CN106934360A - A kind of vehicle precise displacement measuring method based on high speed image identification - Google Patents
A kind of vehicle precise displacement measuring method based on high speed image identification Download PDFInfo
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- CN106934360A CN106934360A CN201710127013.9A CN201710127013A CN106934360A CN 106934360 A CN106934360 A CN 106934360A CN 201710127013 A CN201710127013 A CN 201710127013A CN 106934360 A CN106934360 A CN 106934360A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/49—Segmenting video sequences, i.e. computational techniques such as parsing or cutting the sequence, low-level clustering or determining units such as shots or scenes
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
Abstract
The invention discloses a kind of vehicle precise displacement measuring method based on high speed image identification, including high speed camera, inter frame image identification module, direction and distance statistics module and setting and calibration module, the high speed camera, inter frame image identification module, direction and distance statistics module pass sequentially through high speed data bus and are connected with each other and transmit the video stream signal after coding, the direction is connected with each other by high speed data bus and transmits control signal with distance statistics module and setting with calibration module, is also comprised the following steps：Step one：Gathered data；Step 2：Identification image；Step 3：Statistics direction and distance；Step 4：Set and calibration.The beneficial effects of the invention are as follows, indoors, under the scene without satellite-signal such as thunderstorm, there is provided vehicle movement information, vehicle location being helped, under any scene, measuring vehicle displacement accuracy is constant.
Description
Technical field
The present invention relates to vehicle movement collection, particularly a kind of vehicle precise displacement measurement side based on high speed image identification
Method.
Background technology
In the prior art, gps system is such as used, then when vehicle is travelled, vehicle GPS receives the time that satellite sends
Signal, is resolved, and obtains current positional information, 1 meter -10 meters is typically accurate to, according to the positional information for obtaining twice
Difference obtains distance, and speed is obtained divided by the time.In this way, when there is no gps signal, it is impossible to position, it is impossible to obtain speed
Degree.Meanwhile, this mode cannot also obtain high accuracy centimetre rank positioning.Or such as positioned using inertial navigation, then need onboard
Using acceleration transducer, by perceiving the acceleration on certain direction and obtaining velocity amplitude to time integral, speed is in the time
Upper integral obtains distance.In this way, more serious accumulated error is had.Meanwhile, it is difficult to filter out vehicle on road surface of jolting
The random violent acceleration change of upper generation.
The content of the invention
The invention aims to solve the above problems, a kind of accurate position of vehicle based on high speed image identification is devised
Shift measurement method.
Realize above-mentioned purpose the technical scheme is that, it is a kind of based on high speed image identification vehicle precise displacement measurement
Method, including high speed camera, inter frame image identification module, direction and distance statistics module and setting and calibration module, it is described
High speed camera, inter frame image identification module, direction and distance statistics module pass sequentially through high speed data bus and are connected with each other simultaneously
Video stream signal after transmission coding, the direction passes through high speed data bus with distance statistics module and setting with calibration module
Control signal is connected with each other and transmitted, is also comprised the following steps：
Step one：Gathered data：Its underbody to be collected is imaged by high speed camera, determine areas imaging, into
As size, imaging rate, and data storage, then data are sent to inter frame image identification module by bus.
Step 2：Identification image：The data that will be sent in step one are received, and inter frame image identification module simultaneously will
It decomposes framing, and frame difference is compared, and obtains a result, then data are sent into direction and distance statistics by bus
Module.
Step 3：Statistics direction and distance：The data that will be sent in step 2 are received, direction and distance statistics
Module is cleaned to data, filtered, and Comprehensive Evaluation is carried out with reference to the data of vehicle other sensors, draws the displacement number of vehicle
According to.
Step 4：Set and calibration：The data in step 3 can in real time be set with calibration module by setting
Put with calibration so that the situation under adapting to varying environment.
The inter frame image identification module can be used four core 1GHz, dominant frequency ARM frameworks, operation Linux or Android system
Universal cpu.
The universal cpu of multinuclear 1GHz, operation Linux or Android system can be used with distance statistics module for the direction.
In step 3, the vehicle other sensors can be GPS, odometer, speedometer, shock sensor, sensing directional
Device and acceleration transducer.
In step one, the data flow is 10Mbps, and the data storage uses RAWData forms
In step 2, the data volume is 16kbps.
Step one in three, the data transmission and receive can be accomplished by usb or mipi buses.
Described its shift measurement method can be used and carried out to headstock direction of advance, to vehicular sideview direction, to rear view of vehicle
High-speed camera is simultaneously calculated.
Described its shift measurement method can be used many cameras while imaging and being calculated, or to many cameras into
As being calculated after fusion.
Described its shift measurement method be applied to the different light-source systems such as visible ray, near infrared light, far red light, laser or its
Combination.
A kind of vehicle precise displacement measuring method recognized based on high speed image made using technical scheme,
It is round-the-clock, use the whole audience.Especially indoors, under the scene without satellite-signal such as thunderstorm, there is provided vehicle movement information, help
Vehicle location, under any scene, measuring vehicle displacement accuracy is constant.Especially in situation at a slow speed, it is necessary to carry out a centimetre rank positioning
Situation, high-precision location information can be provided.
Brief description of the drawings
Fig. 1 is a kind of structural representation of vehicle precise displacement measuring method based on high speed image identification of the present invention
Figure；
Fig. 2 is a kind of connection block diagram of vehicle precise displacement measuring method based on high speed image identification of the present invention；
Fig. 3 is a kind of high speed camera of vehicle precise displacement measuring method based on high speed image identification of the present invention
Schematic view of the mounting position；
Fig. 4 is a kind of camera imaging of vehicle precise displacement measuring method based on high speed image identification of the present invention
Schematic diagram；
Fig. 5 is a kind of camera movement of vehicle precise displacement measuring method based on high speed image identification of the present invention
Imaging schematic diagram；
In figure, 1, high speed camera；2nd, inter frame image identification module；3rd, direction and distance statistics module；4th, set and school
Quasi-mode block.
Specific embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as Figure 1-5, a kind of car based on high speed image identification
Precise displacement measuring method, including high speed camera (1), inter frame image identification module (2), direction and distance statistics module
(3) and set with calibration module (4), the high speed camera (1), inter frame image identification module (2), direction and distance statistics mould
Block (3) passes sequentially through high speed data bus and is connected with each other and transmits the video stream signal after coding, the direction and distance statistics
Module (3) and setting are connected with each other by high speed data bus and transmit control signal with calibration module (4), also including following step
Suddenly：Step one：Gathered data：Its underbody to be collected is imaged by high speed camera (1), is determined areas imaging, imaging
Size, imaging rate, and data storage, then data are sent to inter frame image identification module (2) by bus；Step 2：Know
Other image：The data that will be sent in step one are received, and inter frame image identification module (2) is simultaneously broken down into frame, and
Frame difference is compared, is obtained a result, then data are sent to direction and distance statistics module (3) by bus；Step
Three：Statistics direction and distance：The data that will be sent in step 2 are received, direction and distance statistics module (3) logarithm
According to being cleaned, being filtered, Comprehensive Evaluation is carried out with reference to the data of vehicle other sensors, draw the displacement data of vehicle；Step
Four：Set and calibration：Set in real time and calibration by set the data in step 3 can be carried out with calibration module (4),
So as to adapt to the situation under varying environment；The inter frame image identification module (2) can be used four core 1GHz, dominant frequency ARM frameworks, fortune
The universal cpu of row Linux or Android system；The direction can be used multinuclear 1GHz, operation Linux with distance statistics module (3)
Or the universal cpu of Android system；In step 3, the vehicle other sensors can be GPS, odometer, speedometer, vibration-sensing
Device, aspect sensor and acceleration transducer；In step one, the data flow is 10Mbps, and the data storage is used
RAWData forms；In step 2, the data volume is 16kbps；To in three, the data transmission and reception can lead to step one
Cross usb or mipi buses accomplished；Described its shift measurement method can be used to headstock direction of advance, to vehicular sideview side
To, high-speed camera is carried out to rear view of vehicle and is calculated；Described its shift measurement method can be used many cameras to image simultaneously and go forward side by side
Row is calculated, or to being calculated after many camera imaging fusions；Described its shift measurement method is applied to visible ray, near-infrared
The difference light-source system such as light, far red light, laser or its combination.
The characteristics of the present embodiment, is, including high speed camera, inter frame image identification module, direction and distance statistics module
With setting and calibration module, high speed camera, inter frame image identification module, direction and distance statistics module pass sequentially through high speed number
The video stream signal after coding is connected with each other and transmitted according to bus, and direction passes through with distance statistics module and setting with calibration module
High speed data bus is connected with each other and transmits control signal, also comprises the following steps：Step one：Gathered data：Taken the photograph by high speed
Its underbody to be collected imaged as head, determined areas imaging, imaging size, imaging rate, and data storage, then by data
Inter frame image identification module is sent to by bus；Step 2：Identification image：The data that will be sent in step one are connect
Receive, inter frame image identification module is simultaneously broken down into frame, and frame difference is compared, obtains a result, then data are passed through
Bus is sent to direction and distance statistics module；Step 3：Statistics direction and distance：The data that will be sent in step 2 are entered
Row is received, and direction is cleaned to data with distance statistics module, filtered, and synthesis is carried out with reference to the data of vehicle other sensors
Judge, draw the displacement data of vehicle；Step 4：Set and calibration：Can be in step 3 with calibration module by setting
Data set in real time and calibrated, so that the situation under adapting to varying environment.It is round-the-clock, use, especially in room the whole audience
Under the scene without satellite-signal such as interior, thunderstorm, there is provided vehicle movement information, vehicle location is helped, under any scene, measure car
Displacement accuracy is constant.Especially in situation at a slow speed, it is necessary to carry out a centimetre situation for rank positioning, high-precision positioning can be provided
Information.
In the present embodiment, high speed camera, inter frame image identification module, direction and distance statistics module and set with
Connected by high speed data bus between calibration module, high speed camera, inter frame image identification module, direction and distance statistics mould
The video stream signal after coding is transmitted between block, control letter is transmitted between direction and distance statistics module and setting and calibration module
Number, wherein high speed camera for 10,000 pixels be 100X100, as a example by being imaged to underbody, if areas imaging be underbody
10cmX10cm regions, imaging size is 100X100pixel, and imaging rate is 1000fps, and each pixel record is black, white signal
(0,1), then data flow about 10Mbps, is imaged to its car to be collected with specific frequency by high speed camera, is determined into
As scope, imaging size, imaging rate, and data storage, inter frame image identification module, frame are sent to by high speed data bus
Between picture recognition module using universal cpu, four core 1GHz dominant frequency, ARM frameworks, operation Linux or Android system, by usb or
Mipi buses receive the transmission data of high speed camera, decompose framing, and frame difference is compared, returning result, data
Amount about 16kbps, inter frame image identification module sends the data that high speed camera is gathered after being received, inter frame image
Identification module is simultaneously broken down into frame, and frame difference is compared, and obtains a result, then data are passed through into high speed data bus
Direction and distance statistics module are sent to, direction uses universal cpu, multinuclear 1GHz, operation Linux or peace with distance statistics module
Tall and erect system, direction is cleaned to data with distance statistics module, is filtered, with reference to vehicle other sensors such as GPS, odometer,
The data of speedometer, shock sensor, aspect sensor, acceleration transducer etc., carry out Comprehensive Evaluation, draw the displacement of vehicle
Data, and control signal is delivered to by setting and calibration module by high speed data bus, by setting and calibration module other side
Set in real time and calibrate to the data sent with distance statistics module, so that the situation under adapting to varying environment,
Direction and distance statistics module, signal transacting is carried out using high-speed central processor CPU and high-speed image processor GPU, is set
Processed using central processor CPU with calibration module, direction can with the CPU of calibration module with distance statistics module and setting
To share.
In the present embodiment, embodiment one：When automobile is travelled with the speed of 36km/h, per the corresponding displacement of two field picture
Distance is 1cm, and the image of collection is sharpened treatment, each pixel value 0 or 1, the 0.1cmX0.1cm that representative is received
The shading value T (X, Y) on surface, then can obtain the Matrix C of 100X100
T(1,1),T(2,1),T(3,1)...T(100,1)
T(1,2),T(2,2),T(3,2)...T(100,2)
T(1,3),T(2,3),T(3,3)...T(100,3)
....
T(1,100),T(2,100),T(3,100)...T(100,100)
If the matrix of the first frame is as follows, C1 is designated as
1001010100100101010011......11111111111111
1010010100100101010011......11111111111111
1001011100100101010011......11111111111111
1111010111100101010011......11111111111111
0001010100100101010011......11111111111111
1001010100101101010011......11111111111111
1001010100100111010011......11111111111111
1001010100100100010011......11111111111111
0001010100100111010011......11111111111111
1001010100100101010011......11111111111111
1111010100100101010011......11111111111111
1001010100100101010011......11111111111111
1001010100100101010011......11111111111111
1001010100100101010011......11111111111111
1111010100100101010011......11111111111111
0001010100100101010011......11111111111111
1001010100100101010011......11111111111111
1001010100100101010011......11111111111111
1101010100100101010011......11111111111111
1111010100100101010011......11111111111111
1001010110100101010011......11111111111111
1001010110100101010011......11111111111111
......
......
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
If the matrix of the second frame is as follows, C2 is designated as
1001010100100101010011......11111111111111
1010010100100101010011......11111111111111
1001010110100101010011......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
......
......
1111111111111111111111......11111111111111
1111111111111111111111......11111111111111
Then in inter frame image identification module, compare between the picture frame C1 and frame C2 that are gathered for high speed camera
It is right, start to obtain match value higher as above example, X1=0, Y1=10 in the certain point T (X1, Y1) of image.Then matrix can be with
It is designated as：
C1=| A1, A2 |
C2=| A2, A3 |
In direction and distance statistics module, compare for point T (X1, Y1) that inter frame image identification module is sent up
Calculate, vehicle can be learnt in past time interval T, the pixel distance value corresponding to displacement (X1, Y1)-(0,0), when
Between be integrated on T, then can obtain distance and direction change value that accurate vehicle runs over, formula is as follows：
S=((X1, Y1)-(0,0)) X per pixel represent apart from constant
V=S/T
As above example, can obtain vehicle in 1/1000 second, travel 10 pixels, and correspondence 1cm, i.e. car speed are
36km/h。
In the present embodiment, this method solve when there is no gps signal, it is impossible to position, it is impossible to acquisition speed and receive
The problems such as weather, radio interference, the method is applied to any landform, it is adaptable to which there is the field of signal shielding in indoor or tunnel etc.
Scape, contrasts inertial navigation high precision, can be used with round-the-clock the whole audience, especially indoors, the scene without satellite-signal such as thunderstorm
Under, there is provided vehicle movement information, vehicle location is helped, under any scene, measuring vehicle displacement accuracy is constant.Especially in feelings at a slow speed
Condition can provide high-precision location information, it is necessary to carry out a situation for centimetre rank positioning.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
Some that to be made to some of which part variations embody principle of the invention, belong to protection scope of the present invention it
It is interior.
Claims (10)
1. it is a kind of based on high speed image identification vehicle precise displacement measuring method, it is characterised in that including high speed camera
(1), inter frame image identification module (2), direction and distance statistics module (3) and setting and calibration module (4), the high-speed camera
Head (1), inter frame image identification module (2), direction and distance statistics module (3) pass sequentially through high speed data bus and are connected with each other simultaneously
Video stream signal after transmission coding, the direction is with distance statistics module (3) and setting with calibration module (4) by high speed number
Control signal is connected with each other and transmitted according to bus, is also comprised the following steps：
Step one：Gathered data：Its underbody to be collected is imaged by high speed camera (1), is determined areas imaging, imaging
Size, imaging rate, and data storage, then data are sent to inter frame image identification module (2) by bus.
Step 2：Identification image：The data that will be sent in step one are received, and inter frame image identification module (2) simultaneously will
It decomposes framing, and frame difference is compared, and obtains a result, then data are sent into direction and distance statistics by bus
Module (3).
Step 3：Statistics direction and distance：The data that will be sent in step 2 are received, direction and distance statistics module
(3) data cleaned, filtered, Comprehensive Evaluation is carried out with reference to the data of vehicle other sensors, drawn the displacement number of vehicle
According to.
Step 4：Set and calibration：The data in step 3 can in real time be set with calibration module (4) by setting
With calibration so that the situation under adapting to varying environment.
2. a kind of vehicle precise displacement measuring method based on high speed image identification according to claim 1, its feature exists
In the inter frame image identification module (2) can be used the logical of four core 1GHz, dominant frequency ARM frameworks, operation Linux or Android system
Use CPU.
3. a kind of vehicle precise displacement measuring method based on high speed image identification according to claim 1, its feature exists
In the universal cpu of multinuclear 1GHz, operation Linux or Android system can be used with distance statistics module (3) for the direction.
4. a kind of vehicle precise displacement measuring method based on high speed image identification according to claim 1, its feature exists
In in step 3, the vehicle other sensors can be GPS, odometer, speedometer, shock sensor, aspect sensor and add
Velocity sensor.
5. a kind of vehicle precise displacement measuring method based on high speed image identification according to claim 1, its feature exists
In in step one, the data flow is 10Mbps, and the data storage uses RAWData forms.
6. a kind of vehicle precise displacement measuring method based on high speed image identification according to claim 1, its feature exists
In in step 2, the data volume is 16kbps.
7. a kind of vehicle precise displacement measuring method based on high speed image identification according to claim 1, its feature exists
In in step one to three, the data transmission and reception can be accomplished by usb or mipi buses.
8. according to claim 1-7 it is a kind of based on high speed image identification vehicle precise displacement measuring method, its feature
It is that described its shift measurement method can be used and carried out to headstock direction of advance, to vehicular sideview direction, to rear view of vehicle at a high speed
Image and calculate.
9. according to claim 1-7 it is a kind of based on high speed image identification vehicle precise displacement measuring method, its feature
It is that described its shift measurement method can be used many cameras while imaging and being calculated, or to many camera imagings
Calculated after fusion.
10. according to claim 1-7 it is a kind of based on high speed image identification vehicle precise displacement measuring method, its feature
It is that described its shift measurement method is applied to the different light-source systems such as visible ray, near infrared light, far red light, laser or its group
Close.
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Application publication date: 20170707 |