JP2007218705A - White line model measurement system, measuring truck, and white line model measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To acquire a more precise white line position even for a non-flat road. <P>SOLUTION: The position posture of the measuring truck 102 is measured by a gyro 210 and a GPS 220 mounted on the measuring truck 102. A camera 230 outputs photographed image data, and a laser radar 240 calculates orientation and distance data toward a road surface from the camera 230. A road surface shape model generation section 150 generates a road surface shape model, based on the position posture and the orientation and distance data of the laser radar 240. A camera LOS calculation section 140 calculates a depth angle to a white line viewed from the camera 230, based on the position posture of the camera 230 and the recognition result of the white line being recognized on the image. A road surface model corresponding point search section 170 measures the position of the white line, based on the depth angle of the white line and the road surface shape model, and can improve the precision of the measurement result by measuring the position of the white line while considering the shape of the road surface. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to, for example, a white line model measurement system, a measurement carriage, and a white line model measurement device that detect the position of a white line on a road.

In creating a high-precision GIS (Geographical Information System), it is necessary to register not only presence information recognized for road surface symbols and white lines but also high-precision position information (absolute coordinates) in the GIS. Conventionally, for obtaining white line position information, a method of estimating position information of a white line from a stereo view using a plurality of cameras or a camera installation position based on a relationship between a camera parameter and a vehicle has been used.
DorotaA. Grejner-Brzezinska and Charles Toth, "High Accuracy Dynamic Highway Mapping Using a GPS / INS / CCD System with On-The-Fly GPS Ambiguity Resolution", Center for Mapping Department of Civil and Environmental Engineering and Geodetic Science The Ohio State University, Ohio Department of Transportation, District 1, September 2004 H. Gontran, J, Skaloud, P.M. -Y. Gilliron, “A MOBILE MAPPING SYSTEM FOR ROAD DATA CAPTURE VIA A SINGLE CAMERA” [online], [February 14, 2006 search], Internet <URL: http: // top. epfl. ch / personsnes / jsk / Papers / 3dot_hg. pdf G. Manzoni, R.A. G. Rizzo, C.I. Robiglio, “MOVE MAPPING SYSTEMS IN CULTURE HERITAGES SURVEY”, CIPA 2005 XX International Symposium, 26 September-01 Octover, 2005, Torino, Italy

These methods have the following characteristics.
a) White line position detection by stereo vision (1) The white line position can be acquired by two cameras.
(2) In the case of an unbroken white line, it is difficult to automate the search for corresponding points, so it is necessary to manually search for corresponding points.
(3) The effective viewing angle is narrow.
(4) The absolute accuracy is low.
b) White line position estimation based on camera parameters (1) Since the setting distance from the camera to the road is constant, the accuracy is poor.
(2) The accuracy depends on the vehicle shaking.
(3) The accuracy is significantly degraded on uneven roads.
(4) The white line position can be acquired with a single camera.

  An object of the present invention is to acquire a white line position with higher accuracy even on a road that is not flat, for example.

  The white line model measurement system of the present invention includes an imaging unit that captures image data of a road surface, an optical scanning unit that acquires distance and orientation data with respect to the road surface by a laser scanner, and a base that fixes the imaging unit and the optical scanning unit. A measurement unit having a positioning unit that measures the position of the base, a posture detection unit that measures a swinging posture angle of the base, an image processing unit that detects a white line image from image data of the road surface, A white line based on the white line image acquired by the image processing unit, the swinging posture measured by the posture detection unit, the base position obtained by the positioning unit, and the distance data with respect to the road surface acquired by the optical scanning unit. A calculator that calculates a white line model that represents the outline of the image, and the calculator obtains a gaze center direction imaged by the imaging unit based on a swinging posture measured by the attitude detection unit, and was imaged by the imaging unit white line Contour data is extracted, a white line position on the image is obtained based on the extracted contour data, a white line direction with respect to the imaging unit is obtained based on the obtained gaze center direction and a white line position on the image, and the posture detection unit Road surface shape data is generated based on the measured swing posture and the distance and orientation data with respect to the road surface acquired by the optical scanning unit, and the generated road surface shape data, white line direction, and the base unit obtained by the positioning unit are generated. The corresponding point in the white line direction in the road surface shape data is obtained based on the position of the platform, and a white line model representing the outline of the white line is calculated from the obtained corresponding point, and the image processing unit is at least one of the measurement carriage and the computer It is provided with the above.

  According to the present invention, for example, by detecting the position of the white line in consideration of the road shape, it is possible to acquire the white line position with higher accuracy even on an uneven road.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a system configuration of the white line model measurement system 101 and a functional configuration of the white line model measurement apparatus 100 according to the first embodiment.
The white line model measurement system 101 according to the first embodiment includes an odometry device 200, three gyros 210 (positioning unit, posture detection unit, part of a GPS gyro), and three GPS 220 (Global Positioning System) (positioning unit, posture detection). Unit, a part of a GPS gyro), a camera 230 (imaging unit), a laser radar 240 (light scanning unit, laser scanner), and a white line model measuring apparatus 100 (computer).

The odometry apparatus 200, the three gyros 210, the three GPS 220, the camera 230, and the laser radar 240 are mounted on the top plate 103 (base) (see FIGS. 4 and 5) of the measurement carriage 102 (hereinafter referred to as a vehicle). Is done.
The odometry apparatus 200 executes an odometry method and calculates distance data indicating the travel distance of the vehicle.
The three gyros 210 calculate angular velocity data indicating the inclination (pitch angle, roll angle, yaw angle) of the vehicle in three axial directions.
The three GPSs 220 calculate positioning data indicating the travel position (coordinates) of the vehicle.
The gyro 210 and the GPS 220 measure the position and posture of the vehicle by dead reckoning.
The camera 230 takes a picture and outputs image data.
The laser radar 240 calculates azimuth / distance data indicating the distance from the camera 230 position to the road surface for each azimuth.

The white line model measuring apparatus 100 calculates a white line position (absolute coordinates) based on distance data, angular velocity data, positioning data, image data, and azimuth / distance data.
The white line model calculation processing 100 includes a vehicle position / posture (three axes) calculation unit 110, a white line recognition processing unit 120 (image processing unit), a camera position / posture calculation unit 130, a camera LOS calculation unit 140, a road surface shape model generation unit 150, and a laser radar. A position and orientation calculation unit 160 and a road surface model corresponding point search unit 170 are provided.
The vehicle position / orientation (3-axis) calculation unit 110 calculates the position and orientation of the vehicle (vehicle position / orientation) based on the distance data, the angular velocity data, and the positioning data.
The white line recognition processing unit 120 recognizes a white line based on the image data and outputs a recognition result.
The camera position and orientation calculation unit 130 calculates the position and orientation (camera position and orientation) of the camera 230 based on the vehicle position and orientation and the camera mounting offset. The camera mounting offset indicates the amount of deviation of the mounting axis of the camera 230 with respect to the vehicle axis (polar coordinates). The camera mounting offset is a value corresponding to the relationship between the camera 230 and the top plate 103 in FIGS. 4, 5, and 7.
Based on the recognition result and the camera position and orientation, the camera LOS calculation unit 140 calculates an angle (white line expected angle) of the line-of-sight direction (LOS: Line Of Light) from the camera toward the white line.
The laser radar position and orientation calculation unit 160 calculates the position and orientation (laser radar position and orientation) of the laser radar 240 based on the vehicle position and orientation and the laser radar attachment offset. The laser radar mounting offset indicates the amount of deviation of the mounting axis of the laser radar 240 with respect to the vehicle axis (polar coordinates). The laser radar mounting offset is a value corresponding to the relationship between the laser radar 240 and the top plate 103 in FIGS. 4, 5, and 6.
The road surface shape model generation unit 150 generates a road surface shape model (three-dimensional point cloud model) that indicates the shape (curved surface, slope, unevenness, etc.) of an uneven road surface on which the vehicle has traveled based on the azimuth / distance data and the laser radar position and orientation. Generate.
The road surface model corresponding point search unit 170 calculates the absolute coordinates of the white line position based on the white line prospective angle and the road surface shape model. The road surface model corresponding point search unit 170 can calculate the absolute coordinates of the white line position with high accuracy by measuring the white line position in consideration of the curved surface, inclination, unevenness and the like of the road surface.
Distance data, angular velocity data, positioning data, image data, and azimuth / distance data are used as observation data.

FIG. 2 is a diagram illustrating an example of hardware resources of the white line model measurement apparatus 100 according to the first embodiment.
In FIG. 2, the white line model measurement apparatus 100 includes a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, and a processor) that executes a program. The CPU 911 includes a ROM 913, a RAM 914, a communication board 915, a display device 901, a keyboard 902, a mouse 903, an FDD 904 (Flexible Disk Drive), a CDD 905 (compact disc device), a printer device 906, a scanner device 907, via a bus 912. It is connected to a microphone 908, a speaker 909, and a magnetic disk device 920, and controls these hardware devices. Instead of the magnetic disk device 920, a storage device such as an optical disk device or a memory card read / write device may be used.
The RAM 914 is an example of a volatile memory. The storage media of the ROM 913, the FDD 904, the CDD 905, and the magnetic disk device 920 are an example of a nonvolatile memory. These are examples of a storage device, a storage device, or a storage unit.
The communication board 915, the keyboard 902, the scanner device 907, the FDD 904, and the like are examples of an input device, an input device, or an input unit.
The communication board 915, the display device 901, the printer device 906, and the like are examples of output devices, output devices, or output units.

The communication board 915 is wired or wirelessly connected to a communication network such as a LAN (Local Area Network), the Internet, a WAN (Wide Area Network) such as ISDN, and a telephone line.
The magnetic disk device 920 stores an OS 921 (operating system), a window system 922, a program group 923, and a file group 924. The programs in the program group 923 are executed by the CPU 911, the OS 921, and the window system 922.

The program group 923 stores programs for executing functions described as “˜unit” and “˜means” in the description of the embodiment. The program is read and executed by the CPU 911.
In the file group 924, in the description of the embodiment, “determination result”, “calculation result”, “processing result of”, etc. when the functions of “˜part” and “˜means” are executed, etc. Result data, data passed between programs that execute the functions of "~ part" and "~ means", other information, data, signal values, variable values, and parameters are "~ file" and "~ database" It is stored as each item. The “˜file” and “˜database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, and calculated. Used for CPU operations such as calculation, processing, output, printing, and display. Information, data, signal values, variable values, and parameters are stored in the main memory, cache memory, and buffer memory during the CPU operations of extraction, search, reference, comparison, operation, calculation, processing, output, printing, display, and extraction. Temporarily stored.
In addition, arrows in the flowcharts described in the description of the embodiments mainly indicate input / output of data and signals. The data and signal values are the RAM 914 memory, the FDD 904 flexible disk, the CDD 905 compact disk, and the magnetic disk device 920. Recording media such as magnetic discs, other optical discs, mini discs, DVDs (Digital Versatile Disc) and the like. Data and signal values are transmitted online via a bus 912, signal lines, cables, or other transmission media.

  In the description of the embodiments, what is described as “to part” and “to means” may be “to circuit”, “to apparatus”, “to apparatus”, and “to means”. -Step "," -procedure "," -process "may be used. That is, what is described as “˜unit” and “˜means” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware. Firmware and software are stored as programs in a recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD. The program is read by the CPU 911 and executed by the CPU 911. That is, the program causes the computer to function as “˜unit” and “˜means”. Alternatively, the procedure or method of “˜unit” and “˜means” is executed by a computer.

FIG. 3 shows an algorithm flow of white line position detection of the white line model measuring apparatus 100 according to the first embodiment.
The white line model measuring apparatus 100 measures the white line position by the method shown in FIG.

<S101: Vehicle Position / Attitude (3-Axis) Calculation Processing>
First, the vehicle position / orientation (three-axis) calculation unit 110 inputs distance data, angular velocity data, and positioning data to calculate the vehicle position / orientation.
<S102: Camera Position / Attitude Calculation Processing>
Next, the camera position / orientation calculation unit 130 inputs the vehicle position / orientation and the camera mounting offset, and calculates the camera position / orientation.
<S103, S104: White Line Extraction Processing, White Line Recognition Processing>
Further, the white line recognition processing unit 120 inputs image data, extracts a white line from the image data (S103), and calculates the image position of the extracted white line as a recognition result (S104).
<S105: Camera LOS Calculation Processing>
Next, the camera LOS calculation unit 140 inputs the camera position and orientation and the recognition result, and calculates the white line prospective angle.
<S106: Road surface shape model generation process>
Further, the road surface shape model generation unit 150 inputs the azimuth / distance data and the laser radar position and orientation, and calculates a road surface shape model (three-dimensional point cloud model).
At this time, the laser radar position and orientation calculation unit 160 calculates the position and orientation (laser radar position and orientation) of the laser radar 240 based on the vehicle position and orientation and the laser radar attachment offset.
<S107, S108, S109: Projection Conversion Processing, Road Surface Model Corresponding Point Search Processing, Road Surface Model Corresponding Surface Calculation Processing>
Next, the road surface model corresponding point searching unit 170 inputs the road surface shape model, projects the road surface shape model onto the image plane of the camera 230 (S107), and extracts three points indicating the shape of the road surface at the white line position from the road surface model. (S108) The shape of the road surface indicated by the extracted three points is calculated (S109).
<S110: White Line Position Measurement Processing>
Then, the road surface model corresponding point searching unit 170 inputs the white line prospective angle and calculates the absolute coordinates of the white line position with high accuracy corresponding to the shape of the road surface.

Next, the road surface shape model generation process (S106) executed by the road surface shape model generation unit 150 will be described.
The road surface shape model generation unit 150 restores the three-dimensional point cloud model as follows.
In white line recognition, as a preparation stage, a three-dimensional point cloud model of a road shape is restored. Data (azimuth / distance data) obtained from an LRF (laser range finder) is two-dimensional, and it is necessary to restore these three-dimensionally from the installation position angle (laser radar installation offset) of the laser radar 240 and the vehicle position and orientation. is there.
Assuming that the coordinates of the two-dimensional data obtained from the LRF are (x ₀ , y ₀ ), the two-dimensional data is converted into a three-dimensional position (x ₂ , y ₂ , z ₂ ) with respect to the vehicle position by the following equations 1 and ₂ . Converted. The positional relationship between the vehicle position, the LRF, and the white line recognition camera 230 is shown in FIGS. 4, 5, 6, 7, and 8.

z ₀ is the height of the laser scanning surface of the laser radar 240, and is 0 because the reference of the laser radar 240 is set to the scanning surface as shown in FIG.
Next, taking into account the vehicle position and orientation, transformation is performed by Equations 3 and 4 to create a three-dimensional model of the road shape. Here, a point on the three-dimensional model is set to (N _lrf , U _lrf , E _lrf ).

The road point cloud model created based on these is shown in FIG. 9, FIG. 10, and FIG.
For example, in FIG. 10, in the three-dimensional point cloud data (road shoulder), the boundary between the left sidewalk (step shoulder with a step) and the right road can be seen.
Further, in FIG. 11 in which the optical image shown in FIG. 12 is represented by three-dimensional point cloud data, the shape of the slope along the road (road cross-sectional shape) can be seen.

Next, the projection conversion process (S107) executed by the road surface model corresponding point searching unit 170 will be described.
The road surface model corresponding point searching unit 170 projects and converts the three-dimensional point cloud data onto the image plane of the camera.
The position (x _cam , y _cam , z _cam ) of the point cloud data with respect to the camera coordinate system is expressed by the following expressions 5 and 6.

Next, straight lines formed by these points and the camera center (x _cam0 , y _cam0 , z _cam0 ) are expressed by the following formulas 7, 8, 9 and 10.

At this time, since the image virtual plane is the focal length f assuming that the camera 230 is an ideal pinhole camera, the following equation 11 is obtained.
z = f (Formula 11)

The intersection of the image plane and the straight line is a point obtained by projecting the three-dimensional point data onto the camera image.
FIG. 13 shows an image subjected to the projection conversion. As can be seen from the figure, it can be seen that the projection-transformed point and the image are well matched. That is, it can be seen that the step indicated by the projected point matches the step on the road surface indicated by the image.

Next, a road surface model corresponding point search process (S108), a road surface model corresponding surface calculation process (S109), and a white line position measurement process (S110) executed by the road surface model corresponding point search unit 170 will be described.
The road surface model corresponding point search unit 170 has a straight line LOS formed by the position of the recognized white line on the image and the line of sight of the camera and three points (road surface model corresponding points) that include the straight line as shown in FIG. The intersection with the surface to be formed (surface corresponding to the road surface model) is the position of the white line.
3 points (road surface model corresponding points), P1 ( _xp1 , _yp1 , _zp1 ), P1 ( _xp2 , _yp2 , _zp2 ), P3 ( _xp3 , _yp3 , _zp3 ) The equation of the surface (surface corresponding to the road surface model) is expressed by Equation 12 below.

Therefore, the corresponding points (x _cam , y _cam , z _cam ) on the camera image plane of each point data of the road surface model are obtained by Expression 7 and Expression 12.
Here, the point (x _cam , y _cam , z _cam ) and the white line position (U _L , V _L ) are converted into NEU coordinates using Equation 13, Equation 14, and Equation 15 (N _L , _UL , E _L ) is calculated, and P1, P2, and P3 are obtained by selecting the three points closest to (U _L , V _L ).

Here, U_SIZE is the horizontal CCD (Charge Coupled Devices) pixel size of the camera, for example, NTSC (National Television Standards Committee) camera is 640 [pixel], and V_SIZE is the vertical CCD pixel size, similarly, 480 [Pixel] _L , V _L ) is the position of the white line on the image plane, and Pixel_SIZE is the size of a pixel, which is several tens [μm] when a square CCD element is taken as an example.
As described above, the corresponding points P1, P2, and P3 of the road surface model are obtained. Therefore, the intersection of the surface formed by the three points and the LOS of the white line may be obtained.
First, LOS is obtained. The white line position (U _L , V _L ) on the image is obtained by Expression 13, 14 and 15 in the ENU coordinate system (N _L , U _L , E _L ).
Therefore, the (N _L , U _L , E _L ) and the LOS passing through the camera center are expressed by the following Expression 16, Expression 17, Expression 18, and Expression 19.

  Therefore, the position (x, y, z) of the white line may be obtained by calculating the intersection of the above Expression 16, Expression 17, and Expression 18 and Expression 12 consisting of the corresponding points P1, P2, and P3 of the road surface model.

Hereinafter, a measurement example of the white line position using the white line model measurement system 101 and the white line model measurement apparatus 100 described above will be shown.
In order to verify the accuracy of the measurement results obtained by the method described above, the actual position of the white line was measured using a total station (surveying equipment), and the result was compared with the measurement results obtained by the method.
FIG. 15 shows the experimental environment. In the experiment, the vehicle travel location shown in FIG. 15 was traveled by the measurement carriage 102 described above, and data (distance data, angular velocity data, positioning data, image data, azimuth / distance data) was acquired throughout the vehicle travel location. Moreover, the position information of several white lines was acquired using the total station at the white line measurement points. FIG. 16 shows a white line on the road surface used for comparison between the true value measured by the total station and the measurement result obtained by the present method. In FIG. 16, the measurement results were compared for four points a to d indicating the four corners of the white line. The experimental place is a bridge, and the road has a mountain shape as shown in FIG. In such a place, since the conventional method treats the road surface as a plane, it is very difficult to estimate the position of the white line with high accuracy from the camera parameters.
In the experiment, as shown in FIGS. 17, 18, and 19, data was acquired continuously while the vehicle was running (for example, 30 times per second).

FIG. 20 shows the measurement result of the white line by the total station. In FIG. 20, the white line position measured at the total station and the travel position of the measurement carriage 102 (vehicle) are shown. Further, a to d in FIG. 20 indicate the four corners of the white line measured at the total station.
FIG. 21 shows the white line position measurement result by this method. In FIG. 21, a to d indicate a plurality of measurement results at the four corners of the white line, a (average) to d (average) indicate an average value of the measurement results at the four corners of the white line, and vehicle position indicates the travel position of the vehicle. abcd (traditional) indicates the measurement result of the four corners of the white line by the conventional method.
FIG. 22 shows the result of enlarging the parts a and b in FIG. 21, and FIG. 23 shows the result of enlarging the parts c and d in FIG. 22 and 23, True point (total station) indicates the true value of the white line position measured by the total station.

In this test, as shown in FIGS. 21 to 23, white line positions were measured from a plurality of images (a to d), and the average values (a (average) to d (average)) were used as measured values. As a result of comparison with the measurement result of the total station, an offset appears in the traveling direction of the vehicle, but it can be seen that the shape (width, length, inclination) of the white line is solid.
FIG. 24 shows the measured white line width and length. In FIG. 24, “image1” to “image6” indicate values measured based on the respective images, and “average value” indicates a value obtained by averaging the measured values of “image1” to “image6”. The “true value” indicates a value to be compared measured by the total station. As can be seen from the table shown in FIG. 24, the “average value” is “white line width (a-b distance, cd distance)” and length (a-d distance, bc distance). It can be seen that the value is close to "true value" and can be measured with high accuracy.

In addition, as shown in FIGS. 21, 22, and 23, the measurement results obtained by this method show that the white line detection positions tend to be dispersed in the vehicle traveling direction rather than the white line width direction.
The reason why the detection positions of the white lines tend to be dispersed in the traveling direction of the vehicle is considered to be a result of not being completely corrected for the displacement in the pitch angle direction of the vehicle. This tendency is considered to be improved by using, for example, the gyro 210 having high accuracy.

Further, it is more accurate to detect the position of the white line using an image in which the end point of the white line is close to the image center than the result calculated when the end point of the white line is at the end of the image. These are considered to be the result that the influence of the aberration by the lens of the camera 230 is not completely corrected.
This tendency can be improved by, for example, photographing a white line near the center of the camera 230 or using a lens having a small aberration.

  Further, when the traveling speed of the measuring carriage 102 is increased, the distance between the points of the road surface model in the traveling direction increases, and the road surface model on the camera image closest to the white line position in the camera image in the road surface model corresponding point search process (S108). The method of selecting three projection points may deteriorate the accuracy, but can be easily handled by a known method in geometry and statistics. Of course, it can also be solved by increasing the scanning speed of the laser radar 240.

  Also, depending on the experimental environment, the road surface shape may not be obtained due to road congestion, but this problem can be solved by considering the time zone for acquiring the road surface shape.

  In the above measurement results, the relative accuracy (white line shape) was several cm class, and the absolute accuracy (absolute coordinates) was 20 [cm] or less. From the above, the effectiveness of this method was confirmed.

In the first embodiment, the white line model measurement system 101 and the white line model measurement apparatus 100 having the following characteristics have been described.
(1) The LRF point cloud of the route traveled by the measurement carriage 102 is restored based on the position and orientation.
(2) Project the restoration result onto the camera coordinate system.
(3) Three points (road surface model corresponding points) that are close to the position of the white line on the line of sight of the camera 230 are searched, and the intersection of the surface (road surface model corresponding surface) composed of the three points and the LOS is the position of the white line Measure as
(4) When measuring the position of the white line, the position was measured with a plurality of images and the average value was taken.

When the white line model measurement system 101 and the white line model measurement device 100 according to Embodiment 1 described based on FIG. 1 measure the position of the white line without considering the road shape, for example, the configuration shown in FIG. 25 or FIG. .
FIG. 25 shows a configuration when the camera 230 is directed downward (road surface direction), and FIG. 26 shows a configuration when the camera 230 is directed forward (vehicle traveling direction).
25 and FIG. 26, the white line position calculation unit 180 measures the white line position without using the road surface shape model, that is, without considering the road shape.

The white line model measurement system 101 and the white line model measurement apparatus 100 shown in FIG. 1 have the following characteristics with respect to the white line model measurement system 101 and the white line model measurement apparatus 100 shown in FIG.
As a hardware difference, the configuration of FIG. 1 includes a GPS 220, a gyro 210, and a laser radar 240. In the configuration of FIG. 1, the roll angle, pitch angle, and yaw angle can be measured by providing the gyro 210. This has the advantage that the position of the white line can be measured with high accuracy by correcting the vehicle body shaking as compared with the configuration of FIG. In the configuration of FIG. 1, the road surface shape can be acquired by providing the laser radar 240. This has the advantage that the position of the white line can be measured with high accuracy even if the road surface shape is not flat and the inclination of the road surface cannot be correctly measured by the vehicle attitude measurement as compared with the configuration of FIG.

  In the first embodiment, for example, the following white line model measurement system, measurement truck, and white line model measurement device have been described.

  An imaging unit (camera 230) that captures image data of a road surface, an optical scanning unit that acquires distance direction data (azimuth / distance data) with respect to the road surface by a laser scanner (laser radar 240), the imaging unit, and the optical scanning unit A base (top plate 103) for fixing the base, a positioning unit (gyro 210, GPS 220) for measuring the position of the base, and a posture detection unit (gyro 210, GPS 220) for measuring the swinging posture angle of the base. A measurement carriage 102 including: an image processing unit (white line recognition processing unit 120) for detecting a white line image from road surface image data; a white line image (recognition result) acquired by the image processing unit; and the posture detection unit. The contour of the white line (white line) based on the swinging posture (vehicle position and posture) measured in step 1, the base position obtained by the positioning unit, and the distance data with respect to the road surface obtained by the optical scanning unit And a computer (white line model measuring device 100) that calculates white line models (road surface shape models) representing four corners), and the imaging unit captures the computer based on the swinging posture measured by the posture detecting unit. The line-of-sight center direction (LOS) is obtained, the outline data of the white line photographed by the imaging unit is extracted, the position of the white line on the image is obtained based on the extracted outline data, and the obtained line-of-sight center direction and the position of the white line on the image The white line direction with respect to the imaging unit is obtained based on the above, and the road surface shape data (three-dimensional point cloud) is obtained based on the swing posture measured by the posture detection unit and the distance direction data with respect to the road surface obtained by the optical scanning unit. Data), and the corresponding point (road surface) in the white line direction in the road surface shape data based on the generated road surface shape data, the white line direction, and the base position obtained by the positioning unit A white line model representing the outline of the white line from the obtained corresponding point, and the image processing unit is provided in at least one of the measurement carriage and the computer. System 101.

  An imaging unit that captures image data of a road surface, an optical scanning unit that acquires distance and orientation data with respect to the road surface by a laser scanner, a base that fixes the imaging unit and the optical scanning unit, and a position of the base is measured A measuring carriage 102, comprising: a positioning unit that performs measurement; and a posture detection unit that measures a swinging posture angle of the base.

  An imaging unit that captures image data of a road surface, an optical scanning unit that acquires distance and orientation data with respect to the road surface by a laser scanner, a base that fixes the imaging unit and the optical scanning unit, and a position of the base is measured A white line model measuring device that calculates a white line model representing an outline of a white line using data acquired by a measurement carriage having a positioning unit and a posture detection unit that measures a swinging posture angle of the base, An image processing unit that detects a white line image from image data of a road surface, a white line image acquired by the image processing unit, a swinging posture measured by the posture detection unit, a base position obtained by the positioning unit, and the light A calculator that calculates a white line model that represents the outline of the white line based on the distance data with respect to the road surface acquired by the scanning unit, and the calculator includes the swing posture angle measured by the posture detection unit and the optical scanning unit. Acquired The direction of the line of sight captured by the image capturing unit is obtained based on the distance direction data with respect to the road surface, the outline data of the white line captured by the image capturing unit is extracted, and the position of the white line on the image is determined based on the extracted contour data. The white line direction with respect to the imaging unit is obtained based on the obtained line-of-sight center direction and the white line position on the image, and road surface shape data is generated based on the shaking posture measured by the posture detection unit. Based on the road surface shape data, the white line direction, and the base position obtained by the positioning unit, a corresponding point in the white line direction in the road surface shape data is obtained, and a white line model representing the outline of the white line is calculated from the obtained corresponding points. The white line model measuring apparatus, wherein the image processing unit is provided in at least one of the measuring carriage and the computer.

  A coordinate transformation matrix obtained by generating road shape data by calculation processing using a coordinate transformation matrix obtained based on the swing posture measured by the posture detection unit and obtained based on the swing posture measured by the posture detection unit A white line model measurement system characterized in that a line-of-sight center direction photographed by the image pickup unit is obtained by a calculation process using.

  The white line model measurement system, wherein the posture detection unit detects a posture using output signals of at least two GPS antennas.

  An imaging unit that captures image data of a road surface, an optical scanning unit that acquires distance and orientation data with respect to the road surface by a laser scanner, a base that fixes the imaging unit and the optical scanning unit, and a position of the base is measured A positioning carriage, a measurement carriage having a posture detection section for measuring a swinging posture angle of the base, an image processing section for detecting a white line image from road surface image data, and a white line acquired by the image processing section A white line model representing the outline of the white line is calculated based on the image, the swinging posture measured by the posture detection unit, the base position obtained by the positioning unit, and the distance data with respect to the road surface obtained by the optical scanning unit. A calculator, wherein the calculator extracts outline data of a white line photographed by the imaging unit, obtains a position of a white line on the image based on the extracted outline data, and a shaking posture measured by the posture detector in front Generates road surface shape data based on the distance and orientation data for the road surface acquired by the optical scanning unit, calculates a white line model representing the outline of the white line based on the white line position on the screen and the road surface shape data, The white line model measurement system, wherein the image processing unit is provided in at least one of the measurement carriage and the computer.

The top plate 103 of the measurement carriage 102 in the first embodiment may use the body of the measurement carriage 102 or the like.
In addition, the white line model measurement system 101 and the white line model measurement apparatus 100 according to the first embodiment may measure other than white lines. For example, a traffic sign written on the road surface or a yellow line may be used.
Moreover, the white line model measuring apparatus 100 may be mounted on the measuring carriage 102 or may not be mounted. The white line model measuring apparatus 100 may measure the white line position by immediate processing while the measurement carriage 102 is traveling. Moreover, you may measure by post-processing. Immediate processing can reduce the amount of data because observation data such as positioning data is not required after measuring the position of the white line.

2 is a diagram illustrating a system configuration of a white line model measurement system 101 and a functional configuration of a white line model measurement apparatus 100 according to Embodiment 1. FIG. FIG. 3 is a diagram illustrating an example of hardware resources of the white line model measurement apparatus 100 according to the first embodiment. 7 is an algorithm flow of white line position detection of the white line model measuring apparatus 100 according to the first embodiment. FIG. 4 is a positional relationship diagram of the vehicle position, LRF, and white line recognition camera 230 in the first embodiment. FIG. 4 is a positional relationship diagram of the vehicle position, LRF, and white line recognition camera 230 in the first embodiment. FIG. 4 is a positional relationship diagram of the vehicle position, LRF, and white line recognition camera 230 in the first embodiment. FIG. 4 is a positional relationship diagram of the vehicle position, LRF, and white line recognition camera 230 in the first embodiment. FIG. 4 is a positional relationship diagram of the vehicle position, LRF, and white line recognition camera 230 in the first embodiment. FIG. 3 shows a road point cloud model in the first embodiment. FIG. 3 shows a road point cloud model in the first embodiment. FIG. 3 shows a road point cloud model in the first embodiment. The optical image corresponding to FIG. The image which performed projection conversion in Embodiment 1. FIG. The figure which shows the relationship between the position on the image of the white line in Embodiment 1, LOS, and the surface (road surface model corresponding surface) which three points (road surface model corresponding point) make. The experimental environment in Embodiment 1 is shown. FIG. 4 is a diagram illustrating four corners of a white line comparing measurement results in the first embodiment. FIG. 3 is a diagram illustrating a positional relationship between a traveling vehicle and a road surface in the first embodiment. FIG. 3 is a diagram illustrating a positional relationship between a traveling vehicle and a road surface in the first embodiment. FIG. 3 is a diagram illustrating a positional relationship between a traveling vehicle and a road surface in the first embodiment. The figure which shows the measurement result of the white line by a total station. FIG. 6 shows a white line position measurement result in the first embodiment. The a and b partial enlarged view of FIG. The c and d partial enlarged view of FIG. The table | surface which shows the width | variety and length of the white line which were measured in Embodiment 1. FIG. The figure which shows another structure of the white line model measurement system 101 and the white line model measurement apparatus 100. FIG. The figure which shows another structure of the white line model measurement system 101 and the white line model measurement apparatus 100. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 White line model measuring device, 101 White line model measuring system, 102 Measuring cart, 103 Top plate, 110 Vehicle position and orientation (3-axis) calculating part, 120 White line recognition processing part, 130 Camera position and posture calculating part, 140 Camera LOS calculating part, 150 road surface model generation unit, 160 laser radar position and orientation calculation unit, 170 road surface model corresponding point search unit, 180 white line position calculation unit, 200 odometry device, 210 gyro, 220 GPS, 230 camera, 240 laser radar, 901 display device, 902 Keyboard, 903 mouse, 904 FDD, 905 CDD, 906 Printer device, 907 Scanner device, 908 Microphone, 909 Speaker, 911 CPU, 912 bus, 913 ROM, 914 RAM, 915 Communication board, 920 Magnetic Disk device, 921 OS, 922 window system, 923 program group, 924 file group.

Claims (6)

An imaging unit that captures image data of the road surface;
An optical scanning unit for acquiring distance direction data with respect to a road surface by a laser scanner;
A base for fixing the imaging unit and the optical scanning unit;
A positioning unit for measuring the position of the base;
A measurement carriage having an attitude detection unit for measuring the shaking attitude angle of the base;
An image processing unit for detecting a white line image from road surface image data;
A white line based on the white line image acquired by the image processing unit, the swinging posture measured by the posture detection unit, the base position obtained by the positioning unit, and the distance data with respect to the road surface acquired by the optical scanning unit. A computer that calculates a white line model representing the outline of
The calculator is
Based on the shaking posture measured by the posture detection unit, the center direction of the line of sight captured by the imaging unit is obtained, the contour data of the white line captured by the imaging unit is extracted, and the image on the image based on the extracted contour data A white line position is obtained, a white line direction with respect to the imaging unit is obtained based on the obtained line-of-sight center direction and a white line position on the image, and the swing posture measured by the posture detection unit and the road surface obtained by the optical scanning unit are obtained. The road surface shape data is generated based on the distance and azimuth data, and the corresponding points in the white line direction in the road surface shape data based on the generated road surface shape data, the white line direction, and the base position obtained by the positioning unit. And calculate a white line model representing the outline of the white line from the corresponding points obtained,
The white line model measurement system, wherein the image processing unit is provided in at least one of the measurement carriage and the computer. An imaging unit that captures image data of the road surface;
An optical scanning unit for acquiring distance direction data with respect to a road surface by a laser scanner;
A base for fixing the imaging unit and the optical scanning unit;
A positioning unit for measuring the position of the base;
A measuring carriage, comprising: a posture detecting unit that measures a swinging posture angle of the base. An imaging unit that captures image data of the road surface;
An optical scanning unit for acquiring distance direction data with respect to a road surface by a laser scanner;
A base for fixing the imaging unit and the optical scanning unit;
A positioning unit for measuring the position of the base;
A white line model measurement device that calculates a white line model representing a white line outline using data acquired by a measurement carriage having a posture detection unit that measures a swing posture angle of the base,
An image processing unit for detecting a white line image from road surface image data;
A white line based on the white line image acquired by the image processing unit, the swinging posture measured by the posture detection unit, the base position obtained by the positioning unit, and the distance data with respect to the road surface acquired by the optical scanning unit. A computer that calculates a white line model representing the outline of
The calculator is
Based on the shaking posture angle measured by the posture detection unit, the center direction of the line of sight photographed by the imaging unit is obtained, the outline data of the white line photographed by the imaging unit is extracted, and on the image based on the extracted contour data The white line position is obtained, the white line direction with respect to the imaging unit is obtained based on the obtained line-of-sight center direction and the white line position on the image, and the rocking posture measured by the posture detection unit and the road surface obtained by the optical scanning unit The road surface shape data is generated on the basis of the distance and azimuth data, and the correspondence of the white line direction in the road surface shape data based on the generated road surface shape data, the white line direction, and the base position obtained by the positioning unit. Calculate the white line model that represents the outline of the white line from the corresponding points obtained,
The white line model measuring apparatus, wherein the image processing unit is provided in at least one of the measuring carriage and the computer.   A coordinate transformation matrix obtained by generating road shape data by calculation processing using a coordinate transformation matrix obtained based on the swing posture measured by the posture detection unit and obtained based on the swing posture measured by the posture detection unit The white line model measurement system according to claim 1, wherein a line-of-sight center direction taken by the image pickup unit is obtained by a calculation process using a white line. The white line model measurement system according to claim 1, wherein the attitude detection unit detects an attitude using output signals of at least two GPS (Global Positioning System) antennas. An imaging unit that captures image data of the road surface;
An optical scanning unit for acquiring distance direction data with respect to a road surface by a laser scanner;
A base for fixing the imaging unit and the optical scanning unit;
A positioning unit for measuring the position of the base;
A measurement carriage having an attitude detection unit for measuring the shaking attitude angle of the base;
An image processing unit for detecting a white line image from road surface image data;
A white line based on the white line image acquired by the image processing unit, the swinging posture measured by the posture detection unit, the base position obtained by the positioning unit, and the distance data with respect to the road surface acquired by the optical scanning unit. A computer that calculates a white line model representing the outline of
The calculator is
The contour data of the white line photographed by the imaging unit is extracted, the position of the white line on the image is obtained based on the extracted contour data, and the rocking posture measured by the posture detection unit and the road surface acquired by the optical scanning unit The road surface shape data is generated based on the distance and azimuth data, and the white line model representing the outline of the white line is calculated based on the white line position on the screen and the road surface shape data.
The white line model measurement system, wherein the image processing unit is provided in at least one of the measurement carriage and the computer.