CN1453740A - Method of measuring scene and geometric data of bodies inside the scene via single frame of image - Google Patents
Method of measuring scene and geometric data of bodies inside the scene via single frame of image Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 42
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- 239000000284 extract Substances 0.000 claims description 18
- 230000009466 transformation Effects 0.000 claims description 11
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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Abstract
The measurement of geometric data of scene and bodies in the scene via single frame of image includes the following steps: taking image of the scene and inputting it into computer; extracting the data of point and straight line in reference plane of the scene, parallel lines perpendicular to the plane and the reference distance; finding out the mapping matrix between the reference plane and the image plane; calculating the blanking point in the direction perpendicular to the reference plane and the blanking line of the reference plane; extracting the boundary information of the bodies to be measured in the image, sectional fitting to form the straight line or quadric curve and finding out the coordinate of center point of bodies; and measuring geometric data, including spatial coordinates, distance, angle, area, volume, etc. of scene and bodies in the scene.
Description
Technical field
The present invention relates to area of computer aided measures automatically.
Background technology
In our daily life and many fields, measurement is absolutely necessary, and such as traffic hazard, Crime Scene, buildings, working-yard etc. all need to carry out a large amount of surveying works.Classic method all is to adopt hand dipping, and this method is very consuming time, occurs bigger measuring error easily, and this measurement also produces iniquitous result because of the subjective factor of survey crew easily.
In recent years, along with the development and the application of computer vision, people begin to explore by computer vision methods, measure by image.In these class methods, comparatively being typically by two width of cloth or multiple image utilizes the method for stereoscopic vision to reconstruct the three-dimensional structure of tested scene, but this method relates to the classic problem of computer vision field, i.e. the practical application of coupling between multiple image, thereby very difficult input.Another kind method is the prior information at 4 above reference mark of manual measurement and come computer memory plane and the interplanar projection matrix of picture with this in the scene plane, measure by single image then, the measuring accuracy of this method and reference mark to choose precision, position and quantity directly related, but in actual applications, sometimes the reference mark is difficult to choose, and can't guarantee the measuring accuracy at reference mark.
Summary of the invention
The object of the present invention is to provide a kind of comparatively easy, practical and have a measuring method based on single image than high measurement accuracy and robustness.
For achieving the above object, the method by single image measurement scene and scene geometric data of bodies inside comprises step:
1). take the image of the tested scene of one or more and import computing machine;
2). from image, extract in the scene point in the reference planes or the information of straight line, two end points of parallel lines information vertical and reference distance with reference planes;
3). utilize point in the reference planes that step 2 extracts or straight line information and with the corresponding relation of scene, obtain the mapping relations matrix H of reference planes to the plane of delineation;
4). utilize the point that step 2 extracts or the information of line, at the blanking line that calculates on the image perpendicular to vanishing point on the reference planes direction and reference planes.
5). from image, extract the boundary information of the object of need measuring and its piecewise fitting is in line or quafric curve,, utilize character on the image to obtain the coordinate of this centre of surface point utmost point relation or body surface self for the upper and lower surface of object;
6). utilize the geological information of object in parameter measurement scene that above-mentioned steps obtains and the scene.These information comprise: coordinates of spatial points, distance, included angle of straight line, the distance of putting straight line, planar graph area and object volume etc.
The present invention can carry out following measurement: distance between the coordinate in the scene coordinate system and any 2 a bit arbitrarily in the reference planes; In the space arbitrarily a bit with respect to the distance between the height of reference planes, coordinate in the scene coordinate system and any 2; Point is to the distance of the interior a certain straight line of reference planes; The volume of reference planes and relative regular and symmetrical object with the area of angle, planar graph between any two straight lines and some in the plane that reference planes parallel in the scene is as square body, right cylinder, cone, round platform etc.Simultaneously, can provide the error range of each measurement result according to uncertainty analysis to each step.Measuring method provided by the invention does not need camera parameters is demarcated, and has characteristics such as comparatively easy, practical, that measuring accuracy is high, robustness is good, makes based on the measuring method of vision and moves towards practical.
Description of drawings
Fig. 1 is the process flow diagram of this measuring method;
The measuring principle figure of the coordinate of Fig. 2 reference planes exterior point and height
The measuring principle figure of distance between beeline and dot in Fig. 3 reference planes
Fig. 4 is the measurement scene graph of embodiment.
The embodiment of invention
The inventive method requires to contain in the scene reference planes and two or many parallel lines and reference distance vertical with these reference planes, comprise some known geological informations the reference planes planted agent, information as some points or straight line, these information can be by the window frame in the scene, doorframe, the texture on floor, the acquisitions such as profile of regular object, also can obtain by the template of in scene, placing a known geological information, simultaneously, should have a reference distance in the scene.Taking piece image with ordinary camera or digital camera can measure, and do not need camera parameters is demarcated, if can take multiple image from different perspectives, then can therefrom choose a width of cloth and measure or fully utilize same measured measured value in multiple image preferably so that improve measuring accuracy.
For piece image, this method mainly comprises the extraction and the steps compositions such as calculating, measurement of Image Acquisition, key feature extraction, transformation matrix calculating, blanking line and vanishing point calculating, object features, as shown in Figure 1, specifying that each goes on foot is as follows: obtain image 1.
Take the image of the tested scene of one or more with ordinary camera or digital camera, and image is imported computing machine by scanner or some special purpose interface.2. key feature extracts
From image, extract in the scene point in the reference planes or the information of straight line, the parallel lines information vertical, two end points of reference distance by automatic or man-machine interaction mode with reference planes.If in scene, be placed with template, then from image, extract the known point that comprised in the template or the geological information of straight line.Wherein, can detect the operator extraction marginal information, ask for the straight line parameter with methods such as Hough conversion or least square, maximum likelihood estimations then with edges such as Canny or Robert, Sobel.3. transformation matrix calculates
Utilize point in the 2nd reference planes that extract of step or straight line information and with the corresponding relation of scene, obtain the mapping relations matrix H of reference planes to the plane of delineation, wherein, H is one 3 * 3 matrix.With the example that corresponds to of point, the homogeneous coordinates of establishing the scene mid point are X
i, the corresponding point in the image are m
i, then by m
i=sHX
iCan obtain the mapping relations matrix H.4. blanking line and vanishing point calculate
Utilize the 2nd to go on foot the parallel lines information vertical that extracts, calculate the vanishing point V of image on this direction with reference planes
rUtilize resulting transformation matrix of the 3rd step to calculate the blanking line L of reference planes in the image
v, or directly utilize the 2nd information calculations blanking line that goes on foot in the reference planes that extract.5. the extraction of object features and calculating
Adopt and similar method of the 2nd step, from image, extract the boundary information that needs the object measured and its piecewise fitting is in line or quafric curve by automatic or man-machine interaction method.For the upper and lower surface of object, utilize character on the image to obtain the coordinate of this centre of surface point to utmost point relation or body surface self.6. measure
The present invention can carry out following measurement: distance between the coordinate in the scene coordinate system and any 2 a bit arbitrarily in the reference planes; Arbitrarily a bit with respect to the distance between the height of reference planes, coordinate in the scene coordinate system and any 2, the prerequisite of measurement is that this vertical point in reference planes is known in the space; Angle in the plane that reference planes reach with reference planes parallel in the scene between any two straight lines; Point is to the interior air line distance of reference planes; The area of planar graph and some are the volume etc. of the object of rule and symmetry relatively.Simultaneously, can provide the error range of each measurement result according to uncertainty analysis to each step.Concrete measuring method is as follows:
(1). the coordinate of point and the measurement of distance in the reference planes: for any 1 m on the reference planes image, the mapping relations inverse of a matrix conversion that utilized for the 3rd step obtained just can be obtained the coordinate figure X=H of corresponding point in the scene
-1M, and then can calculate the distance of any point-to-point transmission in the reference planes.
(2). the measurement of the coordinate of reference planes exterior point and height: as shown in Figure 2, L
vAnd V
rBe respectively the 4th and go on foot blanking line and the vanishing point of obtaining; S
0And E
0Two end points, then S for reference distance
0, E
0And V
rThree point on a straight line L
rS
1And E
1For two end points of height to be measured, then by blanking line L
vCan be with a S
1Be mapped to straight line L
rGo up the some H that has equal altitudes with it
1On.Like this, keep the constant character of double ratio can obtain S according to projective transformation
1And E
1Corresponding space length.On the other hand, owing to put E
1In reference planes, its coordinate can be obtained by (1), can obtain a S thus
1Corresponding coordinates of spatial points.
(3). the measurement of distance between two points arbitrarily in the scene: can obtain the distance of any point-to-point transmission in the reference planes and the height of spatial point by (1) and (2), can try to achieve the distance between any 2 in the scene by the simple geometric algebraic operation.
(4). the measurement of angle between any two straight lines in the reference planes: establish two straight lines and blanking line L
vTwo intersection points be P
1, P
2, go on foot image I, the J that the mapping relations matrix H of obtaining can obtain two annulus points, then P by the 3rd
1, P
2With 4 conllinear of I, J, keep the constant character of double ratio can obtain two angles between straight line according to this 4 double ratio and projective transformation.For example: establishing this double ratio is Cr, then angle theta=1n (Cr)/(2*i).Also can this straight line be mapped on the space plane, directly calculate its angle according to the equation of two straight lines by transformation matrix.
(5). the measurement of arbitrary plane graphics area in the plane that reference planes reach with reference planes parallel: for general planar graph, detecting its marginal information on the image and it being mapped on the space plane, obtain the approximate value of its area then by integral method by the mapping relations matrix H; For rectangle and triangle, can directly obtain its length of side and utilize rectangle and triangle area formula reference area by (1); For circle, on image, extract its edge and go out its equation with conic fitting, utilize the utmost point is concerned between quafric curve and blanking line to obtain its centre coordinate, the distance of being calculated between this center and the arbitrary marginal point by (1) is radius, thereby can utilize round area formula to obtain its area.
(6). the measurement of object volume: can measure the floorage and the sectional area of object by (5), can measure the height of object, like this, promptly can obtain the volume of object by simple algebraically or geometric operation by the volume calculation formula by (2).For example:, extract the boundary information of bottom and fit to quafric curve and obtain the coordinate of its central point by the 5th step, thereby so just can calculate floorage and highly obtain volume for cone; For round platform, extract the boundary information of upper and lower surface respectively and fit to quafric curve, calculate the area of upper and lower surface, obtain the coordinate center of its central point, then the distance between two central points is height, thereby can utilize the volume calculation formula to obtain volume.
(7). put the measurement of air line distance in the reference planes: measuring method is asked the distance of the interior some A of reference planes to straight line BC as shown in Figure 3.If BC and blanking line L
vIntersection point be D, L
vOn two annulus points be I, J, at L
vLast calculating and D, I, J double ratio are-1 some E, connect A, E and meet at a H with BC, are the some A that the asked distance to straight line BC by the distance between (1) calculating A, H.If want the distance of 1 S of computer memory to straight line BC, can measure the height that S is ordered by (2) earlier, calculate the distance of the vertical point of S point in reference planes again to straight line BC, then can obtain the distance of S point to straight line BC by simple algebraically or geometric operation.Also can this straight line be mapped on the space plane, calculate the some coordinate in the scene coordinate system, then according to the equation of straight line and the direct calculation level of coordinates of spatial points distance to straight line by (2) by transformation matrix.
Embodiment
Be illustrated in figure 4 as the image of a tested scene, the floor information that we are known in utilizing rim detection and fitting a straight line algorithm to extract to publish picture and perpendicular to the information of the parallel lines on floor, calculate mapping relations matrix, blanking line and vanishing point by least square method, reference distance is the height H of strongbox
0According to the method described in the present invention, with optional 2 points of mouse, just can directly obtain the distance of this point-to-point transmission the scene from image in image, measurement result as shown in Figure 4.Wherein, V is the volume of round iron bucket, as can be seen, and distance D
1And D
2Be to be difficult to measure in realistic space.By the resulting measured value of the inventive method as shown in Figure 4.The actual value of each measured value is as follows among the figure: people's height H
1=171.5cm; The switch board height H
2=170.4cm; Distance D
1=302.7cm; D
2=389.2cm; The diameter of round iron bucket is 24cm, and height is 59.3cm, and volume is V=26826.7cm
3Generally in 4%, this is can reach measuring accuracy fully to require to measuring relative errors of the present invention.
Claims (13)
1. measure the method for scene and scene geometric data of bodies inside by single image for one kind, comprise step:
1) takes the image of the tested scene of one or more and import computing machine;
2) from image, extract in the scene point in the reference planes or the information of straight line, two end points of parallel lines information vertical and reference distance with reference planes;
3) utilize point in the reference planes that step 2 extracts or straight line information and with the corresponding relation of scene, obtain the mapping relations matrix H of reference planes to the plane of delineation.
4) utilize the point that step 2 extracts or the information of line, at the blanking line that calculates on the image perpendicular to vanishing point on the reference planes direction and reference planes.
5) from image, extract the boundary information of the object of need measuring and its piecewise fitting is in line or quafric curve,, utilize character on the image to obtain the coordinate of this centre of surface point utmost point relation or body surface self for the upper and lower surface of object;
6) utilize the geological information of object in parameter measurement scene that above-mentioned steps obtains and the scene, these information comprise: coordinates of spatial points, distance, included angle of straight line, the distance of putting straight line, planar graph area and object volume etc.
2. by the described method of claim 1, it is characterized in that in scene, placing template, to calculate mapping relations matrix, vanishing point and blanking line by single image measurement scene and scene geometric data of bodies inside.
3. measure the method for scene and scene geometric data of bodies inside by claim 1 is described by single image, it is characterized in that utilizing in the scene to be measured reference planes and measure perpendicular to the information of consult straight line.
4. by the described method of measuring scene and scene geometric data of bodies inside by single image of claim 1, it is characterized in that the point of height to be measured is mapped on the straight line at reference distance place, keep the constant character of double ratio can obtain its corresponding spatial altitude according to projective transformation, and in conjunction with its vertical its corresponding volume coordinate that measures of putting in reference planes.
5. by the described method of claim 1, it is characterized in that utilizing the distance of any point-to-point transmission in the reference planes and the height of spatial point, try to achieve the distance between any 2 in the scene by single image measurement scene and scene geometric data of bodies inside.
6. by the described method of measuring scene and scene geometric data of bodies inside by single image of claim 1, it is characterized in that two intersection points and two double ratios that annulus point constituted, keep the constant character of double ratio to calculate angle between two straight lines in conjunction with projective transformation according to two straight lines and blanking line.
7. measure the method for scene and scene geometric data of bodies inside by claim 1 is described by single image, it is characterized in that straight line being mapped on the space plane, directly calculate its angle according to the equation of two straight lines by transformation matrix.
8. by the described method of measuring scene and scene geometric data of bodies inside by single image of claim 1, it is characterized in that for being positioned at reference planes or being parallel to the planar graph on the plane of reference planes, detecting its marginal information on the image and it being mapped on the space plane, obtain the approximate value of its area then by integral method by the mapping relations matrix.
9. measure the method for scene and scene geometric data of bodies inside by claim 1 is described by single image, thus it is characterized in that utilizing with two annulus point double ratios be that-1 method is asked for some the distance of the intersection point calculation level of straight line in the reference planes to straight line.
10. by claim 1 or the 4 described methods of measuring scene and scene geometric data of bodies inside by single image, it is characterized in that straight line being mapped on the space plane, according to the equation of straight line and the direct calculation level of coordinates of spatial points distance to straight line by transformation matrix.
11., it is characterized in that utilizing the utmost point is concerned between quafric curve and blanking line to obtain round centre coordinate by the described method of claim 1 by single image measurement scene and scene geometric data of bodies inside.
12., it is characterized in that utilizing the centre coordinate of justifying pairing image quafric curve to calculate the height of objects such as cylinder, circular cone, round platform by claim 1 or 11 described methods by single image measurement scene and scene geometric data of bodies inside.
13. by claim 4 or 12 described methods, it is characterized in that calculating floorage, sectional area and the height of object, thereby calculate the volume of object by single image measurement scene and scene geometric data of bodies inside.
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Cited By (13)
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| CN100344936C (en) * | 2004-12-25 | 2007-10-24 | 鸿富锦精密工业（深圳）有限公司 | Automated interpretation system and method for geometry elements of image |
| CN101625723B (en) * | 2009-07-02 | 2012-03-28 | 浙江省电力公司 | Rapid image-recognizing method of power line profile |
| CN102565303A (en) * | 2011-12-28 | 2012-07-11 | 中国科学院水利部成都山地灾害与环境研究所 | Fast monitoring method for headward erosion rate of gully head |
| CN102853820A (en) * | 2011-07-01 | 2013-01-02 | 中国钢铁股份有限公司 | Material falling trajectory measurement method for blast furnace |
| CN103177254A (en) * | 2011-12-26 | 2013-06-26 | 鸿富锦精密工业（深圳）有限公司 | System and method for extracting measurement element |
| CN106871764A (en) * | 2017-02-28 | 2017-06-20 | 成都金盘电子科大多媒体技术有限公司 | A kind of space length measuring method based on medical image |
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| CN112950740A (en) * | 2019-12-10 | 2021-06-11 | 中交宇科（北京）空间信息技术有限公司 | Method, device and equipment for generating high-precision map road center line and storage medium |
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| CN100344936C (en) * | 2004-12-25 | 2007-10-24 | 鸿富锦精密工业（深圳）有限公司 | Automated interpretation system and method for geometry elements of image |
| CN101625723B (en) * | 2009-07-02 | 2012-03-28 | 浙江省电力公司 | Rapid image-recognizing method of power line profile |
| CN102853820A (en) * | 2011-07-01 | 2013-01-02 | 中国钢铁股份有限公司 | Material falling trajectory measurement method for blast furnace |
| CN103177254A (en) * | 2011-12-26 | 2013-06-26 | 鸿富锦精密工业（深圳）有限公司 | System and method for extracting measurement element |
| CN102565303A (en) * | 2011-12-28 | 2012-07-11 | 中国科学院水利部成都山地灾害与环境研究所 | Fast monitoring method for headward erosion rate of gully head |
| CN102565303B (en) * | 2011-12-28 | 2014-10-15 | 中国科学院水利部成都山地灾害与环境研究所 | Fast monitoring method for headward erosion rate of gully head |
| CN108351969B (en) * | 2015-10-30 | 2022-07-29 | 联合利华知识产权控股有限公司 | Hair curl measurement |
| CN108351969A (en) * | 2015-10-30 | 2018-07-31 | 荷兰联合利华有限公司 | Hair waving measures |
| CN106871764A (en) * | 2017-02-28 | 2017-06-20 | 成都金盘电子科大多媒体技术有限公司 | A kind of space length measuring method based on medical image |
| CN109945831A (en) * | 2019-03-28 | 2019-06-28 | 东南大学 | A kind of easy building height measurement method and device |
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| CN110070097A (en) * | 2019-04-19 | 2019-07-30 | 戴文跃 | A kind of Drawing Object comparison method |
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| CN110176003A (en) * | 2019-06-06 | 2019-08-27 | 三峡大学 | Method based on double ratio Image measurement technology detection building surface damaged area |
| CN112950740A (en) * | 2019-12-10 | 2021-06-11 | 中交宇科（北京）空间信息技术有限公司 | Method, device and equipment for generating high-precision map road center line and storage medium |
| CN113129363A (en) * | 2019-12-30 | 2021-07-16 | 南京智能创研科技有限公司 | Image distance information extraction method based on characteristic object and perspective transformation |
| CN113781422A (en) * | 2021-09-01 | 2021-12-10 | 廊坊中油朗威工程项目管理有限公司 | Pipeline construction violation identification method based on single image geometric measurement algorithm |
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