to ground perpendicular to road surface; Image-generating unit constantly extracts laser signal information from image, calculates in real time vehicle side inclination angle;
Wherein Treatment Analysis and the computational process of processing unit to image mainly comprises: read each frame image data from image-generating unit; Extract the pixel data of some row in image and do binary conversion treatment, extracting the pixel on laser figure line; Calculate the straight line expression formula of per pass laser figure line and calculate its pixel distance according to pixel; The pixel distance substitution vehicle side inclination angle calculation expression of laser figure line is obtained to vehicle side inclination angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100230.4A CN105651207A (en) | 2016-02-23 | 2016-02-23 | Laser and image processing based vehicular side skewing angle dynamic measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100230.4A CN105651207A (en) | 2016-02-23 | 2016-02-23 | Laser and image processing based vehicular side skewing angle dynamic measurement method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105651207A true CN105651207A (en) | 2016-06-08 |
Family
ID=56488598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610100230.4A Pending CN105651207A (en) | 2016-02-23 | 2016-02-23 | Laser and image processing based vehicular side skewing angle dynamic measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105651207A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585546A (en) * | 2016-09-30 | 2017-04-26 | 张家港长安大学汽车工程研究院 | Automobile rollover early warning system |
| CN108805790A (en) * | 2018-06-11 | 2018-11-13 | 南京鑫敬光电科技有限公司 | A kind of Information acquisition system of the drive way and the lane information processing method using the system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102032879A (en) * | 2010-10-18 | 2011-04-27 | 北京理工大学 | Device for testing torsional angle of mast system based on high speed camera and design method thereof |
| CN102445148A (en) * | 2010-09-30 | 2012-05-09 | 西门子公司 | Method, device and system for acquiring position parameters |
| US20140176938A1 (en) * | 2012-12-24 | 2014-06-26 | Industrial Technology Research Institute | Method and system of detecting tilt angle of object surface and method and system of compensating the same |
| CN105069786A (en) * | 2015-07-31 | 2015-11-18 | 小米科技有限责任公司 | Straight line detection method and straight line detection device |
-
2016
- 2016-02-23 CN CN201610100230.4A patent/CN105651207A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445148A (en) * | 2010-09-30 | 2012-05-09 | 西门子公司 | Method, device and system for acquiring position parameters |
| CN102032879A (en) * | 2010-10-18 | 2011-04-27 | 北京理工大学 | Device for testing torsional angle of mast system based on high speed camera and design method thereof |
| US20140176938A1 (en) * | 2012-12-24 | 2014-06-26 | Industrial Technology Research Institute | Method and system of detecting tilt angle of object surface and method and system of compensating the same |
| CN105069786A (en) * | 2015-07-31 | 2015-11-18 | 小米科技有限责任公司 | Straight line detection method and straight line detection device |
Non-Patent Citations (1)
| Title |
|---|
| 洪汉玉: "《现代图像图形处理与分析》", 31 August 2011, 中国地质大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585546A (en) * | 2016-09-30 | 2017-04-26 | 张家港长安大学汽车工程研究院 | Automobile rollover early warning system |
| CN106585546B (en) * | 2016-09-30 | 2019-03-22 | 张家港长安大学汽车工程研究院 | A kind of vehicle side turning early warning system |
| CN108805790A (en) * | 2018-06-11 | 2018-11-13 | 南京鑫敬光电科技有限公司 | A kind of Information acquisition system of the drive way and the lane information processing method using the system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11477374B2 (en) | Three dimensional image capture system for imaging building facades using a digital camera, a near-infrared camera, and laser range finder | |
| CN106997049B (en) | Method and device for detecting barrier based on laser point cloud data | |
| Rose et al. | An integrated vehicle navigation system utilizing lane-detection and lateral position estimation systems in difficult environments for GPS | |
| EP2209091B1 (en) | System and method for object motion detection based on multiple 3D warping and vehicle equipped with such system | |
| CN206479647U (en) | Alignment system and automobile | |
| JP5168601B2 (en) | Own vehicle position recognition system | |
| CN108303043B (en) | Multi-sensor information fusion plant leaf area index detection method and system | |
| CN107615201A (en) | Self-position estimation unit and self-position method of estimation | |
| CN102538763A (en) | Method for measuring three-dimensional terrain in river model test | |
| CN103578117A (en) | Method for determining poses of camera relative to environment | |
| CN111708048A (en) | Method, device and system for motion compensation of point cloud | |
| CN106197382B (en) | A kind of vehicle-mounted single camera target dynamic distance measuring method | |
| JP4986883B2 (en) | Orientation device, orientation method and orientation program | |
| CN107796370A (en) | For obtaining the method, apparatus and mobile mapping system of conversion parameter | |
| CN102692213A (en) | Traffic accident field surveying instrument based on active omnidirectional visual sensor | |
| CN116736322B (en) | Speed prediction method integrating camera image and airborne laser radar point cloud data | |
| CN106225779A (en) | Development machine alignment systems based on three laser labelling dot image and localization method | |
| CN112455502A (en) | Train positioning method and device based on laser radar | |
| CN105651207A (en) | Laser and image processing based vehicular side skewing angle dynamic measurement method and device | |
| CN113340272B (en) | Ground target real-time positioning method based on micro-group of unmanned aerial vehicle | |
| Zhou et al. | Crater identification simulation using LiDAR on Lunar rover | |
| CN105137468A (en) | Photoelectric type automobile continuous navigation data acquiring device and method in GPS blind area environment | |
| CN205049153U (en) | Sustainable navigation data collection system of vehicle under environment of photoelectric type GPS blind area | |
| US20100211317A1 (en) | Determining velocity using multiple sensors | |
| WO2020223868A1 (en) | Terrain information processing method and apparatus, and unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160608 |
|
| RJ01 | Rejection of invention patent application after publication |