CN106204634B - A method of car speed is measured by monitor video or vehicle-mounted camera - Google Patents
A method of car speed is measured by monitor video or vehicle-mounted camera Download PDFInfo
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- CN106204634B CN106204634B CN201610475783.8A CN201610475783A CN106204634B CN 106204634 B CN106204634 B CN 106204634B CN 201610475783 A CN201610475783 A CN 201610475783A CN 106204634 B CN106204634 B CN 106204634B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
A method of car speed being measured by monitor video or vehicle-mounted camera, it is related to technical field of video monitoring.The present invention is with ratio and its generally acknowledged invariance under perspective geometry specified conditions is intersected, after a regular length of known vehicle, from the method for directly determining car speed of recording a video.The present invention measures the speed of automobile by monitor video or vehicle-mounted camera.The present invention directly measures car speed by the sequence of video images that stationary cameras photographed, and does not have to carry out camera calibration, without the physical location of reference automobile at the scene.This method can expand to the speed measurement application of vehicle-mounted camera.
Description
Technical field:
The present invention relates to a kind of methods for measuring car speed by monitor video or vehicle-mounted camera, belong to video monitoring
Technical field.
Background technique:
The existing method for measuring car speed by monitor video is substantially all to track vehicle by capturing, measurement view
Then displacement on the picture measured is mapped to by the pixel displacement of vehicle in frequency by camera calibration and perspective transform relationship
It is displaced in reality.
Appoint the position stated clearly and determine vehicle by license plate location in row in " studying based on the Bus- Speed Monitoring of video image ", uses
License plate determines vehicle interframe actual displacement in the mobile number of lines of pixels of interframe, then Linear Mapping is into actual displacement.
Yu Yanling is in " the Bus- Speed Monitoring technical research in video detection system ", on the one hand in traditional linear model base
On plinth, a kind of new camera marking method is proposed, i.e., first by linear perspective relationship, with the method for geometry derivation to one
Dimension coordinate is demarcated, and is extended to two dimension then to improve stated accuracy, two-dimensional calibrations are computationally intensive to ask in order to solve
Topic, obtains small, the stable calibration algorithm of calculation amount by the simplification to two-dimensional calibrations.On the other hand in the base of images match
On plinth, virtual coil and image matching algorithm are combined, suitable template is chosen according to coil position, preset
In range, shiding matching is carried out according to best match criterion, vehicle pixel displacement is obtained, characterized by template waveforms valley point
Point obtains matching fore-aft vehicle absolute pixel position.
Summary of the invention:
In view of the above-mentioned problems, the present invention provides a kind of side for measuring car speed by monitor video or vehicle-mounted camera
Method.
The method of the present invention includes following steps:
Step 1: extract 4 points of A, B, C, D in the three-dimensional reality world, four collinear points A, B successively from left to right, C,
The double ratio (ABCD) of D is as follows:
By projective transformation, the double ratio of any four point in straight line all will be that a dosing control is retained, really
Four collinear points A, B, C, D in the world are projected to A ', B ', C ', D ' in image space respectively, if with (A ' B ' C ' D ')
Indicate the double ratio of four subpoint A ', B ', C ', D ', then (ABCD) and (A ' B ' C ' D ') equal,
(ABCD)=(A ' B ' C ' D ') ... (2)
Step 2: an automobile is moved with speed v along straight way from time T1 to T2, A, B are on the moment path T2 respectively
The position of front and rear wheel, C, D are the position of front and rear wheel on the moment path T1 respectively, and d is the distance of automobilism, and l is automobile
Wheelbase, tetra- dot of A, B, C, D is in alignment, and double ratio (ABCD) is expressed as follows with d, l:
It rearranges:
Because A, two pairs of points of B and C, D can not coexist, double ratio (ABCD) is that one in the three-dimensional reality world fabricates ginseng
Number, the movement of automobile can be videoed capture after extract the two images frame at T1, T2 moment, establish one according to this comprising owning
The virtual two-dimensional image space of the subpoint of each point can obtain double ratio (ABCD) from this virtual two-dimensional image space indirectly.
One is equipped with the automobile of vehicle-mounted camera and is travelled with stable speed along straight way, and vehicle-mounted camera captures
The picture at T3, T4 moment, the fixed device of road of the fetch bit on the left of lane is object of reference, since the double ratio of any object of reference all can
It is retained, therefore the virtual two-dimensional image space built is used to calculate the distance i.e. distance of running car of object of reference traveling；
Step 3: the determination of car speed:
According to the invariance of double ratio, the double ratio (A ' B ' C ' D ') of 4 points of A ', B ', C ', D ' in two dimensional image space is equal to
4 points of A, B, C, D of double ratio (ABCD) in the three-dimensional reality world
Formula (2) is brought into formula (3) and is obtained:
From formula (4) it is found that if automobile wheelbase it is known that if the distance of running car can be determined, when distance is it is known that vapour
The speed of service of vehicle can according to the time T2-T1 passed between two images frame using simple distance verses time equation come
It determines.
The invention has the benefit that car speed is directly measured by sequence of video images that stationary cameras photographed,
Without carrying out camera calibration, without the physical location of reference automobile at the scene.This method can expand to vehicle-mounted camera
Speed measure application.
With it is existing by the method for video measuring car speed compared with, simulated, decreased without return scene
Because of error caused by shooting angle or distortion；Car speed is measured with the method for the present invention, it is only necessary in vehicle parameter
Wheelbase parameter is found in the inside, is used in the double ratio that Cross ration invariability can first calculate composograph in perspective geometry and obtains practical friendship
Than, then calculate vehicle to run distance, because the time interval of two picture frames can by frame rate multiplied by frame number due to obtain, vehicle can be found out
Speed, it is convenient and efficient without returning to the scene of the accident.In addition, this method, which can also spread to, is applied to the shifting as vehicle-mounted camera
On camera in dynamic, with movement relativity principle, choosing corresponding reference substance also can be obtained car speed.
Specific embodiment:
In order to make the objectives, technical solutions and advantages of the present invention clearer, it is described below by specific embodiment
The present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the scope of the invention.In addition, following
In explanation, descriptions of well-known structures and technologies are omitted, so as not to unnecessarily obscure the concept of the present invention.
Specific embodiment 1:
Picture frame
Each frame videoed machine capture image be all 3d space 2D image, each position 3D in real world by
A 2D point being mapped in picture frame.Mapping and Converting from 3d space to the space 2D follows perspective geometry principle.
Synteny
If A, 4 points of B, C, D in the three-dimensional reality world be it is conllinear, through projection transform into the space 2D, then right
A ', B ', C ', D ' in the space 2D that should come are also conllinear.Synteny based on projective transformation, any one point will not
It is changed, so it can be considered as dosing control.It is in simple terms exactly that the straight line in real world is still in image
Straight line.
Double ratio
The double ratio (ABCD) of four collinear points A, B, C, D from left to right are as follows:
By projective transformation, the double ratio of any four point in straight line all will be that a dosing control is retained.Really
Four collinear points A, B, C, D in the world are projected to A ', B ', C ', D ' in image space respectively.If with (A ' B ' C ' D ')
The double ratio of four subpoint A ', B ', C ', D ' are indicated, then (ABCD) and (A ' B ' C ' D ') is equal.
(ABCD)=(A ' B ' C ' D ') ... (2)
One automobile is moved with speed v along straight way from time T1 to T2.A, B is front and rear wheel on the moment path T2 respectively
Position, C, D are the position of front and rear wheel on the moment path T1 respectively, and d is the distance of automobilism, and l is the wheelbase of automobile.A,
B, tetra- dot of C, D is in alignment, and double ratio (ABCD) is expressed as follows with d, l:
It rearranges:
Because A, two pairs of points of B and C, D can not coexist, double ratio (ABCD) is that one in the three-dimensional reality world fabricates ginseng
Number.If the movement of automobile can videoed and capture, because it is a series of images sequentially arranged that video recording, which is with the time, I
Can extract the two images frame at T1, T2 moment, establish virtual the two of a subpoint comprising all each points according to this
Tie up image space.Double ratio (ABCD) can be obtained indirectly from this virtual two-dimensional image space.
Similarly, one is equipped with the automobile of vehicle-mounted camera and is travelled with stable speed along straight way, vehicle-mounted camera
Capture the picture at T3, T4 moment.The fixed device of road on the left of lane, it appears that seem with identical as automobile size but
Contrary speed is relative to automobile (or interior passenger) movement.Furthermore a virtual two-dimensional image built is empty
Between can be used to calculate road sign traveling distance (distance of running car) because the double ratio of any selected object can all be protected
It stays.
Construct virtual two dimensional image space
Position of the automobile travelled along straight way in different moments is captured respectively, by T1 moment vehicle front with rear-wheel
Center is designated as C ', D ', and T2 moment vehicle front is designated as A ', B ' with the center of rear-wheel.By the input picture processing of two images frame
The composograph of two different moments automobile positions can be clearly seen as obtained a width in Photoshop in software.
Because automobile is travelled along straight way, A ', B ', C ', D ' in composograph are also conllinear.Virtual two-dimensional image
The track of A ' B ' C ' D ' is the projection line of straight way ABCD in real world in space.The distance between point-to-point A ' C ', B ' C ', A '
D ', B ' D ' are easy in composograph directly measure and have good accuracy, meanwhile, double ratio (A ' B ' C ' D ') can be also determined
Get off.
The determination of car speed
According to the invariance of double ratio, the double ratio (A ' B ' C ' D ') of 4 points of A ', B ', C ', D ' in two dimensional image space is equal to
4 points of A, B, C, D of double ratio (ABCD) in the three-dimensional reality world
Formula (2) is brought into formula (3) and is obtained:
From formula (4) it is found that if automobile wheelbase it is known that if the distance of running car can be determined.When distance is it is known that vapour
The speed of service of vehicle can according to the time T2-T1 passed between two images frame using simple distance verses time equation come
It determines.
Claims (2)
1. a kind of method for measuring car speed by monitor video or vehicle-mounted camera, it is characterised in that: the method includes
Following steps:
Step 1: extract 4 points of A, B, C, D in the three-dimensional reality world, successively four collinear points A, B, C, D from left to right
Double ratio (ABCD) is as follows:
By projective transformation, the double ratio of any four point in straight line all will be that a dosing control is retained, real world
In four collinear points A, B, C, D be projected to A ', B ', C ', D ' in image space respectively, if with (A ' B ' C ' D ') come table
Show the double ratio of four subpoint A ', B ', C ', D ', then (ABCD) and (A ' B ' C ' D ') is equal,
(ABCD)=(A ' B ' C ' D ') ... (2)
Step 2: an automobile is moved with speed v along straight way from time T1 to T2, A, B are forward and backward on the moment path T2 respectively
The position of wheel, C, D are the position of front and rear wheel on the moment path T1 respectively, and d is the distance of automobilism, and l is the wheelbase of automobile,
A, tetra- dot of B, C, D is in alignment, and double ratio (ABCD) is expressed as follows with d, l:
It rearranges:
Because A, two pairs of points of B and C, D can not coexist, double ratio (ABCD) is an imaginary parameter in the three-dimensional reality world,
The movement of automobile can be videoed capture after extract the two images frame at T1, T2 moment, establish one according to this comprising all
The virtual two-dimensional image space of the subpoint of point, can obtain double ratio (ABCD) from this virtual two-dimensional image space indirectly；
One is equipped with the automobile of vehicle-mounted camera and is travelled with stable speed along straight way, and vehicle-mounted camera captures T3, T4
The picture at moment, the fixed device of road of the fetch bit on the left of lane is object of reference, since the double ratio of any object of reference can all be protected
The virtual two-dimensional image space for staying, therefore building is used to calculate the distance i.e. distance of running car of object of reference traveling；
Step 3: the determination of car speed:
According to the invariance of double ratio, A ', B ' in two dimensional image space, C ', 4 points of D ' of double ratio (A ' B ' C ' D ') are equal to three-dimensional
4 points of A, B, C, D of double ratio (ABCD) in real world
Formula (2) is brought into formula (3) and is obtained:
From formula (4) it is found that if automobile wheelbase it is known that if the distance of running car can be determined, when distance it is known that automobile
The speed of service can be determined according to the time T2-T1 passed between two images frame using simple distance verses time equation.
2. a kind of method for measuring car speed by monitor video or vehicle-mounted camera according to claim 1, special
Sign is: the method that virtual two dimensional image space is constructed in step 2 is as follows:
Position of the automobile travelled along straight way in different moments is captured respectively, by T1 moment vehicle front with the center of rear-wheel
It is designated as C ', D ', T2 moment vehicle front is designated as A ', B ' with the center of rear-wheel, two images frame is inputted into photo handling software
In as obtained a width in Photoshop can clearly see the composograph of two different moments automobile positions,
The track of A ' B ' C ' D ' is the projection line of straight way ABCD in real world in virtual two-dimensional image space, it is point-to-point between
Distance A ' C ', B ' C ', A ' D ', B ' D ' are easy in composograph directly measure and have good accuracy, meanwhile, double ratio (A '
B ' C ' D ') it determines.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109747531A (en) * | 2017-11-08 | 2019-05-14 | 郑州谦贤科技有限公司 | A kind of vehicle turning safe early warning method and system |
| CN109345576B (en) * | 2018-09-30 | 2022-09-06 | 西南政法大学 | Vehicle running speed identification method and system |
| CN112419746A (en) * | 2019-08-20 | 2021-02-26 | 广州中广国科测控技术有限公司 | Vehicle speed self-monitoring method for highway traffic |
| CN111091077B (en) * | 2019-12-03 | 2022-11-11 | 华中科技大学 | Vehicle speed detection method based on image correlation and template matching |
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