CN107818685A - A kind of method that state of motion of vehicle is obtained based on Vehicular video - Google Patents
A kind of method that state of motion of vehicle is obtained based on Vehicular video Download PDFInfo
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- CN107818685A CN107818685A CN201711015496.XA CN201711015496A CN107818685A CN 107818685 A CN107818685 A CN 107818685A CN 201711015496 A CN201711015496 A CN 201711015496A CN 107818685 A CN107818685 A CN 107818685A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/91—Television signal processing therefor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention provides a kind of method that state of motion of vehicle is obtained based on Vehicular video, wherein, obtain multi-frame video image and four characteristic points of identical are chosen in the video image of each frame, characteristic point is the corresponding picture point in video image of reference substance in road surface；An image coordinate system is established in the video image of each frame and obtains phase side coordinate value of four characteristic points in image coordinate system；In establishing an object coordinates system on road surface to obtain the object coordinates value of reference substance；The straight linear conversion coefficient of each two field picture is obtained successively and obtains vehicle-mounted video recording equipment in each frame video image is projected in the coordinate value that object coordinates are fastened；Object coordinates are projected in by vehicle-mounted video recording equipment in each frame video image to acquisition and fasten coordinate value progress transform analysis, to obtain the running status of vehicle.Overcome and identify operation inconvenience present in state of motion of vehicle technology in the prior art, take the problems such as time-consuming longer and precision in track is not high.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of side that state of motion of vehicle is obtained based on Vehicular video
Method.
Background technology
Vehicle-mounted video recording equipment can in real time in front of registration of vehicle traffic, be traffic accident case detection and evidence obtaining
Important clue is provided.With routine fixed setting surveillance video compared with, Vehicular video video recording it is maximum the characteristics of be vehicle-mounted
Video recording equipment is usually in mobile status, and this uniqueness also results in is different from conventional hand on the calculation method of Vehicular video
The calculation method of logical monitor video video recording.The existing method calculated in judicial expertise field accident vehicle speed is typically divided
For two kinds of road surface vestige and video image, wherein occupancy runway need to be consumed a longer time when gathering road surface vestige, one is caused
Determine the congestion in road in degree, and the video image used at present is most of for Traffic Surveillance Video, the usual distance of monitoring device
Relate to that thing vehicle has certain distance and video definition is not high, comparatively Vehicular video has preferable definition, but profit at present
The method that speed calculating is carried out with video image (including Vehicular video image and traffic monitoring are recorded a video) is using selection reference
The method of thing, this method disadvantage are that reference position, the shape etc. that its computational accuracy is chosen have a great influence, therefore such as
The calculation method what designs state of motion of vehicle a kind of easy to operate and high computational accuracy using Vehicular video image is to work as
Lower urgent problem to be solved.
The content of the invention
For identifying above mentioned problem existing for the transport condition of vehicle in the prior art, one kind is now provided and aims at operation
It simply can conveniently obtain the method that state of motion of vehicle is obtained based on Vehicular video of state of motion of vehicle.
Concrete technical scheme is as follows：
A kind of method that state of motion of vehicle is obtained based on Vehicular video, the motion state of vehicle is obtained applied to analysis
Method, wherein, there is provided a vehicle-mounted video recording equipment, to obtain the video image on road surface in real time, comprise the following steps：
Step S1, video image described in multiframe is continuously acquired；
Step S2, four characteristic points of identical are chosen in the video image of each frame, the characteristic point is described
The corresponding picture point in the video image of reference substance in road surface；
Step S3, an image coordinate system is established in the video image of each frame, to obtain the institute of present frame respectively
State phase side coordinate value of four characteristic points in described image coordinate system in video image；
Step S4, in establishing an object coordinates system on the road surface, to obtain the reference substance in the object coordinates system
In object coordinates value；
Step S5, successively by four of video image described in each frame phase side's coordinate values, described in corresponding four
Object coordinates value carries out two-dimentional straight linear conversion process, to obtain the straight linear conversion coefficient of each frame described image；
Step S6, it is successively that the straight linear conversion coefficient progress exterior orientation corresponding to video image described in each frame is straight
Line element processing, the object coordinates system is projected in obtain vehicle-mounted video recording equipment described in video image described in each frame respectively
On coordinate value；
The object coordinates system is projected in by vehicle-mounted video recording equipment described in video image described in each frame to acquisition
Upper coordinate value carries out transform analysis, to obtain the running status of the vehicle.
Preferably, the vehicle-mounted video recording equipment is during the traveling of the vehicle, obtaining the video on the road surface
Picture；
In the step S1, the video of a predetermined amount of time is obtained in the video pictures, and in units of frame, will
The video of the predetermined amount of time forms the sequence of multiple continuous video images.
Preferably, each video image is preserved in a manner of bitmap.
Preferably, the method for the video image for obtaining each frame, such as following formula：
Wherein, (x, y) is the coordinate points in described image coordinate system, and (X, Y, Z) is the coordinate that the object coordinates are fastened
Point, z are constant, l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11For the straight linear conversion coefficient.
Preferably, according to each frame of acquisition video image the straight linear conversion coefficient, regard described in acquisition
Vehicle-mounted video recording equipment is projected in the method that the object coordinates fasten coordinate value, such as following formula described in frequency image：
Wherein, (Xs, Ys, Zs) be the object coordinates system in coordinate；ZsFor constant；
l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11For the straight linear conversion coefficient.
Preferably, there is provided a video processing module, the video processing module is to successively by described in each frame of acquisition
The vehicle-mounted video recording equipment in video image, which is projected in the object coordinates, to be fastened coordinate value and is fitted to form a vehicle-mounted record
As movement locus of the equipment in the object coordinates system.
Preferably, the video processing module is MATLAB instruments.
Preferably, obtain the time interval between video image described in consecutive frame and the vehicle-mounted video recording equipment is projected in
The change for the coordinate value that the object coordinates are fastened, the acceleration transformed value of the vehicle can be obtained.
Above-mentioned technical proposal has the following advantages that or beneficial effect：Video image, and base are obtained by vehicle-mounted video recording equipment
Transformational relation between the characteristic point of video image and road surface reference substance, finally obtain the vehicle-mounted video recording equipment i.e. motion of vehicle
State, can effectively solve the problems such as inconvenience and not high precision are operated present in existing speed judicial expertise technology.
Brief description of the drawings
With reference to appended accompanying drawing, more fully to describe embodiments of the invention.However, appended accompanying drawing be merely to illustrate and
Illustrate, and be not meant to limit the scope of the invention.
Fig. 1 is a kind of flow chart for the embodiment of the method that state of motion of vehicle is obtained based on Vehicular video of the present invention
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Technical scheme includes a kind of method that state of motion of vehicle is obtained based on Vehicular video.
A kind of embodiment for the method that state of motion of vehicle is obtained based on Vehicular video, the fortune of vehicle is obtained applied to analysis
The method of dynamic state, wherein, there is provided a vehicle-mounted video recording equipment, to obtain the video image on road surface in real time, as shown in figure 1, including
Following steps：
Step S1, multi-frame video image is continuously acquired；
Step S2, four characteristic points of identical are chosen in the video image of each frame, characteristic point is the reference in road surface
The corresponding picture point in video image of thing；
Step S3, an image coordinate system is established in the video image of each frame, to obtain the video figure of present frame respectively
Phase side coordinate value of four characteristic points in image coordinate system as in；
Step S4, in establishing an object coordinates system on road surface, to obtain object coordinates of the reference substance in object coordinates system
Value；
Step S5, four mutually square coordinate values of each frame video image are entered with corresponding four object coordinates values successively
The two-dimentional straight linear conversion process of row, to obtain the straight linear conversion coefficient of each frame video image；
Step S6, straight linear conversion coefficient corresponding to each frame video image is carried out at exterior orientation vertical element successively
Reason, the coordinate value that object coordinates are fastened is projected in obtain vehicle-mounted video recording equipment in each frame video image respectively；
Object coordinates are projected in by vehicle-mounted video recording equipment in each frame video image to acquisition and fasten coordinate value progress
Transform analysis, to obtain the running status of vehicle.
For of the prior art, when analyzing the motion state of accident vehicle, the method for generally use is basis
Scene of the accident road surface vestige or Traffic Surveillance Video are recorded a video to calculate the motion state of vehicle, but both approaches are respectively present
The problem of operation inconvenience and limited precision.
In the present invention, by being arranged on the vehicle-mounted video recording equipment of vehicle interior, video record is carried out to the road surface of vehicle front
Picture, and to intercept one section of sequence of video images from video record, and four characteristic points are obtained from the video image of each frame,
It should be noted that in four characteristic points any three not point-blank, wherein four above-mentioned characteristic points correspond to road surface
On four reference substances, reference substance should select what is clearly fixed, in order to which the follow-up measurement to reference substance is to establish object space seat
Mark system, and the object coordinates value of four objects of reference is obtained, image coordinate system is established on each frame video image, and obtain four
Phase side's coordinate value of characteristic point.Changed by the two-dimentional straight linear between the object coordinates system of acquisition and mutually square coordinate system and closed
System, the straight linear conversion coefficient of each frame video image is obtained, to the linearity linear transform coefficient of each frame video image
Handled by exterior orientation vertical element, object coordinates system is projected in obtain vehicle-mounted video recording equipment in each frame video image respectively
On coordinate value, the motion in object coordinates system for obtaining vehicle-mounted video recording equipment and projecting can be handled by the change of the coordinate value
State, then by size change over after, finally draw the motion state of vehicle.
In a kind of preferably embodiment, vehicle-mounted video recording equipment is during the traveling of vehicle, obtaining road surface
Video pictures；
In step sl, the video of a predetermined amount of time is obtained in video pictures, and in units of frame, by the scheduled time
The video of section forms the sequence of multiple continuous video images.
In above-mentioned technical proposal, during by the video intercepting of predetermined amount of time into multi-frame video image, each frame video image
Include a timestamp, time interval between the two can be obtained by the video image of consecutive frame, obtain video image
Sequence after the distortion correction file that vehicle-mounted video recording equipment is camera generated by gridiron pattern instrument, with to each frame video
Image carries out distortion correction processing, obtains the video image after distortion correction processing.
In a kind of preferably embodiment, each video image is preserved in a manner of bitmap.
In a kind of preferably embodiment, the method that obtains the video image of each frame, such as following formula：
Wherein, (x, y) is the coordinate points in image coordinate system, and (X, Y, Z) is the coordinate points that object coordinates are fastened, and z is normal
Number, l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11For straight linear conversion coefficient.
In above-mentioned technical proposal, due to four reference substances being chosen in object coordinates system at grade, therefore can
To think z as constant, then the l in above formula3Z+l4, l7Z+l8And l11Z+1 is also constant, rewritable after conversion to be：
Coordinate points wherein in (X, Y) object space plane coordinate system.
In a kind of preferably embodiment, according to the straight linear conversion coefficient of each frame video image of acquisition, obtain
Vehicle-mounted video recording equipment in video image is taken to be projected in the method that object coordinates fasten coordinate value, such as following formula：
Wherein, (Xs, Ys, Zs) it is coordinate of the vehicle-mounted video recording equipment in object coordinates system；ZsFor constant；
l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11For straight linear conversion coefficient.
In above-mentioned technical proposal, it is believed that vehicle-mounted video recording equipment in object space when vehicle is travelling in flat road surface
Ordinate ZSFor a certain constant, then l3Zs+l4, l7ZS+l8And l11ZS+ 1 is also constant, i.e. above formula can be exchanged into：
To the further simplification of above formula, following formula can obtain：
(Xs, Ys) it is regarded as the subpoint that vehicle-mounted video recording equipment is fastened in pavement of road i.e. object coordinates.
In a kind of specific embodiment, it is assumed that the characteristic point obtained on current nth frame video image for (a, b, c,
D) four points, image coordinate system is established as origin using above-mentioned any point, with four characteristic points of acquisition in image coordinate system
In phase side coordinate value difference it is as follows：
(xa(N),ya(N))、(xb(N),yb(N))、(xc(N),yc(N))、(xd(N),yd(N))；
The reference substance of corresponding four characteristic points on road surface is measured, and current ginseng (is not limited to wherein any one reference substance
Examine thing) object coordinates system is established as origin, to obtain object coordinates value of four reference substances in object coordinates system respectively, point
It is not as follows：
(Xa,Ya)、(Xb,Yb)、(Xc,Yc)、(Xd,Yd)；
According to obtained phase side's coordinate value and object coordinates value, by following formula,
Straight linear conversion coefficient L can then be obtainedN=[l1,l2,l3,l4,l5,l6,l7,l8], and by the straight line line of acquisition
Property conversion coefficient substitute into following formula：
It can then obtain, vehicle-mounted video recording equipment is the coordinate of projected position that object coordinates are fastened on road surface, Xs(N),
Ys(N))；
Continue through above-mentioned method can obtain the video image of N+1 frames, N+2 frames, N+3 frames and more multiframe relative to
Object coordinates system, the coordinate value for the projected position that video recording equipment is fastened in object coordinates, exist eventually through individual projected position coordinate
Change in object coordinates system can draw the vehicle-mounted video recording equipment i.e. motion state of vehicle, and wherein motion state includes the row of vehicle
Sail speed, acceleration and driving trace etc..
In a kind of preferably embodiment, there is provided a video processing module, video processing module is to successively by acquisition
Each frame video image in vehicle-mounted video recording equipment be projected in object coordinates fasten coordinate value be fitted to be formed one it is vehicle-mounted video recording set
The standby movement locus in object coordinates system.
In a kind of preferably embodiment, video processing module is MATLAB instruments.
In a kind of preferably embodiment, obtain the time interval between adjacent frame video image and vehicle-mounted video recording is set
The standby change for being projected in the coordinate value that object coordinates are fastened, the acceleration transformed value of vehicle can be obtained.
In above-mentioned technical proposal, the vehicle-mounted video recording equipment of each frame video image of acquisition can be projected within a predetermined period of time
In the coordinate value that object coordinates are fastened, these coordinate values be can obtain into vehicle-mounted record in the coordinate system of road surface with smooth curve fit
As the movement locus that equipment projects on road surface, this also reflects movement locus of the vehicle on road surface indirectly, according to this track also
The parameters such as speed and the acceleration of vehicle can be sought, to analyze motion state of the vehicle within this time comprehensively.
Preferred embodiments of the present invention are the foregoing is only, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Scheme obtained by equivalent substitution and obvious change, should be included in protection scope of the present invention.
Claims (8)
1. a kind of method that state of motion of vehicle is obtained based on Vehicular video, the side of the motion state of vehicle is obtained applied to analysis
Method, it is characterised in that a vehicle-mounted video recording equipment is provided, to obtain the video image on road surface in real time, comprised the following steps：
Step S1, video image described in multiframe is continuously acquired；
Step S2, four characteristic points of identical are chosen in the video image of each frame, the characteristic point is the road surface
In the corresponding picture point in the video image of reference substance；
Step S3, an image coordinate system is established in the video image of each frame, is regarded with obtaining respectively described in present frame
Phase side coordinate value of four characteristic points in described image coordinate system in frequency image；
Step S4, in establishing an object coordinates system on the road surface, to obtain the reference substance in the object coordinates system
Object coordinates value；
Step S5, successively by four of video image described in each frame phase side's coordinate values, with corresponding four object spaces
Coordinate value carries out two-dimentional straight linear conversion process, to obtain the straight linear conversion coefficient of each frame described image；
Step S6, the straight linear conversion coefficient corresponding to video image described in each frame is subjected to exterior orientation straight line member successively
Element processing, is projected in what the object coordinates were fastened to obtain vehicle-mounted video recording equipment described in video image described in each frame respectively
Coordinate value；
The object coordinates are projected in by vehicle-mounted video recording equipment described in video image described in each frame to acquisition and fasten seat
Scale value carries out transform analysis, to obtain the running status of the vehicle.
2. the method according to claim 1 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that the car
Video recording equipment is carried during the traveling of the vehicle, to obtain the video pictures on the road surface；
In the step S1, the video of a predetermined amount of time is obtained in the video pictures, and in units of frame, by described in
The video of predetermined amount of time forms the sequence of multiple continuous video images.
3. the method according to claim 1 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that Mei Gesuo
Video image is stated to preserve in a manner of bitmap.
4. the method according to claim 1 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that described to obtain
The method for taking the video image of each frame, such as following formula：
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Wherein, (x, y) is the coordinate points in described image coordinate system, and (X, Y, Z) is the coordinate points fastened of the object coordinates, z
For constant, l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11For the straight linear conversion coefficient.
5. the method according to claim 1 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that according to obtaining
The straight linear conversion coefficient of video image described in each frame taken, obtain vehicle-mounted video recording described in the video image and set
It is standby to be projected in the method that the object coordinates fasten coordinate value, such as following formula：
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l1、l2、l3、l4、l5、l6、l7、l8、l9、l10、l11For the straight linear conversion coefficient.
6. the method according to claim 1 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that provide one
Video processing module, the video processing module is to successively by the vehicle-mounted record in video image described in each frame of acquisition
It is fitted to form a vehicle-mounted video recording equipment in the object coordinates system as equipment is projected in the object coordinates and fastens coordinate value
In movement locus.
7. the method according to claim 6 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that described to regard
Frequency processing module is MATLAB instruments.
8. the method according to claim 1 that state of motion of vehicle is obtained based on Vehicular video, it is characterised in that obtain phase
Time interval and the vehicle-mounted video recording equipment between video image described in adjacent frame are projected in the seat that the object coordinates are fastened
The change of scale value, the acceleration transformed value of the vehicle can be obtained.
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| CN110682917A (en) * | 2019-09-05 | 2020-01-14 | 成都亿盟恒信科技有限公司 | Vehicle positioning drift calibration system and method based on video intelligent analysis |
| CN111199546A (en) * | 2018-11-20 | 2020-05-26 | 唯思科技（北京）有限公司 | Security image interception method based on angular point detection and gray level projection |
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