CN112991752A - Road vehicle visual display method, device and equipment based on AR and Internet of things - Google Patents
Road vehicle visual display method, device and equipment based on AR and Internet of things Download PDFInfo
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- 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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
Abstract
The invention discloses a road vehicle visual display method, device and equipment based on AR and the Internet of things, and belongs to the technical field of data decision. The method comprises the steps of obtaining physical road traffic information collected by a preset sensor and determining virtual road traffic information according to the physical road traffic information; performing road simulation according to the virtual road traffic information to obtain dynamic road information; carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information; and performing visual display on the target road information to obtain visual road traffic information, fusing real-world real road traffic information and virtual dynamic road information to obtain target road information, and performing visual display on the target road information to improve the reality of virtual-real fusion of the traffic information.
Description
Technical Field
The invention relates to the technical field of data decision, in particular to a road vehicle visual display method, device and equipment based on AR and the Internet of things.
Background
In recent years, based on the rapid development of augmented reality technology, visual road display has become an important trend for intelligent traffic development in more and more fields, such as medical science and traffic road condition display.
However, in the present phase, the visualization road display mainly depends on the transformation of the spatial information coordinates to realize virtual-real fusion, but virtual fusion is realized according to the relative position relationship between the camera and the real scene, and scene information often cannot be understood, so that only the virtual object is ensured to appear in the scene, and the real fusion of the virtual object and the real scene cannot be realized.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a road vehicle visual display method, device and equipment based on AR and the Internet of things, and aims to solve the technical problem of low reality fusion in the prior art.
In order to achieve the purpose, the invention provides a road vehicle visual display method based on AR and the Internet of things, which comprises the following steps:
acquiring physical road traffic information acquired by a preset sensor and determining virtual road traffic information according to the physical road traffic information;
performing road simulation according to the virtual road traffic information to obtain dynamic road information;
carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information;
and visually displaying the target road information to obtain visual road traffic information.
Optionally, the determining virtual road traffic information according to the physical road traffic information includes:
determining the observation position of the camera in the preset road section according to the real object road traffic information;
constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin;
and registering the real road traffic information according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section to obtain virtual road traffic information.
Optionally, the registering the physical road traffic information according to the virtual space coordinate system and the world coordinate system corresponding to the preset road segment to obtain virtual road traffic information includes:
determining a coordinate system conversion matrix according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section;
determining the relative position and posture of the virtual traffic participant in the preset road section according to the coordinate system conversion matrix;
and registering the real road traffic information according to the relative position and the posture to obtain virtual road traffic information.
Optionally, the performing road simulation according to the virtual road traffic information to obtain dynamic road information includes:
extracting road condition information, traffic flow information and virtual traffic participant information from the virtual road traffic information;
and carrying out traffic simulation according to the road condition information, the traffic flow information and the virtual traffic participant information to obtain dynamic road information.
Optionally, the performing virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information includes:
calling video information acquired by a crossing camera, and extracting a reference image corresponding to the real object road traffic information from the video information;
performing feature matching on the reference image and virtual traffic participants contained in the dynamic road information;
and fusing the dynamic road information to the real road traffic information according to the feature matching result to obtain target road information.
Optionally, the fusing the dynamic road information to the physical road traffic information according to the feature matching result to obtain target road information includes:
determining a first feature point set corresponding to the reference image and a second feature point set corresponding to the virtual traffic participant according to a feature matching result;
constructing a first feature matrix corresponding to the first feature point set and a second feature matrix corresponding to the second feature point set;
determining a target matrix according to the first characteristic matrix and the second characteristic matrix;
determining a target position corresponding to the virtual traffic participant according to the target matrix;
and fusing the dynamic road information to the real road traffic information according to the target position to obtain target road information.
Optionally, after visually displaying the target road information to obtain visual road traffic information, the method further includes:
visual vehicle information is extracted from the visual road traffic information;
comparing the visual vehicle information with vehicle information monitored in an associated traffic gate monitoring system;
and identifying the illegal vehicle according to the comparison result.
In addition, in order to achieve the above object, the present invention further provides a road vehicle visualization display device based on AR and internet of things, including:
the acquisition module is used for acquiring physical road traffic information acquired by a preset sensor and determining virtual road traffic information according to the physical road traffic information;
the simulation module is used for carrying out road simulation according to the virtual road traffic information so as to obtain dynamic road information;
the fusion module is used for carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information;
and the display module is used for visually displaying the target road information to obtain visual road traffic information.
Optionally, the obtaining module is further configured to determine an observation position where a camera is located in a preset road segment according to the real object road traffic information; constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin; and registering the real road traffic information according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section to obtain virtual road traffic information.
In addition, in order to achieve the above object, the present invention further provides a road vehicle visualization display device based on AR and internet of things, including: the system comprises a memory, a processor and an AR and Internet of things based road vehicle visual display program which is stored on the memory and can run on the processor, wherein the AR and Internet of things based road vehicle visual display program is configured to realize the AR and Internet of things based road vehicle visual display method.
The method comprises the steps of obtaining physical road traffic information collected by a preset sensor and determining virtual road traffic information according to the physical road traffic information; performing road simulation according to the virtual road traffic information to obtain dynamic road information; carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information; and performing visual display on the target road information to obtain visual road traffic information, fusing real-world real road traffic information and virtual dynamic road information to obtain target road information, and performing visual display on the target road information to improve the reality of virtual-real fusion of the traffic information.
Drawings
Fig. 1 is a schematic structural diagram of a road vehicle visualization display device based on AR and internet of things in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a road vehicle visualization display method based on AR and the internet of things according to a first embodiment of the present invention;
fig. 3 is a schematic flow chart of a road vehicle visualization display method based on AR and internet of things according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a road vehicle visualization display method based on AR and the internet of things according to a third embodiment of the present invention;
fig. 5 is a structural block diagram of a first embodiment of the road vehicle visualization display device based on the AR and the internet of things.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural view of a road vehicle visualization display device based on AR and the internet of things in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the road vehicle visualization display device based on AR and internet of things may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of AR and internet of things based road vehicle visualization display devices, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an AR and internet of things based road vehicle visualization presentation program.
In the road vehicle visualization display device based on AR and internet of things shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the road vehicle visualization display device based on the AR and the internet of things can be arranged in the road vehicle visualization display device based on the AR and the internet of things, the road vehicle visualization display device based on the AR and the internet of things calls the road vehicle visualization display program based on the AR and the internet of things stored in the memory 1005 through the processor 1001, and the road vehicle visualization display method based on the AR and the internet of things provided by the embodiment of the invention is executed.
The embodiment of the invention provides a road vehicle visual display method based on AR and the Internet of things, and referring to FIG. 2, FIG. 2 is a schematic flow chart of a first embodiment of the road vehicle visual display method based on AR and the Internet of things.
In this embodiment, the road vehicle visualization display method based on the AR and the internet of things includes the following steps:
step S10: acquiring physical road traffic information acquired by a preset sensor and determining virtual road traffic information according to the physical road traffic information.
It should be noted that the execution main body of the embodiment may be based on an AR and internet of things road vehicle visualization display device, the AR and internet of things road vehicle visualization display device may be an electronic device such as a personal computer, a server, and the like, and may also be other devices capable of realizing the same or similar functions, which is not limited in this embodiment.
In this embodiment, AR refers to Augmented Reality (Augmented Reality) technology, which is a technology that ingeniously fuses virtual information and a real world, and implements analog simulation processing on the basis of computer and other scientific technologies on the basis of entity information that is originally difficult to experience in a spatial range of the real world, and superimposes the virtual information content to be effectively applied in the real world, and in the process, the virtual information content can be perceived by human senses, thereby implementing sensory experience beyond Reality. After the real environment and the virtual object are overlapped, the real environment and the virtual object can exist in the same picture and space at the same time. The preset sensor in this embodiment includes an infrared sensor or an ultrasonic sensor, and the infrared sensor may adopt a semiconductor laser or a photodiode, and the type adopted by the preset sensor may be set correspondingly according to actual requirements, which is not limited in this embodiment. It should be noted that the preset sensor is not a virtual sensor but a real sensor, and the preset sensor is arranged on each traffic segment, and can acquire physical road information such as a road direction, a name, a lane number, an electric police position, and the like, and the physical road information is also static information.
It should be noted that, after the physical road traffic information is acquired, the virtual traffic participants may be generated according to the real traffic environment included in the physical road traffic information, so as to obtain virtual road traffic information, for example, the road direction, the road name, the number of lanes of the road segment, the electric police location, and the like of the road segment a may be determined from the physical traffic information acquired by a preset sensor, which are all actually present on the road segment, a virtual vehicle may be set on the lanes of the road segment a according to the physical traffic information, and a passerby, a staff, and the like may be set at the road junction, so as to obtain the virtual road information according to the set information of the virtual traffic participants, such as the virtual vehicle, the passerby, the staff, and the like. Of course, in this embodiment, other virtual objects may be set in the real traffic road segment according to actual requirements, which is not limited in this embodiment.
Step S20: and performing road simulation according to the virtual road traffic information to obtain dynamic road information.
In a specific implementation, the virtual road traffic information obtained in this embodiment is also essentially static information, and in order to convert the static information into dynamic information, the obtained virtual road traffic information is subjected to road simulation. In this embodiment, the virtual road traffic information may be simulated, for example, the virtual vehicle may simulate a real vehicle to run on a road in a dynamic form to simulate a running condition of real road traffic, so as to obtain the virtual road traffic information.
Further, in this embodiment, in order to perform the road simulation more accurately, the step S20 specifically includes: extracting road condition information, traffic flow information and virtual traffic participant information from the virtual road traffic information; and carrying out traffic simulation according to the road condition information, the traffic flow information and the virtual traffic participant information to obtain dynamic road information.
It should be noted that the virtual traffic information determined according to the real traffic information includes road condition information, traffic flow information, and virtual traffic participant information, where the virtual traffic participants include vehicles, pedestrians, and duty personnel, etc., the information is extracted from the virtual traffic information, the specific road condition of the road section can be obtained from the extracted road condition information, the vehicle driving direction and traffic flow of each lane in the road section can be obtained from the traffic flow information, and the number of virtual traffic participants such as virtual vehicles, virtual pedestrians, and virtual duty personnel can be obtained from the virtual traffic participant information, and then dynamic simulation is performed according to the data, for example, the virtual vehicles are allowed to perform simulated driving according to the vehicle driving direction and traffic flow of each lane, and the virtual pedestrians are controlled to perform actions such as waiting or passing a road, the dynamic simulation in this embodiment may also be adjusted accordingly in other forms, which is not limited in this embodiment.
Step S30: and carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information.
It should be noted that in this embodiment, virtual information that is not seen, such as geographic information data, traffic monitoring resources, traffic operation states, traffic management service information, and the like, is integrated and superimposed with a real world in an augmented reality manner, so as to generate an effect of virtual-real integration, and thus, information such as current road surface, traffic, vehicles, police service, and the like can be intuitively and timely sensed. In this embodiment, the real road traffic information belongs to the static information that can be seen, the dynamic road information belongs to the virtual information that can not be seen, and the real road traffic information and the dynamic road information are fused, so that an effect of combining virtuality and reality can be achieved, and the fusion is performed, for example, virtual vehicles that run in a simulation mode are arranged and overlapped on a real lane.
Step S40: and visually displaying the target road information to obtain visual road traffic information.
In a specific implementation, after obtaining the target road information, in order to intuitively and timely sense information such as a current road surface, traffic, vehicles, police service and the like, the implementation visually displays the target road information to obtain the visual road traffic information, displays lanes, electric warning devices, lane directions and the like in a road section in a static form in the visual display, and displays a virtual traffic state formed by virtual traffic participants such as virtual vehicles and the like in a dynamic AR form.
Further, in this embodiment, the method can further identify an illegal vehicle according to the displayed visualized road traffic information, and after the step S40, the method further includes: visual vehicle information is extracted from the visual road traffic information; comparing the visual vehicle information with vehicle information monitored in an associated traffic gate monitoring system; and identifying the illegal vehicle according to the comparison result.
In specific implementation, after the visual road traffic information is obtained, the visual vehicle information can be extracted from the visual traffic information based on vehicle characteristics, and the information such as the appearance and the license plate of the vehicle can be determined according to the visual vehicle information.
The method comprises the steps of obtaining physical road traffic information collected by a preset sensor and determining virtual road traffic information according to the physical road traffic information; performing road simulation according to the virtual road traffic information to obtain dynamic road information; carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information; and performing visual display on the target road information to obtain visual road traffic information, fusing real-world real road traffic information and virtual dynamic road information to obtain target road information, and performing visual display on the target road information to improve the reality of virtual-real fusion of the traffic information.
Referring to fig. 3, fig. 3 is a schematic flowchart of a road vehicle visualization displaying method based on AR and internet of things according to a second embodiment of the present invention.
Based on the first embodiment, in the method for visually displaying road vehicles based on AR and internet of things according to the present embodiment, the step S10 specifically includes:
step S101: and determining the observation position of the camera in the preset road section according to the real road traffic information.
It should be noted that each road segment is provided with a camera, and the real road traffic information of each road segment collected by the real road traffic information sensor can determine the position of the camera on each road segment, that is, the observation position where the camera is located, based on the real road information. The preset road section in this embodiment is a road section in real road traffic, and may be arbitrarily selected according to actual requirements, which is not limited in this embodiment.
Step S102: and constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin.
In a specific implementation, after obtaining a position of an observation point where a camera is located, a spatial coordinate system of a selected preset road segment is constructed with the observation point as an origin, where the spatial coordinate system is a constructed virtual spatial coordinate system, and in this embodiment, a camera direction may be taken as an X-axis direction, a vertical camera direction is taken as a Y-axis direction, and a vertical direction is taken as a Z-axis direction, and then a virtual spatial coordinate system corresponding to the preset road segment is constructed, where of course, directions of the X-axis, the Y-axis, and the Z-axis of the virtual spatial coordinate may be set correspondingly according to an actual requirement, which is not limited in this embodiment.
Step S103: and registering the real road traffic information according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section to obtain virtual road traffic information.
In specific implementation, after a virtual space coordinate system corresponding to a preset road section is constructed, real traffic road information can be registered according to the virtual space coordinate and a world coordinate system of the preset road section, the world coordinate system is an absolute coordinate system and is a real world coordinate system corresponding to the preset road section, and the setting of the world coordinate system can be set according to actual requirements or can be constructed by taking a camera as a reference object. The virtual space coordinate is a coordinate system established by taking the camera as a reference object, in this embodiment, the real road traffic information may be registered according to a conversion relationship between the virtual space coordinate system and the world coordinate system, and the registration is to add a virtual object on the basis of the real road traffic information, for example, add the generated virtual vehicle to each real lane on a preset road segment, where the virtual object added in this embodiment may be set correspondingly according to an actual requirement, which is not limited in this embodiment.
Further, in this embodiment, in order to perform registration more accurately to obtain the virtual road traffic information, the step S103 specifically includes: determining a coordinate system conversion matrix according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section; determining the relative position and posture of the virtual traffic participant in the preset road section according to the coordinate system conversion matrix; and registering the real road traffic information according to the relative position and the posture to obtain virtual road traffic information.
It should be noted that after the virtual space coordinate system and the world coordinate system are obtained, calculation can be performed
Coordinate system transformation matrices, e.g.
Wherein, in the step (A),
moments corresponding to a virtual space coordinate system
The number of the arrays is determined,
is a matrix corresponding to a world coordinate system, M is a coordinate system conversion matrix, and due to virtual space
The coordinate system is determined by using the coordinate system constructed by using the camera as a reference in both the inter-coordinate system and the world coordinate system
After the transformation of the matrix, the bits of the virtual traffic participants in the world coordinate system can be determined from the transformation matrix
Position and attitude, i.e. the relative position and attitude of the virtual traffic participant in a preset road segment, then according to
The relative position and posture adds corresponding virtual traffic participants in the real road information to obtain virtual traffic
And simulating road traffic information.
In the embodiment, the observation position where the camera is located in the preset road section is determined according to the real object road traffic information; constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin; and registering the real road traffic information according to the virtual space coordinate system and the world coordinate system corresponding to the preset road section to obtain virtual road traffic information, and accurately registering the real road traffic information through the virtual space coordinate system and the world coordinate system of the real world to obtain more reasonable virtual road traffic information.
Referring to fig. 4, fig. 4 is a schematic flowchart of a road vehicle visualization displaying method based on AR and the internet of things according to a third embodiment of the present invention.
The third embodiment of the road vehicle visualization display method based on the AR and the internet of things is proposed based on the first embodiment or the second embodiment.
Taking the first embodiment as an example, in this embodiment, the step S30:
step S301: and calling video information acquired by the intersection camera, and extracting a reference image corresponding to the real object road traffic information from the video information.
In this embodiment, the real object road information may be collected by a preset sensor, and a camera is further disposed at an intersection of each road segment, in this embodiment, a reference image corresponding to the real object road traffic information may also be extracted from video information captured by the camera at the intersection, where the reference image is to display the real object road information in the form of an image, and the contained real object is consistent with the real object road information collected by the preset sensor, for example, the road direction, the name, the number of lanes, and an electric alarm.
Step S302: and performing feature matching on the reference image and the virtual traffic participants contained in the dynamic road information.
It should be noted that the essence of the fusion of the dynamic road traffic information and the physical road traffic information is to add a virtual traffic person to a real scene included in the physical road traffic information, and in this embodiment, feature matching is required before the fusion, for example, a real lane in a reference image and a virtual vehicle in the virtual traffic person are matched with each other.
Step S303: and fusing the dynamic road information to the real road traffic information according to the feature matching result to obtain target road information.
In specific implementation, the virtual traffic participants are added to the reference image according to the feature matching result, that is, the fusion of the dynamic road information and the physical road traffic information is completed, and the target road information can be obtained and is the road traffic information after the virtual fusion is completed.
Further, in this embodiment, in order to improve the fusion effect of the dynamic road information and the physical road traffic information, the step S303 specifically includes: determining a first feature point set corresponding to the reference image and a second feature point set corresponding to the virtual traffic participant according to a feature matching result; constructing a first feature matrix corresponding to the first feature point set and a second feature matrix corresponding to the second feature point set; determining a target matrix according to the first characteristic matrix and the second characteristic matrix; determining a target position corresponding to the virtual traffic participant according to the target matrix; and fusing the dynamic road information to the real road traffic information according to the target position to obtain target road information.
It should be noted that feature points that the reference image and the virtual traffic person are matched with each other may be determined according to the feature matching result, the feature points that are matched with each other on the reference image are first feature points, the feature points that are matched with the virtual traffic person are second feature points, the number of the first feature points and the number of the second feature points are not one, but multiple, after the feature matching is performed, a first feature point set and a second feature point set may be obtained, the first feature points in the first feature point set may be used as elements to construct a first feature matrix, the second feature points in the second feature point set may be used as elements to construct a second feature matrix, and then the feature matrix may be constructed according to the first feature moment
And the second feature matrix may be calculated as an object matrix, e.g.
Wherein
Is as follows
A feature matrix of the image data is generated,
is a second feature matrix of the first set of feature matrices,
i.e. the object matrix, which represents the parameters
According to the corresponding relation between the reference image and the virtual traffic participants, the positions of the virtual traffic participants needing to be added in the reference image, namely the target positions, can be determined, and then the virtual traffic participants are added to the reference image according to the target positions, so that the fusion of the dynamic road information and the physical road traffic information is realized. In this embodiment, feature matching is performed between the time corresponding to each frame of reference image and the virtual traffic participants in the dynamic road traffic information, and then corresponding virtual traffic participants are added to each frame of reference image according to the feature matching result.
In the embodiment, a reference image corresponding to the real object road traffic information is extracted from video information by calling the video information acquired by an intersection camera; performing feature matching on the reference image and virtual traffic participants contained in the dynamic road information; and fusing the dynamic road information to the physical road traffic information according to the feature matching result to obtain target road information, and fusing the dynamic road information and the physical road traffic information more accurately and truly in a feature matching manner to improve the authenticity of fusion.
Referring to fig. 5, fig. 5 is a structural block diagram of a road vehicle visualization display device based on AR and internet of things according to a first embodiment of the present invention.
As shown in fig. 5, the road vehicle visualization display device based on AR and the internet of things provided by the embodiment of the present invention includes:
the acquiring module 10 is configured to acquire physical road traffic information acquired by a preset sensor and determine virtual road traffic information according to the physical road traffic information.
And the simulation module 20 is configured to perform road simulation according to the virtual road traffic information to obtain dynamic road information.
And the fusion module 30 is configured to perform virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information.
And the display module 40 is used for visually displaying the target road information to obtain visual road traffic information.
The method comprises the steps of obtaining physical road traffic information collected by a preset sensor and determining virtual road traffic information according to the physical road traffic information; performing road simulation according to the virtual road traffic information to obtain dynamic road information; carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information; and performing visual display on the target road information to obtain visual road traffic information, fusing real-world real road traffic information and virtual dynamic road information to obtain target road information, and performing visual display on the target road information to improve the reality of virtual-real fusion of the traffic information.
In an embodiment, the obtaining module 10 is further configured to determine an observation position where a camera is located in a preset road segment according to the real object road traffic information; constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin; and registering the real road traffic information according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section to obtain virtual road traffic information.
In an embodiment, the obtaining module 10 is further configured to determine a coordinate system transformation matrix according to the virtual space coordinate system and a world coordinate system corresponding to the preset road segment; determining the relative position and posture of the virtual traffic participant in the preset road section according to the coordinate system conversion matrix; and registering the real road traffic information according to the relative position and the posture to obtain virtual road traffic information.
In an embodiment, the simulation module 20 is further configured to extract road condition information, traffic flow information, and virtual traffic participant information from the virtual road traffic information; and carrying out traffic simulation according to the road condition information, the traffic flow information and the virtual traffic participant information to obtain dynamic road information.
In an embodiment, the fusion module 30 is further configured to call video information acquired by an intersection camera, and extract a reference image corresponding to the physical road traffic information from the video information; performing feature matching on the reference image and virtual traffic participants contained in the dynamic road information; and fusing the dynamic road information to the real road traffic information according to the feature matching result to obtain target road information.
In an embodiment, the fusion module 30 is further configured to determine, according to a feature matching result, a first feature point set corresponding to the reference image and a second feature point set corresponding to the virtual traffic participant; constructing a first feature matrix corresponding to the first feature point set and a second feature matrix corresponding to the second feature point set; determining a target matrix according to the first characteristic matrix and the second characteristic matrix; determining a target position corresponding to the virtual traffic participant according to the target matrix; and fusing the dynamic road information to the real road traffic information according to the target position to obtain target road information.
In an embodiment, the road vehicle visualization display device based on AR and internet of things further includes: an identification module;
the identification module is also used for extracting visual vehicle information from the visual road traffic information; comparing the visual vehicle information with vehicle information monitored in an associated traffic gate monitoring system; and identifying the illegal vehicle according to the comparison result.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, technical details that are not described in detail in this embodiment may be referred to a road vehicle visualization display method based on the AR and the internet of things provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The road vehicle visual display method based on the AR and the Internet of things is characterized by comprising the following steps of:
acquiring physical road traffic information acquired by a preset sensor and determining virtual road traffic information according to the physical road traffic information;
performing road simulation according to the virtual road traffic information to obtain dynamic road information;
carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information;
and visually displaying the target road information to obtain visual road traffic information.
2. The AR and IOT based road vehicle visualization presentation method of claim 1, wherein said determining virtual road traffic information from said physical road traffic information comprises:
determining the observation position of the camera in the preset road section according to the real object road traffic information;
constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin;
and registering the real road traffic information according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section to obtain virtual road traffic information.
3. The AR and IOT based road vehicle visualization display method of claim 2, wherein the registering the physical road traffic information according to the virtual space coordinate system and the world coordinate system corresponding to the preset road segment to obtain virtual road traffic information comprises:
determining a coordinate system conversion matrix according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section;
determining the relative position and posture of the virtual traffic participant in the preset road section according to the coordinate system conversion matrix;
and registering the real road traffic information according to the relative position and the posture to obtain virtual road traffic information.
4. The AR and IOT based road vehicle visualization presentation method of claim 1, wherein said road simulation based on said virtual road traffic information to obtain dynamic road information comprises:
extracting road condition information, traffic flow information and virtual traffic participant information from the virtual road traffic information;
and carrying out traffic simulation according to the road condition information, the traffic flow information and the virtual traffic participant information to obtain dynamic road information.
5. The AR and IOT based road vehicle visualization display method of claim 1, wherein said performing a virtual-real fusion of said physical road traffic information and said dynamic road information to obtain target road information comprises:
calling video information acquired by a crossing camera, and extracting a reference image corresponding to the real object road traffic information from the video information;
performing feature matching on the reference image and virtual traffic participants contained in the dynamic road information;
and fusing the dynamic road information to the real road traffic information according to the feature matching result to obtain target road information.
6. The AR and IOT based road vehicle visualization display method of claim 5, wherein said fusing the dynamic road information to the physical road traffic information according to the feature matching result to obtain target road information comprises:
determining a first feature point set corresponding to the reference image and a second feature point set corresponding to the virtual traffic participant according to a feature matching result;
constructing a first feature matrix corresponding to the first feature point set and a second feature matrix corresponding to the second feature point set;
determining a target matrix according to the first characteristic matrix and the second characteristic matrix;
determining a target position corresponding to the virtual traffic participant according to the target matrix;
and fusing the dynamic road information to the real road traffic information according to the target position to obtain target road information.
7. The AR and IOT based road vehicle visualization display method as claimed in any one of claims 1 to 6, wherein said visually displaying said target road information to obtain visualized road traffic information further comprises:
visual vehicle information is extracted from the visual road traffic information;
comparing the visual vehicle information with vehicle information monitored in an associated traffic gate monitoring system;
and identifying the illegal vehicle according to the comparison result.
8. The utility model provides a based on visual display device of AR and thing networking road vehicle which characterized in that, include based on visual display device of AR and thing networking road vehicle:
the acquisition module is used for acquiring physical road traffic information acquired by a preset sensor and determining virtual road traffic information according to the physical road traffic information;
the simulation module is used for carrying out road simulation according to the virtual road traffic information so as to obtain dynamic road information;
the fusion module is used for carrying out virtual-real fusion on the physical road traffic information and the dynamic road information to obtain target road information;
and the display module is used for visually displaying the target road information to obtain visual road traffic information.
9. The AR and IOT based road vehicle visualization display device of claim 8, wherein the obtaining module is further configured to determine an observation position where a camera is located in a preset road segment according to the physical road traffic information; constructing a virtual space coordinate system corresponding to the preset road section by taking the observation position as an origin; and registering the real road traffic information according to the virtual space coordinate system and a world coordinate system corresponding to the preset road section to obtain virtual road traffic information.
10. The utility model provides a based on visual display device of AR and thing networking road vehicle which characterized in that, based on visual display device of AR and thing networking road vehicle includes: the system comprises a memory, a processor and an AR and Internet of things based road vehicle visualization display program stored on the memory and operable on the processor, wherein the AR and Internet of things based road vehicle visualization display program is configured to realize the AR and Internet of things based road vehicle visualization display method according to any one of claims 1 to 7.
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