CN110111582A - Multilane free-flow vehicle detection method and system based on TOF camera - Google Patents
Multilane free-flow vehicle detection method and system based on TOF camera Download PDFInfo
- Publication number
- CN110111582A CN110111582A CN201910447708.4A CN201910447708A CN110111582A CN 110111582 A CN110111582 A CN 110111582A CN 201910447708 A CN201910447708 A CN 201910447708A CN 110111582 A CN110111582 A CN 110111582A
- Authority
- CN
- China
- Prior art keywords
- image information
- target
- vehicle
- information
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
-
- 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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
Abstract
The present invention provides a kind of multilane free-flow vehicle detection method and system based on TOF camera, comprising: obtain one group of first image information that the flight time TOF camera being arranged on road within a predetermined period of time shoots the first detection zone；In the case where TOF camera shoots to obtain each first image information, the target candid photograph camera being arranged on road is triggered to shoot the second detection zone, obtain the second image information, wherein, triggering target within a predetermined period of time via TOF camera and capturing camera and shoot is one group of second image；Target image information is determined from one group of second image information, wherein target image information represents on road that there are target vehicles；Obtain the charge information for the target vehicle that the roadside unit RSU being arranged on road is got within a predetermined period of time；The charge information of the target vehicle got from target image information and target vehicle is matched, the information of vehicles of target vehicle is obtained.Through the invention, it solves the problems, such as that driving situation of the vehicle on road cannot be obtained in real time.
Description
Technical field
The present invention relates to the communications fields, detect in particular to a kind of multilane free-flow vehicle based on TOF camera
Method and system.
Background technique
Currently, many provinces and cities, China all establish highway toll collection system, this is improved to a certain extent
The traffic efficiency of highway, but present highway toll collection system needs to install the vehicle of vehicle-mounted OBU, with low speed
By being equipped with the bicycle road of RSU antenna, when vehicle flowrate is larger, existing this highway toll collection system, still
The case where will appear vehicle congestion, affects vehicle communication efficiency.
The free Flow Technique of multilane is developed in existing highway non-parking charge technology, and multilane is free
Flow Technique allows vehicle to pass freely through on the common road or highway of multilane with normal travel speed, current more vehicles
The free Flow Technique in road is mainly that information fusion matching solution vehicle location, vehicle transaction, the vehicle snapshot of multisensor is used to take
The problems such as card, system generally comprises vehicle detection and positioning subsystem, captures subsystem, business subsystem, but current vehicle
Detection with positioning subsystem provided by vehicle position information be typically all some or multiple moment vehicle position information,
The real time position of vehicle in a period of time can not be provided, in the case where multilane free flow the lane change of vehicle, across road, vehicle
Situations such as blocking likely results in the matching error of information of vehicles, and matching rate is lower, and then causes vehicle fee evasion, illegal vehicle logical
The case where crossing, but can not collecting evidence.
For in the related technology, obtains travel the problem low in road vehicle information efficiency in the prior art, at present
Not yet there is a kind of effective solution scheme.
Summary of the invention
The embodiment of the invention provides a kind of multilane free-flow vehicle detection method and system based on TOF camera, with
It is low in road vehicle information efficiency at least to solve the problems, such as to obtain traveling in the related technology.
According to one embodiment of present invention, a kind of multilane free-flow vehicle detection side based on TOF camera is provided
Method, comprising: obtain the flight time TOF camera being arranged on road and the first detection zone is shot within a predetermined period of time
One group of first obtained image information；In the case where the TOF camera shoots to obtain each the first image information, triggering
The target being arranged on the road is captured camera and is shot to the second detection zone, and the second image information is obtained, wherein warp
Being captured camera as TOF camera target described in the predetermined amount of time internal trigger and shot is the second figure described in one group
Picture；Target image information is determined from the second image information described in described one group, wherein the target image information represents
There are target vehicles on the road；The roadside unit RSU being arranged on the road is obtained to obtain within a predetermined period of time
The charge information of the target vehicle arrived；By the target vehicle got from the target image information and the mesh
The charge information of mark vehicle is matched, and the information of vehicles of the target vehicle is obtained.
Optionally, target image information is determined from the second image information described in described one group, comprising: at described one group
The third image information that continuous multiple shooting times in the predetermined amount of time are shot is determined in first image information,
Wherein, including having vehicle region where the target vehicle in image indicated by the third image information；According to described
There are the depth information variation and horizontal-shift information change in vehicle region described in three image informations, determines the target vehicle
Driving trace；Illustrate that the target vehicle is moved to second lane from the first lane of the road in the driving trace
In the case of, determine that one group of first image information has indicated that the target vehicle is moved to from the first lane of the road
Second lane；From determined in the second image information described in described one group in second detection zone target lane carry out
Shoot obtained target image information, wherein the target lane includes that the target vehicle is mobile from the first lane
The part lane or whole lanes in lane passed through during to the second lane.
Optionally, the flight time TOF camera being arranged on road that obtains is detected to first within a predetermined period of time
One group of first image information that region is shot, comprising: it is more in the predetermined amount of time to obtain the TOF camera
It is a to be continuously shot the one group of real-time deep image information shot on the time to first detection zone；From described one
The target vehicle, which is extracted, in group real-time deep image information is continuously shot temporal location information the multiple；Described
Target vehicle is continuously shot temporal location information and illustrates that lane change and process occurred for the target vehicle the multiple
In the case where at least two first detection zones, set one group of first image information to include described one group real-time
In deep image information as taken by the TOF camera for being shot to described at least two first detection zones
Deep image information.
Optionally, before the information of vehicles for obtaining the target vehicle in the target image information, the method
Further include: to the picture represented by some or all of in one group of first image information, and/or, described in described one group
Picture represented by some or all of in two image informations, stretch or shrink process, to make that treated described one group the
The resolution ratio of the partly or entirely represented picture in one image information in the second image information described in described one group
The partly or entirely represented picture resolution ratio it is consistent.
Optionally, the flight time TOF camera being arranged on road that obtains is detected to first within a predetermined period of time
One group of first image information that region is shot, comprising: it is more in the predetermined amount of time to obtain the TOF camera
It is a to be continuously shot the one group of real-time deep image information shot on the time to first detection zone；To Background
As information and one group of real-time deep image information progress image difference and image dividing processing, to determine first inspection
Surveying in region has vehicle region, and positioned at the profile information for having the vehicle in vehicle region, wherein one group of first figure
As information be arranged to include described in have a vehicle region and the profile information, the background image information is that the TOF camera exists
First detection zone does not have the depth image shot in the case where vehicle appearance to first detection zone
Information.
According to another embodiment of the invention, a kind of multilane free-flow vehicle detection based on TOF camera is provided
Device, comprising: first obtains module, right within a predetermined period of time for obtaining the flight time TOF camera being arranged on road
One group of first image information that first detection zone is shot；Trigger module, for shooting to obtain in the TOF camera
In the case where each the first image information, triggers the target being arranged on the road and capture camera to the second detection zone
It is shot, obtains the second image information, wherein via TOF camera target described in the predetermined amount of time internal trigger
Capturing camera and shooting is the second image described in one group；Determining module is used for from the second image information described in described one group
In determine target image information, wherein the target image information represents on the road that there are target vehicles；Second
Module is obtained, the target vehicle that the roadside unit RSU being arranged on the road is got within a predetermined period of time is obtained
Charge information；Matching module, for by the target vehicle got from the target image information and the target
The charge information of vehicle is matched, and the information of vehicles of the target vehicle is obtained.
According to another embodiment of the invention, a kind of multilane free-flow vehicle detection based on TOF camera is provided
System, comprising: TOF camera is mounted on the cross bar or door frame above road, within a predetermined period of time to the first detection zone
One group of first image information that domain is shot；It captures camera and obtains second for shooting to the second detection zone
Image information；Data processing unit, including microprocessor, data storage cell, external interface unit, in the TOF phase
Machine is shot in the case where obtaining each the first image information, is triggered the target that is arranged on the road and is captured camera to the
Two detection zones are shot, wherein capture camera via TOF camera target described in the predetermined amount of time internal trigger
Shooting obtains being the second image described in one group；The data processing unit is also used to, and is believed from the second image described in described one group
Target image information is determined in breath, wherein the target image information represents on the road that there are target vehicles；It obtains
The charge information for the target vehicle for taking the roadside unit RSU being arranged on the road to get within a predetermined period of time；
The charge information of the target vehicle got from the target image information and the target vehicle is matched, is obtained
To the information of vehicles of the target vehicle.
Optionally, second detection zone is greater than or equal to first detection zone, and second detection zone
Cover first detection zone.
Optionally, in the direction of travel, the detection zone of the RSU is greater than or equal to second detection zone, and institute
State the half for detection zone of the region more than or equal to the RSU that the detection zone of RSU intersects with second detection zone.
Optionally, described in can not being covered in the detection zone of a TOF camera and a target capture machine
In the case where all lanes of road, at least two TOF cameras and at least two targets are set on the road
Capture machine.
Optionally, the TOF camera, which is positioned along, is located at before the target capture machine and is separated by direction of traffic
First distance is located at behind the target capture machine and is separated by direction of traffic alternatively, the TOF camera is positioned along
Second distance.
According to still another embodiment of the invention, a kind of storage medium is additionally provided, meter is stored in the storage medium
Calculation machine program, wherein the computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
According to still another embodiment of the invention, a kind of electronic device, including memory and processor are additionally provided, it is described
Computer program is stored in memory, the processor is arranged to run the computer program to execute any of the above-described
Step in embodiment of the method.
Through the invention, since the TOF camera by being arranged on road is shot to obtain one to the first detection zone
The first image information of group triggers the target being arranged on road after the shooting of each TOF camera and captures camera to the second detection zone
Domain is shot, and one group of second image information is obtained, and determines to represent in one group of second image information and exists on road
The target image information of target vehicle obtains the roadside unit RSU being arranged on the road and gets within a predetermined period of time
The target vehicle charge information；The charging of the target vehicle got from target image information and target vehicle is believed
Breath is matched, and the information of vehicles of the target vehicle is obtained.Therefore, it can solve acquisition traveling in road vehicle information
The problem of low efficiency, reaching, which can be improved, obtains traveling in the technical effect of road vehicle information efficiency.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of shifting of multilane free-flow vehicle detection method based on TOF camera according to an embodiment of the present invention
The hardware block diagram of dynamic terminal；
Fig. 2 is the flow chart of the multilane free-flow vehicle detection method according to an embodiment of the present invention based on TOF camera；
Fig. 3 is that a kind of multilane free-flow vehicle detection method based on TOF camera according to an embodiment of the present invention executes
Block diagram；
Fig. 4 is a kind of structure of the multilane free-flow vehicle detection system based on TOF camera according to embodiments of the present invention
Schematic diagram；
Fig. 5 is another multilane free-flow vehicle detection system based on TOF camera of alternative embodiment according to the present invention
The structural schematic diagram of system；
Fig. 6 is other multilane free-flow vehicle detection systems based on TOF camera of alternative embodiment according to the present invention
Structural schematic diagram；
Fig. 7 is the structural frames of the multilane free-flow vehicle detection device 7 according to an embodiment of the present invention based on TOF camera
Figure.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in combination with Examples.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Embodiment 1
Embodiment of the method provided by the embodiment of the present application one can be in mobile terminal, terminal or similar fortune
It calculates and is executed in device.For running on mobile terminals, Fig. 1 is a kind of more vehicles based on TOF camera of the embodiment of the present invention
The hardware block diagram of the mobile terminal of road free-flow vehicle detection method.As shown in Figure 1, mobile terminal 10 may include one
Or (processor 102 can include but is not limited to Micro-processor MCV or programmable to multiple (one is only shown in Fig. 1) processors 102
The processing unit of logical device FPGA etc.) and memory 104 for storing data, optionally, above-mentioned mobile terminal can be with
Including the transmission device 106 and input-output equipment 108 for communication function.It will appreciated by the skilled person that
Structure shown in FIG. 1 is only to illustrate, and does not cause to limit to the structure of above-mentioned mobile terminal.For example, mobile terminal 10 may be used also
Including component more perhaps more less than shown in Fig. 1 or with the configuration different from shown in Fig. 1.
Memory 104 can be used for storing computer program, for example, the software program and module of application software, such as this hair
The corresponding computer program of multilane free-flow vehicle detection method based on TOF camera in bright embodiment, processor 102 are logical
The computer program that operation is stored in memory 104 is crossed, thereby executing various function application and data processing, that is, is realized
The method stated.Memory 104 may include high speed random access memory, may also include nonvolatile memory, such as one or more
Magnetic storage device, flash memory or other non-volatile solid state memories.In some instances, memory 104 can be wrapped further
The memory remotely located relative to processor 102 is included, these remote memories can pass through network connection to mobile terminal 10.
The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Transmitting device 106 is used to that data to be received or sent via a network.Above-mentioned network specific example may include
The wireless network that the communication providers of mobile terminal 10 provide.In an example, transmitting device 106 includes a Network adaptation
Device (Network Interface Controller, referred to as NIC), can be connected by base station with other network equipments to
It can be communicated with internet.In an example, transmitting device 106 can for radio frequency (Radio Frequency, referred to as
RF) module is used to wirelessly be communicated with internet.
A kind of multilane free flow vehicle based on TOF camera for running on above-mentioned mobile terminal is provided in the present embodiment
Detection method, Fig. 2 is the process of the multilane free-flow vehicle detection method according to an embodiment of the present invention based on TOF camera
Figure, as shown in Fig. 2, the process includes the following steps:
Step S202 obtains the flight time TOF camera being arranged on road within a predetermined period of time to the first detection zone
One group of first image information that domain is shot；
Step S204, in the case where the TOF camera shoots to obtain each the first image information, triggering setting exists
Target on the road is captured camera and is shot to the second detection zone, obtains the second image information, wherein via described
It is the second image described in one group that TOF camera target described in the predetermined amount of time internal trigger, which is captured camera and shot,；
Step S206 determines target image information from the second image information described in described one group, wherein the target
Image information represents on the road that there are target vehicles；
Step S208 is obtained described in the roadside unit RSU that is arranged on the road gets within a predetermined period of time
The charge information of target vehicle；
Step S210, by the meter of the target vehicle got from the target image information and the target vehicle
Charge information is matched, and the information of vehicles of the target vehicle is obtained.
Through the above steps, since the TOF camera by being arranged on road is shot to obtain to the first detection zone
One group of first image information triggers the target being arranged on road after the shooting of each TOF camera and captures camera to the second detection
Region is shot, and one group of second image information is obtained, and is determined to represent in one group of second image information and be deposited on road
In the target image information of target vehicle, obtains the roadside unit RSU being arranged on the road and obtain within a predetermined period of time
The charge information of the target vehicle arrived；By the charging of the target vehicle got from target image information and target vehicle
Information is matched, and the information of vehicles of the target vehicle is obtained.Therefore, it can solve acquisition traveling to believe in road vehicle
The problem of ceasing low efficiency, reaching, which can be improved, obtains traveling in the technical effect of road vehicle information efficiency.
Optionally, the executing subject of above-mentioned steps can be terminal etc., but not limited to this.
In an alternative embodiment, target image information is determined from the second image information described in described one group, comprising:
One group of first image information indicated the road on the target triggered time there are in the case where the target vehicle,
The target image obtained in the target triggered time photographs is determined from the second image information described in described one group
Information.In the present embodiment, comprising there are vehicle and there is no the figures of vehicle in all first images that TOF camera is got
Piece due to capturing all second images that camera is shot is triggered after TOF camera shoots the first image, so second
Image is corresponding with the first image.It is determined in all first images of TOF camera shooting there are the picture of target vehicle,
Determine that there are the images of target vehicle as target image according to the time that camera shooting is captured in triggering.
In an alternative embodiment, determined from the second image information described in described one group when the target triggers
Between before the obtained target image information of photographs, the method also includes: obtain in one group of first image information
Get the location information of the target vehicle arrived in the first shooting time photographs, wherein the predetermined amount of time includes institute
State the first shooting time；In the case where getting the location information of the target vehicle, first shooting time is arranged
For the target triggered time, and determine that one group of first image information has indicated the road on the target triggered time
There are the target vehicles.In the present embodiment, determine that the touching that camera is captured is captured in triggering according to the position of target vehicle
The time is sent out, further determined that there are target vehicles in the first image information on the triggered time.
In an alternative embodiment, target image information is determined from the second image information described in described one group, comprising:
Indicate that the target vehicle is moved to second lane from the first lane of the road in one group of first image information
In the case of, from determining to clap the target lane in second detection zone in the second image information described in described one group
The target image information taken the photograph, wherein the target lane includes that the target vehicle is moved to from the first lane
Part lane or whole lanes in the lane passed through during the second lane.In the present embodiment, TOF camera is with one
Fixed frequency is shot, and is able to reflect out wheelpath of the target vehicle on road by depth image, is clapped in TOF camera
Illustrate that lane change has occurred in target vehicle in the first pictorial information taken the photograph, for example, representing in one group of first pictorial information
Target vehicle becomes the overall process of third lane from first lane.It is obtained from capturing in one group of second image information that camera obtains
The target image information that target vehicle is shot to target lane, wherein target lane can be first, second, third
Lane, i.e., all lanes passed through in vehicle lane change overall process can also only have first lane and third lane, i.e. vehicle becomes
Part lane during road, is not limited thereto.
In an alternative embodiment, determining from the second image information described in described one group to second detection zone
Before the target image information that target lane in domain is shot, the method also includes: in one group of first figure
The third image information shot as the continuous multiple shooting times determined in information in the predetermined amount of time, wherein
Including having vehicle region where the target vehicle in image indicated by the third image information；According to the third image
There are the depth information variation and horizontal-shift information change in vehicle region described in information, determines the traveling rail of the target vehicle
Mark；The case where target vehicle is moved to second lane from the first lane of the road is illustrated in the driving trace
Under, determine that one group of first image information has indicated that the target vehicle is moved to second from the first lane of the road
Lane.In the present embodiment, there are the image of target vehicle, TOF for acquisition in one group of first image information that TOF is shot
Image captured by camera is able to reflect object at a distance from camera, which indicates depth information, according to vehicle in image
Depth information and offset information can determine the driving trace of vehicle.For example, in one group of first image of TOF camera shooting,
The depth information of only target vehicle is changed, then that is, only the distance between target vehicle and TOF camera
Changed, then lane change did not occurred for the target vehicle.And when horizontal-shift information occurs beyond a certain range of
In the case where variation, it can determine that lane change behavior has occurred in the vehicle.
In an alternative embodiment, the information of vehicles of the target vehicle is obtained from the target image information, comprising:
From the target vehicle of the acquisition on position corresponding with the location information of the target vehicle in the target image information
Information of vehicles, wherein the location information of the target vehicle is got in one group of first image information
The location information for the target vehicle that one shooting time photographs arrive.In the present embodiment, can not have in the first image
Vehicle can also have more vehicles, can determine that the vehicle is target vehicle according to position of the vehicle in the first image, further
Obtain the information of vehicles of the vehicle.If included three vehicles in the first image, it is located at upper left, intermediate and lower-left, according to the
Position in one image determines that target vehicle further obtains the information of vehicles of the vehicle.
In an alternative embodiment, the information of vehicles that the target vehicle is obtained from the target image information it
Afterwards, the method also includes: obtain the roadside unit RSU that is arranged on the road and got in the predetermined amount of time pair
One group of on board unit OBU carries out one group of charge information that charging obtains；It does not include the target in one group of charge information
In the case where the charge information of vehicle, prompt information is exported, wherein the prompt information is by prompting based on the target vehicle
Charge information exists abnormal.In the present embodiment, traveling is mounted with that on board unit OBU passes through in the vehicle that road vehicle has
The roadside unit RSU of road deducts fees to vehicle, according to travel situations of the vehicle got on road, and note of deducting fees
It records and determines whether target vehicle carries out or deduct fees, if not deducting fees issues prompt information, confirm that the target vehicle is not withholdd.
In an alternative embodiment, before the output prompt information, comprising: do not deposited in one group of charge information
In the case where target license plate information consistent with license board information in the information of vehicles of the target vehicle, described one is determined
It does not include the charge information of the target vehicle in group charge information；Or exist and the target in one group of charge information
In the consistent target license plate information of license board information but one group of charge information in the information of vehicles of vehicle with the target carriage
In the case that vehicle model information in the information of vehicles of the corresponding target vehicle model information of board information and the target vehicle is inconsistent, really
Make do not include in one group of charge information the target vehicle charge information.In the present embodiment, the charging one of vehicle
As it is corresponding with license plate, in the station message recording and in the case where the record withholdd occurred there is no the license plate of target vehicle, really
The fixed target vehicle was not withholdd.If there are the record that the license plate of target vehicle withhold in charge information,
But it is inconsistent with TOF and the vehicle for capturing the target vehicle that camera takes, then it is determined that withholing for the target vehicle is different
Reason condition.
It is described to obtain the flight time TOF phase being arranged on road in an alternative embodiment in an alternative embodiment
One group of first image information that machine within a predetermined period of time shoots the first detection zone, comprising: obtain the TOF
Multiple in the predetermined amount of time of camera are continuously shot one shot on the time to first detection zone
Group real-time deep image information；The target vehicle is extracted from one group of real-time deep image information the multiple continuous
Location information on shooting time；It is continuously shot temporal location information the multiple in the target vehicle and illustrates institute
It states target vehicle and the lane change occurred and by the case where at least two first detection zones, by described one group first
Image information is set as including in one group of real-time deep image information by for described at least two first detections
Deep image information taken by the TOF camera that region is shot.
In an alternative embodiment, the information of vehicles that the target vehicle is obtained from the target image information it
Before, the method also includes: to the picture represented by some or all of in one group of first image information, and/or, it is described
Picture represented by some or all of in second image information described in one group, stretch or shrink process, makes that treated
The partly or entirely resolution ratio of represented picture and described in described one group second in one group of first image information
The resolution ratio of the partly or entirely represented picture in image information is consistent.In the present embodiment, due to TOF camera and
The resolution ratio for capturing the image of camera shooting may be not identical, therefore, can be by stretching or shrink process, so that TOF phase
Machine is consistent with the resolution ratio of image for capturing camera shooting.
It is described to obtain the flight time TOF camera being arranged on road within a predetermined period of time in an alternative embodiment
To one group of first image information that the first detection zone is shot, including the TOF camera is obtained in the pre- timing
Between multiple one group of real-time deep image that first detection zone is shot on the time that are continuously shot in section believe
Breath；Image difference and image dividing processing are carried out to background image information and one group of real-time deep image information, with determination
There is vehicle region in first detection zone out, and positioned at the profile information for having the vehicle in vehicle region, wherein institute
State one group of first image information and be arranged to include it is described have vehicle region and the profile information, the background image information is institute
TOF camera is stated first detection zone is shot to obtain in the case where first detection zone does not have vehicle appearance
Deep image information.In the present embodiment, by the first image for being shot to TOF camera go deep into image information and
Background image information, which carries out difference and image dividing processing, can determine the profile letter in the region and vehicle that have vehicle in image
Breath, the profile information of vehicle includes vehicle model information.
In an alternative embodiment, second detection zone is greater than or equal to first detection zone, and described the
Two detection zones cover first detection zone.In the present embodiment, capture the detection zone captured of camera be greater than or
The detection zone shot equal to TOF camera.
In an alternative embodiment, in the direction of travel, the detection zone of the RSU is greater than or equal to second detection
Region, and detection zone of the region more than or equal to the RSU that the detection zone of the RSU intersects with second detection zone
The half in domain.
In an alternative embodiment, the detection zone of a TOF camera and a target capture machine cannot
In the case where all lanes for enough covering the road, at least two TOF cameras and at least two are set on the road
A target capture machine.In the present embodiment, detection zone can even a TOF camera and target capture machine,
It can be set multiple, be not limited thereto.
In an alternative embodiment, the TOF camera is positioned along on direction of traffic positioned at the target capture machine
Front and it is separated by first distance, alternatively, the TOF camera is positioned along on direction of traffic positioned at the target capture machine
Below and it is separated by second distance.
Illustrate the application below by a specific embodiment.
The main purpose of the application is to provide a kind of multilane free-flow vehicle detection method based on TOF camera and is
System tracks the real-time detection of free-flow vehicle position by TOF camera, provides accurate vehicle position information, and by position
Information is accurately matched with candid photograph subsystem, business subsystem, in solution in the prior art multilane free flow detection technique
The problems such as with low efficiency, matching error.
To achieve the goals above, a kind of multilane free-flow vehicle detection method based on TOF camera is provided, is such as schemed
3 be that a kind of multilane free-flow vehicle detection method based on TOF camera according to an embodiment of the present invention executes block diagram, mainly
The following steps are included:
Step S1 obtains the real-time deep image information of detection zone (corresponding to the first detection zone) by TOF camera
With background image information (deep image information and background image information correspond to the first image information), and it is sent to data processing
Unit；
Step S2, data processing unit extract vehicle position information and vehicle's contour letter from real-time deep image information
Breath, and send triggering information and the vehicle for capturing region (corresponding to the second detection zone) is captured to capture machine, capture machine
The vehicle pictures information of candid photograph is sent to data processing unit；
The deep image information of vehicle pictures and transmission triggering information moment is carried out pixel by step S3, data processing unit
Point matching treatment, and record vehicle driving trace；
Step S4 obtains vehicle-mounted OBU (On Board by RSU (Road Side Unit, roadside unit) detection unit
Unit, on board unit) location information and Transaction Information, space matching method accurately matches OBU transaction when data processing unit passes through
Information, vehicle pictures information and deep image information obtain vehicle traffic information.
Further, in step sl, background image information refers to that when detection zone passes through without vehicle TOF camera obtains
Deep image information, real-time deep image information and background image information include the height of detection time and each pixel
Information, horizontal-shift information and depth information, depth information are pixel to TOF camera range information.
Further, in step s 2, data processing unit extracts vehicle position information from real-time deep image information
Method with vehicle's contour information is to carry out image difference and image segmentation to real-time deep image information and background image information
Processing, so that extracting in detection zone has vehicle region, and analyzes each contour feature information for having vehicle region, including vehicle,
Vehicle commander, vehicle width, overall height.
Further, in step s 2, data processing unit extracts vehicle position information from real-time deep image information
In vehicle's contour information process, at least sends 2 triggering information and the vehicle for capturing region is captured to capture machine, work as vehicle
Lane change occurs and when by the candid photograph region (correspond to the second detection zone) of two or more capture machines, at data
Reason unit matches the vehicle pictures information that different capture machines are captured according to license plate number and/or triggered time and trigger position.
Further, in step s3, vehicle pictures and transmission are triggered the depth map at information moment by data processing unit
As method that information carries out pixel matching treatment includes: stretch or shrink process by vehicle pictures, the vehicle that makes that treated
The resolution ratio of picture is consistent with depth image resolution ratio；Or depth image is subjected to stretching or shrink process, after making processing
Depth image resolution ratio it is consistent with the resolution ratio of vehicle pictures.
Further, in step s3, the method for recording vehicle driving trace includes: to pass through the detection zone in vehicle
In the period of (corresponding to the first detection zone), the depth image of the continuous deep image information for detecting the t-1 moment and t moment
There are the depth information variation and horizontal-shift information change in vehicle region, the driving trace of Lai Jilu vehicle, when vehicle is sent out in information
When changing and passing through the detection zone (corresponding to the first detection zone) of two or more TOF cameras, data processing
The vehicle depth map that unit is detected according to detection time and vehicle position information and vehicle's contour information matches difference TOF camera
As information.
Further, in step s 4, when data processing unit passes through space matching method accurately match OBU Transaction Information,
The method of vehicle pictures information and deep image information includes: after data processing unit obtains OBU Transaction Information, in setting
Within the scope of time threshold, the spatial threshold of vehicle position information that vehicle-mounted OBU location information and the TOF camera detect in setting
It is worth in range, then OBU Transaction Information and image depth information and vehicle pictures information matches, obtains vehicle traffic information,
And vehicle traffic information includes: OBU transaction status information, the license board information of OBU acquisition, the license board information of capture machine acquisition, grabs
The vehicle pictures information that bat machine obtains, vehicle vehicle model information, the contour feature information, trace information of TOF acquisition.
As shown in figure 4, being a kind of multilane free-flow vehicle detection system based on TOF camera according to embodiments of the present invention
Structural schematic diagram, for realizing above-mentioned detection method, comprising:
TOF camera (10) is mounted on the cross bar or door frame above road, is connected with data processing unit (30), is used for
The deep image information of detection zone (1) (corresponding to the first detection zone) is obtained, and is sent to data processing unit
(30)；
Capture machine (20) is mounted on the cross bar or door frame above road, is connected with data processing unit (30), for obtaining
The vehicle pictures information for capturing region (2) (corresponding to the second detection zone) is taken, and is sent to data processing unit (30)；
RSU detection unit (40) is mounted on the same cross bar or door frame, with data processing unit with TOF camera (10)
(30) it is connected, and a RSU detection unit (40) is installed right above each lane, for obtains the vehicle-mounted OBU of transaction area (3)
Location information and Transaction Information；
Data processing unit (30), including microprocessor, data storage cell, external interface unit, for extracting depth
The vehicle position information and profile information of image information, and send triggering information and give capture machine (20), and match figure described in depth
As information, vehicle pictures information are with addressed Transaction Information.
It should be noted that multilane free-flow vehicle detection system includes one or more TOF cameras (10), and including
One or more capture machines (20)；
In the direction of travel, the detection zone (1) of TOF camera (10) is from the TOF camera (10) most far 25 meters~30
Rice is 10 meters~15 meters recently, and entire lane can be completely covered in the union of the detection zone (1) of one or more TOF cameras,
Vehicle first passes through detection zone (1) in the direction of travel, using door frame or cross bar；
The union that one or more states the candid photograph region (2) of capture machine (20) is not less than the inspection of one or more TOF cameras
The union of region (1) is surveyed, and detection zone (1) or detection zone can be completely covered in the union for capturing region (2) or candid photograph region (2)
The union in domain (1).
It should also be noted that, the candid photograph region (2) of capture machine (20) is not less than detection zone (1), and capture region energy
Detection zone (1) is completely covered.
It should also be noted that, in the direction of travel, the transaction area (3) of RSU detection unit (40) is not less than candid photograph area
Domain (2), and transaction area (3) and capture region that region (2) have an intersection, and intersect not less than transaction area (3) two/
One.
Fig. 5 is the structural schematic diagram of another multilane free-flow vehicle detection system based on TOF camera of the invention,
In view of the TOF camera (10) and the capture machine (20) field of view angle and optimum detection region, when using a TOF
When the field of view angle of camera and a capture machine can not cover entire lane, the layout type using Fig. 5 is needed, use is multiple
TOF camera and multiple capture machines, for system layout feature as Fig. 4, detection method is consistent with above-mentioned detection method.
Fig. 6 is the structural schematic diagram of other multilane free-flow vehicle detection systems based on TOF camera of the invention, is examined
Consider TOF camera (10) and capture machine (20) detecting distance is different, when the detection zone and capture machine of used TOF camera
Capture apart from it is inconsistent when, need to adjust the installation site of TOF camera and capture machine, such as the layout type of Fig. 6, detection method
It is consistent with above-mentioned detection method.
The beneficial effect of the application has following two points: (1) being able to detect the driving trace of multilane free-flow vehicle, essence
It is really located through the vehicle location at each moment in the period, can accurately match vehicle image information and Transaction Information；(2)
It is matched by multi-sensor information fusion, obtains complete information of vehicles, provide complete evidence obtaining to illegal vehicle, fee evasion vehicle
Information allows illegal vehicle to have nowhere to run.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
Embodiment 2
A kind of multilane free-flow vehicle detection device based on TOF camera, the device are additionally provided in the present embodiment
For realizing above-described embodiment and preferred embodiment, the descriptions that have already been made will not be repeated.As used below, term
The combination of the software and/or hardware of predetermined function may be implemented in " module ".Although device is preferably described in following embodiment
It is realized with software, but the realization of the combination of hardware or software and hardware is also that may and be contemplated.
Fig. 7 is the structural frames of the multilane free-flow vehicle detection device 7 according to an embodiment of the present invention based on TOF camera
Figure, as shown in fig. 7, the device includes: the first acquisition module 72, for obtaining the flight time TOF camera being arranged on road
One group of first image information that the first detection zone is shot within a predetermined period of time；Trigger module 74 is used for
The TOF camera is shot in the case where obtaining each the first image information, is triggered the target being arranged on the road and is grabbed
Shooting camera shoots the second detection zone, obtains the second image information, wherein via the TOF camera described predetermined
It is the second image described in one group that target described in period internal trigger, which is captured camera and shot,；Determining module 76 is used for from institute
Target image information is determined in second image information described in stating one group, wherein the target image information is represented described
There are target vehicles on road；Second obtains module 78, for obtaining the roadside unit RSU being arranged on the road predetermined
The charge information of the target vehicle got in period；Matching module 710, being used for will be from the target image information
The charge information of the target vehicle and the target vehicle that get is matched, and the vehicle letter of the target vehicle is obtained
Breath.
In an alternative embodiment, above-mentioned determining module 76 is realized in the following way from the second image described in described one group
Target image information is determined in information, has indicated the road on the target triggered time in one group of first image information
There are in the case where the target vehicle, determined from the second image information described in described one group in the target triggered time
The target image information that photographs obtain.
In an alternative embodiment, above-mentioned apparatus is also used to, and is determined from the second image information described in described one group
Before the target image information that the target triggered time photographs obtain, obtained in one group of first image information
Get the location information of the target vehicle arrived in the first shooting time photographs, wherein the predetermined amount of time includes institute
State the first shooting time；In the case where getting the location information of the target vehicle, first shooting time is arranged
For the target triggered time, and determine that one group of first image information has indicated the road on the target triggered time
There are the target vehicles.
In an alternative embodiment, above-mentioned determining module 76 is also used to realize in the following way from described in described one group
Target image information is determined in two image informations, has indicated the target vehicle from described in one group of first image information
In the case that the first lane of road is moved to second lane, determine from the second image information described in described one group to described
The target image information that target lane in second detection zone is shot, wherein the target lane includes described
Target vehicle is moved to the part lane in the lane passed through during the second lane or complete from the first lane
Portion lane.
In an alternative embodiment, above-mentioned apparatus is also used to, and is determined from the second image information described in described one group
Before the target image information shot to the target lane in second detection zone, in one group of first figure
The third image information shot as the continuous multiple shooting times determined in information in the predetermined amount of time, wherein
Including having vehicle region where the target vehicle in image indicated by the third image information；According to the third image
There are the depth information variation and horizontal-shift information change in vehicle region described in information, determines the traveling rail of the target vehicle
Mark；The case where target vehicle is moved to second lane from the first lane of the road is illustrated in the driving trace
Under, determine that one group of first image information has indicated that the target vehicle is moved to second from the first lane of the road
Lane.
In an alternative embodiment, above-mentioned second acquisition module 78 is realized in the following way from the target image information
The middle information of vehicles for obtaining the target vehicle obtains from the target image information and believes with the position of the target vehicle
Cease the information of vehicles of the target vehicle on corresponding position, wherein the location information of the target vehicle is described one
The location information of the target vehicle arrived in the first shooting time photographs got in the first image information of group.
Above-mentioned apparatus is also used to obtain after the information of vehicles for obtaining the target vehicle in the target image information
It takes the roadside unit RSU being arranged on the road to get in the predetermined amount of time to carry out one group of on board unit OBU
One group of charge information that charging obtains；The charge information of the target vehicle is not included the case where in one group of charge information
Under, export prompt information, wherein it is abnormal that the prompt information is used to prompt the charge information of the target vehicle to exist.
In an alternative embodiment, above-mentioned apparatus is also used to, before the output prompt information, in one group of charging
In the case where being not present in information with the consistent target license plate information of license board information in the information of vehicles of the target vehicle, really
Make do not include in one group of charge information the target vehicle charge information；Or exist in one group of charge information
With in the consistent target license plate information of license board information in the information of vehicles of the target vehicle but one group of charge information with
The corresponding target vehicle model information of the target license plate information and the vehicle model information in the information of vehicles of the target vehicle are inconsistent
In the case where, determine do not include in one group of charge information the target vehicle charge information.
In an alternative embodiment, above-mentioned first acquisition module 72 realizes that the acquisition is arranged in road in the following way
On flight time TOF camera the first detection zone is shot within a predetermined period of time one group of first image believe
Breath, obtain multiple in the predetermined amount of time of the TOF camera be continuously shot on the time to first detection zone into
One group of real-time deep image information that row shooting obtains；The target vehicle is extracted from one group of real-time deep image information
Temporal location information is continuously shot the multiple；Temporal position is continuously shot the multiple in the target vehicle
In the case that confidence breath illustrates that the target vehicle occurred the lane change and passed through at least two first detection zones,
One group of first image information is set as including in one group of real-time deep image information by being used for described at least two
Deep image information taken by the TOF camera that a first detection zone is shot.
In an alternative embodiment, above-mentioned apparatus is also used to, and the target carriage is being obtained from the target image information
Information of vehicles before, to the picture represented by some or all of in one group of first image information, and/or, it is described
Picture represented by some or all of in second image information described in one group, stretch or shrink process, makes that treated
The partly or entirely resolution ratio of represented picture and described in described one group second in one group of first image information
The resolution ratio of the partly or entirely represented picture in image information is consistent.
In an alternative embodiment, above-mentioned first acquisition module realizes that the acquisition is arranged on road in the following way
Flight time TOF camera the first detection zone is shot within a predetermined period of time one group of first image information,
Multiple be continuously shot time on of the TOF camera in the predetermined amount of time is obtained to clap first detection zone
The one group of real-time deep image information taken the photograph；Image is carried out to background image information and one group of real-time deep image information
Difference and image dividing processing to determine there is vehicle region in first detection zone, and have vehicle region positioned at described
In vehicle profile information, wherein one group of first image information is arranged to include described having vehicle region and the wheel
Wide information, the background image information are that the TOF camera is right in the case where first detection zone does not have vehicle appearance
The deep image information that first detection zone is shot.
In an alternative embodiment, second detection zone is greater than or equal to first detection zone, and described the
Two detection zones cover first detection zone.
In an alternative embodiment, in the direction of travel, the detection zone of the RSU is greater than or equal to second detection
Region, and detection zone of the region more than or equal to the RSU that the detection zone of the RSU intersects with second detection zone
The half in domain.
In an alternative embodiment, the detection zone of a TOF camera and a target capture machine cannot
In the case where all lanes for enough covering the road, at least two TOF cameras and at least two are set on the road
A target capture machine.
In an alternative embodiment, the TOF camera is positioned along on direction of traffic positioned at the target capture machine
Front and it is separated by first distance, alternatively, the TOF camera is positioned along on direction of traffic positioned at the target capture machine
Below and it is separated by second distance.
Embodiment 3
A kind of multilane free-flow vehicle detection system based on TOF camera is additionally provided in the present embodiment, comprising:
TOF camera is mounted on the cross bar or door frame above road, for shooting within a predetermined period of time to the first detection zone
One group of first obtained image information；It captures camera and obtains the second image information for shooting to the second detection zone；
Data processing unit, including microprocessor, data storage cell, external interface unit, for shooting to obtain in the TOF camera
In the case where each the first image information, triggers the target being arranged on the road and capture camera to the second detection zone
It is shot, wherein capture what camera was shot via TOF camera target described in the predetermined amount of time internal trigger
For the second image described in one group；The data processing unit is also used to, and is determined from the second image information described in described one group
Target image information, wherein the target image information represents on the road that there are target vehicles；Setting is obtained in institute
State the charge information for the target vehicle that the roadside unit RSU on road is got within a predetermined period of time；It will be from the mesh
The charge information of the target vehicle and the target vehicle that get in logo image information is matched, and the target is obtained
The information of vehicles of vehicle.
In an alternative embodiment, second detection zone is greater than or equal to first detection zone, and described the
Two detection zones cover first detection zone.
In an alternative embodiment, in the direction of travel, the detection zone of the RSU is greater than or equal to second detection
Region, and detection zone of the region more than or equal to the RSU that the detection zone of the RSU intersects with second detection zone
The half in domain.
In an alternative embodiment, the detection zone of a TOF camera and a target capture machine cannot
In the case where all lanes for enough covering the road, at least two TOF cameras and at least two are set on the road
A target capture machine.
In an alternative embodiment, the TOF camera is positioned along on direction of traffic positioned at the target capture machine
Front and it is separated by first distance, alternatively, the TOF camera is positioned along on direction of traffic positioned at the target capture machine
Below and it is separated by second distance.
Embodiment 4
The embodiments of the present invention also provide a kind of storage medium, computer program is stored in the storage medium, wherein
The computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
Optionally, in the present embodiment, above-mentioned storage medium can be set to store by executing based on following steps
Calculation machine program:
S1 obtains the flight time TOF camera being arranged on road and carries out within a predetermined period of time to the first detection zone
Shoot one group of first obtained image information；
S2, in the case where the TOF camera shoots to obtain each the first image information, triggering is arranged in the road
The target of road is captured camera and is shot to the second detection zone, obtains the second image information, wherein via the TOF phase
It is the second image described in one group that machine target described in the predetermined amount of time internal trigger, which is captured camera and shot,；
S3 determines target image information from the second image information described in described one group, wherein the target image letter
Breath represents on the road that there are target vehicles；
S4 obtains the target carriage that the roadside unit RSU being arranged on the road is got within a predetermined period of time
Charge information；
S5, by the charge information of the target vehicle got from the target image information and the target vehicle
It is matched, obtains the information of vehicles of the target vehicle.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (Read-
Only Memory, referred to as ROM), it is random access memory (Random Access Memory, referred to as RAM), mobile hard
The various media that can store computer program such as disk, magnetic or disk.
The embodiments of the present invention also provide a kind of electronic device, including memory and processor, stored in the memory
There is computer program, which is arranged to run computer program to execute the step in any of the above-described embodiment of the method
Suddenly.
Optionally, above-mentioned electronic device can also include transmission device and input-output equipment, wherein the transmission device
It is connected with above-mentioned processor, which connects with above-mentioned processor.
Optionally, in the present embodiment, above-mentioned processor can be set to execute following steps by computer program:
S1 obtains the flight time TOF camera being arranged on road and carries out within a predetermined period of time to the first detection zone
Shoot one group of first obtained image information；
S2, in the case where the TOF camera shoots to obtain each the first image information, triggering is arranged in the road
The target of road is captured camera and is shot to the second detection zone, obtains the second image information, wherein via the TOF phase
It is the second image described in one group that machine target described in the predetermined amount of time internal trigger, which is captured camera and shot,；
S3 determines target image information from the second image information described in described one group, wherein the target image letter
Breath represents on the road that there are target vehicles；
S4 obtains the target carriage that the roadside unit RSU being arranged on the road is got within a predetermined period of time
Charge information；
S5, by the charge information of the target vehicle got from the target image information and the target vehicle
It is matched, obtains the information of vehicles of the target vehicle.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment
Example, details are not described herein for the present embodiment.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein
Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or
Step is fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.It is all within principle of the invention, it is made it is any modification, etc.
With replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of multilane free-flow vehicle detection method based on TOF camera characterized by comprising
The flight time TOF camera being arranged on road is obtained within a predetermined period of time the first detection zone to be shot to obtain
One group of first image information；
In the case where the TOF camera shoots to obtain each the first image information, triggering is arranged on the road
Target is captured camera and is shot to the second detection zone, obtains the second image information, wherein via the TOF camera in institute
Stating target described in predetermined amount of time internal trigger and capturing camera and shoot is the second image described in one group；
Target image information is determined from the second image information described in described one group, wherein the target image information indicates
There are target vehicles on the road out；
Obtain the charging for the target vehicle that the roadside unit RSU being arranged on the road is got within a predetermined period of time
Information；
By the progress of the charge information of the target vehicle got from the target image information and the target vehicle
Match, obtains the information of vehicles of the target vehicle.
2. the method according to claim 1, wherein determining mesh from the second image information described in described one group
Logo image information, comprising:
Determine that continuous multiple shooting times in the predetermined amount of time shoot to obtain in one group of first image information
Third image information, wherein in image indicated by the third image information include the target vehicle where have vehicle
Region；
There are the depth information variation and horizontal-shift information change in vehicle region according to the third image information, determines
The driving trace of the target vehicle；
The case where target vehicle is moved to second lane from the first lane of the road is illustrated in the driving trace
Under, determine that one group of first image information has indicated that the target vehicle is moved to second from the first lane of the road
Lane；
From determining to shoot the target lane in second detection zone in the second image information described in described one group
Obtained target image information, wherein the target lane includes that the target vehicle from the first lane is moved to institute
State the part lane or whole lanes in the lane passed through during second lane.
3. method according to claim 1 or 2, which is characterized in that described to obtain the flight time TOF being arranged on road
One group of first image information that camera within a predetermined period of time shoots the first detection zone, comprising:
Obtain multiple in the predetermined amount of time of the TOF camera be continuously shot on the time to first detection zone into
One group of real-time deep image information that row shooting obtains；
The target vehicle, which is extracted, from one group of real-time deep image information is continuously shot temporal position the multiple
Confidence breath；
It is continuously shot temporal location information the multiple in the target vehicle and illustrates that the target vehicle occurred
In the case where lane change and at least two first detection zones of process, one group of first image information is set as including institute
It states in one group of real-time deep image information by the TOF camera for being shot to described at least two first detection zones
Taken deep image information.
4. method according to claim 1 or 2, which is characterized in that obtaining the mesh from the target image information
Before the information of vehicles for marking vehicle, the method also includes:
To the picture represented by some or all of in one group of first image information, and/or, the second figure described in described one group
Picture as represented by some or all of in information, stretch or shrink process, one group of first figure that make that treated
As the partly or entirely resolution ratio of represented picture in information and the institute in the second image information described in described one group
The resolution ratio for stating partly or entirely represented picture is consistent.
5. method according to claim 1 or 2, which is characterized in that described to obtain the flight time TOF being arranged on road
One group of first image information that camera within a predetermined period of time shoots the first detection zone, comprising:
Obtain multiple in the predetermined amount of time of the TOF camera be continuously shot on the time to first detection zone into
One group of real-time deep image information that row shooting obtains；
Image difference and image dividing processing are carried out to background image information and one group of real-time deep image information, with determination
There is vehicle region in first detection zone out, and positioned at the profile information for having the vehicle in vehicle region, wherein institute
State one group of first image information and be arranged to include it is described have vehicle region and the profile information, the background image information is institute
TOF camera is stated first detection zone is shot to obtain in the case where first detection zone does not have vehicle appearance
Deep image information.
6. a kind of multilane free-flow vehicle detection system based on TOF camera characterized by comprising
TOF camera is mounted on the cross bar or door frame above road, for carrying out within a predetermined period of time to the first detection zone
Shoot one group of first obtained image information；
It captures camera and obtains the second image information for shooting to the second detection zone；
Data processing unit, including microprocessor, data storage cell, external interface unit, for being shot in the TOF camera
In the case where obtaining each the first image information, triggers the target being arranged on the road and capture camera to the second detection
Region is shot, wherein is captured camera via TOF camera target described in the predetermined amount of time internal trigger and is shot
Arriving is the second image described in one group；
The data processing unit is also used to, and determines target image information from the second image information described in described one group,
In, the target image information represents on the road that there are target vehicles；Obtain the trackside being arranged on the road
The charge information for the target vehicle that unit R SU is got within a predetermined period of time；It will be obtained from the target image information
The charge information of the target vehicle and the target vehicle got is matched, and the vehicle letter of the target vehicle is obtained
Breath.
7. system according to claim 6, which is characterized in that second detection zone is greater than or equal to first inspection
Region is surveyed, and second detection zone covers first detection zone.
8. system according to claim 6, which is characterized in that in the direction of travel, the detection zone of the RSU be greater than or
Equal to second detection zone, and the region that the detection zone of the RSU intersects with second detection zone is greater than or waits
In the half of the detection zone of the RSU.
9. system according to claim 6, which is characterized in that captured in a TOF camera and a target
In the case that the detection zone of machine can not cover all lanes of the road, it is arranged described at least two on the road
TOF camera and at least two target capture machines.
10. system according to claim 6, which is characterized in that the TOF camera, which is positioned along on direction of traffic, to be located at
Before the target capture machine and it is separated by first distance, is located at alternatively, the TOF camera is positioned along on direction of traffic
Behind the target capture machine and it is separated by second distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447708.4A CN110111582B (en) | 2019-05-27 | 2019-05-27 | Multi-lane free flow vehicle detection method and system based on TOF camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447708.4A CN110111582B (en) | 2019-05-27 | 2019-05-27 | Multi-lane free flow vehicle detection method and system based on TOF camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110111582A true CN110111582A (en) | 2019-08-09 |
| CN110111582B CN110111582B (en) | 2020-11-10 |
Family
ID=67492511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910447708.4A Active CN110111582B (en) | 2019-05-27 | 2019-05-27 | Multi-lane free flow vehicle detection method and system based on TOF camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110111582B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111079782A (en) * | 2019-11-08 | 2020-04-28 | 北京万集科技股份有限公司 | Vehicle transaction method and system, storage medium and electronic device |
| CN112489448A (en) * | 2019-09-11 | 2021-03-12 | 浙江宇视科技有限公司 | Snapshot output filtering method and device |
| CN114463988A (en) * | 2020-11-09 | 2022-05-10 | 浙江宇视科技有限公司 | Image acquisition method and device, electronic equipment and storage medium |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101350109A (en) * | 2008-09-05 | 2009-01-21 | 交通部公路科学研究所 | Method for locating and controlling multilane free flow video vehicle |
| CN102353935A (en) * | 2011-06-07 | 2012-02-15 | 北京万集科技股份有限公司 | OBU (on board unit) positioning method, equipment and system based on time measurement |
| CN103116988A (en) * | 2013-01-18 | 2013-05-22 | 合肥工业大学 | Traffic flow and vehicle type detecting method based on TOF (time of flight) camera |
| CN103198531A (en) * | 2013-04-10 | 2013-07-10 | 北京速通科技有限公司 | Snapshot method for multilane free stream vehicle image |
| CN103268640A (en) * | 2013-05-10 | 2013-08-28 | 北京速通科技有限公司 | Multilane free-flow electronic toll collection system and method based on multi-beam antenna |
| US8686873B2 (en) * | 2011-02-28 | 2014-04-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Two-way video and 3D transmission between vehicles and system placed on roadside |
| CN204902980U (en) * | 2015-05-27 | 2015-12-23 | 北京万集科技股份有限公司 | Multilane free flow automatic weighing system based on RFID technique |
| CN204904364U (en) * | 2015-08-20 | 2015-12-23 | 北京万集科技股份有限公司 | Multilane free flow charging system |
| CN205230344U (en) * | 2015-12-24 | 2016-05-11 | 北京万集科技股份有限公司 | Vehicle positioning system based on TOF camera |
| CN205451098U (en) * | 2015-12-24 | 2016-08-10 | 北京万集科技股份有限公司 | Motorcycle type automatic identification equipment of charge station based on TOF camera |
| CN205451485U (en) * | 2015-12-24 | 2016-08-10 | 北京万集科技股份有限公司 | Vehicle positioning system based on TOF camera |
| CN106778656A (en) * | 2016-12-27 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of counting passenger flow of buses system based on ToF cameras |
| KR20170070946A (en) * | 2015-12-14 | 2017-06-23 | 현대오트론 주식회사 | Apparatus for detecting of vehicle pitch angle using time of flight sensor and method therof |
| US20170272651A1 (en) * | 2016-03-16 | 2017-09-21 | Analog Devices, Inc. | Reducing power consumption for time-of-flight depth imaging |
-
2019
- 2019-05-27 CN CN201910447708.4A patent/CN110111582B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101350109A (en) * | 2008-09-05 | 2009-01-21 | 交通部公路科学研究所 | Method for locating and controlling multilane free flow video vehicle |
| US8686873B2 (en) * | 2011-02-28 | 2014-04-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Two-way video and 3D transmission between vehicles and system placed on roadside |
| CN102353935A (en) * | 2011-06-07 | 2012-02-15 | 北京万集科技股份有限公司 | OBU (on board unit) positioning method, equipment and system based on time measurement |
| CN103116988A (en) * | 2013-01-18 | 2013-05-22 | 合肥工业大学 | Traffic flow and vehicle type detecting method based on TOF (time of flight) camera |
| CN103198531A (en) * | 2013-04-10 | 2013-07-10 | 北京速通科技有限公司 | Snapshot method for multilane free stream vehicle image |
| CN103268640A (en) * | 2013-05-10 | 2013-08-28 | 北京速通科技有限公司 | Multilane free-flow electronic toll collection system and method based on multi-beam antenna |
| CN204902980U (en) * | 2015-05-27 | 2015-12-23 | 北京万集科技股份有限公司 | Multilane free flow automatic weighing system based on RFID technique |
| CN204904364U (en) * | 2015-08-20 | 2015-12-23 | 北京万集科技股份有限公司 | Multilane free flow charging system |
| KR20170070946A (en) * | 2015-12-14 | 2017-06-23 | 현대오트론 주식회사 | Apparatus for detecting of vehicle pitch angle using time of flight sensor and method therof |
| CN205230344U (en) * | 2015-12-24 | 2016-05-11 | 北京万集科技股份有限公司 | Vehicle positioning system based on TOF camera |
| CN205451098U (en) * | 2015-12-24 | 2016-08-10 | 北京万集科技股份有限公司 | Motorcycle type automatic identification equipment of charge station based on TOF camera |
| CN205451485U (en) * | 2015-12-24 | 2016-08-10 | 北京万集科技股份有限公司 | Vehicle positioning system based on TOF camera |
| US20170272651A1 (en) * | 2016-03-16 | 2017-09-21 | Analog Devices, Inc. | Reducing power consumption for time-of-flight depth imaging |
| CN106778656A (en) * | 2016-12-27 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of counting passenger flow of buses system based on ToF cameras |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112489448A (en) * | 2019-09-11 | 2021-03-12 | 浙江宇视科技有限公司 | Snapshot output filtering method and device |
| CN111079782A (en) * | 2019-11-08 | 2020-04-28 | 北京万集科技股份有限公司 | Vehicle transaction method and system, storage medium and electronic device |
| CN111079782B (en) * | 2019-11-08 | 2023-09-01 | 北京万集科技股份有限公司 | Vehicle transaction method and system, storage medium and electronic device |
| CN114463988A (en) * | 2020-11-09 | 2022-05-10 | 浙江宇视科技有限公司 | Image acquisition method and device, electronic equipment and storage medium |
| CN114463988B (en) * | 2020-11-09 | 2023-10-03 | 浙江宇视科技有限公司 | Image acquisition method, device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110111582B (en) | 2020-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110189424B (en) | Multi-lane free flow vehicle detection method and system based on multi-target radar | |
| CN106571039A (en) | Automatic snapshot system for highway traffic offence | |
| CN110111582A (en) | Multilane free-flow vehicle detection method and system based on TOF camera | |
| CN202443514U (en) | Multilane free movement electronic road toll collection system | |
| CN107301776A (en) | Track road conditions processing and dissemination method based on video detection technology | |
| CN105632186A (en) | Method and device for detecting vehicle queue jumping behavior | |
| CN107195004B (en) | Three video camera Car license recognition toll collection systems and car plate precise recognition method | |
| CN104574954B (en) | A kind of vehicle auditing method, control device and system based on free streaming system | |
| CN108520236A (en) | It drives into and outgoing vehicles information collecting method, device and information of vehicles processing system | |
| CN108961767A (en) | Highway inspection based on four-dimensional outdoor scene traffic simulation, which is pursued and captured an escaped prisoner, takes alarm system | |
| CN111127897A (en) | Vehicle state detection method and device, server and inspection system | |
| CN109637137A (en) | Traffic control system based on bus or train route collaboration | |
| CN108765976A (en) | The parallel parking information of trackside manages system and method | |
| JPH08511093A (en) | Method and apparatus for registering vehicle movement | |
| CN105894823B (en) | A kind of parking detection method and apparatus and system | |
| CN108133599A (en) | A kind of slag-soil truck video frequency identifying method and system | |
| CN107705564A (en) | Express-road vehicle running track identification system and method based on mobile phone positioning | |
| CN105139425A (en) | People counting method and device | |
| CN110738150B (en) | Camera linkage snapshot method and device and computer storage medium | |
| CN110189425A (en) | Multilane free-flow vehicle detection method and system based on binocular vision | |
| CN103646454A (en) | Parking lot management system and method | |
| CN114049612A (en) | Highway vehicle charge auditing system based on graph searching technology and dual-obtaining and checking method for driving path | |
| CN103903440A (en) | Electronic police capturing method and device | |
| CN110969864A (en) | Vehicle speed detection method, vehicle driving event detection method and electronic equipment | |
| US20220237919A1 (en) | Method, Apparatus, and Computing Device for Lane Recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |