CN110133663A - A kind of distributed acoustic is as joint calibration localization method - Google Patents
A kind of distributed acoustic is as joint calibration localization method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of distributed acoustics as joint calibration localization method, the contour degree of video camera and air sonar is mounted on above road, determine that air sonar at a distance from camera center, is constructed using air sonar array center and camera video center as the three-dimensional cartesian coordinate system of origin；Position coordinates of the target in air sonar coordinate system are determined by air sonar, and by two origins, transversely and horizontally distance and antitrigonometric function formula calculate the angle of target and horizontal plane and plummet face under camera coordinate system；Target corresponding pixel coordinate in camera views is calculated according to camera parameters；Acoustic target position is reflected in camera views by pixel coordinate, realizes sound image combined calibration positioning.The present invention can be realized the combination to city vision and the sense of hearing, provide enough technical supports for intelligent transportation and the development of intelligent city.
Description
Technical field
The invention belongs to field of signal processing, are related to sonar Wave beam forming, acoustical signal processing, sound image combined, target positioning
Scheduling theory.
Background technique
With the progress of social science and technology, video camera and air sonar are gradually sent out in social fields such as traffic, security protection, environmental protection
Wave increasingly important role.Worked together by video camera and air sonar, combination to video image and real-time audio and
Joint calibration realizes the accurate positionin to audible target in video image.
Air sonar is usually the microphone array being made of multiple high-precision microphone modules, has acoustics positioning, sound
The functions such as sound identification, sound enhancing.Since the eighties in last century, array signal process technique is widely used in sound source
The research of Passive Positioning, but sound locating effect can not intuitively show existing city sensory devices due to being more abstracted
In, it is therefore desirable to the specific location that could more intuitively reflect sound source is used in combination with camera chain.
Sonar positioning at present and video there is no preferable joint calibration method, air sonar and video camera point in practical application
Cloth installation, since air sonar is not overlapped with camera center origin, causes air sonar locating effect to be difficult to accurately map
To camera views, need artificially to carry out conversion label in video image, and precision is not accurate enough, cannot achieve automatic precision
True alignment by union.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of distributed acoustic as joint calibration method, realizes to city
The combination of city's vision and the sense of hearing provides enough technical supports for intelligent transportation and the development of intelligent city, for vehicle in city
The development that target is accurately positioned is of great importance with practical engineering application.
The technical solution adopted by the present invention to solve the technical problems is the following steps are included: by video camera and air sonar etc.
Height is mounted on above road, determine air sonar at a distance from camera center, building with air sonar array center and
Camera video center is the three-dimensional cartesian coordinate system of origin；Determine target in air sonar coordinate system by air sonar
Position coordinates, by two origins transversely and horizontally distance and antitrigonometric function formula calculate under camera coordinate system target with
The angle of horizontal plane and plummet face；Target corresponding pixel coordinate in camera views is calculated according to camera parameters；Pass through
Acoustic target position is reflected in camera views by pixel coordinate, realizes sound image combined calibration positioning.
Step of the invention is unfolded, the following contents is specifically included:
Video camera is installed on transverse center position above road by the first step, and the height such as air sonar and video camera is installed,
Three-dimensional cartesian coordinate system o is established using air sonar array center and camera video center as origin respectively1And o2, two origins
Transversely and horizontally distance be d；
Second step determines target s in air sonar coordinate system o by air sonar Passive Positioning1In folder with horizontal plane
Angle α, the angle β with mounting rod vertical plane, and position of the target in air sonar coordinate system is calculated by trigonometric function and is sat
It marks (a, b, h), whereinH is the height of mounting rod；
Third step, find out target in camera coordinate system with the angle of horizontal planeAnd and mounting rod
The angle of vertical plane
4th step determines that the picture pixel size of video camera is m × n, and the field angle for adjusting video camera is θ, measurement camera shooting
The distance of bottom edge distance detection rod piece in machine visual field is d1；
5th step calculates target Y-axis pixel coordinate in camera viewsWith in X-axis
Pixel coordinateXl is centre distance left side road boundary in X-axis in formula
Pixel distance, centered on xr on the right side of distance road boundary pixel distance, location of pixels of the road boundary in picture can table
It is shown as straight line, kl is the slope of left boundary in this coordinate system, and kr is the slope of right side boundary in this coordinate system；
6th step is determined the reflection of acoustic target position on the image by pixel coordinate, realizes that sound image combined calibration is fixed
Position.
The beneficial effects of the present invention are: can precise positioning acoustic target in video camera at the position in image, method
Simple and practical, all kinds of acoustical signal targets on road can be reflected in the image of video camera by this method in real time, can be used for disobeying
The fields such as method whistle vehicle location, suspicious object positioning, environment noise monitoring, for establishing intelligent transportation, improving city peace
Anti-, construction smart city etc. has far reaching significance, has pushed Passive Positioning technology in the application in the fields such as traffic, security protection, monitoring
With development.
Detailed description of the invention
Fig. 1 is method flow schematic block diagram of the invention；
Fig. 2 is air sonar and camera installation locations schematic diagram；
Fig. 3 is video camera scheme of installation；
Fig. 4 is monitored picture display schematic diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
For in practical application when air sonar and video camera distribution are installed, air sonar and camera center origin
It is not overlapped, air sonar locating effect is caused to be difficult to the problem of being mapped exactly to camera views, the present invention proposes a kind of distribution
Formula Sound image localization joint calibration method, item of this method in known air sonar center origin position and camera installation locations
Under part, calibrated by the calibration with acoustic target physical location to camera views, it can be quickly by air sonar orientation angle
It is mapped on pixel corresponding to camera views, which can really reflect the tool of sound source in camera supervised region
Body position is realized to the acoustic targets automatic and accurate alignment by union such as vehicle on road.
As shown in Figure 1, a kind of distributed acoustic proposed by the present invention is as joint calibration method, key step is as follows:
Step 1: determining air sonar at a distance from camera center
As shown in Fig. 2, video camera and air sonar are using distributed installation, video camera is installed on road transverse center position
It sets, air sonar is located at beside video camera, establishes three using air sonar array center and camera video center as origin respectively
Tieing up rectangular coordinate system is respectively o1And o2, the transversely and horizontally distance of two origins is d.
Step 2: air sonar positions
Determine target s in air sonar coordinate system o by air sonar Passive Positioning1In with the angle α of horizontal plane, with peace
The angle β of bar vertical plane is filled, and position coordinates (a, b, h) of the target in air sonar coordinate system are calculated by trigonometric function
Wherein h is the height of mounting rod, that is, the z-axis coordinate of target.
Step 3: calculating the angle of the target under camera coordinate system
Video camera and air sonar are mounted on sustained height h, and by two origins, transversely and horizontally distance and antitrigonometric function are public
Formula, find out target in camera coordinate system with the angle α of horizontal plane1With the angle β with mounting rod vertical plane1:
D is the transversely and horizontally distance of two coordinate origins in formula.
Step 4: determining the parameter of video camera
Camera views pixel size is m × n, and the field angle for adjusting video camera is θ, measures the bottom edge in camera field of view
The distance of distance detection rod piece is d1, specific as shown in Figure 3.
Step 5: calculating target corresponding location of pixels in camera views
As shown in figure 4, corresponding location of pixels of the target in picture in Y-axis:
Target may be expressed as: in the pixel coordinate of X-direction
Xl is the pixel distance on road boundary on the left of centre distance in X-axis in formula, road boundary on the right side of distance centered on xr
Pixel distance, location of pixels of the road boundary in picture be represented by straight line, and kl is left boundary in the coordinate
Slope under system, kr are the slope of right side boundary in this coordinate system.
Step 6: sound image combined positioning
It is determined the reflection of acoustic target position on the image by pixel coordinate, realizes sound image combined calibration positioning.
The embodiment of the present invention the following steps are included:
Step 1: determining air sonar at a distance from camera center
Using distributed installation, video camera is installed on road transverse center position, air sonar for video camera and air sonar
Beside video camera, three-dimensional rectangular coordinate is established using air sonar array center and camera video center as origin respectively
System is respectively o1And o2, the transversely and horizontally distance of two origins is d.
In this coordinate system for any point s on road, all have with air sonar with camera coordinate system unique corresponding
Point.Under three-dimensional system of coordinate, road plane take up an official post meaning one point s and origin o line vector beThen vectorIn plane
Y0O0Z0Be projected asThen vectorIn plane Y0O0Z0Be projected asDefinition,Angle with y-axis is α,With x
The angle of axis is β, then can uniquely confirm a point s by α, β.
Step 2: air sonar positions
Determine target s in air sonar coordinate system o by air sonar Passive Positioning1In with the angle α of horizontal plane and with
The angle β of mounting rod vertical plane.And by trigonometric function calculate target in air sonar coordinate system position coordinates (a, b,
h)
Wherein h is the height of mounting rod, that is, the z-axis coordinate of target.
Step 3: calculating the angle of the target under camera coordinate system
Video camera and air sonar are mounted on sustained height h, and by two origins, transversely and horizontally distance and antitrigonometric function are public
Formula, find out target in camera coordinate system with the angle α of horizontal plane1With the angle β with mounting rod vertical plane1:
D is the transversely and horizontally distance of two coordinate origins in formula.
Step 4: determining the parameter of video camera
Camera views pixel size is m × n, and the field angle for adjusting video camera is θ, measures the bottom edge in camera field of view
The distance of distance detection rod piece is d1, it is specific as shown in Figure 3:
Step 5: calculating target corresponding location of pixels in camera views:
Due to being correspondingly, for what is given under camera coordinate system between the pixel and field angle of camera views
Arbitrary target position, it may be determined that corresponding location of pixels of the target in picture in Y-axis:
In X-direction, angle and pixel are not one-to-one, but distance is one-to-one with angle, it is assumed that sl table
Show that actual range of the road left border apart from Y-axis, sr indicate actual range of the road right side boundary apart from Y-axis, then imaging
Road left border is represented by the straight line of a vertical X axis under camera coordinate system in machine picture:
X=sl
Road right side boundary can also be expressed as the straight line of a vertical X axis
X=-sr
Coordinate system as shown in Figure 4 is started against in video camera road monitored picture, at this time target Y in picture
The corresponding location of pixels conversion of axis are as follows:
n11=n-n1
Assuming that the center of camera views is O, the pixel distance on road boundary is on the left of centre distance in X-axis in picture
The pixel distance of xl, centre distance right side road boundary are xr, it can be seen that location of pixels of the road boundary in picture can table
It is shown as straight line, the slope of left boundary in this coordinate system is kl, and the slope of right side boundary in this coordinate system is kr.
Pixel boundary may be expressed as: in the X-axis of left side
Y=kl × x+b b=-kl × xl
Pixel boundary may be expressed as: in the X-axis of right side
Y=kr × x+b b=-kr × xr
Pixel distance xl, the pixel distance xr apart from right side road boundary on road boundary on the left of X-axis picture centre distance,
Left boundary slope k l, the right boundary slope k r can demarcate acquisition in camera views.
In known Y-axis location of pixels n1Under conditions of, then it can be in the hope of the actual pixels distance on road boundary at this time.
Left border distance XleftIt indicates are as follows:
Right side boundary distance XrightIt indicates are as follows:
When coordinate of the target s under camera coordinate system be (a-d, b, h), may be expressed as: in the pixel coordinate of X-direction
That is:
Step 6: sound image combined positioning
It is determined the reflection of acoustic target position on the image by pixel coordinate, realizes sound image combined calibration positioning.
Claims (2)
1. a kind of distributed acoustic is as joint calibration localization method, it is characterised in that the following steps are included: by video camera and air-borne sound
Equal height is mounted on above road, determines that air sonar at a distance from camera center, is constructed with air sonar array center
And camera video center is the three-dimensional cartesian coordinate system of origin；Determine target in air sonar coordinate system by air sonar
In position coordinates, by two origins transversely and horizontally distance and antitrigonometric function formula calculate under camera coordinate system target with
The angle of horizontal plane and plummet face；Target corresponding pixel coordinate in camera views is calculated according to camera parameters；Pass through
Acoustic target position is reflected in camera views by pixel coordinate, realizes sound image combined calibration positioning.
2. distributed acoustic according to claim 1 is as joint calibration localization method, it is characterised in that include the following steps:
Video camera is installed on transverse center position above road by the first step, and the height such as air sonar and video camera is installed, respectively
Three-dimensional cartesian coordinate system o is established using air sonar array center and camera video center as origin1And o2, the cross of two origins
It is d to horizontal distance；
Second step determines target s in air sonar coordinate system o by air sonar Passive Positioning1In with the angle α of horizontal plane, with
The angle β of mounting rod vertical plane, and by trigonometric function calculate target in air sonar coordinate system position coordinates (a, b,
H), whereinH is the height of mounting rod；
Third step, find out target in camera coordinate system with the angle of horizontal planeAnd with mounting rod vertical plane
Angle
4th step determines that the picture pixel size of video camera is m × n, and the field angle for adjusting video camera is θ, measurement video camera view
The distance of bottom edge distance detection rod piece in is d1；
5th step calculates target Y-axis pixel coordinate in camera viewsWith in X-axis pixel
CoordinateXl is the pixel on road boundary on the left of centre distance in X-axis in formula
Distance, centered on xr on the right side of distance road boundary pixel distance, location of pixels of the road boundary in picture be represented by one
Straight line, kl are the slope of left boundary in this coordinate system, and kr is the slope of right side boundary in this coordinate system；
6th step is determined the reflection of acoustic target position on the image by pixel coordinate, realizes sound image combined calibration positioning.
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