CN112268538A - Geometric optical distance measurement method suitable for small unmanned vehicle - Google Patents
Geometric optical distance measurement method suitable for small unmanned vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention discloses a geometric optical distance measurement method suitable for a small unmanned vehicle, which comprises the steps of calculating to obtain the focal length of a camera through a calibration object; detecting pedestrians or vehicles in front of the unmanned vehicle by a computer vision method, identifying the pedestrians when the pedestrians are in front of the unmanned vehicle, acquiring the height of the pedestrians, and calculating the distance between the pedestrians and the unmanned vehicle according to the height; when the front of the unmanned vehicle is a vehicle, identifying the vehicle, acquiring the width of the vehicle, and calculating the distance between the vehicle and the unmanned vehicle according to the width; when the distance between the pedestrian and the unmanned vehicle is less than 5m, judging whether the unmanned vehicle has the risk of colliding with the pedestrian in front, if so, controlling the unmanned vehicle to avoid the obstacle, otherwise, not needing to avoid the obstacle; and judging whether the unmanned vehicle has the risk of colliding with the front vehicle or not, if so, controlling the unmanned vehicle to avoid the obstacle, and otherwise, not needing to avoid the obstacle. The method improves the safety of unmanned driving.
Description
Technical Field
The invention relates to a geometric optical distance measurement method suitable for a small unmanned vehicle, and belongs to the technical field of computer vision distance measurement.
Background
The existing computer vision distance measurement technology is a vision odometer, which is a method for estimating distance by using continuous image sequences. Its main modes are classified into a feature point method and a direct method. The feature point method currently occupies the mainstream and can work when the noise is high and the camera moves fast; the direct method does not need to extract features, directly utilizes gradient or gray scale information, can establish a dense map, but has high required calculation cost. In addition, these methods have a fatal problem in terms of accuracy, and due to the incremental design of the algorithm layer, errors gradually accumulate to an unacceptable level as the distance increases.
The computer vision technology can realize the detection of surrounding objects and pedestrians, and if the existing vision distance measuring technology is used, although the function of distance measurement can be achieved, the requirements of practical application products can not be met in the autonomous navigation field with high requirements on detection speed and accuracy, so that a new technology needs to be provided, the problems of detection speed and accuracy can be well solved, and the safety of autonomous navigation of the low-speed unmanned vehicle is ensured.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a geometric optical distance measuring method suitable for a small unmanned vehicle, so as to solve the problem of insufficient precision in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
a geometric optical distance measurement method suitable for a small unmanned vehicle comprises the following steps:
calibrating a camera fixed on the unmanned vehicle;
identifying an object in front of the unmanned vehicle according to a computer vision method and a calibrated camera;
and respectively calculating the distance between the unmanned vehicle and the object according to the identified objects.
Further, carry out the calibration to the camera of being fixed in on unmanned car, include:
placing a4 paper of known size at a known distance from the camera;
shooting the A4 paper by a camera;
measuring the pixel height of A4 paper according to the taken picture;
and calculating the focal length of the camera according to the pixel height of the A4 paper.
Further, the calculation formula of the focal length is as follows:
F＝(P×D)/H
wherein F is the focal length of the camera; p is the pixel height of A4 paper; d is the distance from A4 paper to the camera; h is the height of the camera.
Further, the objects include pedestrians and vehicles;
when the object in front of the unmanned vehicle is a pedestrian, calculating the distance between the pedestrian and the unmanned vehicle according to the height of the pedestrian;
and when the object in front of the unmanned vehicle is the vehicle, calculating the distance between the vehicle and the unmanned vehicle according to the width of the vehicle.
Further, when the object in front of the unmanned vehicle is a vehicle, the calculation formula of the distance between the pedestrian and the unmanned vehicle is as follows:
D′＝(h×F)/p
when the object in front of the unmanned vehicle is a vehicle, the distance between the vehicle and the unmanned vehicle is calculated according to the following formula:
D″＝(w×F)/l
wherein D 'is the distance between the pedestrian and the small-sized unmanned vehicle, h is the height of the pedestrian, F is the focal length of the camera, p is the pixel height of the pedestrian on the pedestrian photo shot by the camera, D' is the distance between the vehicle and the small-sized unmanned vehicle, w is the width of the vehicle, and l is the pixel width of the vehicle on the vehicle photo shot by the camera.
Further, the camera is mounted on a pan-tilt of the unmanned vehicle.
A geometric-optical ranging system suitable for use with a small unmanned vehicle, the system comprising:
a calibration module: the camera is used for calibrating the camera fixed on the unmanned vehicle;
an identification module: the system is used for identifying an object in front of the unmanned vehicle according to a computer vision method and a calibrated camera;
a calculation module: and the distance calculation module is used for respectively calculating the distance between the unmanned vehicle and the object according to the identified object.
A geometric-optical ranging system suitable for use with a small unmanned vehicle, the system comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate according to the instructions to perform the steps of the method described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method described above.
When the distance D' between the pedestrian and the small unmanned vehicle is less than 5m, whether the small unmanned vehicle has the risk of colliding with the pedestrian in front or not is judged, if yes, the small unmanned vehicle is controlled to avoid the obstacle, otherwise, the obstacle is not required to be avoided, and the specific process is as follows: if the pedestrian is in risk of colliding with the front pedestrian, controlling the small unmanned vehicle to brake and decelerate, and after the pedestrian leaves the visual range of the camera, restoring the original speed of the small unmanned vehicle to continue driving; if the risk of colliding with the front pedestrian does not exist, the small unmanned vehicle does not need to avoid obstacles and continues to run at the original speed.
Judging whether the small unmanned vehicle has the risk of colliding with the front vehicle, if so, controlling the small unmanned vehicle to avoid the obstacle, otherwise, avoiding the obstacle is not needed, and the specific process is as follows: if the speed c of the small unmanned vehicle is less than or equal to the speed v of the front vehicle, the small unmanned vehicle continues to run at the original speed without avoiding obstacles; if the speed c of the small unmanned vehicle is greater than the speed v of the front vehicle, the small unmanned vehicle risks colliding with the front vehicle, the required distance is M when the speed of the small unmanned vehicle is reduced to v, and if the M is less than D', the small unmanned vehicle continues to run after the speed of the small unmanned vehicle is reduced to v; if M is larger than or equal to D', the small unmanned vehicle starts braking, so that the small unmanned vehicle keeps running at a speed less than v and keeps a certain distance from the front vehicle. And after the speed of the small unmanned vehicle is reduced to v, the small unmanned vehicle continues to run, and on the basis, the small unmanned vehicle and the front vehicle keep at least a distance of 1-1.5 m.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the invention realizes the space relative positioning by using geometric optics, is easier to realize and operate compared with a computer odometer, and in addition, the invention uses global characteristic information to carry out distance measurement, so the precision is always maintained in an acceptable range of application, and the stability of the distance measurement is ensured.
2. The invention realizes the space positioning of objects by utilizing geometric optics, and is suitable for the autonomous navigation of small unmanned vehicles running at low speed in campuses and communities.
Drawings
Fig. 1 is a flow chart of a geometrical optical ranging method suitable for a small unmanned vehicle according to the invention.
FIG. 2 is a schematic diagram of distance measurement in the method of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 and fig. 2, a geometric-optical distance measuring method suitable for a small unmanned vehicle includes the following steps:
(1) calibrating a camera fixed on the unmanned vehicle;
the camera is arranged on a cloud deck of the automobile, and the cloud deck has the function of ensuring that a camera of the camera is parallel to surrounding objects, so that the measurement error is reduced; the A4 paper is used for calculating and calibrating the focal length value of the camera, and the method comprises the following steps: placing a4 paper of known size at a known distance from the camera; shooting the A4 paper by a camera; measuring the pixel height of A4 paper according to the taken picture; the focal length of the camera is calculated from the pixel height or width of the a4 paper. The focal length calculation formula of the camera is as follows:
F＝(P×D)/H (1)
wherein F is the focal length of the camera; p is the pixel height of A4 paper; d is the distance from A4 paper to the camera; h is the height of the camera.
(2) Identifying an object in front of the unmanned vehicle through the calibrated camera;
objects include pedestrians and vehicles; when the object in front of the unmanned vehicle is a pedestrian, calculating the distance between the pedestrian and the unmanned vehicle according to the height of the pedestrian; and when the object in front of the unmanned vehicle is the vehicle, calculating the distance between the vehicle and the unmanned vehicle according to the width of the vehicle.
(3) And respectively calculating the distance between the unmanned vehicle and the object according to the identified objects.
When the object in front of the unmanned vehicle is a vehicle, the calculation formula of the distance between the pedestrian and the unmanned vehicle is as follows:
D′＝(h×F)/p
when the object in front of the unmanned vehicle is a vehicle, the distance between the vehicle and the unmanned vehicle is calculated according to the following formula:
D″＝(w×F)/l
wherein D 'is the distance between the pedestrian and the small-sized unmanned vehicle, h is the height of the pedestrian, F is the focal length of the camera, p is the pixel height of the pedestrian on the pedestrian photo shot by the camera, D' is the distance between the vehicle and the small-sized unmanned vehicle, w is the width of the vehicle, and l is the pixel width of the vehicle on the vehicle photo shot by the camera.
The method can detect surrounding pedestrians and vehicles by a computer vision method, two data of width and height of a human body can be obtained by identifying the human body, the width obtaining result is not necessarily accurate because the human body is not necessarily over against a camera, if the obtained width is not accurate, the accuracy of the distance is influenced by substituting the formula (3), and the physical quantity of the height of the pedestrian is not error because the human body is not over against the camera, so that the distance D' is obtained by substituting the height h of the human body into the formula (2). And when the distance D' is less than 5m, judging, if the automobile has the risk of colliding with the pedestrian, starting braking the automobile, waiting for the pedestrian to pass through to ensure the safety of the pedestrian, and if the automobile does not have the risk of colliding with the pedestrian, continuing running the automobile at the original speed.
For vehicles, because the width difference of vehicles of different models is not very large, but the heights may be very different, in order to simplify the algorithm, we choose to use the physical quantity of the width of the vehicle, and substitute the width of the vehicle into the formula (3) to obtain the distance D ″. Assuming that a front vehicle and an unmanned vehicle drive forwards along the same road, the front vehicle drives at a constant speed v, the speed of the unmanned vehicle is c, if c > v, the unmanned vehicle risks colliding with the front vehicle, the required distance is M when the speed of the unmanned vehicle is reduced to v is calculated, when M is less than D ", the unmanned vehicle does not collide with the front vehicle, for safety, the unmanned vehicle decelerates to v to continue driving and keeps a distance of at least 1-1.5M with the front vehicle, when M is more than or equal to D", the unmanned vehicle starts braking, and under the condition of a low-speed (less than v) driving state and keeps a proper distance with the front vehicle, the unmanned vehicle does not collide with the front vehicle during braking, and the safety is high.
The invention realizes the space positioning of the object by using geometric optics, improves the safety of unmanned driving and improves the detection speed and accuracy.
A geometric-optical ranging system suitable for use with a small unmanned vehicle, the system comprising:
a calibration module: the camera is used for calibrating the camera fixed on the unmanned vehicle;
an identification module: the system is used for identifying an object in front of the unmanned vehicle according to a computer vision method and a calibrated camera;
a calculation module: and the distance calculation module is used for respectively calculating the distance between the unmanned vehicle and the object according to the identified object.
A geometric-optical ranging system suitable for use with a small unmanned vehicle, the system comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate according to the instructions to perform the steps of the method described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method described above. The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (9)
1. A geometric optics distance measurement method suitable for a small unmanned vehicle is characterized by comprising the following steps:
calibrating a camera fixed on the unmanned vehicle;
identifying an object in front of the unmanned vehicle according to a computer vision method and a calibrated camera;
and respectively calculating the distance between the unmanned vehicle and the object according to the identified objects.
2. The geometric-optical distance measuring method suitable for the small-sized unmanned vehicle as claimed in claim 1, wherein calibrating the camera fixed on the unmanned vehicle comprises:
placing a4 paper of known size at a known distance from the camera;
shooting the A4 paper by a camera;
measuring the pixel height of A4 paper according to the taken picture;
and calculating the focal length of the camera according to the pixel height of the A4 paper.
3. A geometrical-optical distance measuring method suitable for small unmanned vehicles according to claim 2, wherein the calculation formula of the focal distance is as follows:
F＝(P×D)/H
wherein F is the focal length of the camera; p is the pixel height of A4 paper; d is the distance from A4 paper to the camera; h is the height of the camera.
4. The geometrical-optical distance measuring method suitable for small unmanned vehicles according to claim 1, wherein the objects comprise pedestrians and vehicles;
when the object in front of the unmanned vehicle is a pedestrian, calculating the distance between the pedestrian and the unmanned vehicle according to the height of the pedestrian;
and when the object in front of the unmanned vehicle is the vehicle, calculating the distance between the vehicle and the unmanned vehicle according to the width of the vehicle.
5. The geometric-optical distance measuring method suitable for the small-sized unmanned vehicle as claimed in claim 4, wherein when the object in front of the unmanned vehicle is a vehicle, the distance between the pedestrian and the unmanned vehicle is calculated by the following formula:
D′＝(h×F)/p
when the object in front of the unmanned vehicle is a vehicle, the distance between the vehicle and the unmanned vehicle is calculated according to the following formula:
D″＝(w×F)/l
wherein D 'is the distance between the pedestrian and the small-sized unmanned vehicle, h is the height of the pedestrian, F is the focal length of the camera, p is the pixel height of the pedestrian on the pedestrian photo shot by the camera, D' is the distance between the vehicle and the small-sized unmanned vehicle, w is the width of the vehicle, and l is the pixel width of the vehicle on the vehicle photo shot by the camera.
6. A geometrical optical ranging method suitable for small unmanned vehicles according to claim 1, characterized in that said camera is mounted on the pan-tilt of the unmanned vehicle.
7. A geometric-optical ranging system adapted for use with a small unmanned vehicle, the system comprising:
a calibration module: the camera is used for calibrating the camera fixed on the unmanned vehicle;
an identification module: the system is used for identifying an object in front of the unmanned vehicle according to a computer vision method and a calibrated camera;
a calculation module: and the distance calculation module is used for respectively calculating the distance between the unmanned vehicle and the object according to the identified object.
8. A geometric-optical ranging system suitable for use with a small unmanned vehicle, the system comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 1 to 6.
9. Computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20210126 |