CN110514113A - A kind of monitoring land slide slit method based on monocular vision camera - Google Patents
A kind of monitoring land slide slit method based on monocular vision camera Download PDFInfo
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- CN110514113A CN110514113A CN201910511128.7A CN201910511128A CN110514113A CN 110514113 A CN110514113 A CN 110514113A CN 201910511128 A CN201910511128 A CN 201910511128A CN 110514113 A CN110514113 A CN 110514113A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
Abstract
The invention discloses a kind of monitoring land slide slit methods based on monocular vision camera, the circle marker drill rod pre-set insertion are fixed in the soil of landslide fissure two sides first, the variation to achieve the effect that crack is synchronous with the variation of drill rod.Later, fixed bracket is in the stability region side in crack, and camera is fixed on bracket and guarantees the positive fracture of camera shooting direction, it include landslide fissure and two circle marker drill rods in image captured by depth camera, pass through the circular index point in identification image, pixel coordinate of the index point under pixel coordinate system is obtained, pixel coordinate is transformed into world coordinate system later, calculates two o'clock distance.Reflect the situation of change in crack by the distance of index point.The configuration of the present invention is simple, application method, the present invention utilize close shot high-precision photogrammetric technology, and realization is monitored landslide fissure in field.
Description
Technical field
The invention belongs to the fields of accurately measuring, and are related to a kind of monitoring land slide slit side based on monocular vision camera
Method.
Background technique
Geological disaster type in China's is more and frequent activity, wherein especially influencing with landslide the most serious, occurs all every time
It causes casualties and economic loss.Monitoring and early warning important in inhibiting safe for the people's lives and property to landslide.
Landslide fissure is one kind of ground fractures, and due to nature or human factor, slide mass is made with not kinetoplast in mechanics
With lower generation crack.Out of office outer there is many landslide fissures of different nature, these cracks are divided frequently as landslide size is determined
Analysis landslide Forming Mechanism, prediction landslide development trend, instructs the important evidence of landslide monitoring, improvement.Therefore the prison of landslide fissure
Survey the generation important in inhibiting to come down for early warning.
Common landslide monitoring technology has on-the-spot investigation, remote sensing technology, mechanical measurement and GPS positioning etc..In the above method
GPS method is the higher method of more common and precision, and measurement accuracy can achieve inferior centimeter order [4mm-5mm], but by
In field, trees are blocked, and influence satellite-signal is blocked on high and steep mountains leads to problems such as measurement data lack.Up short technology is
The advantages that in recent years for a kind of new technology of landslide monitoring, which has precision height, contactless, real-time measurement, the present invention
It will be directed to the shortcoming of existing monitoring method, using up short technology, proposes a kind of higher method of precision, i.e., based on single
The high-precision monitoring land slide slit method visually felt.
Summary of the invention
The monitoring land slide slit method based on monocular vision that the purpose of the present invention is to provide a kind of, this method are that landslide is split
A kind of new method of seam, and the monitoring effect of higher precision can be provided.
The present invention will propose a kind of high-precision monitoring land slide slit method based on monocular vision, it will preset first
Good circle marker drill rod insertion is fixed in the soil of landslide fissure two sides, with reach crack variation and drill rod variation it is same
The effect of step.Later, fixed bracket is in the stability region side in crack, and camera is fixed on bracket and guarantees camera
Shooting direction positive fracture includes landslide fissure and two circle marker drill rods in image captured by depth camera, passes through
It identifies the circular index point in image, obtains pixel coordinate of the index point under pixel coordinate system, later convert pixel coordinate
Into world coordinate system, two o'clock distance is calculated.Reflect the situation of change in crack by the distance of index point.
To achieve the goals above, the technical scheme is that a kind of monitoring land slide slit side based on monocular vision
Case, composition includes: that this method is based on device by a monocular vision camera, a depth measurement camera, two butts
Drill rod of the portion with circle marker, a bracket are constituted；
The depth measurement camera, the image of shooting obtain color image information and depth image letter simultaneously
Breath；
The drill rod of two radicles with circle marker is used as the index point of detection, is embedded in the soil of crack two sides
In, the variation of fracture open degree is reflected by the distance change of two circular index points of image recognition and measurement；
The bracket, for fixing monocular vision camera and depth camera, cradle top across in insertion drill rod
Crack on, make the camera lens face landslide fissure and drill rod of camera, depth measurement camera measurement obtains depth information；Vision
Camera is shot and other circular image obtains center pixel coordinate
This method specifically includes the following steps:
Step 1: setting circle marker drill rod
The setting of circle marker drill rod: by the soil of preprepared circle marker drill rod insertion landslide fissure two sides
In, guarantee the synchronism of drill rod and the variation of crack two sides soil；
Step 2: setting bracket, enables rack beam across on insertion drill rod crack；
Step 3: distinguishing mark, obtains pixel coordinate
The fixing camera on rack beam, makes the camera lens face landslide fissure and drill rod of camera, and vision camera is clapped
It takes the photograph and identifies that circular image obtains center pixel coordinate；By the shooting of depth camera, two groups of data are obtained, one group is shooting
The color image information arrived, another group is the deep image information taken；According to the color image information taken, using suddenly
Husband converts two circle markers in algorithm identification image, and obtains the pixel coordinate in two centers of circle, obtains later further according to previous
The deep image information arrived obtains the corresponding depth information of two center pixels
Step 4: the conversion of coordinate system
By step 3 obtain two center pixel coordinates and deserved depth information is converted to world coordinate system
World coordinates；The step of conversion, carries out according to pixel coordinate system-image coordinate system-camera coordinates system-world coordinate system sequence
Conversion；And the distance in two centers of circle is calculated according to world coordinates, the opening journey in crack is reflected by the variation of the distance between the center of circle
Degree variation.
Preferably, being converted in step 4 according to pixel coordinate system-image coordinate system-camera coordinates system-world coordinate system
Relationship is as follows:
Wherein, ZCFor depth information, (u, v) is pixel coordinate, matrixFor the internal reference square of camera
Battle array, matrixFor outer ginseng matrix；(XW,YW,ZW) it is world coordinates, the corresponding pixel coordinate of point is by sitting its world
Successively premultiplication joins matrix outside to mark and internal reference matrix obtains；Known pixels coordinate, which is converted to world coordinates, in turn must then obtain it
Depth information, i.e. ZCValue；ZCValue obtained by depth camera, the location of pixels in image can be transformed into the world
Position under coordinate system；Pixel coordinate (the u in two centers of circle is obtained according to step 31,v1) and (u2,v2) and two centers of circle
Depth information ZC1And ZC2Its corresponding world coordinates (X is calculatedW1,YW1,ZW1) and (XW2,YW2,ZW2)。
The effect that the present invention has compared with the prior art: the configuration of the present invention is simple, application method, the present invention are high using close shot
Precision photogrammetric technology, realization are monitored landslide fissure in field.
Detailed description of the invention
Fig. 1 is proposition of the present invention, the monitoring land slide slit square law device schematic diagram based on monocular vision.
Fig. 2 is proposition of the present invention, landslide monitoring method detail flowchart.
Specific embodiment
The present invention devises the monitoring land slide slit method based on monocular vision, by arranging in landslide fissure two sides
Then circle marker drill rod identifies centre point pixel coordinate collocation depth map by the color image information that depth camera obtains
As information calculates the world coordinates of crack two sides circular index point, the distance of two o'clock is calculated, the survey to circular index point is passed through
Away from the monitoring completed to landslide fissure.
The purpose of the present invention is to propose to a kind of new monitoring land slide slit method, the more other monitoring methods of this method are compared,
Have many advantages, such as that precision is high, contactless, real-time measurement.
The invention adopts the following technical scheme:
In conjunction with attached drawing 1, attached drawing 2 illustrates the embodiment of this programme, a kind of cunning based on monocular vision of present embodiment
The specific steps of slope Crack Monitoring method are as follows:
Step 1: setting circle marker drill rod
The setting of circle marker: it by the soil of preprepared circle marker drill rod insertion landslide fissure two sides, protects
The synchronism for demonstrate,proving drill rod and the variation of crack two sides soil, as shown in Fig. 1 simple diagram.
Step 2: constant depth camera
Crack stability region side is secured a bracket to, top constant depth camera makes the shooting side of depth camera
To face landslide fissure, and guarantee the circle marker drill rod for photographing crack and two sides in shooting image simultaneously.
Step 3: distinguishing mark, obtains pixel coordinate
By the shooting of depth camera, our available two groups of data, one group is the color image information taken,
Another group is the deep image information taken.According to the color image information taken, is identified and schemed using Hough transformation algorithm
Two circle markers as in, and obtain the pixel coordinate (u in two centers of circle1,v1) and (u2,v2), later further according to previously obtaining
Deep image information obtain the corresponding depth information Z of two center pixels1And Z2。
Hough transformation detects circle principle: Hough transformation (Hough) is the common method for detecting circular pattern, Hough transform
The basic thought of detection circle is in parameter space, to use most of sides by image from original image spatial alternation to parameter space
Description of certain form that boundary's point all meets as curve in image is accumulated parameter by the way that accumulator is arranged, peak value
Corresponding point is exactly required information.
It is r for a radius0, the center of circle is (a0,b0) circle, indicate are as follows:
(x-a0)2+(y-b0)2=r0 2 (2)
Assuming that (xi,yi) it is the upper any point of circle, it is projected into parameter space, is expressed as
(a-xi)2+(b-yi)2=r2 (3)
According to any point x (x in formula (2) available formula (1)i,yi) figure that can express of corresponding formula 2, this figure
It is a cone, with (xi,yi) change, the circular cone figure in parameter space can also form multiple circular conical surfaces, multiple circular cones
One point (a of face intersection0,b0,r0), it is exactly three parameters in formula (1) circle, so as to find out the center of circle of corresponding circle.
Step 4: the conversion of coordinate system
By step 3 obtain two center pixel coordinates and deserved depth information is converted to world coordinate system
World coordinates.The step of conversion, carries out according to pixel coordinate system-image coordinate system-camera coordinates system-world coordinate system sequence
Conversion.It obtains calculating the distance between two o'clock according to range formula after world coordinates, by the way that circle marker distance has been calculated
At the monitoring of fracture.
Coordinate transfer principle: coordinate conversion is primarily related to the conversion between 4 coordinate systems, and pixel coordinate and the world are sat
Transformational relation between mark is as follows:
Wherein, ZCFor depth information, (u, v) is pixel coordinate, matrixFor the internal reference square of camera
Battle array, matrixFor outer ginseng matrix.(XW,YW,ZW) it is world coordinates, which can be by its generation
Successively premultiplication joins matrix outside to boundary's coordinate and internal reference matrix obtains.Known pixels coordinate is converted to world coordinates and must then obtain in turn
To its depth information, i.e. ZCValue.ZCValue obtained by depth camera, the location of pixels in image can be transformed into
Position under world coordinate system.Pixel coordinate (the u in two centers of circle is obtained according to step 31,v1) and (u2,v2) and ZC1And ZC2
Its corresponding world coordinates (X can be calculatedW1,YW1,ZW1) and (XW2,YW2,ZW2).Two o'clock is finally found out according to range formula
Actual range d, range formula is as follows:
Achieved the purpose that by the distance change in the observation monument circle center of circle to monitoring land slide slit.
It, can monitoring of the real time distance completion to landslide fissure after through the above steps.
It is the embodiment of the present invention above, and is not applied to the limitation present invention, it is all to change according to what technical solution of the present invention was done
Become, when the resulting functional effect does not exceed the scope of the technical solution of the present invention, all belongs to the scope of protection of the present invention.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, institute
The those of ordinary skill in category field should understand that；The either portion of techniques that can still modify to the solution of the present invention replaces
It changes, all scopes of patent protection being not intended to limit the invention, the scope of the present invention is still subject to claims；It is all to adopt
It is changed with the similar structures that accompanying drawing content of the present invention either specification is done, similarly should be included in the protection model of the patent
In enclosing.
Claims (2)
1. a kind of monitoring land slide slit method based on monocular vision camera, it is characterised in that: this method be based on device by
One monocular vision camera, a depth measurement camera, drill rod of two radicles with circle marker, a bracket are constituted；
The image of the depth measurement camera, shooting obtains color image information and deep image information simultaneously；
The drill rod of two radicles with circle marker is used as the index point of detection, is embedded in the soil of crack two sides, leads to
It crosses image recognition and measures the distance change of two circular index points to reflect the variation of fracture open degree；
The bracket, for fixing monocular vision camera and depth camera, cradle top across splitting in insertion drill rod
It sews on, makes the camera lens face landslide fissure and drill rod of camera, depth measurement camera measurement obtains depth information；Vision camera shooting
Head is shot and other circular image obtains center pixel coordinate
This method specifically includes the following steps:
Step 1: setting circle marker drill rod
The setting of circle marker drill rod: it by the soil of preprepared circle marker drill rod insertion landslide fissure two sides, protects
Demonstrate,prove the synchronism of drill rod and the variation of crack two sides soil；
Step 2: setting bracket, enables rack beam across on insertion drill rod crack；
Step 3: distinguishing mark, obtains pixel coordinate
The fixing camera on rack beam, makes the camera lens face landslide fissure and drill rod of camera, and vision camera is shot simultaneously
Identification circular image obtains center pixel coordinate；By the shooting of depth camera, two groups of data are obtained, one group takes
Color image information, another group is the deep image information taken；According to the color image information taken, become using Hough
Scaling method identifies two circle markers in image, and obtain the pixel coordinate in two centers of circle, later further according to previously having obtained
Deep image information obtains the corresponding depth information of two center pixels
Step 4: the conversion of coordinate system
By step 3 obtain two center pixel coordinates and the world to world coordinate system is converted to deserved depth information
Coordinate；The step of conversion, is converted according to pixel coordinate system-image coordinate system-camera coordinates system-world coordinate system sequence；
And the distance in two centers of circle is calculated according to world coordinates, reflect that the opening degree in crack becomes by the variation of the distance between the center of circle
Change.
2. a kind of monitoring land slide slit method based on monocular vision camera according to claim 1, it is characterised in that:
It is as follows according to pixel coordinate system-image coordinate system-camera coordinates system-world coordinate system transformational relation in step 4:
Wherein, ZCFor depth information, (u, v) is pixel coordinate, matrixFor the internal reference matrix of camera, square
Battle arrayFor outer ginseng matrix；(XW,YW,ZW) be world coordinates, the corresponding pixel coordinate of point by its world coordinates according to
Join matrix outside secondary premultiplication and internal reference matrix obtains；Known pixels coordinate, which is converted to world coordinates, in turn must then obtain its depth
Information, i.e. ZCValue；ZCValue obtained by depth camera, the location of pixels in image can be transformed into world coordinates
Position under system；Pixel coordinate (the u in two centers of circle is obtained according to step 31,v1) and (u2,v2) and two centers of circle depth
Information ZC1And ZC2Its corresponding world coordinates (X is calculatedW1,YW1,ZW1) and (XW2,YW2,ZW2)。
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| CN111854699A (en) * | 2020-07-03 | 2020-10-30 | 武汉大学 | Unmanned aerial vehicle-based monitoring method for aerial survey river channel bank collapse process |
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| CN112364802A (en) * | 2020-11-19 | 2021-02-12 | 中国地质调查局水文地质环境地质调查中心 | Deformation monitoring method for collapse landslide disaster body |
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| CN116109954A (en) * | 2023-04-04 | 2023-05-12 | 深圳市城市公共安全技术研究院有限公司 | House potential safety hazard identification method, device and storage medium |
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| CN111223067A (en) * | 2020-02-21 | 2020-06-02 | 成都工业学院 | Automatic alignment method for processing circular hole of bridge anchorage |
| CN111223067B (en) * | 2020-02-21 | 2023-05-26 | 成都工业学院 | Automatic alignment method for machining bridge anchorage device round hole |
| CN111854699A (en) * | 2020-07-03 | 2020-10-30 | 武汉大学 | Unmanned aerial vehicle-based monitoring method for aerial survey river channel bank collapse process |
| CN112284260A (en) * | 2020-09-30 | 2021-01-29 | 深圳市北斗云信息技术有限公司 | Visual displacement monitoring method, equipment and system |
| CN112364802A (en) * | 2020-11-19 | 2021-02-12 | 中国地质调查局水文地质环境地质调查中心 | Deformation monitoring method for collapse landslide disaster body |
| CN112364802B (en) * | 2020-11-19 | 2021-08-03 | 中国地质调查局水文地质环境地质调查中心 | Deformation monitoring method for collapse landslide disaster body |
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| CN116109954A (en) * | 2023-04-04 | 2023-05-12 | 深圳市城市公共安全技术研究院有限公司 | House potential safety hazard identification method, device and storage medium |
| CN116109954B (en) * | 2023-04-04 | 2023-07-04 | 深圳市城市公共安全技术研究院有限公司 | House potential safety hazard identification method, device and storage medium |
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