CN205230344U - Vehicle positioning system based on TOF camera - Google Patents

Vehicle positioning system based on TOF camera Download PDF

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Publication number
CN205230344U
CN205230344U CN201521089863.7U CN201521089863U CN205230344U CN 205230344 U CN205230344 U CN 205230344U CN 201521089863 U CN201521089863 U CN 201521089863U CN 205230344 U CN205230344 U CN 205230344U
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China
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tof
tof camera
vehicle
camera
positioning system
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CN201521089863.7U
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Chinese (zh)
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李娟娟
沈峰
王庆飞
屈志巍
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Beijing Wanji Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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Abstract

The utility model discloses a vehicle positioning system based on TOF camera relates to the intelligent transportation system technology field, the system includes: TOF looks unit for at least two TOF cameras, is used for real -time collection each pixel distance information in the TOF camera coverage area, data acquisition processor, with TOF camera group link for data to the TOF camera are gathered, are handled, the output sense result, the TOF camera about cover whole lane section and cover 1 meter at least scope around, the vehicle profile that obtains through different TOF cameras carries out the complete profile that simply concatenation just obtained the vehicle, can carry on effectual cutting apart the vehicle, overcome shelter from around the vehicle, parallel vehicle occlusion scheduling problem, be adapted to any weather environment, do not receive the influence of conditions such as light. Simultaneously, the overall arrangement mode of this kind of TOF camera for do not overlap between the coverage area of TOF camera, avoided the interference between the camera.

Description

A kind of Vehicle positioning system based on TOF camera
Technical field
The utility model relates to intelligent transportation system technical field, is specifically related to a kind of Vehicle positioning system based on TOF camera.
Background technology
Based in the free streaming system of multilane of DSRC, road side system uses multiple stage RSU (RoadSideUnit, roadside unit) antenna forms continuous print DSRC communication zone at road xsect, so that with sail the OBU (OnBoardUnit in communication zone, vehicle loaded into, board units) carry out radio communication, and then realize various application scenarios.But due to the opening of road traffic, the vehicle partly not installing OBU can be there is and cross the free streaming system section of multilane.OBU vehicle is not installed and by DSRC system identification, cannot can not realizes predetermined management and control, statistics or toll collection applications, but vehicle can by aided positioning system identification.For realizing without label vehicle auditing, needing the information of vehicles by the vehicle position information of aided positioning system acquisition and DSRC system obtain to compare, getting rid of the vehicle not installing OBU.
At present, the aided positioning system that multilane freely flows realizes the localization and tracking of vehicle mainly through video detection mode, but the impact that video detection mode is subject to weather environment, parallel vehicles blocks etc., and positioning precision is lower.Therefore, vehicle location, as the household function in the free streaming system of multilane, urgently needs high, the adaptable system of a kind of accuracy of detection to complete vehicle location function.
TOF is writing a Chinese character in simplified form of Timeofflight, literal translates as the meaning of flight time.So-called time-of-flight method 3D imaging, be that sensor sends modulated near infrared light continuously and meets object back reflection, sensor is launched by compute ray and reflection interval differs from or phase differential, and convert the distance of scenery of being taken, to produce depth information.This technology is substantially similar with 3D laser sensor principle, and only 3D laser sensor is point by point scanning, and TOF camera is then the depth information simultaneously obtaining entire image.
Utility model content
(1) technical matters that will solve
The technical problems to be solved in the utility model is: be adapted to any weather environment, overcomes the problems such as parallel vehicles blocks, fore-aft vehicle blocks, realizes the accurate location to vehicle.
(2) technical scheme
For solving the problems of the technologies described above, the utility model provides a kind of Vehicle positioning system based on TOF camera, described system comprises: TOF phase unit, is at least two TOF cameras, for each pixel range information in TOF camera overlay area described in Real-time Collection; Data collection processor, is connected with described TOF phase unit, for gathering the data of TOF camera, process, and output detections result;
The aperture angle of described TOF camera is at least 10 degree on direction of traffic, covers at least 0.5 meter of scope;
The aperture angle of described TOF camera is at least 40 degree in lane width direction, covers whole track section.
Preferably, the aperture angle of described TOF camera, direction of traffic is at least 10 degree, and lane width direction is at least 40 degree.
Preferably, each 0 ~ 2 meter, the interval, TOF camera overlay area in described TOF phase unit.
Preferably, each TOF camera setting height(from bottom) in described TOF phase unit is at least 4 meters.
Preferably, the data of described TOF collected by camera also comprise half-tone information and (or) the confidence information of each pixel.
In order to the requirement of different vehicle location scopes and precision, and the width in track, track quantity, the TOF camera of different resolution and aperture angle and TOF camera quantity can be selected to meet the demands.
(3) beneficial effect
Vehicle positioning system disclosed in the utility model adopts TOF camera as collector, not by the impact of any weather, environment, can realize round-the-clock vehicle location.The vehicle ' s contour obtained by different TOF camera carries out the integrity profile that simple concatenation just obtains vehicle, effectively can split, overcome before and after vehicle problems such as blocking, parallel vehicles blocks, achieve the accurate location of vehicle vehicle.Meanwhile, the layout type of this kind of TOF camera, makes do not have overlap between the overlay area of TOF camera, avoids the mutual interference between camera.The compact of TOF camera, is convenient to site installation test, greatly reduces system construction complicacy simultaneously.
Accompanying drawing explanation
Fig. 1 is a kind of Vehicle positioning system schematic diagram based on TOF camera of the utility model embodiment 1;
Fig. 2 is a kind of Vehicle positioning system schematic diagram based on TOF camera of the utility model embodiment 2;
Embodiment
Below in conjunction with drawings and Examples, embodiment of the present utility model is described in further detail.Following examples for illustration of the utility model, but are not used for limiting scope of the present utility model.
Embodiment 1
The present embodiment illustrates the utility model for two-way traffic, 3 TOF cameras, camera formal dress modes.But do not limit protection domain of the present utility model.
The utility model discloses a kind of Vehicle positioning system based on TOF camera, with reference to Fig. 1, described system comprises the TOF phase unit TG1 of 3 TOF camera T1, T2, T3 compositions, for gathering the vehicle ' s contour data in overlay area; Data collection processor C1, is connected with described TOF phase unit TG1, for gathering, processing the data of TOF phase unit TG1, output detections result.
The left-hand lane defining direction of traffic in Fig. 1 is 1 track, and right-hand lane is 2 tracks.TOF camera T1, T2, T3 are installed on the position, middle of the portal frame above track, are highly 6 meters.
The aperture angle of TOF camera T1, T2, T3 is identical, and being on direction of traffic is 23 degree, and lane width direction is 68 degree, and each TOF camera covers ground and presents a rectangle.The overlay area of each TOF camera is direction of traffic is 2 meters, and lane width direction is 8 meters.The overlay area of to be the overlay area of region 1, TOF camera T2 be the overlay area of TOF camera T1 region 2, TOF camera T3 is region 3.Be spaced apart 0.5 meter between region 1, region 2, region 3, and there is not alternate covering region in region 1, region 2, region 3, can avoid the interference problem of camera repeat region, can ensure again the simple type that vehicle ' s contour splices.
Vehicle in the process of moving, respectively by region 3, region 2, region 1, by TOF camera T1, T2, T3 Real-time Collection vehicle ' s contour data, by collector C1 through simple splicing, exports vehicle location result, completes the localization and tracking of vehicle.
Embodiment 2
The present embodiment illustrates the utility model for two-way traffic, 3 TOF cameras, camera-side dress modes.But do not limit protection domain of the present utility model.
The utility model discloses a kind of Vehicle positioning system based on TOF camera, with reference to Fig. 2, described system comprises the TOF phase unit TG2 of 3 TOF camera T4, T5, T6 compositions, for gathering the vehicle ' s contour data in overlay area; Data collection processor C2, is connected with described TOF phase unit TG2, for gathering, processing the data of TOF phase unit TG2, output detections result.
The left-hand lane defining direction of traffic in Fig. 2 is 1 track, and right-hand lane is 2 tracks.TOF camera T4, T5, T6 are installed in the vertical rod of trackside, are highly 6 meters.In order to ensure that the overlay area between TOF camera does not have overlap, TOF camera T4 and T6 is installed on the left side in track 1, and TOF camera T5 is installed on the right side in track 2.
The aperture angle of TOF camera T4, T5, T6 is identical, and being on direction of traffic is 23 degree, and lane width direction is 68 degree, each TOF camera cover ground present one trapezoidal.The overlay area of to be the overlay area of region 4, TOF camera T5 be the overlay area of TOF camera T4 region 5, TOF camera T6 is region 6.Be spaced apart 0.2 meter between region 4, region 5, region 6, and there is not alternate covering region in region 4, region 5, region 6.The interference problem of camera repeat region can be avoided, the simple type that vehicle ' s contour splices can be ensured again.
Vehicle in the process of moving, respectively by region 6, region 5, region 4, by TOF camera T4, T5, T6 Real-time Collection vehicle ' s contour data, by collector C2 through simple splicing, exports vehicle location result, completes the localization and tracking of vehicle.
TOF camera in foregoing description contains transmitting element and receiving element, completes the collection of vehicle ' s contour information.
Data acquisition unit in foregoing description is to the collection of data, process, and the operation such as output detections result belongs to known technology in industry.
Above embodiment is only for illustration of the utility model; and be not limitation of the utility model; the those of ordinary skill of relevant technical field; when not departing from spirit and scope of the present utility model; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present utility model, and scope of patent protection of the present utility model should be defined by the claims.

Claims (4)

1. based on a Vehicle positioning system for TOF camera, it is characterized in that, described system comprises: TOF phase unit, is at least two TOF cameras, for each pixel range information in TOF camera overlay area described in Real-time Collection; Data collection processor, is connected with described TOF phase unit, for gathering the data of TOF camera, process, and output detections result;
The aperture angle of described TOF camera is at least 10 degree on direction of traffic, covers at least 0.5 meter of scope;
The aperture angle of described TOF camera is at least 40 degree in lane width direction, covers whole track section.
2. a kind of Vehicle positioning system based on TOF camera as claimed in claim 1, is characterized in that, each 0 ~ 2 meter, the interval, TOF camera overlay area in described TOF phase unit.
3. a kind of Vehicle positioning system based on TOF camera as claimed in claim 1, it is characterized in that, the setting height(from bottom) of each TOF camera in described TOF phase unit is at least 4 meters.
4. a kind of Vehicle positioning system based on TOF camera as claimed in claim 1, it is characterized in that, the data of described TOF collected by camera also comprise half-tone information and/or the confidence information of each pixel.
CN201521089863.7U 2015-12-24 2015-12-24 Vehicle positioning system based on TOF camera Active CN205230344U (en)

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CN201521089863.7U CN205230344U (en) 2015-12-24 2015-12-24 Vehicle positioning system based on TOF camera

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109308718A (en) * 2018-08-09 2019-02-05 上海青识智能科技有限公司 A kind of space personnel positioning apparatus and method based on more depth cameras
CN110111582A (en) * 2019-05-27 2019-08-09 武汉万集信息技术有限公司 Multilane free-flow vehicle detection method and system based on TOF camera

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109308718A (en) * 2018-08-09 2019-02-05 上海青识智能科技有限公司 A kind of space personnel positioning apparatus and method based on more depth cameras
CN110111582A (en) * 2019-05-27 2019-08-09 武汉万集信息技术有限公司 Multilane free-flow vehicle detection method and system based on TOF camera

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