CN113627270B - Highway mileage positioning method based on image stitching and marking detection - Google Patents

Highway mileage positioning method based on image stitching and marking detection Download PDF

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Publication number
CN113627270B
CN113627270B CN202110805920.0A CN202110805920A CN113627270B CN 113627270 B CN113627270 B CN 113627270B CN 202110805920 A CN202110805920 A CN 202110805920A CN 113627270 B CN113627270 B CN 113627270B
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mileage
point
marking
line
points
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CN113627270A (en
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邓勇军
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Chengdu Guimu Robot Co ltd
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Chengdu Guimu Robot Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image
    • G06T3/40—Scaling the whole image or part thereof
    • G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a road mileage positioning method based on image stitching and marking detection, which comprises the following steps: acquiring GPS positioning and course angle of any image; global stitching is carried out on any image according to GPS positioning and course angle; acquiring a center point of a marked line end in the splice graph by using an image target detection algorithm; marking a mileage integral pile point on a line segment of a central point of a marking end part at the mileage integral pile; sequencing the center points of all marked line ends and the mileage whole pile points, and connecting adjacent points by line segments; traversing to obtain a mark point nearest to the target point to be detected; solving the foot drop points of two adjacent line segments of the target point to be detected and the nearest mark point, and taking the foot drop point on any line segment as a mileage reference point T when the foot drop is positioned on any line segment; obtaining a line segment length accumulation sum M between a mileage reference point T and a nearest mileage integral pile point along the vehicle or robot advancing direction; and obtaining the mileage value of the target point according to the accumulated sum M of the mileage of the nearest mileage entire stake point and the length of the line segment.

Description

Highway mileage positioning method based on image stitching and marking detection
Technical Field
The invention relates to the technical field of road mileage positioning, in particular to a road mileage positioning method based on image stitching and marking detection.
Background
Along with the promotion of expressway construction engineering, expressway mileage increases year by year, and corresponding expressway related intelligent equipment is gradually put into engineering use. At present, the relative mileage is measured by the vehicle-mounted odometer by adopting the reference initial mileage stake mark to realize the road mileage positioning of the vehicle or equipment in the prior art, and the vehicle-mounted odometer has accumulated error and has uncertain deviation from the theoretical mileage reference line due to the actual driving path of the vehicle or equipment, so that the road mileage positioning accuracy of the prior art is lower, and the error is larger along with the distance of driving. With the development of technologies for imaging the road surface by vehicle-mounted or intelligent equipment, image data with road surface visual information and high-precision positioning can be captured, and the image data can be used as a data source for establishing a high-precision mileage positioning map.
Therefore, it is highly desirable to provide a road mileage positioning method based on image stitching and marking detection, which is simple, accurate and reliable in logic.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a road mileage positioning method based on image stitching and marking detection, which adopts the following technical scheme:
the road mileage positioning method based on image splicing and marking detection adopts a vehicle or a robot travelling along the direction of a road surface to position, wherein the travelling vehicle or robot is carried with a CCD camera facing the ground vertically, and the road mileage positioning method comprises the following steps:
real-time GPS positioning of the vehicle or the robot is performed by using RTK and inertial navigation; acquiring GPS positioning and course angle of any image;
global stitching is carried out on all the images according to GPS positioning and course angles, and a stitching diagram is obtained;
acquiring a center point of a marked line end in the splice graph by using an image target detection algorithm;
connecting the center points of the end parts of the adjacent marked lines to obtain a plurality of marked line connecting line segments;
marking a whole pile number marking point at the actual mileage whole pile number on the marking line connecting line segment;
sequencing all line end center points and whole pile number marking points to obtain road route marking points, and connecting adjacent road route marking points;
traversing the target point to be detected to obtain the distances between the target point to be detected and all road route marking points, and obtaining the road route marking point corresponding to the minimum distance;
respectively obtaining a foot drop point of two adjacent line segments between a target point to be detected and a minimum highway line mark point, and taking the foot drop point as a mileage reference point T when the foot drop point is in any line segment; obtaining a line segment length accumulation sum M between a mileage reference point T and a nearest mileage integral pile point along the vehicle or robot advancing direction;
and obtaining the mileage value of the target point according to the accumulated sum M of the mileage of the nearest mileage entire stake point and the length of the line segment.
Compared with the prior art, the invention has the following beneficial effects:
the invention skillfully utilizes image recognition and global stitching detection to obtain the center point of the end part of the marking line; each pixel position in the stitched image has GPS coordinates. The invention utilizes the foot drop point of the line segment formed by the target point and the center point of the end part of the marking and the line segment of the nearest mileage integral pile point to calculate the mileage of the target point, thereby realizing the high-precision mileage positioning of any GPS target point based on high-precision GPS positioning image data. In conclusion, the invention has the advantages of simple logic, accuracy, reliability and the like, and has high practical value and popularization value in the technical field of road mileage positioning.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope of protection, and other related drawings may be obtained according to these drawings without the need of inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of global road splicing according to the present invention.
Fig. 2 is a schematic view of the center point of the end of the reticle of the present invention.
Fig. 3 is a schematic diagram of the mileage entire pile point layout of the present invention.
FIG. 4 is a schematic diagram of the connection of the road route marking points according to the present invention.
Fig. 5 is a schematic view of the vertical connection of the target point of the present invention.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Examples
As shown in fig. 1 to 5, the present embodiment provides a road mileage positioning method based on image stitching and marking detection, which uses a vehicle or robot traveling in the direction of the road surface to perform positioning, and the traveling vehicle or robot carries a CCD camera facing the ground.
Specifically, the road mileage positioning method includes the following steps:
firstly, a vehicle or a robot advances along the road direction, and a CCD camera is utilized to vertically face a road surface to collect road images; meanwhile, real-time GPS positioning of the vehicle or the robot is performed by using RTK and inertial navigation; acquiring GPS positioning and course angle of any image;
and secondly, performing global stitching on any image according to the GPS positioning and the course angle to obtain a stitching graph. Wherein global stitching is the prior art.
Thirdly, acquiring the center points of the end parts of the marked lines in the splice graph by using an image target detection algorithm, and connecting the center points of the end parts of the adjacent marked lines to form marked line segments.
And fourthly, marking mileage whole stake points on corresponding marking line segments of the spliced image according to the on-site integer stake number guideboard. Sequencing the center points of all marking end parts and the mileage whole pile points according to the driving direction to obtain road route marking points, wherein the road route marking points are sequentially P 1 、P 2 …P N . The adjacent points are connected by straight lines to obtain a line segment L 1 、L 2 …L N-1 。
Step five, traversing the target point to be detected to obtain the distances between the target point and all road route marking points, and obtaining a road route marking point P corresponding to the minimum distance i ；
Sixth, respectively obtaining the target point to be measured and P i Adjacent two line segments L i 、L (i+1) When the drop foot point is in any line segment, the drop foot point is taken as a mileage reference point T.
And seventhly, obtaining a line segment length accumulation sum M between the mileage reference point T and the nearest mileage integral pile point along the travelling direction of the vehicle or the robot.
And eighth, calculating the mileage value of the target point according to the accumulated sum M of the mileage of the nearest mileage entire stake point and the length of the line segment. Taking the mileage of the entire stake point of the previous mileage in the traveling direction of the vehicle or robot as an example, for example, the mileage of the target point is k+m.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, but all changes made by adopting the design principle of the present invention and performing non-creative work on the basis thereof shall fall within the scope of the present invention.

Claims (1)

1. The road mileage positioning method based on image stitching and marking detection is characterized in that a vehicle or a robot travelling along the direction of a road surface is adopted for positioning, the travelling vehicle or robot is carried with a CCD camera facing the ground vertically, and the road mileage positioning method comprises the following steps:
real-time GPS positioning of the vehicle or the robot is performed by using RTK and inertial navigation; acquiring GPS positioning and course angle of any image;
global stitching is carried out on all the images according to GPS positioning and course angles, and a stitching diagram is obtained;
acquiring center points of all marked line end parts in the splice graph by using an image target detection algorithm;
connecting the center points of the end parts of the adjacent marked lines to obtain a plurality of marked line connecting line segments;
marking a whole pile number marking point at the actual mileage whole pile number on the marking line connecting line segment;
sequencing all line end center points and whole pile number marking points to obtain road route marking points, and connecting adjacent road route marking points;
traversing the target point to be detected to obtain the distances between the target point to be detected and all road route marking points, and obtaining the road route marking point corresponding to the minimum distance;
respectively obtaining a foot drop point of two adjacent line segments between a target point to be detected and a minimum highway line mark point, and taking the foot drop point as a mileage reference point T when the foot drop point is in any line segment;
obtaining a line segment length accumulation sum M between a mileage reference point T and a nearest mileage integral pile point along the vehicle or robot advancing direction;
and obtaining the mileage value of the target point according to the accumulated sum M of the mileage of the nearest mileage entire stake point and the length of the line segment.
CN202110805920.0A 2021-07-19 2021-07-19 Highway mileage positioning method based on image stitching and marking detection Active CN113627270B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008194095A (en) * 2007-02-08 2008-08-28 Nippon Hoso Kyokai <Nhk> Mileage image generator and generation program
CN108759823A (en) * 2018-05-28 2018-11-06 浙江大学 The positioning of low speed automatic driving vehicle and method for correcting error in particular link based on images match
CN110345968A (en) * 2019-07-18 2019-10-18 南京市测绘勘察研究院股份有限公司 A kind of pair of moving three dimension laser scanning tunnel achievement mileage is with the method paid
CN110803200A (en) * 2019-11-05 2020-02-18 武汉市市政建设集团有限公司 CPIII control point-based track mileage positioning method and device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008194095A (en) * 2007-02-08 2008-08-28 Nippon Hoso Kyokai <Nhk> Mileage image generator and generation program
CN108759823A (en) * 2018-05-28 2018-11-06 浙江大学 The positioning of low speed automatic driving vehicle and method for correcting error in particular link based on images match
CN110345968A (en) * 2019-07-18 2019-10-18 南京市测绘勘察研究院股份有限公司 A kind of pair of moving three dimension laser scanning tunnel achievement mileage is with the method paid
CN110803200A (en) * 2019-11-05 2020-02-18 武汉市市政建设集团有限公司 CPIII control point-based track mileage positioning method and device

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
Cross-section positioning based on a dynamic MLS tunnel monitoring system;Liming Du等;《THE PHOTOGRAMMETRIC RECORD》;第34卷(第167期);244-265 *
一种融合点线特征的视觉里程计架构设计与定位实现;赵嘉珩等;《北京理工大学学报》;第39卷(第5期);480-485 *
基于垂向定位与灰度投影的地铁扣件定位方法;王宇桐等;《铁道建筑》;第59卷(第06期);112-116 *

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