CN115103123A - Automatic vehicle-mounted holder camera distribution and control method and system based on lane line identification - Google Patents
Automatic vehicle-mounted holder camera distribution and control method and system based on lane line identification Download PDFInfo
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
Abstract
The invention relates to a vehicle-mounted holder camera automatic distribution control method and system based on lane line identification. And calculating the deviation of the abscissa of the central point of the focusing lane and the abscissa of the central point of the specific frame picture according to the abscissa of the central point of the focusing lane during shooting, so as to obtain the deviation value of the camera in the horizontal direction. And finally, respectively adjusting the deviation of the camera in the vertical direction and the horizontal direction according to the two deviation values, so as to realize automatic correction of the camera. According to the method, the camera can adjust the position of the camera in real time according to the acquired picture under the calculation help of the vehicle-mounted terminal, and the condition that the shooting area of the camera is always focused on the current lane is ensured.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a vehicle-mounted holder camera automatic distribution control method and system based on lane line identification.
Background
The front-end image acquisition equipment of the vehicle-mounted road surface inspection product, namely a vehicle-mounted pan-tilt camera, needs to focus pictures on a road surface lane, but the conventional vehicle-mounted pan-tilt camera can only fix a shooting position or manually adjust the position, so that the collected road surface data is greatly unchanged, especially after an inspection vehicle provided with the vehicle-mounted pan-tilt camera changes lanes, the original pan-tilt camera pictures can be changed, and if the position of the pan-tilt camera is not timely and manually adjusted, the vehicle-mounted pan-tilt camera cannot collect the required road surface lane pictures. Based on this, there is a need for an automatic adjustment method and system for a vehicle-mounted pan/tilt/camera, which can automatically, timely and accurately adjust the position of the vehicle-mounted pan/tilt/camera.
Disclosure of Invention
The invention aims to provide a vehicle-mounted holder camera automatic distribution control method and system based on lane line identification, which can automatically adjust the position of a vehicle-mounted holder camera in real time and enable a camera shooting picture to be always focused on a lane needing attention.
In order to achieve the purpose, the invention provides the following scheme:
a vehicle-mounted holder camera automatic deployment and control method based on lane line identification comprises the following steps:
detecting a lane line in a specific frame picture to obtain a binary image of the lane line in the specific frame picture, wherein the specific frame picture is a picture shot by a camera at a preset time point;
analyzing the binary image of the lane line to obtain a linear equation of each lane line in the binary image;
calculating the coordinate of a lane line vanishing point in the picture shot by the camera according to the linear equation of each lane line, and calculating the deviation between the coordinate of the vanishing point and the longitudinal coordinate of the central point of the specific frame picture to obtain a first deviation value of the camera in the vertical direction;
calculating the abscissa of the central point of a focusing lane according to a linear equation of two lane lines of the focusing lane when a camera shoots, and calculating the deviation between the abscissa of the central point of the focusing lane and the abscissa of the central point of the specific frame picture to obtain a second deviation value of the camera in the horizontal direction, wherein the focusing lane is a lane aligned to a lens when the camera shoots;
and adjusting the angle of the camera in the vertical direction and the angle of the camera in the horizontal direction according to the first deviation value and the second deviation value, and skipping to the step of detecting the lane line in the specific frame picture until the first deviation value and the second deviation value are both zero, and stopping skipping.
The invention also provides a vehicle-mounted holder camera automatic distribution control system based on lane line identification, which comprises:
the binary image acquisition module is used for detecting a lane line in a specific frame image to obtain a binary image of the lane line in the specific frame image, wherein the specific frame image is an image shot by a camera at a preset time point;
the analysis module is used for analyzing the binary image of the lane line to obtain a linear equation of each lane line in the binary image;
the first deviation value calculation module is used for calculating the coordinates of the vanishing points of the lane lines in the picture shot by the camera according to the linear equation of each lane line, calculating the deviation between the coordinates of the vanishing points and the longitudinal coordinate of the central point of the specific frame picture, and obtaining a first deviation value of the camera in the vertical direction;
the second deviation value calculating module is used for calculating the abscissa of the central point of the focusing lane according to the linear equation of two lane lines of the focusing lane when the camera shoots, and calculating the deviation between the abscissa of the central point of the focusing lane and the abscissa of the central point of the specific frame picture to obtain a second deviation value of the camera in the horizontal direction, wherein the focusing lane is a lane aligned with a lens when the camera shoots;
and the adjusting module is used for adjusting the angle of the camera in the vertical direction and the angle of the camera in the horizontal direction according to the first deviation value and the second deviation value, skipping to the step of detecting the lane line in the specific frame picture until the first deviation value and the second deviation value are both zero, and stopping skipping.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a vehicle-mounted holder camera automatic distribution control method and system based on lane line identification. And calculating the abscissa of the central point of the focusing lane according to a linear equation of two lane lines of the focusing lane when the camera shoots, and calculating the deviation of the abscissa of the central point and the abscissa of the central point of the specific frame picture to obtain a second deviation value of the camera in the horizontal direction. And finally, respectively adjusting the deviation of the camera in the vertical direction and the horizontal direction according to the first deviation value and the second deviation value, so as to realize automatic correction of the camera. According to the method, the position of the pan-tilt camera can be adjusted in real time according to the acquired picture under the calculation help of the vehicle-mounted terminal, so that the picture is always focused on a lane needing attention, and the interference of vehicle turning, lane changing or external offset and the like caused by external force of the vehicle-mounted pan-tilt camera is eliminated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of an automatic vehicle-mounted pan-tilt camera deployment method based on lane line identification according to embodiment 1 of the present invention;
fig. 2 is a picture image obtained by converting a lane line in a specific frame picture provided in embodiment 1 of the present invention into a binary image;
fig. 3 is an image obtained by processing a lane line into a straight line, where the straight line is located in the x and y coordinate axes according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of an area surrounded by two lane lines and a vanishing point of a focused lane according to embodiment 1 of the present invention;
fig. 5 is a structural diagram of an automatic vehicle-mounted pan-tilt-camera control system based on lane line identification according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
The invention aims to provide a vehicle-mounted holder camera automatic control method and system based on lane line identification.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
The embodiment provides a vehicle-mounted pan-tilt camera automatic deployment and control method based on lane line identification, please refer to fig. 1, the method includes:
s1, detecting the lane line in the specific frame picture to obtain a binary image of the lane line in the specific frame picture, wherein the specific frame picture is a picture shot by the camera at a preset time point.
Specifically, in this embodiment, the vehicle-mounted terminal may be used to detect the lane line in the specific frame image through a lane line recognition algorithm based on deep learning, so as to obtain a binary image of the lane line in the specific frame image.
The lane line recognition algorithm comprises segmentation, clustering, fitting and other algorithms, and finally outputs a binary image with a white lane line region and a black background, wherein the converted image is shown in fig. 2.
As an optional implementation manner, the method further includes receiving a video shot by a camera, and performing frame cutting on the video according to a preset frequency.
Specifically, the video stream captured by the pan-tilt camera can be set to be 25 frames per second, the video stream is transmitted to the vehicle-mounted terminal, and the vehicle-mounted terminal takes the last frame of 1 second as a specific frame for analysis.
As another optional implementation, before the detecting the lane line in the specific frame picture, the method further includes:
setting a camera shooting angle: the camera shoots a picture, focuses on a lane r (which can be 1, 2, 3, 4 lanes) in the horizontal direction, and the middle point in the vertical direction of the shot picture is consistent with the ordinate of a lane line vanishing point in the picture.
S2, analyzing the binary image of the lane line to obtain a linear equation of each lane line in the binary image.
Optionally, step S2 includes:
and S21, the vehicle-mounted terminal utilizes an image denoising algorithm to denoise the binary image of the lane line to obtain a denoised image.
Specifically, the image denoising algorithm removes noise points according to the size of the connected domain.
And S22, thinning the denoised image by adopting a thinning algorithm to obtain a thinned image.
The thinning algorithm can be Zhang Suen algorithm.
And S23, processing each lane line in the thinned image into a straight line by using a ransac straight line detection algorithm, and acquiring a straight line equation of each lane line.
Wherein the linear equation of the lane line is Y ═ K n X+B n N is the number of lane line, K n And B n To be alreadyKnowing the coefficients, the process presets the coordinate system on the X and Y axes, as shown in fig. 3.
And S3, calculating coordinates of a vanishing point of the lane line in the picture shot by the camera according to a linear equation of each lane line, and calculating the deviation between the coordinates of the vanishing point and the longitudinal coordinate of the central point of the specific frame picture to obtain a first deviation value of the camera in the vertical direction.
The vanishing point is a point where two parallel lines in the real world intersect in the image, and therefore, the 4 originally parallel lane lines in the real world in fig. 3 finally intersect at one point, which is the vanishing point. According to the linear equation Y ═ K corresponding to each lane line in the step S23 n X+B n Calculating the coordinate of the intersection point, and solving the two linear equations in a combined manner to calculate the coordinate (X) of the vanishing point in the graph vp ，Y vp )。
Due to the fact that the shooting angle of the camera is set, the ordinate of the middle point (namely the middle point in fig. 3) of the picture of the vehicle-mounted pan-tilt camera should be consistent with the ordinate of the vanishing point, and if the ordinate of the middle point is inconsistent with the ordinate of the vanishing point, it indicates that the vehicle-mounted pan-tilt camera has a position deviation in the vertical direction. Longitudinal coordinate Y of camera picture center point C It can be calculated (for example, assuming 1920 x 1080 image, the coordinate of the center point in the image is (960, 540), i.e. the ordinate Y of the center point C Is 540). Finally, calculating to obtain the vertical direction deviation E of the vehicle-mounted holder camera through a formula v ＝|Y vp -Y c |。
S4, calculating the abscissa of the central point of the focusing lane according to the linear equation of two lane lines of the focusing lane when the camera shoots, and calculating the deviation between the abscissa of the central point of the focusing lane and the abscissa of the central point of the specific frame picture to obtain a second deviation value of the camera in the horizontal direction, wherein the focusing lane is a lane aligned to a lens when the camera shoots.
When shooting is carried out by using the camera, the focusing lane of the shooting picture of the camera is preset as the lane r, counting is carried out from the left side in the figure according to the detection condition of the lane line in the figure 3, the area wrapped by the 1 st lane line to the 2 nd lane line is the 1 st lane, the area wrapped by the 2 nd lane line to the 3 rd lane line is the 2 nd lane, and the steps are similar in sequenceIt is assumed that the area surrounded by the two lane lines and the vanishing point adjacent to the preset focusing lane (assuming that the preset lane r is 3 here) is shown as a shaded area in fig. 4, and the abscissa X of the center point of the shaded area is r Can be obtained by calculation according to the following steps:
equation of straight line on two sides of shadow region is Y ═ K r X+B r And Y ═ K r+1 X+B r+1 The abscissa X of the intersection of the straight line r and the image abscissa lr ＝-B r /K r Ordinate Y lr The X axis X is obtained by the same method as the X axis X at the intersection of the line r +1 lr+1 ＝-B r+1 /K r+1 Ordinate Y lr+1 When the center point of the shadow area is equal to 0, the abscissa X of the center point of the shadow area is finally calculated r ＝(X lr +X lr+1 )/2＝-(B r /K r +B r+1 /K r+1 )/2。
The lane where the center point of the shadow area is located is a lane where the vehicle-mounted pan-tilt camera needs to focus and pay attention to, the image center point is the current focusing position of the vehicle-mounted pan-tilt camera, so that the deviation of the center point of the shadow area and the image center point on the X axis is the deviation of the vehicle-mounted pan-tilt camera in the horizontal direction and is the position needing to be adjusted in the horizontal direction, and finally the deviation E of the vehicle-mounted pan-tilt camera in the horizontal direction can be calculated through a formula h ＝|X vp -X r |。
S5, adjusting the angle of the camera in the vertical direction and the angle of the camera in the horizontal direction according to the first deviation value and the second deviation value, and jumping to the step of detecting the lane line in the specific frame picture until the first deviation value and the second deviation value are both zero, and stopping jumping.
The vertical direction deviation E output to the above steps S3 and S4 v And deviation from horizontal E h Judging, if the two values are both 0, the current shooting angle of the vehicle-mounted holder camera does not need to be changed, and the vehicle-mounted terminal does not need to send a control signal; if the two values are not 0, the formula A is used v ＝K v *E v And A h ＝K h *E h Calculating the angle of the vehicle-mounted holder camera in the vertical direction and the horizontal directionAngle of (a), wherein K v And K h If the specific coefficient is known, the process returns to step S3 to repeat the above steps until both values are 0.
The scheme provided by the embodiment is mainly used for vehicle-mounted road surface inspection products, the front-end image acquisition equipment of the products, namely the vehicle-mounted pan-tilt camera, needs to focus the images on the road surface lane, and after the technical method is realized, the vehicle-mounted pan-tilt camera can adjust the position of the pan-tilt camera in real time according to the acquired images under the calculation help of the vehicle-mounted terminal, so that the images are always focused on the lane needing attention, and the interference of the vehicle turning, lane changing or position deviation and other conditions caused by external force on the vehicle-mounted pan-tilt camera is eliminated.
Example 2
The present embodiment provides a vehicle-mounted pan-tilt camera automatic deployment and control system based on lane line identification, please refer to fig. 5, including:
a binary image acquisition module M1, configured to detect a lane line in a specific frame picture, to obtain a binary image of the lane line in the specific frame picture, where the specific frame picture is a picture taken by a camera at a preset time point;
the analysis module M2 is configured to analyze the binary image of the lane line to obtain a linear equation of each lane line in the binary image;
a first deviation value calculating module M3, configured to calculate coordinates of a vanishing point of a lane line in a picture captured by the camera according to a linear equation of each lane line, and calculate a deviation between the coordinates of the vanishing point and a longitudinal coordinate of a center point of the specific frame picture, so as to obtain a first deviation value of the camera in a vertical direction;
a second deviation value calculating module M4, configured to calculate an abscissa of a center point of a focused lane according to a linear equation of two lane lines of the focused lane when the camera shoots, and calculate a deviation between the abscissa of the center point of the focused lane and the abscissa of the center point of the specific frame picture, so as to obtain a second deviation value of the camera in the horizontal direction, where the focused lane is a lane aligned with a lens when the camera shoots;
and an adjusting module M5, configured to adjust the vertical angle and the horizontal angle of the camera according to the first deviation value and the second deviation value, and jump to the step "detect a lane line in a specific frame image", until the first deviation value and the second deviation value are both zero, and stop jumping.
For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A vehicle-mounted holder camera automatic deployment and control method based on lane line identification is characterized by comprising the following steps:
detecting a lane line in a specific frame picture to obtain a binary image of the lane line in the specific frame picture, wherein the specific frame picture is a picture shot by a camera at a preset time point;
analyzing the binary image of the lane line to obtain a linear equation of each lane line in the binary image;
calculating the coordinate of a lane line vanishing point in the picture shot by the camera according to the linear equation of each lane line, and calculating the deviation between the coordinate of the vanishing point and the longitudinal coordinate of the central point of the specific frame picture to obtain a first deviation value of the camera in the vertical direction;
calculating the abscissa of the central point of a focusing lane according to a linear equation of two lane lines of the focusing lane when a camera shoots, and calculating the deviation between the abscissa of the central point of the focusing lane and the abscissa of the central point of the specific frame picture to obtain a second deviation value of the camera in the horizontal direction, wherein the focusing lane is a lane aligned to a lens when the camera shoots;
and adjusting the angle of the camera in the vertical direction and the angle of the camera in the horizontal direction according to the first deviation value and the second deviation value, and skipping to the step of detecting the lane line in the specific frame picture until the first deviation value and the second deviation value are both zero, and stopping skipping.
2. The method of claim 1, further comprising receiving a video captured by a camera and framing the video at a preset frequency.
3. The method according to claim 1, wherein before the detecting the lane line in the specific frame picture, the method further comprises:
setting a camera shooting angle: the camera shoots a picture and focuses on the lane r in the horizontal direction, and the middle point of the shooting picture in the vertical direction is consistent with the vertical coordinate of the vanishing point of the lane line in the picture.
4. The method according to claim 1, wherein the detecting the lane line in the specific frame picture to obtain a binary image of the lane line in the specific frame picture specifically comprises:
and detecting the lane lines in the specific frame picture based on a lane line recognition algorithm of deep learning to obtain a binary image of the lane lines in the specific frame picture.
5. The method according to claim 1, wherein the analyzing the binary image of the lane lines to obtain a straight-line equation of each lane line in the binary image specifically comprises:
removing dryness of the binary image of the lane line by using an image denoising algorithm to obtain a dried image;
thinning the denoised image by adopting a thinning algorithm to obtain a thinned image;
and processing each lane line in the thinned image into a straight line by using a ransac straight line detection algorithm, and acquiring a straight line equation of each lane line.
6. The method according to claim 1, wherein the calculating the abscissa of the center point of the focused lane according to the linear equation corresponding to the two lane lines of the focused lane specifically comprises:
calculating a first abscissa of coordinates of an intersection point of one of the lane lines and the x axis according to a linear equation of the one of the lane lines of the focused lane;
calculating a second abscissa of the coordinate of the intersection point of the other lane line and the x axis according to a linear equation of the other lane line of the focused lane;
and calculating the average value of the first abscissa and the second abscissa to obtain the abscissa of the central point of the focusing lane.
7. The utility model provides an automatic control system that deploys of on-vehicle cloud platform camera based on lane line discernment which characterized in that includes:
the binary image acquisition module is used for detecting a lane line in a specific frame image to obtain a binary image of the lane line in the specific frame image, wherein the specific frame image is an image shot by a camera at a preset time point;
the analysis module is used for analyzing the binary image of the lane line to obtain a linear equation of each lane line in the binary image;
the first deviation value calculation module is used for calculating the coordinates of the vanishing points of the lane lines in the picture shot by the camera according to the linear equation of each lane line, calculating the deviation between the coordinates of the vanishing points and the longitudinal coordinate of the central point of the specific frame picture, and obtaining a first deviation value of the camera in the vertical direction;
the second deviation value calculation module is used for calculating the abscissa of the central point of the focusing lane according to a straight line equation of two lane lines of the focusing lane when the camera shoots, calculating the deviation between the abscissa of the central point of the focusing lane and the abscissa of the central point of the specific frame picture, and obtaining a second deviation value of the camera in the horizontal direction, wherein the focusing lane is a lane aligned to a lens when the camera shoots;
and the adjusting module is used for adjusting the angle of the camera in the vertical direction and the angle of the camera in the horizontal direction according to the first deviation value and the second deviation value, and skipping to the step of detecting the lane line in the specific frame picture until the first deviation value and the second deviation value are both zero, and stopping skipping.
8. The system of claim 7, further comprising:
and the frame cutting module is used for receiving the video shot by the camera and cutting the frame of the video according to the preset frequency.
9. The system of claim 7, further comprising: a camera shooting angle setting module, configured to set a camera shooting angle before the detection of the lane line in the specific frame image: the camera shoots the picture and focuses on the lane in the horizontal direction, and the middle point of the shot picture in the vertical direction is consistent with the vertical coordinate of the vanishing point of the lane line in the picture.
10. The system of claim 7, wherein the binary image acquisition module comprises:
and the binary image acquisition sub-module is used for detecting the lane lines in the specific frame picture based on a lane line recognition algorithm of deep learning to obtain a binary image of the lane lines in the specific frame picture.
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