CN107228681A - A kind of navigation system for strengthening navigation feature by camera - Google Patents
A kind of navigation system for strengthening navigation feature by camera Download PDFInfo
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- CN107228681A CN107228681A CN201710492937.9A CN201710492937A CN107228681A CN 107228681 A CN107228681 A CN 107228681A CN 201710492937 A CN201710492937 A CN 201710492937A CN 107228681 A CN107228681 A CN 107228681A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
- G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a kind of onboard navigation system, it is characterised in that including：Vehicle GPS antenna, camera, AR HUDs and vehicle mounted guidance main frame, wherein, the vehicle GPS antenna is used to carry out positioning acquisition world coordinate system, and the camera carries out real time image collection to front road conditions, and the vehicle mounted guidance main frame includes：Coordinate system converting unit, its road conditions image gathered to the camera carries out image recognition analysis, and world coordinate system is converted into camera coordinate systems in image；Model generation unit, it generates the 3D models on traveling road surface according to camera coordinate systems in image；Virtual navigation information generating unit, it generates virtual navigation configured information according to the 3D models on traveling road surface；Output unit, virtual navigation configured information is output to the AR HUDs by it；The AR HUDs project the virtual navigation configured information on windshield, realize the virtual navigation information superposition to the effect on actual road surface.
Description
Technical field
The technology of shape, high accuracy positioning and the automotive positioning of image recognition road is carried out the present invention relates to camera
Field, more particularly to a kind of navigation system for strengthening navigation feature by camera.
Background technology
Navigation product in the market, is all on navigator or instrument display screen in route instruction.Car owner exists
In driving conditions, the configured information of navigator display screen is very limited, only indicates front distance, the basis such as turn direction letter
Breath.Car owner is needed during road conditions are observed, while the direction on comparative liquid crystal display screen is indicated, could judge clear traveling
Direction.So inevitably causing driver distraction in navigation procedure, traffic safety is influenceed.
The content of the invention
The purpose of the present invention is, by the relation between machine vision, navigator fix, map datum, to judge current vehicle vehicle
The information of direction of advance, the director information navigation system to car owner directly combines with the actual road surface that car owner sees.This
Sample car master can directly observe road surface need not leave road surface with regard to that can obtain intuitively preceding row information, notice.So both can be with
Driving safety is greatly improved, the efficiency of driving can be improved again, it is to avoid take a wrong way.
A kind of navigation system for strengthening navigation feature by camera of the present invention, including：Vehicle GPS antenna, camera,
AR HUDs and vehicle mounted guidance main frame, wherein, the vehicle GPS antenna is used to carry out positioning acquisition world coordinate system；
The camera carries out real time image collection to front road conditions, and the vehicle mounted guidance main frame includes：Coordinate system converting unit, its is right
The road conditions image of the camera collection carries out image recognition analysis, is world coordinate system the road surface coordinate system in real world
It is converted into the coordinate system i.e. camera coordinate systems in image of camera oneself；Model generation unit, it is according to camera image coordinate
The 3D models on system's generation traveling road surface；Virtual navigation information generating unit, it virtually leads according to the generation of the 3D models on traveling road surface
Boat configured information；Output unit, virtual navigation configured information is output to the AR HUDs by it；The AR, which comes back, to be shown
Device projects the virtual navigation configured information on windshield, realizes the virtual navigation information superposition to actual road surface
Effect.
Preferably, the world coordinate system is：It is the origin of coordinates that the position provided is positioned according to the vehicle GPS antenna,
On the south northwards as Y-axis, west is eastwards as X-axis, and vertical direction is Z axis, and the world coordinate system is navigation map coordinate system.
Preferably, the conversion formula that the world coordinates is tied to camera coordinate systems in image is：
If world coordinate system coordinate is (X, Y, Z), camera coordinate systems in image respective coordinates are (X', Y ', Z '), then (X',
Y ', Z ')=T*C* [R] * (X, Y, Z),
Wherein, matrix [R] is spin matrix, and C is that camera distortion is mended using the parameter of camera internal reference matrix
The penalty coefficient repaid, T compensation coefficients are the individual errors that vehicle part is installed, and system is needed to each specific vehicle certainly
It is dynamic to be corrected.
Preferably, penalty coefficient C and compensation coefficient T are obtained by following manner：
The characteristic point P1 as a reference point, P2, P3, P4 ... Pi, the reference point Pi of front cover for choosing some front covers are alive
Description relation in boundary's coordinate system and camera coordinate systems in image the two coordinate systems is as follows：
Reference point Pi is in camera coordinate systems in image in the realtime graphic frame gathered according to the camera, acquisition front cover
In coordinate position, and according to the coordinate position by solving above-mentioned system of linear equations, obtain actual penalty coefficient C and rectify
Positive coefficient T.
Preferably, the 3D models for generating traveling road surface according to camera coordinate systems in image are to shooting by image processing software
The image of head collection carries out the analysis modeling of actual traveling road curved surface, so as to form the 3D models on traveling road surface.
Preferably, the virtual navigation information includes turning, straight trip, the arrow information including upward slope.
The beneficial effects of the invention are as follows：
Existing product is contrasted, navigation system of the invention can be such that virtual navigation configured information is directly seen with driver
The road surface observed carries out optical superposition, facilitates driver to obtain information in driving, it is to avoid to divert one's attention, take a wrong way, and submits and drives effect
Rate and security.
Brief description of the drawings
Fig. 1 is the schematic diagram for strengthening the driving cabin visual field after navigation feature by image recognition of the present invention.
Fig. 2 schemes for the system composition of the navigation system of the present invention.
Fig. 3 is front cover reference point schematic diagram.
Fig. 4 is the design sketch of the overhead porch of the navigation system of the present invention.
Embodiment
Below by embodiment, the invention will be further described, and its purpose is only that the research for more fully understanding the present invention
The protection domain that content is not intended to limit the present invention.
The navigation system for strengthening navigation feature by camera of the present invention, by image recognition technology, passes through camera
To the real time image collection of front road conditions, and road pavement carries out image recognition, analyze the shape on road surface, bending curvature, track,
Angle of turn and radius, angle of inclination information, calculate road surface model.The map datum parameter that is provided further according to navigation engine,
The data such as direct of travel, distance, calculate the road surface and track to be walked.The reality that virtual navigation image and camera are gathered again
When image combine there is provided to car owner most intuitively navigation indicate.
As shown in figure 1, in this way, navigation configured information 102 can fit like a glove with actual road surface 103, drive
Member, can be clear when steering wheel 101 are held, and directly, effectively obtains direction of advance, notice is all the time on the road of advance
On face, it is to avoid driving is divert one's attention.
It is illustrated in figure 2 the system composition figure of the navigation system of the present invention.Whole system is by vehicle GPS antenna 201, shooting
First 202, vehicle mounted guidance main frame 203, the part of AR HUDs 204 4 composition.Various pieces are described in detail below.
Described 202 pairs of front road conditions of camera carry out real time image collection, obtain the realtime graphic of road conditions.
The vehicle mounted guidance main frame 203 includes：Coordinate system converting unit, it enters to the road conditions image that the camera is gathered
Row image recognition analysis, is that world coordinate system is converted into the coordinate system of camera oneself i.e. the road surface coordinate system in real world
Camera coordinate systems in image；Model generation unit, it generates the 3D models on traveling road surface according to camera coordinate systems in image；Virtually
Navigation information generation unit, it generates virtual navigation configured information according to the 3D models on traveling road surface；Output unit, it will be virtual
Navigation configured information is output to the AR HUDs.
In the present invention, each coordinate system is defined as follows：
World coordinate system：It is the origin of coordinates to position the position that provides according to vehicle GPS antenna 201, on the south northwards as Y
Axle, west is eastwards as X-axis, and vertical direction is as Z axis, in this, as world coordinate system.As a result of precision navigation map, institute
With map coordinates system it is consistent with world coordinate system.
Camera coordinate system：Camera 202 is fixed on the top of vehicle, camera coordinate system, with system car installation
Point is origin, and with car or so to for X-axis, headstock direction is Y-axis, and above-below direction is Z axis.
Navigation map coordinate system：The position navigated to by gps antenna 201, can find the position of oneself in navigation map
Put origin.Using the north-south in map as Y-axis, East and West direction is X-axis, and vertical direction is Z axis, is used as navigation map coordinate system.
The following detailed description of the transfer process of coordinate system：
Navigation map coordinate system is according to the location information for obtaining Current vehicle, it is determined that the location point in map.And car
Position in world coordinate system, is also the location information that is obtained according to GPS to determine.As a result of precision navigation
Figure, it is exactly world coordinate system that world coordinate system can be done conversion of equal value, i.e. map coordinates system with map coordinates system.
Navigation map can provide the number such as direction, steering, climb and fall, runway of traveling according to the actual GPS location of vehicle
It is believed that breath.The electronic system of automobile need to know oneself transformational relation with world coordinate system, it is necessary to establish world coordinate system with
Conversion formula between camera coordinate system.
The conversion method of camera coordinate systems in image is tied to from world coordinates：
The conversion of camera coordinate systems in image is tied to from world coordinates, it is necessary to using spin matrix [R], if world coordinate system
Coordinate is (X, Y, Z), and camera coordinate systems in image respective coordinates are (X', Y ', Z '), then and (X', Y ', Z ')=[R] * (X, Y, Z).
Because camera shooting image has deformation, so needing to make corresponding compensation deals.The present invention is using camera internal reference matrix
Parameter is compensated to camera distortion, and penalty coefficient is C.Vehicle install when, GPS, camera installation site there is also error,
So needing system to correct each specific vehicle automatically, compensation coefficient is T.
It therefore, it can be obtained world coordinates with (X', Y ', Z ')=T*C* [R] * (X, Y, Z) and be tied to camera image coordinate
The transformational relation of system.
The following detailed description of how obtaining penalty coefficient C and compensation coefficient T.First, it assign front cover as known template (figure
3) characteristic point for, choosing some front covers is (taking known location point P1, P2, P3, P4 ... Pi several points) as a reference point.This is several
Coordinate of the individual reference point in world coordinate system is known (by model data, can to obtain Pi reference points with gps antenna
Relative position, it is possible to try to achieve the world coordinates of reference point).In the frame that camera is caught, reference point in template can be obtained
In the coordinate position in camera coordinate systems in image.
Pass through the relation formula of two spaces coordinate system rotation transformation：
For there is the two spaces coordinate system i.e. world coordinate system (O-XYZ) and camera coordinate system of any rotation transformation
(O'-X'Y'Z'), coordinate system O-XYZ turns θ counterclockwise respectively around itself X-axis, Y-axis, Z axis successively1, θ2, θ3After can be with coordinate system
O'-X'Y'Z' is overlapped, then description relations of the reference point Pi of front cover in the two coordinate systems is as follows：
Wherein, θ1, θ2, θ3Can in real time it be obtained by the 3D gyroscopes on car.By solving above-mentioned Matrix division, just can
Obtain camera penalty coefficient C and compensation coefficient T.Thus may determine that world coordinates is tied to the transformational relation of camera coordinate system
(X', Y ', Z ')=T*C* [R] * (X, Y, Z)
Navigation system is when operation, and according to the GPS location of automobile, gyroscope etc. judges direction of traffic.Navigation system
After automatic programme path, the direction being actually subjected to away and lane information can be provided.Camera by coordinate system transformational relation above,
The world coordinates array in actual track is converted into camera image coordinate array data in real time, and sat according to camera image
Mark array data calculated by image recognition algorithm traveling road surface the i.e. track of 3D models actual geometric properties, including away from
From, direction, radius of turn, the gradient etc..After the geometric properties in track are identified, calculated and given birth to according to the geometric properties in track by software
It is overlapped into three-dimensional virtual navigation information (direction of traffic arrow), then with road geometric curved surfaces.Here, according to camera shadow
The 3D models on traveling road surface are calculated as coordinate array data and three-dimensional driving side is calculated according to the 3D models on traveling road surface
To arrow known software can be used to realize, for example, be realized by disclosed openCV software libraries.
Virtual navigation information (traveling indication information) can provide as turn, straight trip, go up a slope etc. arrow information, such as Fig. 1 and
Fig. 4.
After virtual navigation configured information to be output to vehicle mounted guidance main frame 203 the AR HUDs 204, AR comes back
Display 204 projects the virtual navigation configured information on windshield, realizes the virtual navigation information superposition to reality
The effect on border road surface.
As shown in figure 4, at overhead crossing, navigation is indicated will be directly with road surface superposition, and driver's observation road surface can just hold very much
The direction of traveling easily can be just judged, without missing crossing.
Obviously, those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to explanation originally
Invention, and be not used as limitation of the invention, as long as in the spirit of the present invention, to embodiment described above
Change, modification will all fall in the range of claims of the present invention.
Claims (6)
1. a kind of onboard navigation system, it is characterised in that including：Vehicle GPS antenna, camera, AR HUDs and car
Navigation host is carried, wherein,
The vehicle GPS antenna is used to carry out positioning acquisition world coordinate system；
The camera carries out real time image collection to front road conditions,
The vehicle mounted guidance main frame includes：Coordinate system converting unit, its road conditions image gathered to the camera carries out image
Discriminance analysis, is the coordinate system i.e. camera that world coordinate system is converted into camera oneself the road surface coordinate system in real world
Coordinate systems in image；Model generation unit, it generates the 3D models on traveling road surface according to camera coordinate systems in image；Virtual navigation is believed
Generation unit is ceased, it generates virtual navigation configured information according to the 3D models on traveling road surface；Output unit, it refers to virtual navigation
Show that information is output to the AR HUDs；
The AR HUDs project the virtual navigation configured information on windshield, realize the virtual navigation letter
Breath is superimposed to the effect on actual road surface.
2. onboard navigation system according to claim 1, it is characterised in that the world coordinate system is：According to the car
It is the origin of coordinates to carry the position that provides of gps antenna positioning, on the south northwards as Y-axis, west is eastwards as X-axis, and vertical direction is Z
Axle, the world coordinate system is navigation map coordinate system.
3. onboard navigation system according to claim 1, it is characterised in that the world coordinates is tied to camera image seat
Marking the conversion formula for being is：
If world coordinate system coordinate is (X, Y, Z), camera coordinate systems in image respective coordinates are (X', Y ', Z '), then (X', Y ',
Z ')=T*C* [R] * (X, Y, Z),
Wherein, matrix [R] is spin matrix, and C is that camera distortion is compensated using the parameter of camera internal reference matrix
Penalty coefficient, T compensation coefficients are the individual errors that vehicle part is installed, and system needs to enter each specific vehicle automatically
Row correction.
4. onboard navigation system according to claim 3, it is characterised in that penalty coefficient C and compensation coefficient T pass through following
Mode is obtained：
Characteristic point P1 as a reference point, P2, P3, P4 ... the Pi of some front covers are chosen, the reference point Pi of front cover is in world's seat
Description relation in mark system and camera coordinate systems in image the two coordinate systems is as follows：
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Reference point Pi is in camera coordinate systems in image in the realtime graphic frame gathered according to the camera, acquisition front cover
Coordinate position, and according to the coordinate position by solving above-mentioned system of linear equations, obtaining actual penalty coefficient C and correction is
Number T.
5. onboard navigation system according to claim 1, it is characterised in that generated and advanced according to camera coordinate systems in image
The 3D models on road surface are the analysis modelings that the image gathered by image processing software to camera carries out actual traveling road curved surface,
So as to form the 3D models on traveling road surface.
6. onboard navigation system according to claim 1, it is characterised in that the virtual navigation information includes turning, directly
OK, the arrow information including upward slope.
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| CN108036796A (en) * | 2017-12-26 | 2018-05-15 | 上海闻泰电子科技有限公司 | Navigation picture display methods, device and vehicle electronic device |
| CN108665556A (en) * | 2018-05-20 | 2018-10-16 | 福州市极化律网络科技有限公司 | A kind of road administration instruction display methods and storage medium based on mixed reality |
| CN108896067A (en) * | 2018-03-23 | 2018-11-27 | 江苏泽景汽车电子股份有限公司 | A kind of dynamic display method and device for vehicle-mounted AR navigation |
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| CN108981740A (en) * | 2018-06-11 | 2018-12-11 | 同济大学 | Blind under the conditions of a kind of low visibility drives navigation system and its method |
| CN109000671A (en) * | 2018-06-14 | 2018-12-14 | 苏州市职业大学 | A kind of Intelligent navigator based on AR technology |
| CN109255840A (en) * | 2018-08-22 | 2019-01-22 | 重庆金康特智能穿戴技术研究院有限公司 | A kind of offline localization method using augmented reality module |
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| CN109668575A (en) * | 2019-01-29 | 2019-04-23 | 苏州车萝卜汽车电子科技有限公司 | For the method for processing navigation information and device of augmented reality head-up display device, equipment, system |
| CN109961522A (en) * | 2019-04-02 | 2019-07-02 | 百度国际科技（深圳）有限公司 | Image projecting method, device, equipment and storage medium |
| CN109982006A (en) * | 2017-12-27 | 2019-07-05 | 财团法人工业技术研究院 | Virtual guiding illustrates and coincide device and its related method that coincides of true picture |
| CN109990797A (en) * | 2017-12-29 | 2019-07-09 | 周秦娜 | A kind of control method of the augmented reality navigation display for HUD |
| CN111121815A (en) * | 2019-12-27 | 2020-05-08 | 重庆利龙科技产业(集团)有限公司 | Path display method and system based on AR-HUD navigation and computer storage medium |
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| CN112344954A (en) * | 2019-08-06 | 2021-02-09 | 上海博泰悦臻电子设备制造有限公司 | Virtual navigation method and system |
| CN112484743A (en) * | 2020-12-03 | 2021-03-12 | 安徽中科新萝智慧城市信息科技有限公司 | Vehicle-mounted HUD fusion live-action navigation display method and system thereof |
| CN113029128A (en) * | 2021-03-25 | 2021-06-25 | 浙江商汤科技开发有限公司 | Visual navigation method and related device, mobile terminal and storage medium |
| CN113806380A (en) * | 2020-06-16 | 2021-12-17 | 财团法人车辆研究测试中心 | Intersection dynamic image resource updating and sharing system and method |
| CN115113400A (en) * | 2022-05-23 | 2022-09-27 | 惠州市德赛西威智能交通技术研究院有限公司 | Control method and system for adjusting AR-HUD display based on vehicle pitch angle and automobile |
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