CN108416257A - Merge the underground railway track obstacle detection method of vision and laser radar data feature - Google Patents
Merge the underground railway track obstacle detection method of vision and laser radar data feature Download PDFInfo
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- CN108416257A CN108416257A CN201810051704.XA CN201810051704A CN108416257A CN 108416257 A CN108416257 A CN 108416257A CN 201810051704 A CN201810051704 A CN 201810051704A CN 108416257 A CN108416257 A CN 108416257A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of underground railway track obstacle detection methods of fusion vision and laser radar data feature, include the following steps：S1, laser radar and camera are assembled for subway；S2, using the subway of laser radar and camera is equipped with along vehicle line back and forth at least once, acquire camera image data and laser radar point cloud data on the way；S3, the structure that map is carried out using laser radar point cloud data；For at cross track and bend position, demarcated one by one using camera image data；S4, the road conditions that camera image data and laser radar point cloud data can not all be determined, using manually being marked manually；Form the subway maps data of the vehicle line in S2.The present invention merges the detection of obstacles that vision realizes underground railway track with laser radar data feature；Based on laser radar data, supplemented by visual signature, the two data characteristics is excavated, detects barrier.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of ground of fusion vision and laser radar data feature
Rail road obstacle detection method.
Background technology
Automatic driving technology development like a raging fire in recent years, be but limited to many randomnesss of urban traffic situation and repeatly
Be rebuffed repeatly, although can by being equipped with laser radar, the sensors such as millimetre-wave radar enhance the feasibility of automatic Pilot, really again by
It can not implement to the puzzlement of sensor high price, for example a 64 line laser radar costs reach more than 8000 dollars, close to one
The price of automobile.And main public transport --- subway in city, because it is with fixed travel route and its costliness
Price and subway driver training long periodicity, will be most urgent and be easiest to realize automatic Pilot.And subway is driven automatically
In sailing, the main problem most paid close attention to is exactly the detection of barrier.
Invention content
Based on background above technology, the present invention provides a kind of underground railway track barrier of fusion vision and laser radar data feature
Hinder object detecting method.Based on laser radar data, supplemented by visual signature, the two data characteristics is excavated, detection barrier
Hinder object.
In order to achieve the goal above, the present invention uses following technical scheme：
A kind of underground railway track obstacle detection method of fusion vision and laser radar data feature, includes the following steps：
S1, laser radar and camera are assembled for subway；
S2, using the subway of laser radar and camera is equipped with along vehicle line back and forth at least once, acquisition is on the way
Camera image data and laser radar point cloud data；
S3, the structure that map is carried out using laser radar point cloud data；For at cross track and bend position, using taking the photograph
As head image data is demarcated one by one；
S4, the road conditions that can not be all determined for camera image data and laser radar point cloud data are carried out using artificial
Mark manually；Form the subway maps data of the vehicle line in S2.
Preferably, the set of the camera image data in the subway maps data constitutes visual signature database, institute
State the constantly improve that detection method further includes visual signature database.
It is highly preferred that the constantly improve detailed process of the visual signature database is：When judging rail according to laser radar
When thering is barrier to occur above road, in conjunction with the camera image data in subway map datum and the barrier captured by the preceding camera
Hinder object image data, judge whether final barrier causes danger to underground railway track traveling, and barrier image data is added
In visual signature database.
Another aspect of the present invention also provide using the above detection method carry out underground railway track barrier detection subway from
The dynamic method for driving power.
Beneficial effects of the present invention
The underground railway track obstacle detection method of fusion vision and laser radar data feature provided by the invention, fusion regard
Feel the detection of obstacles that underground railway track is realized with laser radar data feature；Based on laser radar data, it is with visual signature
It is auxiliary, the two data characteristics is excavated, barrier is detected.
Description of the drawings
Fig. 1 is the theoretical experimental calibration plate picture of combined calibrating of the present invention.
Fig. 2 is the theoretical experiment flow figure of combined calibrating of the present invention.
Specific implementation mode
The present invention is specifically described below by embodiment, it is necessary to which indicated herein is that the present embodiment is served only for pair
The present invention is further described, and should not be understood as limiting the scope of the invention, and the person skilled in the art in the field can
To make some nonessential modifications and adaptations according to the content invented above.In the absence of conflict, the reality in the present invention
The feature applied in example and embodiment can be combined with each other.
The present invention demonstrates the empirical theory of video camera and laser radar combined calibrating in laboratory conditions first：
Gridiron pattern is set indoors, the gridiron pattern is shot simultaneously using laser radar and camera, obtains point cloud number respectively
According to and image data.
The combined calibrating of camera and laser radar, specific demarcation flow such as Fig. 2 are carried out using scaling board as shown in Figure 1
It is shown.
Wherein black circle is round hole region, and other is solid area, and such laser radar is encountering scanning circle
It when region, just will appear the jump of depth point cloud data, be convenient for the determination of coordinate.And camera data can pass through detection
Each circular center determines the relationship between world coordinates and image coordinate, and then determines camera inside and outside parameter, finally realizes two
The combined calibrating of person.
The present invention carries out the structure of subway maps data according further to laser radar and camera, specific as follows：
Laser radar and camera are assembled for subway；Using being equipped with the subway of laser radar and camera along driving line
Road at least once, acquires camera image data and laser radar point cloud data on the way back and forth.
Since Lidar Ratios are more accurate and reliable, the structure of map will be carried out using laser radar, at cross track
It with the positions such as bend, will one by one be demarcated using the image data of camera, to determine the correctness of position traveling.Camera shooting
Head image data and the road conditions that can not all determine of laser radar point cloud data, will be using manually being marked manually.Thus shape
At the subway maps data of specific circuit, it is ensured that subway can be without the traveling under any burst and abnormal conditions.
Further, when this method being applied in subway automatic Pilot, in the process of moving, it will appear barrier above track
Hinder object, the detection of abnormal conditions can be carried out at this time, it is specific as follows：
Generally for the large-sized object that can cause rail running safety, the pedestrian of the electric pole, shuttle that such as fall and domestic animal
Poultry is that can make correct judgement merely with the radar point cloud data acquired in real time in the subway maps data and traveling of structure
's.For curve data, such as close to the left and right turning at right angle, laser radar point cloud data, which may judge front by accident, barrier,
But due to having had been built up subway maps data, can be happened to avoid such.
Main exception is from several points：The snowflake of snowy day sheet occurs, or is suspended in the north material on track
The appearance of the objects such as bag, balloon and kite.These objects will not cause rail running danger, but laser radar but may production
Raw erroneous judgement.Therefore, it needs to combine the camera image data in subway map datum at this time and works as captured by preceding camera
Barrier image data, visual signature carry out auxiliary judgment.Visual signature database can also be constantly updated, such as every
It when the above-mentioned barrier of secondary appearance, will constantly be added in visual signature database, and occur in this way in next time, can directly carry out
It compares to make accurate judgment.Visual signature database therein is the collection of the camera image data in subway maps data
It closes.
For example, the balloon to suspend above track, can utilize laser radar to detect the position of the object, including the object
Height apart from track.Since laser radar belongs to discrete spot scan, possibly it can not judge whether the object connect with track,
Auxiliary judgment can be carried out using camera image data at this time, usually may determine that the object is levitated object.For
For the sake of safety, it will be somebody's turn to do using the visual signature of the object occurred in the track being continuously added stored in visual database
The classification and identification of object judge that the object is non-hazardous levitated object, perfect with database, can determine whether out the object
Body is balloon.
In subway automatic Pilot, the main problem most paid close attention to is exactly detection of obstacles, and the present invention with this end in view, is melted
Close the detection of obstacles that vision realizes subway with laser radar data feature.The present invention based on laser radar point cloud data, with
Supplemented by visual signature data, the two data characteristics is excavated, detects barrier.
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, the scope of the present invention is belonged to.
Claims (4)
1. a kind of underground railway track obstacle detection method of fusion vision and laser radar data feature, which is characterized in that including
Following steps：
S1, laser radar and camera are assembled for subway；
S2, using the subway of laser radar and camera is equipped with along vehicle line back and forth at least once, acquire taking the photograph on the way
As head image data and laser radar point cloud data；
S3, the structure that map is carried out using laser radar point cloud data；For at cross track and bend position, camera is utilized
Image data is demarcated one by one；
S4, the road conditions that can not be all determined for camera image data and laser radar point cloud data are carried out manually using artificial
Mark；Form the subway maps data of the vehicle line in S2.
2. detection method according to claim 1, which is characterized in that the camera image number in the subway maps data
According to set constitute visual signature database, the detection method further includes the constantly improve of visual signature database.
3. detection method according to claim 2, which is characterized in that the constantly improve of the visual signature database is specific
Process is：When judging to there is barrier to occur above track according to laser radar, in conjunction with the camera figure in subway map datum
Barrier image data as data and captured by the preceding camera, judges whether final barrier causes underground railway track traveling
Danger, and barrier image data is added in visual signature database.
4. a kind of method of subway automatic Pilot power, which is characterized in that using any detection methods of claim 1-3 into
The detection of row underground railway track barrier.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109657698A (en) * | 2018-11-20 | 2019-04-19 | 同济大学 | A kind of magnetic-levitation obstacle detection method based on cloud |
| CN110018470A (en) * | 2019-03-01 | 2019-07-16 | 北京纵目安驰智能科技有限公司 | Based on example mask method, model, terminal and the storage medium merged before multisensor |
| CN110412986A (en) * | 2019-08-19 | 2019-11-05 | 中车株洲电力机车有限公司 | A kind of vehicle barrier detection method and system |
| CN110471085A (en) * | 2019-09-04 | 2019-11-19 | 深圳市镭神智能系统有限公司 | A kind of rail detection system |
| CN110550072A (en) * | 2019-08-29 | 2019-12-10 | 北京博途智控科技有限公司 | method, system, medium and equipment for identifying obstacle in railway shunting operation |
| CN110654422A (en) * | 2019-11-12 | 2020-01-07 | 中科(徐州)人工智能研究院有限公司 | Rail train driving assistance method, device and system |
| WO2020103533A1 (en) * | 2018-11-20 | 2020-05-28 | 中车株洲电力机车有限公司 | Track and road obstacle detecting method |
| CN111323027A (en) * | 2018-12-17 | 2020-06-23 | 兰州大学 | Method and device for manufacturing high-precision map based on fusion of laser radar and panoramic camera |
| CN111366912A (en) * | 2020-03-10 | 2020-07-03 | 上海西井信息科技有限公司 | Laser sensor and camera calibration method, system, device and storage medium |
| CN111688758A (en) * | 2019-03-11 | 2020-09-22 | 北京华通时空通信技术有限公司 | Obstacle detection system for high-speed railway track |
| CN111832411A (en) * | 2020-06-09 | 2020-10-27 | 北京航空航天大学 | Track cataract obstacle detection method based on fusion of vision and laser radar |
| CN112269379A (en) * | 2020-10-14 | 2021-01-26 | 北京石头世纪科技股份有限公司 | Obstacle identification information feedback method |
| CN112698352A (en) * | 2020-12-23 | 2021-04-23 | 淮北祥泰科技有限责任公司 | Obstacle recognition device for electric locomotive |
| CN113050654A (en) * | 2021-03-29 | 2021-06-29 | 中车青岛四方车辆研究所有限公司 | Obstacle detection method, vehicle-mounted obstacle avoidance system and method for inspection robot |
| CN114022760A (en) * | 2021-10-14 | 2022-02-08 | 湖南北斗微芯数据科技有限公司 | Railway tunnel barrier monitoring and early warning method, system, equipment and storage medium |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109657698B (en) * | 2018-11-20 | 2021-09-03 | 同济大学 | Magnetic suspension track obstacle detection method based on point cloud |
| CN109657698A (en) * | 2018-11-20 | 2019-04-19 | 同济大学 | A kind of magnetic-levitation obstacle detection method based on cloud |
| WO2020103533A1 (en) * | 2018-11-20 | 2020-05-28 | 中车株洲电力机车有限公司 | Track and road obstacle detecting method |
| CN111323027A (en) * | 2018-12-17 | 2020-06-23 | 兰州大学 | Method and device for manufacturing high-precision map based on fusion of laser radar and panoramic camera |
| CN110018470A (en) * | 2019-03-01 | 2019-07-16 | 北京纵目安驰智能科技有限公司 | Based on example mask method, model, terminal and the storage medium merged before multisensor |
| CN111688758A (en) * | 2019-03-11 | 2020-09-22 | 北京华通时空通信技术有限公司 | Obstacle detection system for high-speed railway track |
| CN110412986A (en) * | 2019-08-19 | 2019-11-05 | 中车株洲电力机车有限公司 | A kind of vehicle barrier detection method and system |
| CN110550072A (en) * | 2019-08-29 | 2019-12-10 | 北京博途智控科技有限公司 | method, system, medium and equipment for identifying obstacle in railway shunting operation |
| CN110550072B (en) * | 2019-08-29 | 2022-04-29 | 北京博途智控科技有限公司 | Method, system, medium and equipment for identifying obstacle in railway shunting operation |
| CN110471085A (en) * | 2019-09-04 | 2019-11-19 | 深圳市镭神智能系统有限公司 | A kind of rail detection system |
| CN110654422A (en) * | 2019-11-12 | 2020-01-07 | 中科(徐州)人工智能研究院有限公司 | Rail train driving assistance method, device and system |
| CN111366912B (en) * | 2020-03-10 | 2021-03-16 | 上海西井信息科技有限公司 | Laser sensor and camera calibration method, system, device and storage medium |
| CN111366912A (en) * | 2020-03-10 | 2020-07-03 | 上海西井信息科技有限公司 | Laser sensor and camera calibration method, system, device and storage medium |
| CN111832411A (en) * | 2020-06-09 | 2020-10-27 | 北京航空航天大学 | Track cataract obstacle detection method based on fusion of vision and laser radar |
| CN112269379A (en) * | 2020-10-14 | 2021-01-26 | 北京石头世纪科技股份有限公司 | Obstacle identification information feedback method |
| CN112269379B (en) * | 2020-10-14 | 2024-02-27 | 北京石头创新科技有限公司 | Obstacle identification information feedback method |
| CN112698352A (en) * | 2020-12-23 | 2021-04-23 | 淮北祥泰科技有限责任公司 | Obstacle recognition device for electric locomotive |
| CN112698352B (en) * | 2020-12-23 | 2022-11-22 | 淮北祥泰科技有限责任公司 | Obstacle recognition device for electric locomotive |
| CN113050654A (en) * | 2021-03-29 | 2021-06-29 | 中车青岛四方车辆研究所有限公司 | Obstacle detection method, vehicle-mounted obstacle avoidance system and method for inspection robot |
| CN114022760A (en) * | 2021-10-14 | 2022-02-08 | 湖南北斗微芯数据科技有限公司 | Railway tunnel barrier monitoring and early warning method, system, equipment and storage medium |
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Application publication date: 20180817 |