CN109345471A - High-precision map datum method is drawn based on the measurement of high-precision track data - Google Patents
High-precision map datum method is drawn based on the measurement of high-precision track data Download PDFInfo
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- CN109345471A CN109345471A CN201811046426.5A CN201811046426A CN109345471A CN 109345471 A CN109345471 A CN 109345471A CN 201811046426 A CN201811046426 A CN 201811046426A CN 109345471 A CN109345471 A CN 109345471A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/004—Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
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Abstract
The invention discloses one kind to draw high-precision map datum method based on the measurement of high-precision track data, the following steps are included: step S1, based on image capture device acquisition image information and GPS information, camera calibration is carried out to image information, obtains camera parameter and distortion parameter；Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the spin matrix R of world coordinates；Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image；Step S4, the pixel coordinate on orthoscopic image corresponding to geometry mark point is obtained on orthoscopic image；Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.It is described that high-precision map datum method is drawn not dependent on laser point cloud atlas based on the measurement of high-precision track data, it directly can directly be carried out drawing according to high-precision track camera viewings and data are extracted, not need laser point cloud atlas and camera picture that drafting is assisted to extract data.
Description
Technical field
The present invention relates to image recognition and processing technology fields, and in particular to one kind is drawn based on the measurement of high-precision track data
High-precision map datum method.
Background technique
Laser point cloud atlas is to obtain data by laser radar to generate image, and laser infrared radar imaging figure is by surrounding enviroment, day
The influence of the factors such as gas can have large error to imaging, not be able to satisfy high accuracy data generation.Main laser radar does not detect
Lane line；Do not identify traffic mark, so that people can not draw from laser point cloud atlas knows pick-up diatom, the weight such as traffic signboard
Map data information is wanted, and laser equipment price is higher.Camera image the problem of there is no laser imagings, camera at
As figure covers the institute people three-dimensional map information that human eye can see, only needing in artificial data production can according to Image Rendering
With, and the cost of relative laser equipment camera wants much lower.
Summary of the invention
The purpose of the present invention is to provide one kind to draw high-precision map datum method based on the measurement of high-precision track data, to
Solve the problems, such as that existing laser point cloud atlas cost price is higher.
To achieve the above object, the technical scheme is that
One kind drawing high-precision map datum method based on the measurement of high-precision track data, comprising the following steps:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device, to image information into
Row camera calibration, obtains camera parameter and distortion parameter；
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the rotation of world coordinates
Torque battle array R；
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image；
Step S4, the geometry mark point that contour of object is marked on orthoscopic image, obtains geometry mark point
Pixel coordinate on corresponding orthoscopic image；
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.
Further embodiment, the camera calibration are Zhang Shi standardization.
Further embodiment generates collection point coordinate in the step S2 in the method for the spin matrix R of world coordinates
To generate image capture device coordinate in the spin matrix R of world coordinates (X, Y, Z), formula according to GPS information and camera parameter
It is as follows；
Wherein, X, Y, Z respectively represent world coordinates axis, ψ, φ, and θ represents the rotation angle of corresponding reference axis.
Further embodiment, the method for going distortion to handle are
A, the pixel coordinate system of image information is passed through into the internal reference matrix conversion in camera parameter to camera coordinates system:
Y=(u-u0)/fy；
X=(v-v0)/fx；
B, aberration is carried out under camera coordinates system；
R=x2+y2；
X'=x* (1+k1*r+k2*r2+k3*r3)+2*p1*x*y+p2*(r+2*x2)；
Y '=y* (1+k1*r+k2*r2+k3*r3)+2*p2*x*y+p1*(r+2*y2)；
C, after removing aberration, camera coordinates system is transformed into image pixel coordinates system again；
X "=x ' * fx+u0；
Y "=y ' * fy+v0；
D, and with the pixel value of image information to the pixel for removing fault image interpolation is carried out；
H=x "；
W=y "；
I2 (u, v)=([w+1]-w) * ([h+1]-h) * I1 ([h], [w])
+ ((w+1)-w) * (h- [h]) * I1 ([h+1], [w])
+ (w- [w]) * ([h+1]-h) * I1 ([h], [w+1])
+ (w- [w]) * (h- [h]) * I1 ([h+1], [w+1])
Wherein, [] is to be rounded, and I2 is fault image, and I1 is source images.
Latitude and longitude coordinates are calculated using pixel coordinate in the step S5, according to longitude and latitude in further embodiment
Coordinate matching GPS location transfers the height value of corresponding GPS location, generates the high-precision map comprising latitude and longitude coordinates and height value
Data.
The present invention has the advantage that
It is described excellent in existing high-precision map datum drafting based on the high-precision track data high-precision map datum method of measurement drafting
Gesture is directly can directly be carried out drawing according to high-precision track camera viewings and data mention not dependent on laser point cloud atlas
It takes, is not needing laser point cloud atlas and camera picture to assist drawing extraction data.
Detailed description of the invention
Fig. 1 is the outside for drawing high-precision map datum method described in the embodiment of the present invention based on the measurement of high-precision track data
Structure chart.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The present invention is further illustrated with specific embodiment below with reference to accompanying drawings.
As shown in Figure 1, one kind of the embodiment of the present invention, which is based on the measurement of high-precision track data, draws high-precision map datum method,
The following steps are included:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device, to image information into
Row camera calibration, obtains camera parameter and distortion parameter；
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the rotation of world coordinates
Torque battle array R；
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image；
Step S4, the geometry mark point that contour of object is marked on orthoscopic image, obtains geometry mark point
Pixel coordinate on corresponding orthoscopic image；
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.
Its concrete principle method is illustrated to the method expansion in above-mentioned each step separately below:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device, to image information into
Row camera calibration, obtains camera parameter and distortion parameter；Image capture device in the present embodiment is preferably monocular camera or double
Mesh camera, wherein camera is industrial camera；The camera calibration is Zhang Shi standardization, and Zhang Shi standardization is the prior art, here
It is not repeating.
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the rotation of world coordinates
Torque battle array R, wherein the method for generating spin matrix R are as follows:
According to GPS information and camera parameter, image capture device coordinate is generated in the spin matrix of world coordinates (X, Y, Z)
R, formula are as follows；
Wherein, X, Y, Z respectively represent world coordinates axis, ψ, φ, and θ represents the rotation angle of corresponding reference axis.
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image,
It is wherein described that distortion is gone to handle method particularly includes:
The internal reference matrix of camera is obtained mentioned by camera calibration and distortion factor is respectively
Internal reference matrix
Distortion factor
D=[k1 k2 k3 p1 p2]
=[- 0.3784872335914 0.00411334402276-0.00079763894420-
0.0018735095178 0]
Then each parameter is as follows:
Fx=A (1,1)；%fx and fy is f/dx, f/dy respectively；
Fx=A (2,2)；%
U0=A (1,3)；%cx and cy optical center position, and optical center position cx, cy are related with resolution ratio；
V0=A (2,3)；%
K1=D (1)；%1 rank coefficient of radial distortion；
K2=D (2)；%2 rank coefficient of radial distortion；
K3=D (3)；%3 rank coefficient of radial distortion；
P1=D (4)；%1 rank coefficient of radial distortion；
P2=D (5)；%2 rank coefficient of radial distortion；
Go distortion processing as follows:
A, the pixel coordinate system of image information is passed through into the internal reference matrix conversion in camera parameter to camera
Coordinate system:
Y=(u-u0)/fy；
X=(v-v0)/fx；
B, aberration is carried out under camera coordinates system；
R=x2+y2；
X'=x* (1+k1*r+k2*r2+k3*r3)+2*p1*x*y+p2*(r+2*x2)；
Y'=y* (1+k1*r+k2*r2+k3*r3)+2*p2*x*y+p1*(r+2*y2)；
C, after removing aberration, camera coordinates system is transformed into image pixel coordinates system again；
X "=x ' * fx+u0；
Y "=y ' * fy+v0；
D, and with the pixel value of image information to the pixel for removing fault image interpolation is carried out；
H=x "；
W=y "；
I2 (u, v)=([w+1]-w) * ([h+1]-h) * I1 ([h], [w])
+ ((w+1)-w) * (h- [h]) * is several ([h+1], [w])
+ (w- [w]) * ([h+1]-h) * I1 ([h], [w+1])
+ (w- [w]) * (h- [h]) * I1 ([h+1], [w+1])
Wherein, [] is to be rounded, and I2 is fault image, and I1 is source images.
Step S4, the geometry mark point that contour of object is marked on orthoscopic image, obtains geometry mark point
Pixel coordinate on corresponding orthoscopic image.Contour of object contains instruction graticule, forbids on graticule, warning graticule and ground
Text or number mark.
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.More specifically, make in the step S5
Latitude and longitude coordinates are calculated with pixel coordinate, matches GPS location according to latitude and longitude coordinates, transfers the elevation of corresponding GPS location
Value generates the high-precision map datum comprising latitude and longitude coordinates and height value.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (5)
1. one kind draws high-precision map datum method based on the measurement of high-precision track data, which comprises the following steps:
Step S1, the GPS information that image information and Image Acquisition point are acquired based on image capture device carries out phase to image information
Machine calibration, obtains camera parameter and distortion parameter；
Step S2, according to the GPS information and camera parameter of Image Acquisition point, collection point coordinate is generated in the spin moment of world coordinates
Battle array R；
Step S3, distortion is carried out to image information according to camera parameter and distortion parameter to handle, obtain orthoscopic image；
Step S4, it is right to obtain geometry mark point institute for the geometry mark point that contour of object is marked on orthoscopic image
Answer the pixel coordinate on orthoscopic image；
Step S5, high-precision map datum is generated according to GPS information and pixel coordinate.
2. according to claim 1 draw high-precision map datum method based on the measurement of high-precision track data, it is characterised in that:
The camera calibration is Zhang Shi standardization.
3. according to claim 1 draw high-precision map datum method based on the measurement of high-precision track data, which is characterized in that
Generated in the step S2 collection point coordinate in the method for the spin matrix R of world coordinates be according to GPS information and camera parameter,
Image capture device coordinate is generated in the spin matrix R of world coordinates (X, Y, Z), formula is as follows；
Wherein, X, Y, Z respectively represent world coordinates axis, ψ, φ, and θ represents the rotation angle of corresponding reference axis.
4. according to claim 1 draw high-precision map datum method based on the measurement of high-precision track data, which is characterized in that
It is described go distortion handle method be
A, the pixel coordinate system of image information is passed through into the internal reference matrix conversion in camera parameter to camera coordinates system:
Y=(u-u0)/fy；
X=(v-v0)/fx:
B, aberration is carried out under camera coordinates system；
R=x2+y2；
X '=x* (1+k1*r+k2*r2+k3*r3)+2*p1*x*y+p2*(r+2*x2)；
Y '=y* (1+k1*r+k2*r2+k3*r3)+2*p2*x*y+p1*(r+2*y2)；
C, after removing aberration, camera coordinates system is transformed into image pixel coordinates system again；
X "=x ' * fx+u0；
Y "=y ' * fy+v0；
D, and with the pixel value of image information to the pixel for removing fault image interpolation is carried out；
H=x "；
W=y "；
I2 (u, v)=([w+1]-w) * ([h+1]-h) * I1 ([h], [w])
+ ((w+1)-w) * (h- [h]) * I1 ([h+1], [w])
+ (w- [w]) * ([h+1]-h) * I1 ([h], [w+1])
+ (w- [w]) * (h- [h]) * I1 ([h+1], [w+1])
Wherein, [] is to be rounded, and I2 is fault image, and I1 is source images.
5. according to claim 1 draw high-precision map datum method based on the measurement of high-precision track data, which is characterized in that
Latitude and longitude coordinates are calculated using pixel coordinate in the step S5, matches GPS location according to latitude and longitude coordinates, transfers correspondence
The height value of GPS location generates the high-precision map datum comprising latitude and longitude coordinates and height value.
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| CN112767498A (en) * | 2021-02-03 | 2021-05-07 | 苏州挚途科技有限公司 | Camera calibration method and device and electronic equipment |
| CN112862895A (en) * | 2019-11-27 | 2021-05-28 | 杭州海康威视数字技术股份有限公司 | Fisheye camera calibration method, device and system |
| CN113008247A (en) * | 2020-03-24 | 2021-06-22 | 青岛慧拓智能机器有限公司 | High-precision map construction method and device for mining area |
| CN113256540A (en) * | 2021-07-14 | 2021-08-13 | 智道网联科技(北京)有限公司 | Image distortion removal method and apparatus, electronic device, and computer-readable storage medium |
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| CN113808083A (en) * | 2021-08-24 | 2021-12-17 | 国网安徽省电力有限公司检修分公司 | High-voltage circuit breaker opening and closing speed detection method and system based on image recognition |
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