CN113627273A - Highway mileage stake mark positioning method based on vision - Google Patents
Highway mileage stake mark positioning method based on vision Download PDFInfo
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- CN113627273A CN113627273A CN202110812796.0A CN202110812796A CN113627273A CN 113627273 A CN113627273 A CN 113627273A CN 202110812796 A CN202110812796 A CN 202110812796A CN 113627273 A CN113627273 A CN 113627273A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/14—Receivers specially adapted for specific applications
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Abstract
The invention discloses a method for positioning a highway mileage stake mark based on vision, which comprises the following steps: vehicle coordinate system CCSv(ii) a When the industrial personal computer captures the image of the highway mileage stake number plate, acquiring a reference GPS coordinate (OriB, OriL) and a reference course angle Ha corresponding to the current image, and registering the reference GPS coordinate (OriB, OriL) and the reference course angle Ha to the first image pair and the second image pair; identifying and extracting the mileage stake number value in the image; measuring three-dimensional coordinates (x) of milepost number plate center under coordinate system of first binocular camera module and second binocular camera module by using binocular vision0,y0,z0) (ii) a Obtaining highway mileage stake number plate in coordinate system CCSvRelative coordinate of (x) of1,y1) (ii) a Based on reference GPS coordinates (OriB, OriL) and reference heading angle HaAnd solving the GPS coordinates (B, L) of the highway mileage stake number plate.
Description
Technical Field
The invention relates to the technical field of highway mileage stake mark positioning, in particular to a highway mileage stake mark positioning method based on vision.
Background
With the advance of highway construction engineering, the highway mileage increases year by year, and relevant intelligent equipment corresponding to the highway is gradually put into engineering use. Highway information is typically located in milepost numbers, such as robot detection data, vehicle equipment acquisition data, and the like. After completion and acceptance of the highway, mileage pile number plates are usually buried and fixed outside a central isolation zone or an emergency lane of the road in a high-precision surveying and mapping mode, but due to the limitation of construction informatization management level, a large number of mileage pile number plates do not retain public geographic position information, so that data using GPS or Beidou as a positioning means is difficult to convert into mileage pile number positioning.
Although there are methods for determining the number of highway milepost on the market, none of them can accurately and reliably measure the progress. For example, in the Chinese invention patent with the patent publication number of "CN 105070088A" and the name of "GPS docking highway mileage stake mark system and the realization method thereof", the stake mark mileage positioning of a vehicle is realized by a method of manually inputting and combining mileage accumulation distance calculation, the relative distance information is mainly applied, and the absolute geographical position information of the mileage stake mark cannot be accurately measured.
The following steps are repeated: the invention discloses a Chinese patent with the patent publication number of 'CN 106772500A' and the name of a method for determining the kilometer post number of an expressway based on an electronic map and GPS coordinates, and provides the method for determining the kilometer post number of the expressway based on the electronic map and the GPS coordinates.
In addition, the mobile station is placed on the mileage stake number plate, and the GPS coordinates of the mileage stake number plate can be accurately acquired through RTK. However, in a real scene, the highway is difficult to implement in engineering due to potential safety hazards and low efficiency in a mode of manually acquiring the GPS coordinates of the mileage stake number plates one by one.
Therefore, a method for positioning the highway mileage stake mark based on vision, which has simple logic, accuracy and reliability, is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a method for positioning the highway mileage stake marks based on vision, and the technical scheme adopted by the invention is as follows:
a highway mileage stake mark positioning method based on vision adopts a running vehicle to acquire images of highway mileage stake marks in real time; the front end of the top of the vehicle is provided with a first GPS receiving antenna and a second GPS receiving antenna; the first GPS receiving antenna and the second GPS receiving antenna are symmetrically arranged on the central axis of the vehicle; the left side and the right side of the top of the vehicle are respectively provided with a first binocular camera module facing a road central isolation belt and a second binocular camera module facing an emergency lane; the first binocular camera module and the second binocular camera module are parallel to the roof of the vehicle, and a connecting line is perpendicular to the central axis of the vehicle; the vehicle is internally provided with a double-antenna GPS receiver connected with a first GPS receiving antenna and a second GPS receiving antenna, and an industrial personal computer connected with the double-antenna GPS receiver, a first binocular camera module and a second binocular camera module;
the method for positioning the highway mileage stake marks comprises the following steps:
establishing a vehicle coordinate system CCS by taking the connection midpoint of the first GPS receiving antenna and the second GPS receiving antenna as an origin, the central axis of the vehicle as an X axis and the connection of the first GPS receiving antenna and the second GPS receiving antenna as a Y axisv；
Simultaneously acquiring a first image pair and a second image pair corresponding to each other on the side by utilizing a first binocular camera module and a second binocular camera module; meanwhile, a double-antenna GPS receiver is used for acquiring reference GPS coordinates and reference course angle information;
when the industrial personal computer captures the image of the highway mileage stake number plate, acquiring a reference GPS coordinate (OriB, OriL) and a reference course angle Ha corresponding to the current image, and registering the reference GPS coordinate (OriB, OriL) and the reference course angle Ha to the first image pair and the second image pair;
identifying and extracting the mileage stake number value in the image;
measuring three-dimensional coordinates (x) of milepost number plate center under coordinate system of first binocular camera module and second binocular camera module by using binocular vision0,y0,z0)；
Obtaining highway mileage stake number plate in coordinate system CCSvRelative coordinate of (x) of1,y1)；
Based on reference GPS coordinates (OriB, OriL) and reference heading angle HaAnd obtaining road mileage stake number plate GPS coordinates (B, L), wherein the expression is as follows:
wherein ShortAxis represents the minor-axis length of the earth WGS84 ellipsoid, and LongAxis represents the major-axis length of the earth WGS84 ellipsoid.
Further, the highway mileage stake number plate is in a coordinate system CCSvRelative coordinate of (x) of1,y1) The expression is as follows:
when the first image pair detects a road mileage stake number plate, then:
when the second image pair detects the road mileage stake number plate, then:
wherein (Dx)1,Dy1) Coordinates of the first binocular camera module are shown, (Dx)2,Dy2) Representing the coordinates of the second binocular camera module.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention skillfully arranges a first GPS receiving antenna and a second GPS receiving antenna which are arranged at the front end of the top of the vehicle and are symmetrical with the central axis of the vehicle; in order to establish a coordinate system CCSvAnd reliably receiving a reference GPS coordinate (OriB, OriL) and a reference heading angle Ha of the vehicle;
(2) the left side and the right side of the top of the vehicle are skillfully provided with the first binocular camera module facing the road central isolation belt and the second binocular camera module facing the emergency lane, so that images of the road central isolation belt and the emergency lane are reliably acquired, and the road mileage stake number plate is more reliably acquired;
(3) the invention skillfully utilizes the position information of the first binocular camera module or the second binocular camera module and obtains the GPS coordinates of the milepost number plate under the coordinate system, and the calculation amount is small, accurate and reliable.
In conclusion, the method has the advantages of simple logic, accuracy, reliability and the like, and has high practical value and popularization value in the technical field of highway mileage stake mark positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of protection, and it is obvious for those skilled in the art that other related drawings can be obtained according to these drawings without inventive efforts.
FIG. 1 is a schematic diagram of the hardware layout of the present invention.
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
1-a first GPS receiving antenna; 2. a second GPS receiving antenna; 3. a first binocular camera module; 4. a second binocular camera module; 5. a dual antenna GPS receiver; 6. an industrial personal computer; 7. a battery.
Detailed Description
To further clarify the objects, 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1, the present embodiment provides a method for positioning highway milepost numbers based on vision, wherein a first GPS receiving antenna and a second GPS receiving antenna are arranged at the front end of the top of a vehicle; the first GPS receiving antenna and the second GPS receiving antenna are symmetrically arranged on the central axis of the vehicle. The left side and the right side of the top of the vehicle are respectively provided with a first binocular camera module facing a road central isolation belt and a second binocular camera module facing an emergency lane; the first binocular camera module and the second binocular camera module are parallel to the roof of the vehicle, and a connecting line is perpendicular to the central axis of the vehicle; the vehicle is internally provided with a double-antenna GPS receiver connected with a first GPS receiving antenna and a second GPS receiving antenna, and an industrial personal computer connected with the double-antenna GPS receiver, a first binocular camera module and a second binocular camera module. In this embodiment, a battery is provided in the vehicle, and is connected to the dual-antenna GPS receiver, the first binocular camera module, the second binocular camera module, and the industrial personal computer.
In the running process of the vehicle, the industrial personal computer controls the first binocular camera module and the second binocular camera module to simultaneously acquire the first image pair and the second image pair on the side and simultaneously receive the reference GPS coordinate and the reference course angle information generated by the double-antenna GPS receiver.
The industrial personal computer performs mileage stake number plate recognition (a specific recognition method is a target detection method in a common image) on the images in the first image pair and the second image pair, and extracts a mileage stake number value (N) from the image in which the mileage stake number plate is recognized (the specific extraction method is a digital extraction method in the common image). Measuring three-dimensional coordinates (x) of milepost number plate center under coordinate system of first binocular camera module and second binocular camera module by using binocular vision0,y0,z0). In the present embodiment, the measurement method is a binocular vision three-dimensional measurement conventional method.
Obtaining highway mileage stake number plate in coordinate system CCSvRelative coordinate of (x) of1,y1) The expression is as follows:
when the first image pair detects a road mileage stake number plate, then:
when the second image pair detects the road mileage stake number plate, then:
wherein (Dx)1,Dy1) Coordinates of the first binocular camera module are shown, (Dx)2,Dy2) Representing the coordinates of the second binocular camera module.
Based on reference GPS coordinates (OriB, OriL) and reference heading angle HaAnd obtaining road mileage stake number plate GPS coordinates (B, L), wherein the expression is as follows:
wherein ShortAxis represents the minor-axis length of the earth WGS84 ellipsoid, and LongAxis represents the major-axis length of the earth WGS84 ellipsoid.
The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the scope of the present invention, but all the modifications made by the principles of the present invention and the non-inventive efforts based on the above-mentioned embodiments shall fall within the scope of the present invention.
Claims (2)
1. A highway mileage stake mark positioning method based on vision is characterized in that a running vehicle is adopted to acquire images of highway mileage stake marks in real time; the front end of the top of the vehicle is provided with a first GPS receiving antenna and a second GPS receiving antenna; the first GPS receiving antenna and the second GPS receiving antenna are symmetrically arranged on the central axis of the vehicle; the left side and the right side of the top of the vehicle are respectively provided with a first binocular camera module facing a road central isolation belt and a second binocular camera module facing an emergency lane; the first binocular camera module and the second binocular camera module are parallel to the roof of the vehicle, and a connecting line is perpendicular to the central axis of the vehicle; the vehicle is internally provided with a double-antenna GPS receiver connected with a first GPS receiving antenna and a second GPS receiving antenna, and an industrial personal computer connected with the double-antenna GPS receiver, a first binocular camera module and a second binocular camera module;
the method for positioning the highway mileage stake marks comprises the following steps:
establishing a vehicle coordinate system CCS by taking the connection midpoint of the first GPS receiving antenna and the second GPS receiving antenna as an origin, the central axis of the vehicle as an X axis and the connection of the first GPS receiving antenna and the second GPS receiving antenna as a Y axisv；
Simultaneously acquiring a first image pair and a second image pair corresponding to each other on the side by utilizing a first binocular camera module and a second binocular camera module; meanwhile, a double-antenna GPS receiver is used for acquiring reference GPS coordinates and reference course angle information;
when the industrial personal computer captures the image of the highway mileage stake number plate, acquiring a reference GPS coordinate (OriB, OriL) and a reference course angle Ha corresponding to the current image, and registering the reference GPS coordinate (OriB, OriL) and the reference course angle Ha to the first image pair and the second image pair;
identifying and extracting the mileage stake number value in the image;
measuring three-dimensional coordinates (x) of milepost number plate center under coordinate system of first binocular camera module and second binocular camera module by using binocular vision0,y0,z0)；
Obtaining highway mileage stake number plate in coordinate system CCSvRelative coordinate of (x) of1,y1)；
Based on reference GPS coordinates (OriB, OriL) and reference heading angle HaAnd obtaining road mileage stake number plate GPS coordinates (B, L), wherein the expression is as follows:
wherein ShortAxis represents the minor-axis length of the WGS84 ellipsoid of the earth, and LongAxis represents the major-axis length of the WGS84 ellipsoid of the earth.
2. The vision-based highway milepost number positioning method according to claim 1, wherein the highway milepost number plate is in a coordinate system CCSvRelative coordinate of (x) of1,y1) The expression is as follows:
when the first image pair detects a road mileage stake number plate, then:
when the second image pair detects the road mileage stake number plate, then:
wherein (Dx)1,Dy1) Coordinates of the first binocular camera module are shown, (Dx)2,Dy2) Representing the coordinates of the second binocular camera module.
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| CN202110812796.0A CN113627273B (en) | 2021-07-19 | 2021-07-19 | Expressway mileage stake mark positioning method based on vision |
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