JP2007218705A5 - - Google Patents
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- JP2007218705A5 JP2007218705A5 JP2006038689A JP2006038689A JP2007218705A5 JP 2007218705 A5 JP2007218705 A5 JP 2007218705A5 JP 2006038689 A JP2006038689 A JP 2006038689A JP 2006038689 A JP2006038689 A JP 2006038689A JP 2007218705 A5 JP2007218705 A5 JP 2007218705A5
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- road surface
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- 238000003384 imaging method Methods 0.000 claims 22
- 230000003287 optical Effects 0.000 claims 17
- 238000001514 detection method Methods 0.000 claims 11
- 238000005259 measurement Methods 0.000 claims 9
- 230000000875 corresponding Effects 0.000 claims 6
- 239000011159 matrix material Substances 0.000 claims 2
- 230000001131 transforming Effects 0.000 claims 2
Claims (7)
路面の複数点に対して距離方位を計測して路面の距離方位データを取得する光走査部とAn optical scanning unit that measures the distance direction for a plurality of points on the road surface and acquires distance direction data of the road surface;
を有した計測台車と、A measuring carriage with
前記撮像部の撮影方向と前記撮像部により取得された路面画像に映っている路面に記された路面標示の路面画像内での二次元座標とに基づいて前記撮像部から前記路面標示への方向を標示方向として求め、前記光走査部の計測地点の三次元座標と前記光走査部により取得された路面の距離方位データとに基づいて路面の複数点それぞれの三次元座標を示す路面モデルを生成し、生成した路面モデルの複数点から前記標示方向の近くに位置する点を前記路面標示の対応点として抽出し、抽出した前記路面標示の対応点に基づいて前記路面標示の三次元座標を算出するThe direction from the imaging unit to the road marking based on the shooting direction of the imaging unit and the two-dimensional coordinates in the road image of the road marking recorded on the road surface reflected in the road surface image acquired by the imaging unit Is generated as a marking direction, and a road surface model indicating three-dimensional coordinates of each of a plurality of points on the road surface is generated based on the three-dimensional coordinates of the measurement point of the optical scanning unit and the distance and orientation data of the road surface acquired by the optical scanning unit. Then, a point located near the marking direction is extracted as a corresponding point of the road marking from a plurality of points of the generated road surface model, and the three-dimensional coordinates of the road marking are calculated based on the corresponding point of the extracted road marking. Do
ことを特徴とする路面標示計測システム。A road marking measurement system characterized by that.
路面の複数点に対して距離方位を計測して路面の距離方位データを取得する光走査部と、
前記撮像部と前記光走査部とを固定する基台と、
前記基台の位置を計測する測位部と、
前記基台の姿勢角を計測する姿勢検出部と
を有した計測台車と、
前記撮像部で取得された路面画像から白線が映っている部分を白線画像として検出する画像処理部と、
前記画像処理部で検出された白線画像と前記姿勢検出部で計測された前記基台の姿勢角と前記測位部で計測された前記基台の位置と前記光走査部で取得された路面の距離方位データとに基づいて白線の輪郭を表す白線モデルを算出する計算機と
を備え、
前記計算機は、
前記姿勢検出部で計測された前記基台の姿勢角に基づいて前記撮像部の撮影方向を求め、前記画像処理部で検出された白線画像に基づいて路面画像上における白線の位置を白線画像位置として求め、求めた撮影方向と白線画像位置とに基づいて前記撮像部から白線への方向を白線方向として求め、前記姿勢検出部で計測された前記基台の姿勢角と前記光走査部で取得された路面の距離方位データとに基づいて路面の形状を点群で表わした路面の形状データを生成し、生成した路面の形状データと求めた白線方向と前記測位部で計測された前記基台の位置とに基づいて路面の形状データの点群から白線方向に位置する点を白線の対応点として抽出し、抽出した白線の対応点から前記白線モデルを算出し、
前記画像処理部は、
前記計測台車と前記計算機との少なくともいずれかに備えられる
ことを特徴とする白線モデル計測システム。 An imaging unit that captures a road surface with white lines and acquires a road surface image ;
An optical scanning unit that measures the distance direction for a plurality of points on the road surface and obtains the distance direction data of the road surface;
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 having a orientation detection unit for measuring the attitude angles of the base,
An image processing unit for detecting a white line image as a white line image from a road surface image acquired by the imaging unit ;
Distance road obtained the detected by the image processing unit was a white line image and the posture detecting the base position angle of which is measured by the unit and by said base position measured by the positioning unit in the optical scanning unit A computer that calculates a white line model representing the outline of the white line based on the orientation data,
The calculator is
Seeking Kagekata direction Ta of the imaging unit based on the attitude angle of the base which is measured by the orientation detection unit, the white line position of the white line on the road image on the basis of the detected white line image by the image processing unit determined as the image position, calculated to determine the direction of the white line as white direction from the imaging unit based on the imaging direction and white line image position, the optical scanning and attitude angle of the base which is measured by the position detection unit based on the distance orientation data of the obtained road surface part to generate the shape data of the road surface representing the shape of the road surface at the point group, measured by the resulting white lines direction obtained shape data of the road the positioning unit wherein based on the base position of the point located in the white line direction from the point cloud of the shape data of the road surface are extracted as corresponding points of the white line, and calculates the white line model from the corresponding point of the extracted white lines,
Wherein the image processing unit,
A white line model measurement system provided in at least one of the measurement carriage and the computer.
路面上の複数点に対して距離方位を計測して路面の距離方位データを取得する光走査部と、
前記撮像部と前記光走査部とを固定する基台と、
前記基台の位置を計測する測位部と、
前記基台の姿勢角を計測する姿勢検出部と
を備えたことを特徴とする計測台車。 An imaging unit that captures a road surface with white lines and acquires a road surface image ;
An optical scanning unit that acquires distance azimuth data of the road distance orientation is measured with respect to a plurality of points on the road surface,
A base for fixing the imaging unit and the optical scanning unit;
A positioning unit for measuring the position of the base;
Measurement bogie, characterized in that a posture detection unit for measuring the attitude angles of the base.
路面上の複数点に対して距離方位を計測して路面の距離方位データを取得する光走査部と、
前記撮像部と前記光走査部とを固定する基台と、
前記基台の位置を計測する測位部と、
前記基台の姿勢角を計測する姿勢検出部と
を有した計測台車で取得されたデータを用いて白線の輪郭を表す白線モデルを算出する白線モデル計測装置であって、
前記撮像部で取得された路面画像から白線が映っている部分を白線画像として検出する画像処理部と、
前記画像処理部で検出された白線画像と前記姿勢検出部で計測された前記基台の姿勢角と前記測位部で計測された前記基台の位置と前記光走査部で取得された路面の距離方位データとに基づいて白線の輪郭を表す白線モデルを算出する計算機と
を備え、
前記計算機は、
前記姿勢検出部で計測された前記基台の姿勢角に基づいて前記撮像部の撮影方向を求め、前記画像処理部で検出された白線画像に基づいて路面画像上における白線の位置を白線画像位置として求め、求めた撮影方向と白線画像位置とに基づいて前記撮像部から白線への方向を白線方向として求め、前記姿勢検出部で計測された前記基台の姿勢角と前記光走査部で取得された路面の距離方位データとに基づいて路面の形状を点群で表わした路面の形状データを生成し、生成した路面の形状データと求めた白線方向と前記測位部で計測された前記基台の位置とに基づいて路面の形状データの点群から白線方向に位置する点を白線の対応点として抽出し、抽出した白線の対応点から前記白線モデルを算出し、
前記画像処理部は、
前記計測台車と前記計算機との少なくともいずれかに備えられる
ことを特徴とする白線モデル計測装置。 An imaging unit that captures a road surface with white lines and acquires a road surface image ;
An optical scanning unit that acquires distance azimuth data of the road distance orientation is measured with respect to a plurality of points on the road surface,
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 measuring device for calculating the white line model representing the outline of the white line using the data acquired by the measuring carriage having a orientation detection unit for measuring the attitude angles of the base,
An image processing unit for detecting a white line image as a white line image from a road surface image acquired by the imaging unit ;
Distance road obtained the detected by the image processing unit was a white line image and the posture detecting the base position angle of which is measured by the unit and by said base position measured by the positioning unit in the optical scanning unit A computer that calculates a white line model representing the outline of the white line based on the orientation data,
The calculator is
Seeking Kagekata direction Ta of the imaging unit based on the attitude angle of the base which is measured by the orientation detection unit, the white line position of the white line on the road image on the basis of the detected white line image by the image processing unit determined as the image position, calculated to determine the direction of the white line as white direction from the imaging unit based on the imaging direction and white line image position, the optical scanning and attitude angle of the base which is measured by the position detection unit based on the distance orientation data of the obtained road surface part to generate the shape data of the road surface representing the shape of the road surface at the point group, measured by the resulting white lines direction obtained shape data of the road the positioning unit wherein based on the base position of the point located in the white line direction from the point cloud of the shape data of the road surface are extracted as corresponding points of the white line, and calculates the white line model from the corresponding point of the extracted white lines,
Wherein the image processing unit,
A white line model measuring apparatus, which is provided in at least one of the measuring carriage and the computer.
前記姿勢検出部で計測された前記基台の姿勢角に基づいて得られる座標変換行列を用いた演算処理により路面の形状データを生成し、前記姿勢検出部で計測された前記基台の姿勢角に基づいて得られる座標変換行列を用いた演算処理により前記撮像部の撮影方向を求めることを特徴とする請求項２記載の白線モデル計測システム。 The calculator is
The posture detected by the arithmetic processing using the coordinate transformation matrix obtained based on the attitude angle of the base measured in the unit generates the shape data of the road, the attitude angle of the base which is measured by the position detection unit white line model measurement system according to claim 2, wherein the determination of the Kagekata direction Ta of the imaging unit by a calculation processing using the coordinate transformation matrix obtained based on.
ことを特徴とする請求項１記載の白線モデル計測システム。 The white line model measurement system according to claim 1, wherein the posture detection unit measures the posture angle of the base using output signals of at least two GPS (Global Positioning System) antennas.
路面上の複数点に対して距離方位を計測して路面の距離方位データを取得する光走査部と、
前記撮像部と前記光走査部とを固定する基台と、
前記基台の位置を計測する測位部と、
前記基台の姿勢角を計測する姿勢検出部と
を有した計測台車と、
前記撮像部で取得された路面画像から白線が映っている部分を白線画像として検出する画像処理部と、
前記画像処理部で検出された白線画像と前記姿勢検出部で計測された前記基台の姿勢角と前記測位部で計測された前記基台の位置と前記光走査部で取得された路面の距離方位データとに基づいて白線の輪郭を表す白線モデルを算出する計算機と
を備え、
前記計算機は、
前記画像処理部で検出された白線画像に基づいて路面画像上における白線の位置を白線画像位置として求め、前記姿勢検出部で計測された前記基台の姿勢角と前記光走査部で取得された路面の距離方位データとに基づいて路面の形状を点群で表わした路面の形状データを生成し、路面画面上における白線の位置と路面の形状データとに基づいて前記白線モデルを算出し、
前記画像処理部は、
前記計測台車と前記計算機との少なくともいずれかに備えられる
ことを特徴とする白線モデル計測システム。 An imaging unit that captures a road surface with white lines and acquires a road surface image ;
An optical scanning unit that acquires distance azimuth data of the road distance orientation is measured with respect to a plurality of points on the road surface,
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 having a orientation detection unit for measuring the attitude angles of the base,
An image processing unit for detecting a white line image as a white line image from a road surface image acquired by the imaging unit ;
Distance road obtained the detected by the image processing unit was a white line image and the posture detecting the base position angle of which is measured by the unit and by said base position measured by the positioning unit in the optical scanning unit A computer that calculates a white line model representing the outline of the white line based on the orientation data,
The calculator is
Based on the white line image detected by the image processing unit, the position of the white line on the road surface image is obtained as the white line image position, and is acquired by the attitude angle of the base measured by the attitude detection unit and the optical scanning unit. based on the road surface in the distance direction data the shape of the road surface to generate the shape data of the road in terms of the point group, calculates the white line model based on the shape data of the position and the road surface of the white line on the road surface screen,
Wherein the image processing unit,
A white line model measurement system provided in at least one of the measurement carriage and the computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006038689A JP4619962B2 (en) | 2006-02-15 | 2006-02-15 | Road marking measurement system, white line model measurement system, and white line model measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006038689A JP4619962B2 (en) | 2006-02-15 | 2006-02-15 | Road marking measurement system, white line model measurement system, and white line model measurement device |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2010223474A Division JP2011059121A (en) | 2010-10-01 | 2010-10-01 | Measurement truck and base |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2007218705A JP2007218705A (en) | 2007-08-30 |
| JP2007218705A5 true JP2007218705A5 (en) | 2008-10-30 |
| JP4619962B2 JP4619962B2 (en) | 2011-01-26 |
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| JP2006038689A Active JP4619962B2 (en) | 2006-02-15 | 2006-02-15 | Road marking measurement system, white line model measurement system, and white line model measurement device |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8558744B2 (en) | 2008-05-15 | 2013-10-15 | Mitsubishi Electric Corporation | Antenna device |
| KR101319471B1 (en) | 2008-08-29 | 2013-10-17 | 미쓰비시덴키 가부시키가이샤 | Bird's-eye image forming device, bird's-eye image forming method, and recording medium |
| DE102009007842A1 (en) * | 2009-02-06 | 2010-08-12 | Adc Automotive Distance Control Systems Gmbh | Method and device for operating a video-based driver assistance system in a vehicle |
| JP6213156B2 (en) * | 2013-10-31 | 2017-10-18 | 三菱電機株式会社 | Road marking coating equipment |
| CN104197851B (en) * | 2014-08-18 | 2017-11-07 | 重庆交通大学 | Vehicle-mounted bridge floor morphosis safety detecting system and method |
| CN105741635A (en) * | 2016-03-01 | 2016-07-06 | 武汉理工大学 | Multifunctional road experiment vehicle platform |
| JP6575431B2 (en) * | 2016-05-16 | 2019-09-18 | 株式会社デンソー | Verification device and verification method |
| WO2018225446A1 (en) | 2017-06-09 | 2018-12-13 | 株式会社デンソー | Map points-of-change detection device |
| CN107764183B (en) * | 2017-11-07 | 2023-07-21 | 浙江大学 | In-situ laser-image fusion measurement system for measuring size of underwater target and measurement method thereof |
| JP6614229B2 (en) * | 2017-12-06 | 2019-12-04 | 株式会社Ｊｖｃケンウッド | Lane recognition device and lane recognition method |
| CN108846328B (en) * | 2018-05-29 | 2020-10-16 | 上海交通大学 | Lane detection method based on geometric regularization constraint |
| CN116379953B (en) * | 2023-05-30 | 2023-09-05 | 武汉中岩科技股份有限公司 | Shooting control method of remote binocular three-dimensional deformation measurement system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1021411A (en) * | 1996-07-05 | 1998-01-23 | Nissan Motor Co Ltd | Traveling course recognizing device |
| JP3619628B2 (en) * | 1996-12-19 | 2005-02-09 | 株式会社日立製作所 | Driving environment recognition device |
| JP2000030198A (en) * | 1998-07-14 | 2000-01-28 | Mitsubishi Motors Corp | Device for recognizing road shape for vehicle |
| JP2974316B1 (en) * | 1998-11-25 | 1999-11-10 | 有限会社 白沙堂 | Method for restoring two-dimensional position information of local coordinates from bird's-eye view photograph, system for restoring the two-dimensional position information, and computer-readable recording medium recording a program of the method |
| JP2001331787A (en) * | 2000-05-19 | 2001-11-30 | Toyota Central Res & Dev Lab Inc | Road shape estimating device |
| JP2002081941A (en) * | 2000-09-11 | 2002-03-22 | Zenrin Co Ltd | System and method of measuring three-dimensional shape of road |
| JP4671317B2 (en) * | 2001-05-02 | 2011-04-13 | 株式会社小松製作所 | Terrain shape measuring device and guidance device |
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