CN110633015A - Driver head gesture detection device - Google Patents
Driver head gesture detection device Download PDFInfo
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- CN110633015A CN110633015A CN201911051939.XA CN201911051939A CN110633015A CN 110633015 A CN110633015 A CN 110633015A CN 201911051939 A CN201911051939 A CN 201911051939A CN 110633015 A CN110633015 A CN 110633015A
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- 238000001514 detection method Methods 0.000 title claims abstract description 41
- 239000002184 metal Substances 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
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- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Human Computer Interaction (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a device for detecting the head posture of a driver, which comprises a gyroscope, at least one camera and a checkerboard target plate, wherein the gyroscope is arranged on the head of the driver and used for detecting a horizontal angle and a pitching angle; the checkerboard target plate is arranged at the rear side position of the head of the driver and used for calibrating the rotating posture of the head of the driver; the camera is arranged behind the head of the driver and opposite to the checkerboard target plate, and is used for acquiring images of the checkerboard target plate. The invention adopts a mode of combining image detection and the gyroscope, and adopts the image detection to calibrate the gyroscope, thereby correcting the drift of the gyroscope, ensuring the detection speed and the detection precision. Meanwhile, the image detection method is different from the existing method, the checkerboard is adopted as the target plate in the method, the condition that a plurality of LED luminous points are arranged on the helmet, the detection precision is influenced after the helmet deforms is avoided, the checkerboard is small in size, and the bottom plate is made of metal and is not easy to deform.
Description
Technical Field
The invention belongs to the technical field of safe driving, and particularly relates to a device for detecting the head posture of a driver.
Background
Vehicles that are driven at night, particularly in a closed cabin, are driven by obtaining images of the front of the vehicle using a driver installed outside the vehicle. Because the visual field of the driver is limited, the driver needs to be manually controlled to rotate to obtain the side image of the vehicle during turning, and the driver needs to be manually controlled to rotate back to the front after turning. The manual control of the rotation of the driver can disperse the attention of the driver and reduce the driving speed. Most of the current drivers only control horizontal rotation and do not control the pitching direction.
The detection technology for the head posture of the person refers to detecting the real-time motion angle of the head of the person through a certain external means, such as horizontal head rotation and pitching head rotation. Detection of the head pose of the person is based on mechanical detection, magnetic field based sensor detection, gyro based detection, photo detection and the like. In the current domestic airplane, the detection mode of image detection is adopted for the head posture detection of pilots; detection of human head in commercial games in the civilian industry uses gyroscopic detection. There is no relevant application of head pose detection for vehicle drivers.
At present, an image detection mode is adopted for detecting the head posture of a pilot in China, two high-definition cameras are adopted for detecting a plurality of LED luminous points arranged on a helmet, and the rotation posture of the head is calculated. However, there is a disadvantage that the detection accuracy is greatly reduced if the helmet is deformed. Meanwhile, when the head of a person rotates rapidly, the system has larger time delay. In the civil industry, the speed of detecting the head posture by adopting the gyroscope is high, but the error accumulation of the gyroscope along with the time extension, namely the gyroscope drift, can seriously influence the detection precision.
Therefore, a driver head posture detection device is needed.
Disclosure of Invention
The invention provides a driver head posture detection device with high detection precision and good real-time performance, which can control the rotation of an external driver based on the head rotation of a vehicle driver and solve the defects of insufficient wide sight and blind vision area of the vehicle driver.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention provides a device for detecting the head posture of a driver, which comprises a gyroscope, at least one camera and a checkerboard target plate, wherein the gyroscope is arranged on the head of the driver and used for detecting a horizontal angle and a pitching angle; the checkerboard target plate is arranged at the rear side position of the head of the driver and used for calibrating the rotating posture of the head of the driver; the camera is arranged behind the head of the driver and opposite to the checkerboard target plate, and is used for acquiring images of the checkerboard target plate.
As a preferable technical scheme of the invention, the gyroscope is a nine-axis MEMS gyroscope, the angle detection precision is 0.1 degrees, and the angular speed detection is 500 degrees/s.
In a preferred embodiment of the present invention, the resolution of the camera is 1920 × 1080, and the frame frequency is 50 Hz.
As a preferable technical scheme of the invention, the checkerboard target plate comprises a metal bottom plate and black and white checkerboards arranged on the surface of the metal bottom plate, and the checkerboard target plate adopts a black and white checkerboard with the size of 3 x 3-9 x 9.
As a preferred technical scheme of the invention, the checkerboard target plate adopts a 6 x 4 black and white checkerboard, and the number of corner point detections is 18.
As a preferred technical scheme of the invention, the camera comprises two cameras, the installation included angle of the two cameras is 45 degrees, and the visual fields of the two cameras are 90 degrees.
The gyroscope is mounted on the helmet, and the checkerboard target plate is mounted at the rear side position of the helmet.
As a preferable technical scheme of the invention, the gyroscope further comprises a data processing module, and the output ends of the gyroscope and the camera are electrically connected with the input end of the data processing module.
The invention has the beneficial effects that: the invention adopts a mode of combining image detection and the gyroscope, and adopts the image detection to calibrate the gyroscope, thereby correcting the drift of the gyroscope, ensuring the detection speed and the detection precision. Meanwhile, the image detection method is different from the existing method, the checkerboard is adopted as the target plate in the method, the condition that a plurality of LED luminous points are arranged on the helmet, the detection precision is influenced after the helmet deforms is avoided, the checkerboard is small in size, and the bottom plate is made of metal and is not easy to deform. The invention obtains the head rotation attitude of the driver by the real-time horizontal rotation angle and the pitching angle, thereby realizing the corresponding rotation of the driver, equivalently extending the head of the driver outside the vehicle, being beneficial to improving the visual field range of the driver and effectively making up the defect that the visual field of the vehicle is not wide enough. Meanwhile, the comfort of drivers is improved, driving safety is facilitated, and the observation habit of people is better met.
Drawings
Fig. 1 is a schematic structural view of a driver head posture detecting apparatus of the present invention.
FIG. 2 is a schematic structural diagram of a camera and a checkerboard target board in the device for detecting the head posture of a driver.
FIG. 3 is a schematic structural diagram of a checkerboard target plate in the device for detecting the head posture of the driver according to the present invention.
Fig. 4 is a block diagram showing the configuration of a driver head posture detecting apparatus according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In order to achieve the object of the present invention, as shown in fig. 1, in one embodiment of the present invention, there is provided a device for detecting a head posture of a driver, comprising a gyroscope 1, two cameras 2, and a checkerboard target 3, wherein the gyroscope 1 is disposed on the head of the driver and is used for detecting a horizontal angle and a pitch angle; the checkerboard target plate 3 is arranged at the rear side position of the head of the driver and used for calibrating the rotating posture of the head of the driver; the camera 2 is arranged behind the head of the driver, is opposite to the checkerboard target plate and is used for acquiring images of the checkerboard target plate.
Specifically, the gyroscope 1 is a nine-axis MEMS gyroscope, the angle detection precision is 0.1 °, and the angular velocity detection is 500 °/s.
Specifically, the checkerboard target plate 3 includes a metal base plate and black and white checkerboards arranged on the surface of the metal base plate, and according to the actual situation, the checkerboard target plate 3 can adopt 3 × 3-9 × 9 black and white checkerboards, in the embodiment, the checkerboard target plate 3 adopts 6 × 4 black and white checkerboards, and the number of corner point detections is 18. The black and white checkerboard may be disposed on the metal base plate by pasting or other conventional methods, which is not limited in this embodiment.
Specifically, the camera 2 includes two cameras, the installation angle of the two cameras is 45 °, and the field of view of the two cameras is 90 °. The resolution of the camera is 1920 × 1080, and the frame frequency is 50 Hz.
In order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing, a helmet 4 is further included, the gyroscope 1 is mounted on the helmet 4, and the checkerboard target plate 3 is mounted at a rear position of the helmet 4. The gyroscope 1 and the checkerboard target 3 may be fixed to the head of the driver by using a clip or other means of adhesion, and are not limited to the structure of the present embodiment.
As shown in fig. 4, in order to further optimize the implementation effect of the present invention, in another embodiment of the present invention, on the basis of the foregoing, a data processing module is further included, and the output ends of the gyroscope and the camera are electrically connected with the input end of the data processing module.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The device for detecting the head posture of the driver is characterized by comprising a gyroscope, at least one camera and a checkerboard target plate, wherein the gyroscope is arranged on the head of the driver and used for detecting a horizontal angle and a pitching angle; the checkerboard target plate is arranged at the rear side position of the head of the driver and used for calibrating the rotating posture of the head of the driver; the camera is arranged behind the head of the driver and opposite to the checkerboard target plate, and is used for acquiring images of the checkerboard target plate.
2. The driver's head posture detecting device according to claim 1, characterized in that the gyroscope is a nine-axis MEMS gyroscope, the angle detection accuracy is 0.1 °, and the angular velocity detection is 500 °/s.
3. The driver's head pose detection apparatus according to claim 1, wherein the resolution of said camera is 1920 x 1080 and the frame rate is 50 Hz.
4. The device for detecting the head posture of the driver as claimed in claim 1, wherein said checkerboard target includes a metal base plate and black and white checkerboards disposed on the surface of the metal base plate, said checkerboard target being in a 3 x 3-9 x 9 black and white checkerboard pattern.
5. The device for detecting the head posture of the driver as claimed in claim 4, wherein said checkerboard target board is a 6 x 4 black-and-white checkerboard, and the number of corner points detected is 18.
6. The apparatus for detecting the head posture of the driver as claimed in claim 1, wherein said cameras include two cameras, the angle of installation of the two cameras is 45 °, and the field of view of the two cameras is 90 °.
7. The device for detecting the head posture of the driver as claimed in claim 1, further comprising a helmet, wherein the gyroscope is mounted on the helmet, and the checkerboard target is mounted at a position behind the helmet.
8. The device for detecting the head posture of the driver as claimed in claim 1, further comprising a data processing module, wherein the output terminals of the gyroscope and the camera are electrically connected with the input terminal of the data processing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911051939.XA CN110633015A (en) | 2019-10-31 | 2019-10-31 | Driver head gesture detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911051939.XA CN110633015A (en) | 2019-10-31 | 2019-10-31 | Driver head gesture detection device |
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| CN110633015A true CN110633015A (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911051939.XA Pending CN110633015A (en) | 2019-10-31 | 2019-10-31 | Driver head gesture detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447020A (en) * | 2021-06-25 | 2021-09-28 | 中国电子科技集团公司第五十八研究所 | Attitude calculation method based on multi-sensor fusion |
| CN113776556A (en) * | 2021-05-30 | 2021-12-10 | 南京理工大学 | Data fusion-based gyroscope and camera relative position matrix calibration method |
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| US20150296135A1 (en) * | 2014-04-10 | 2015-10-15 | Magna Electronics Inc. | Vehicle vision system with driver monitoring |
| CN109186653A (en) * | 2018-08-11 | 2019-01-11 | 西安应用光学研究所 | It is a kind of suitable for the high-precision of visible light/infrared camera calibration, inexpensive scaling board and scaling method |
| CN109615659A (en) * | 2018-11-05 | 2019-04-12 | 成都西纬科技有限公司 | A kind of the camera parameters preparation method and device of vehicle-mounted multiple-camera viewing system |
| CN109878528A (en) * | 2019-01-31 | 2019-06-14 | 电子科技大学 | Head movement attitude detection system towards vehicle-mounted stereo visual system |
| CN210324105U (en) * | 2019-10-31 | 2020-04-14 | 江苏北方湖光光电有限公司 | Driver head gesture detection device |
-
2019
- 2019-10-31 CN CN201911051939.XA patent/CN110633015A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150296135A1 (en) * | 2014-04-10 | 2015-10-15 | Magna Electronics Inc. | Vehicle vision system with driver monitoring |
| CN109186653A (en) * | 2018-08-11 | 2019-01-11 | 西安应用光学研究所 | It is a kind of suitable for the high-precision of visible light/infrared camera calibration, inexpensive scaling board and scaling method |
| CN109615659A (en) * | 2018-11-05 | 2019-04-12 | 成都西纬科技有限公司 | A kind of the camera parameters preparation method and device of vehicle-mounted multiple-camera viewing system |
| CN109878528A (en) * | 2019-01-31 | 2019-06-14 | 电子科技大学 | Head movement attitude detection system towards vehicle-mounted stereo visual system |
| CN210324105U (en) * | 2019-10-31 | 2020-04-14 | 江苏北方湖光光电有限公司 | Driver head gesture detection device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113776556A (en) * | 2021-05-30 | 2021-12-10 | 南京理工大学 | Data fusion-based gyroscope and camera relative position matrix calibration method |
| CN113776556B (en) * | 2021-05-30 | 2024-05-07 | 南京理工大学 | Gyroscope and camera relative position matrix calibration method based on data fusion |
| CN113447020A (en) * | 2021-06-25 | 2021-09-28 | 中国电子科技集团公司第五十八研究所 | Attitude calculation method based on multi-sensor fusion |
| CN113447020B (en) * | 2021-06-25 | 2024-02-13 | 中国电子科技集团公司第五十八研究所 | Attitude resolving method based on multi-sensor fusion |
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