JP3462991B2 - In-vehicle antenna detection system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for detecting an antenna by image processing, and more particularly to a method for detecting a vehicle-mounted antenna, a vehicle-mounted antenna detecting apparatus, and a vehicle-mounted antenna detecting system for detecting an antenna mounted on a vehicle by image processing. .

[0002]

2. Description of the Related Art Generally, because of the necessity of road management or the control of speeding vehicles, some highways and main roads have a road management system. Such a road management system is a measurement system that is placed in the travel route of the vehicle and measures the vehicle specifications. Based on the vehicle measurement data from the measurement system, it analyzes whether the measured vehicle is a violating vehicle. At the same time, it is composed of a center system that issues an instruction to stop the violating vehicle. The measurement system includes various measuring devices that are installed on the road and measure various parameters of the vehicle such as vehicle weight and vehicle height of the measured vehicle, and a number reading device that is equipped with an imaging device and captures the license plate of the measured vehicle. And a data transmitter / receiver for transmitting measurement data including license plate information to the center system.

In such a conventional example, when measuring a vehicle, each parameter of the vehicle is measured by a measurement system for a vehicle passing through a vehicle traveling route such as a road, and the measured data is sequentially
It is sent to the center system via the data transmission / reception device. In the center system, the received measurement data is analyzed by a central processing unit such as a host computer, and if it is determined that there is a doubt (violation) in the measurement value, the information display device installed on the road stops. The information to be displayed is displayed and the vehicle under measurement is stopped, or the measurement data and the image data of the license plate are stored and a violation is notified.

[0004]

However, in the above-described conventional road management system, when performing vehicle measurement on the vehicle under measurement while traveling, vehicle number measurement and vehicle height detection are performed while the number is read. Although the measurement accuracy has been improved, it is not possible to take a clear image because the timing of the vehicle entering the imaging area is not correct, or the license plate of the vehicle is dirty and the image cannot be taken correctly, and the vehicle can be identified. There was a problem that there was no.

The present invention solves such a conventional problem, and detects an antenna mounted on a vehicle by image-processing the imaged data so that the antenna can be used for vehicle recognition. And an apparatus, and an in-vehicle antenna detection system using the same.

[0006]

In order to achieve the above-mentioned object, the present invention obtains a stereo image by an image pickup device, processes the stereo image, and detects an antenna mounted on a vehicle. And In this case, the three-dimensional information of the imaging space is measured from the stereo image, and the antenna mounted on the vehicle is detected using this three-dimensional information.
It is also possible to identify the type of the detected antenna from the stereo image.

Further, in the present invention, as a vehicle-mounted antenna detecting system, a stereo image is obtained by an image pickup device, a license plate of the vehicle is also imaged, and the antenna mounted on the vehicle is detected by image processing to detect the antenna. In this case, the gist is that the image of the antenna and the image of the number plate portion are stored or transmitted to the center system.

According to the present invention having the above-mentioned structure, the antenna mounted on the vehicle can be detected by the image processing, and the vehicle can be recognized or specified by the antenna. Further, it is possible to determine the type of antenna, and it is possible to detect only the type of antenna set in advance.

Further, the vehicle-mounted antenna detecting system of the present invention can acquire the "image of the antenna portion" and the "image of the license plate portion" of only the vehicle equipped with the antenna. Further, it is possible to give variations to the detection of the antenna, for example, by acquiring the “image of the antenna section” and the “image of the license plate section” of only the vehicle equipped with the antenna of a preset type.

Further, it is possible to accumulate the result of detecting the antenna mounted on the vehicle by image processing as data together with the image of the license plate portion or to transmit the data to the center.

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

Means for Solving the Problems The invention described in claim 1 of the present invention, as an in-vehicle antenna detection system, and a stereo imaging unit for obtaining a stereoscopic image by the imaging, the three-dimensional information of the imaging space using a stereo image A three-dimensional data measuring unit for measuring, an antenna detecting unit for detecting an antenna mounted on the vehicle using the three-dimensional information, an image capturing unit for capturing an image of the license plate of the vehicle to be measured,
A storage unit that stores the detection result data of the antenna detection unit and the imaged image data of the image capturing unit for imaging the plate unit, and when the antenna is detected by the antenna detection unit, an image of the antenna and an image of the number plate unit Is stored, and by linking and storing the antenna information and the license plate information, it has the effect of improving the vehicle recognition accuracy.

The invention according to claim 2 of the present invention is a vehicle-mounted antenna detection system, wherein stereo imaging means for obtaining a stereo image by imaging and three-dimensional data measurement for measuring three-dimensional information of an imaging space using the stereo image. Means, an antenna detecting means for detecting an antenna mounted on the vehicle using the three-dimensional information, an imaging means for imaging a plate portion for imaging a license plate of a vehicle to be measured, detection result data of the antenna detecting means, and A transmission means for transmitting the imaged image data of the imaging means for imaging the plate part, and when the antenna is detected by the antenna detection means, the image of the antenna and the image of the number plate part are transmitted. , By linking and transmitting the antenna information and license plate information, the vehicle recognition accuracy is improved, That information management has the effect of efficiently performed.

The invention according to claim 3 of the present invention is a claim
In the vehicle-mounted antenna detection system according to 1, the antenna includes an antenna identification unit that identifies the type of antenna detected by the antenna detection unit, and when the antenna is a type of antenna that is preset as a result of identifying the type of antenna, The image of the antenna and the image of the number plate part are stored, and the vehicle recognition accuracy is achieved by linking and storing the antenna information and license plate information that enable recognition or identification with high accuracy of the vehicle. Has the effect of raising.

The invention according to claim 4 of the present invention is
The vehicle-mounted antenna detection system according to 2, further comprising antenna identifying means for identifying the type of antenna detected by the antenna detecting means, and when the antenna is a type of antenna set in advance as a result of identifying the antenna type, The image of the antenna and the image of the number plate part are transmitted, and the vehicle recognition accuracy is achieved by linking and transmitting the antenna information and the license plate information that enable recognition or identification with high accuracy of the vehicle. It also has the effect of increasing the efficiency of information management at the center.

The invention according to claim 5 of the present invention is
The vehicle-mounted antenna detection system according to 1 , further comprising an aerial part imaging device for obtaining a higher-definition image of the aerial, in addition to the stereo imaging device. When detected, a high-definition image of the antenna is captured, and this high-definition image is stored in the storage means together with the image of the antenna and the image of the number plate section. By linking with the image and storing it, it has the effect of increasing the vehicle recognition accuracy.

The invention according to claim 6 of the present invention is
The in-vehicle antenna detection system 2, separately from the stereo imaging unit, further comprising, the aerial portions imaging capturing means antenna unit imaging an imaging means for obtaining a higher-definition image of the antenna, the antenna is the antenna detection means When it is detected, a high-definition image of the antenna is captured, and this high-definition image is transmitted together with the image of the antenna and the image of the number plate section by the transmission means. By transmitting the image linked to the image, the vehicle recognition accuracy can be improved, and the information can be efficiently managed in the center or the like.

The invention according to claim 7 of the present invention is
The vehicle-mounted antenna detection system according to 3 , further comprising an aerial part image pickup means for obtaining a higher-definition image of the aerial line, in addition to the stereo imager, and the aerial part image pickup means for detecting the aerial line by the aerial line identification means. As a result of identifying the type, if the antenna is an antenna of a preset type, a high-definition image of the antenna is captured, and this high-definition image is stored in the storage unit together with the image of the antenna and the image of the number plate part. In addition, the antenna information, license plate information, and the high-definition image, which enable the vehicle to be recognized or specified with high accuracy, are linked and stored to improve the vehicle recognition accuracy.

The invention according to claim 8 of the present invention is
4. The vehicle-mounted antenna detection system according to 4 , further comprising an aerial part imaging device for obtaining a higher-definition image of the aerial, in addition to the stereo imaging device. As a result of identifying the type, when the antenna is an antenna of a preset type, a high-definition image of the antenna is captured, and the high-definition image is transmitted by the transmission means together with the image of the antenna and the image of the number plate part. This is to improve the vehicle recognition accuracy by linking and transmitting the antenna information, license plate information, and high-definition image that enable the vehicle to be recognized or specified with high accuracy, and to manage the information at the center etc. Has an effect that can be performed efficiently.

(Embodiment 1) Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 8. FIG. 1 is a block diagram showing an outline of a circuit configuration of a vehicle-mounted antenna detecting device according to a first embodiment of the present invention. Figure 1
FIG. 3 is a block diagram showing the configuration of the vehicle-mounted antenna detection device according to the first embodiment of the present invention. In FIG. 1, reference numeral 101
Is a first imaging device that images a vehicle to obtain image data of the vehicle, 102 is installed so as to have a predetermined positional relationship with the first imaging device, and cooperates with the first imaging device 101 And a second image pickup device for picking up an image of the vehicle to obtain stereo image data of the vehicle, a stereo image pickup device 103 configured by incorporating the image pickup device 101 and the image pickup device 102,
Reference numeral 104 is an image signal captured and output by the image capturing apparatus 101, 105 is an image signal captured and output by the image capturing apparatus 102, and 106 is a three-dimensional image data that measures three-dimensional image data based on the image signals 104 and 106. Data measuring means, 107
Is the three-dimensional data measured by the three-dimensional data measuring means,
Reference numeral 108 is an antenna detecting means for detecting antenna data from the three-dimensional data 107, 109 is an antenna identifying means for identifying the type of the antenna detected by the antenna detecting means,
Reference numeral 110 is information indicating the position in the image of the antenna detected by the antenna detecting means 108 (vehicle-mounted antenna position information), 1
Reference numeral 11 is a signal representing the antenna detection result detected by the antenna detection means 108 (vehicle-mounted antenna presence / absence determination result signal), 1
Reference numeral 12 is a signal (antenna type identification result signal) indicating an identification result of the antenna identified by the antenna identifying means 109.

Next, the operation of the first embodiment will be described. First, the stereo image pickup device 103 includes at least two sets of image pickup devices (first image pickup device 101 and second image pickup device 102 in FIG. 1) arranged at different positions, and stereo images the space, Two sets of captured image signals 104 and 105 (hereinafter, referred to as stereo image signals) are output. The stereo image signals 104 and 1
05 is input to the three-dimensional data measuring means 106, and the three-dimensional data 107 of space is measured here. The antenna detecting means 108 uses the three-dimensional data 107 measured by the three-dimensional data measuring means 106 to determine whether or not a vehicle-mounted antenna is present in space, that is, in a captured stereo image, and determines whether or not the vehicle-mounted antenna is present. The result 111 is output to the outside.

Further, mainly, the antenna mounted on the vehicle is detected by using the stereo image, and the type of the detected antenna is identified, or the antenna is detected and the type is identified, and the antenna is determined as predetermined. In the case of the type of condition, the antenna detecting means 10 is provided in order to realize a mode in which the antenna detecting data and other data, such as vehicle license plate information, are transmitted to the center or the like.
When it is determined that the vehicle-mounted antenna exists in the space, that is, in the captured stereo image, 8 detects the position of the antenna in the image, and the vehicle-mounted antenna position information 1
It is output to the antenna identification means 109 as 10.

In the antenna detecting means 108, not only the three-dimensional data 107 measured by the three-dimensional data measuring means 106 but also the stereo image signals 104 and 105 are used together to determine the presence or absence of the vehicle-mounted antenna and to mount the vehicle in the image. If the antenna position information is detected, more accurate vehicle-mounted antenna detection can be expected. The antenna identifying unit 109 uses the vehicle-mounted antenna position information 110 detected by the antenna detecting unit 108 to image the antenna from one of the stereo images, for example, the image 105 (right image) in the example of FIG. 1. By cutting out the image area, the feature quantity of the antenna is extracted and collated with the feature dictionary previously extracted from the plurality of antennas, the type of the antenna detected by the antenna detecting means 108 is identified. The type of the identified antenna is output to the outside as an antenna type identification result 112.

The operations of the three-dimensional data measuring means 106, the antenna detecting means 108, and the antenna identifying means 109 will be sequentially described in detail below.

First, the three-dimensional data measuring means 106
As an example of a three-dimensional data measurement method in J.K., Mikichi et al.
Preprint 924, Automotive Engineering Society, pp. 169-1
72 (1192-10) will be described with reference to FIG. FIG. 5 is an explanatory diagram for explaining a method of associating stereo images by the three-dimensional data measuring unit 106 according to the present embodiment. The present invention is not limited to the three-dimensional data measuring method described below.

The three-dimensional data measuring method described here is based on the premise that the stereoscopic image pickup device 103 is arranged such that the image pickup device 101 and the image pickup device 102 are arranged parallel to each other as shown in FIG. FIG. 2 is an explanatory diagram for explaining the configuration of the stereo imaging device for executing the three-dimensional data measuring method in the present embodiment. Further, of the two sets of images (104 and 105) forming the stereo image, the image signal 104 is called a left image (see FIG.
(Corresponding to 501 in FIG. 5) and the image signal 105 is referred to as a right image (corresponding to 501 in FIG. 5).

First, one image, here the image signal 10
5 (right image) is used as a reference image, and as shown by 501 in FIG. 5, a total of m in the horizontal direction (X-axis direction in FIG. 5) and n in the vertical direction (Y-axis direction in FIG. 5) ( m × n) pixels 5
It is divided into a rectangular area 503 composed of 02. As a result, the image 501 (right image) is divided into a total of (M × N) rectangular regions 503, M in the horizontal direction and N in the vertical direction.

Then, for each rectangular area 503 of the image 501 (right image), the other image 504 (left image) is sequentially searched to determine a corresponding area (hereinafter referred to as corresponding area 507). Go. That is, the image 501 (right image)
The region most similar to the image in the rectangular region 503 (highest degree of similarity) is found from the image 504 (left image). Formula (1) is used as a similarity evaluation formula.

[Equation 1] ... (1)

Here, Ri is the luminance value of the i-th pixel in a rectangular area 503 in the image 501 (right image), L
i represents the luminance value of the i-th pixel in the search rectangular area 505 having a size of m × n pixels set in the image 504 (left image). Further, this B is called a similarity evaluation value, and generally, the smaller the value, the higher the similarity.

Here, the X coordinate of the rectangular area 503 is Xr,
Assuming that the Y coordinate is Yr, in the case of a stereo image pickup apparatus arranged in parallel on the left and right, the corresponding region 507 in the image 504 corresponding to the rectangular region 503 has the X coordinate of the corresponding region 507 as Xl,
If the Y coordinate is Yl, it can be geometrically proved that it exists in a region satisfying Yl = Yr ... (2) and Xl ≥ Xr ... (3).
Therefore, the search may be executed only for the region (search range 506 in FIG. 5) that satisfies the expressions (2) and (3).

Specifically, every time the search rectangular area 505 in the image 504 (left image) is moved by one pixel from the position of coordinates (Xr, Yr) in the horizontal direction (X-axis direction), the image 50 is moved.
The operation of obtaining the similarity evaluation value B with respect to the rectangular area 503 in 1 (right image) is performed over the search range 506,
The search rectangular area in the image 504 (left image) when the similarity evaluation value B becomes the minimum in the search range is set to the image 5
Area corresponding to the rectangular area 503 of 01 (corresponding area 50
7), and the corresponding area 50 of the image 504 (left image) is determined.
X coordinate Xl of 7 and rectangular area 5 of image 501 (right image)
The parallax d, which is a kind of three-dimensional data, is obtained from the deviation from the coordinate Xr of No. 03 by the equation (4). d = Xl-Xr (≧ 0) (4)

However, here, for example, the value of the similarity evaluation value Bmin which becomes the minimum in the search range is a preset threshold value T.
If it is larger than H1, it is determined that the reliability of correspondence is low, and the rectangular area 503 is set to “undefined correspondence”. Therefore, in the three-dimensional data measuring means 106, the image 501
It is not possible to obtain the three-dimensional data of the entire rectangular area, and the three-dimensional data cannot be measured for the rectangular area determined to be “corresponding to undefined” as described above.

The correspondence processing itself of the corresponding area 507 in the image 504 corresponding to the rectangular area 503 of the image 501 is sequentially performed for all the rectangular areas 503 of the image 501, and the rectangular areas other than "correspondence undetermined". For 503,
The parallax d described above is calculated.

Then, the three-dimensional data measuring means 106 is
By the above processing, the rectangular area 503 of the image 501
Based on the parallax d (X, Y) obtained for each, the distance K in the optical axis direction from the stereo imager 103 to each region in space (region in space imaged in the rectangular region 503).
(X, Y) [where 1 ≦ X ≦ M and 1 ≦ Y ≦ N] is obtained by the generally known equation (5), and the rectangular area 50
The distance for each 3 (a kind of three-dimensional data like parallax, and parallax and distance correspond to each other on a one-to-one basis) is measured. K (X, Y) = 2af / d (X, Y) (5) However, 2a represents the distance between the imaging device 101 and the imaging device 102, and f represents the focal length of the imaging device optical system.

The three-dimensional data 107 thus measured
Is sent to the antenna detecting means 108 in the subsequent stage. here,
The parallax d (X, Y) and the distance K (X, Y) both represent the three-dimensional data of the imaging space, but for the sake of simplicity, in the following description, the distance K (X , Y).

Next, the antenna detecting means 10 will be described with reference to FIG.
An example of the specific operation of No. 8 will be described. FIG. 3 shows an example of a block diagram for realizing the antenna detecting means 108 incorporated in the antenna detecting apparatus according to the present embodiment.
First, the operation of the road surface estimation means 301 will be described. First, with respect to the three-dimensional data measured from the stereo image (104, 105) imaged by the stereo imaging device 103 at the reference time t0, the three-dimensional data obtained in the rectangular area other than “corresponding indefinite” is used, The three-dimensional position of the road surface existing in the imaged space is estimated by a method such as the least square method. "Correspondence uncertain" among rectangular areas on the road surface
After the three-dimensional data of the rectangular area is obtained by interpolation by the above-described estimation, it is output to the three-dimensional data storage means 303 as the three-dimensional data at the reference time t0. Hereinafter, this three-dimensional data will be referred to as "reference three-dimensional data".

The three-dimensional data measured from the image picked up by the stereo image pickup device 103 at time t (t> t0) after the reference time t0 is directly input to the coordinate conversion means 305.

The coordinate conversion means 305 uses the three-dimensional data at time t and the reference three-dimensional data stored in the three-dimensional data storage means 303 to call the "imaging surface" and the "distance from the imaging surface to the object". 3D data as "road surface"
The height of the object from the road surface "is converted into three-dimensional data.

An example of the operation of the coordinate conversion means 305 will be described with reference to FIG. In FIG. 6, FIG. 6A is a three-dimensional coordinate system (X, Y) that represents the imaging surface (X, Y) of the imaging device 2 and the distance (K) from the imaging surface to each object imaged on the imaging surface. (Y, K) and a road surface (U, V) and a three-dimensional coordinate system (U, V, H) representing the height (H) of the vehicle from the road surface are coordinate relationship diagrams. . In addition, FIG.
6B is a coordinate relationship diagram showing the HV coordinate system in the coordinate relationship diagram shown in FIG.

The height H from the road surface of the object (for example, part of the vehicle) imaged in each rectangular area 503 shown in FIG.
Can be determined as follows. That is, if the three-dimensional data at time t is K (X, Y) and the reference three-dimensional data is K0 (X, Y),

[Equation 2] However, 1 ≤ X ≤ M, 1 ≤ Y ≤ N Hc is the installation height of the stereo imaging device with respect to the road surface.

Further, the position V of the object imaged in this rectangular area can be obtained by the equation (7).

[Equation 3] (7) However, θ is the installation depression angle of the stereo imaging device

Further, the position U of the object imaged in the rectangular area can be obtained by the equation (8) by setting the U axis and the X axis in parallel. U (X, Y) = a × X + b (8) However, a and b are determined by the image pickup device to be used and its installation position.

As described above, by using the equations (6) to (8), the three-dimensional coordinate (X) representing the image pickup surface (X, Y) and the distance K (X, Y) from the image pickup surface to the object is obtained. , Y,
K) is the road surface (U, V) and the height H of the object from the road surface
Can be converted into three-dimensional coordinates (U, V, H). U (X, Y), V for each converted rectangular area 503
(X, Y) and H (X, Y) are antenna area determining means 31.
Sent to 1.

On the other hand, in the antenna candidate area selecting means 307, the three-dimensional data K (X, Y) measured at time t, that is, the distance K (from the stereo image pickup device 103 to the object imaged in each rectangular area is calculated. X, Y) is used to perform the following processing. The processing operation for selecting the candidate region of the antenna will be described with reference to FIG. FIG. 7 is an explanatory diagram for explaining the operation of the antenna detecting means 108 of the vehicle-mounted antenna detecting apparatus according to the first embodiment.
FIG. 3A is a diagram showing an example of an image captured by the stereo imaging device 103. In addition, FIG.
It is a figure which shows the selection rectangular area obtained by performing the selection process of three-dimensional data with respect to the image shown to (A). In this selection process of three-dimensional data, the "corresponding indefinite" rectangular area and K (out of M three-dimensional data K (X, Y) [1≤X≤M] when Y is fixed are stored. X, Y)
S (for example, S = 2) is selected from the data having the smallest value among the three-dimensional data K (X, Y) excluding the “rectangular area of = 0”. The selected rectangular area is referred to as a selected rectangular area 703. This process is performed for all Y [1 ≦ Y ≦ N].
7A, an image like FIG.
A selection rectangular area 703 as shown in (B) is selected.
That is, the vehicle-mounted antenna 7 attached to the front of the vehicle 702
Many rectangular areas near the 01 area are selected. This represents the distance of the three-dimensional data K (X, Y) from the stereo imager to the object imaged in each rectangular area,
The rectangular area portion of the aerial imaged is present at the closest distance from the stereo imager among the M three-dimensional data K (X, Y) [1 ≦ X ≦ M] when Y is fixed. This is because.

Next, the Hough transform means 309 performs the following processing using the selected rectangular area 703 (308 in FIG. 3) selected by the antenna candidate area selection means 307. Hough transform, which is generally known as a straight line detection method, is applied to the selected rectangular area 703 to detect a straight line 704 that approximates the area where the antenna exists, as shown in FIG. 7B.

Further, in the antenna area determining means 311,
The following processing is performed. Step 1: The number of selected rectangular areas 703 existing in the vicinity of the straight line 704 is projected on the axis 705 parallel to the Y axis, and
As shown in (B), the region in the Y-axis direction (Y = Top to Bottom) where the antenna exists is detected. Step 2: Width along line 704 (preset)
, And the antenna rectangular area 706 in the range of (Y = Top to Bottom) is extracted. Step 3: U (X, Y), V (X, Y), H (X, Y) of the selected rectangular area existing in the antenna rectangular area 706.
The following position information about the antenna is calculated using. (1) Height Ht of the tip of the antenna from the road surface: H of the selected rectangular area near Top in the antenna rectangular area 706
The height Ht from the road surface at the tip of the antenna using (X, Y)
Ask for. (2) Height Hb from the road surface at the lower end position of the antenna: Selected rectangular area 70 in the antenna rectangular area 706 near Bottom
Using H (X, Y) of 3, the height Hb from the road surface at the lower end of the antenna is obtained. (3) Length L of antenna: For example, L = Ha-Hb. (4) Position Va in the V-axis direction where the antenna exists: Using V (X, Y) of the selected rectangular area in the antenna rectangular area 706, the position Va in the V-axis direction of the antenna is obtained. Step 4: Since the selected rectangular area in the lower half of the image is likely to be an area in which the vehicle front edge is imaged, the average value of V (X, Y) of the selected rectangular area in the lower half of the image is calculated. Then, the position Vc of the vehicle front edge portion in the V-axis direction is calculated. Step 5: Using the various information calculated in Steps 3 and 4, it is determined whether or not the condition of the antenna to be detected is met. If the condition is met, the vehicle-mounted antenna presence / absence determination result 111 is activated and the condition is not met. If not, make it inactive. Further, when the vehicle-mounted antenna presence / absence determination result 111 is activated under the condition, the position information of the antenna rectangular area 706 at that time is output as the vehicle-mounted antenna position information and 110.

In the explanation step 5 above,
The method of determining the condition without using the image signal 105 has been described, but in step 5, the antenna rectangular area 7
A more reliable condition determination may be performed by also analyzing the information of the image signal 105 in 06. For example, with respect to the image signal 105, a method in which only the inside of the area surrounded by the antenna rectangular area 706 is differentiated in the horizontal direction and then binarized to evaluate the antenna likeness may be considered.

By the method as described above, the antenna detecting means 108 uses the three-dimensional data measuring means 106.
By using the three-dimensional data 107 measured by the three-dimensional data 107 or the three-dimensional data 107 measured by the three-dimensional data measuring means 106 and the image signal 105, whether or not there is an antenna in the image captured at time t. Is determined, and the determination result is output as the vehicle-mounted antenna presence / absence determination result 111. Further, when it is determined that the antenna exists in the image, the position information of the antenna rectangular area 706 indicating the position of the antenna in the image is output as the vehicle-mounted antenna position information 110.

Next, the operation of the antenna identifying means 109 will be described with reference to FIGS. 4 and 8. FIG. 8 is an antenna identifying means 1 of the vehicle-mounted antenna detecting device according to the first embodiment.
It is explanatory drawing for demonstrating the operation | movement of 09. In the operation of the antenna identifying unit 109, first, the vehicle-mounted antenna position information 110 and the image signal 105 detected by the antenna detecting unit 108 are input to the feature extracting unit 401. Then, the feature extraction unit 401 extracts the feature amount of the antenna from the image data in the antenna rectangular area specified by the vehicle-mounted antenna position information 110 in the image signal 105. As the feature amount, the pixel value itself in the antenna rectangular area 706 may be used, the length or the thickness of the antenna may be used, or another feature amount may be used.

Further, the dictionary 404 stores a database of various types of antenna feature amounts. The type identifying unit 403 compares and collates the feature amount 402 extracted by the feature extracting unit 401 with the feature amounts 405 of various types of antennas stored in the dictionary 404, thereby creating a rectangle in the antenna rectangular area 706. Identify the type of antenna being imaged. The identification result is the antenna type identification result 11
It is output as 2.

FIG. 8 is a schematic diagram showing the operation of the antenna identifying means 109. The antenna imaged in the antenna rectangular area 706 and various antennas (803a stored in the dictionary 802) are shown. , 803b, 803c, ...
And) are sequentially compared and collated (801) between the feature amounts, and the type of the antenna imaged in the antenna rectangular area 706 is identified.

(Embodiment 2) FIG. 9 is a block diagram showing the configuration of an in-vehicle antenna detecting system according to Embodiment 2 of the present invention. Explaining the vehicle-mounted antenna detection system shown in the block diagram of FIG. 9, this system includes a vehicle-mounted antenna detection device 901. This vehicle-mounted antenna detection device 901 can be realized, for example, by the same configuration as the vehicle-mounted antenna detection device described in the first embodiment. In the present embodiment, the in-vehicle antenna detecting device 901 includes a plate portion image capturing device 902 as a number reading device for capturing a license plate of a vehicle to be measured, and an in-vehicle antenna detecting device 901.
Transmission device 9 for transmitting the detection result data of the above and the imaged image data of the imaging device 902 for imaging the plate portion to the center or the like
04, and a storage device 905 which stores the detection result data of the vehicle-mounted antenna detection device 901 and the imaged image data of the plate portion imaging device 902. The transmission device 904 is constructed by a public communication line such as the Internet or a digital high-speed line, or a communication system using a dedicated line. The storage device 905 is a magnetic disk device, a magneto-optical disk device, or a DVD (digital
An auxiliary storage device using a high-density storage medium such as a video disk) is used.

The operation of the vehicle-mounted antenna detecting system having such a configuration will be described below. First, the image pickup device 902 for plate portion image pickup picks up an image of the license plate portion of the vehicle on which the antenna is mounted, based on the vehicle-mounted antenna presence / absence determination result 111 or the antenna type identification result 112 from the vehicle-mounted antenna detection device 901. In-vehicle antenna presence / absence determination result 1
When the number 11 is active (the vehicle antenna is present) or the antenna type identification result 112 is an antenna of a preset type, the license plate portion is imaged.
The imaged image 903 of the license plate portion is sent to the transmission device 904 and / or the storage device 905.

The transmission device 904 takes an image of the vehicle-mounted antenna when the vehicle-mounted antenna presence / absence determination result 111 is active (the vehicle-mounted antenna is present), or when the antenna type identification result 112 is an antenna of a preset type. The image signal 105 and / or the image 90 of the license plate portion
3 is transmitted to a centralized monitoring center or the like through a line such as ISDN (906). The storage device 905 captures the image signal 105 of the vehicle-mounted antenna when the vehicle-mounted antenna presence / absence determination result 111 is active (the vehicle-mounted antenna is present) or when the antenna type identification result 112 is an antenna of a preset type. And / or the image 903 of the license plate portion is recorded in a magnetic recording device or the like.

(Embodiment 3) FIG. 10 is a block diagram showing the configuration of a vehicle-mounted antenna detection system according to Embodiment 3 of the present invention. Explaining the vehicle-mounted antenna detection system shown in the block diagram of FIG. 10, this system includes a vehicle-mounted antenna detection apparatus 901 having the same configuration as the vehicle-mounted antenna detection apparatus described in the first embodiment, and the vehicle-mounted antenna detection apparatus 901. In the center, a plate part image pickup device 902 as a number reading device for picking up a license plate of a vehicle to be measured, a detection result data of the vehicle-mounted antenna detection device 901, and image pickup image data of the plate part image pickup device 902 are centered. Embodiment 2 is that a transmission device 904 for transmitting the data to the above, and a storage device 905 that stores the detection result data of the vehicle-mounted antenna detection device 901 and the imaged image data of the imaging device 902 for plate imaging are also provided.
Is the same as. However, in this embodiment, unlike the second embodiment, the imaging device 1001 for imaging an aerial part.
Has been added.

Regarding the imaging device 1001 for imaging the aerial part, the in-vehicle antenna detecting device 901 also has an imaging device for detecting the in-vehicle antenna (for example, the stereo imaging device 103), but the in-vehicle antenna detecting device 901 has a function as a sensor. Therefore, high-speed processing is required, and therefore, a high-definition imaging device cannot be used as the imaging device used for the vehicle-mounted antenna detection device 901 in some cases. Therefore, in order to obtain a higher-definition image of the vehicle-mounted antenna, a new imaging device 1001 for imaging an aerial part is added. The imaging device 1001 for imaging an aerial part includes an in-vehicle aerial presence / absence determination result 1
When 11 is active (the vehicle has an antenna) or when the antenna type identification result 112 is an antenna of a preset type, a high-definition image of the antenna is captured and output to the transmission device 904 and / or the storage device 905 ( 10
02).

[0064]

As described above, the vehicle-mounted antenna detecting method and the vehicle-mounted antenna detecting apparatus of the present invention can detect the antenna mounted on the vehicle by image processing. Also,
The type can also be discriminated, and it is possible to detect only the antenna of a preset type.

Further, the vehicle-mounted antenna detection system of the present invention can acquire the "image of the antenna portion" and the "image of the license plate portion" of only the vehicle equipped with the antenna. In addition, it is possible to acquire the “image of the aerial part” and the “image of the license plate part” only for a vehicle equipped with an aerial line of a preset type.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an in-vehicle antenna detecting device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining a configuration of a stereo imaging device for executing the three-dimensional data measuring method in the first embodiment.

FIG. 3 is a block diagram showing a configuration of antenna detecting means of the vehicle-mounted antenna detecting apparatus according to the first embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of antenna identifying means of the vehicle-mounted antenna detecting apparatus according to the first embodiment of the present invention.

FIG. 5 is an explanatory diagram of a stereo image associating method of the three-dimensional data measuring means 106 of the vehicle-mounted antenna detecting device according to the first embodiment of the present invention.

FIG. 6 is an explanatory diagram for explaining the operation of the antenna detecting means of the vehicle-mounted antenna detecting apparatus according to the first embodiment of the present invention. (A) Imaging plane (X, Y) of the imaging apparatus and imaging from the imaging plane A three-dimensional coordinate system (X, Y, K) representing the distance (K) to each object imaged on the surface, the road surface (U, V), and the height (H) of the vehicle from the road surface. Three-dimensional coordinate system (U,
V, H) is a coordinate relationship diagram showing a positional relationship with (V), (H) in the coordinate relationship diagram shown in FIG.
Coordinate relationship diagram showing V coordinate system

FIG. 7 is an explanatory diagram for explaining the operation of the antenna detecting means of the vehicle-mounted antenna detecting device according to the first embodiment of the present invention, and (A) a diagram showing an example of an image captured by a stereo imaging device (B) ) A diagram showing a selected rectangular area obtained by performing a three-dimensional data selection process on the image shown in FIG.

FIG. 8 is an explanatory diagram for explaining the operation of the antenna identifying means of the vehicle-mounted antenna detecting apparatus according to the first embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of an in-vehicle antenna detection system according to a second embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of an in-vehicle antenna detection system according to a third embodiment of the present invention.

[Explanation of symbols]

101 (First) Imaging Device 102 (second) imaging device 103 stereo imaging device, 104 images (signal) 105 image signal 106 three-dimensional data measuring means 107 three-dimensional data 108 Antenna detection means 109 Antenna identification means 110 In-vehicle antenna position information 111 In-vehicle antenna presence / absence determination result 112 Antenna type identification result, 301 Road surface estimation means 302 Standard 3D data 303 three-dimensional data storage means 304 standard three-dimensional data 305 coordinate conversion means 306 converted data 307 Antenna candidate area selection means 308 Selection rectangle area 309 Hough transforming means 310 Straight line detected by Hough transform means 311 Aerial region determination means 401 Feature extraction means 402 feature quantity extracted by the feature extraction means 403 Type identification means 404 dictionary 405 dictionary saved feature 501 image (right image) 502 pixels 503 rectangular area 504 images (left image) 505 search rectangle area 506 Search range 507 Correspondence area 701 In-vehicle antenna 702 vehicle 703 Selected rectangular area 704 straight line 705 Axis parallel to Y-axis (projection axis) 706 Antenna rectangular area 801 verification 802 dictionary 803 Dictionary component element 901 Vehicle-mounted antenna detection device 902 Imaging device for imaging plate 903 Plate image 904 Transmission device 905 storage device 906 Plate image and antenna image 1001 Aerial line imaging device 1002 Aerial image

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-9-297849 (JP, A) JP-A-6-251284 (JP, A) JP-A-10-187974 (JP, A) JP-A-5- 314389 (JP, A) (58) Fields surveyed (Int.Cl. ⁷ , DB name) G08G 1/017 G08G 1/04 H04N 7/18

Claims (8)

(57) [Claims] 1. Stereo imaging means for obtaining a stereo image by imaging, three-dimensional data measuring means for measuring three-dimensional information of an imaging space by using the stereo image, and antenna mounted on a vehicle using the three-dimensional information. An antenna detecting means for detecting the license plate, an imaging means for imaging the plate part for imaging the license plate of the vehicle to be measured, and a storage means for accumulating the detection result data of the antenna detecting means and the imaging image data of the imaging means for imaging the plate part. An in-vehicle antenna detecting system, comprising: when the antenna is detected by the antenna detecting means, the image of the antenna and the image of the number plate portion are accumulated. 2. Stereo imaging means for obtaining a stereo image by imaging, three-dimensional data measuring means for measuring three-dimensional information of an imaging space using the stereo image, and antenna mounted on a vehicle using the three-dimensional information. An antenna detecting means for detecting the image of the license plate of the vehicle to be measured, a transmitting means for transmitting the detection result data of the antenna detecting means and the image data of the image capturing means for imaging the plate portion. An in-vehicle antenna detection system, comprising: an antenna image and an image of the number plate portion when the antenna is detected by the antenna detecting means. 3. An antenna including an antenna identifying means for identifying the type of the antenna detected by the antenna detecting means, and when the antenna is the antenna of a preset type as a result of identifying the antenna type, an image of the antenna is displayed. vehicle antenna detection system of claim 1, wherein the storing the image of the license plate portion. 4. An antenna line identifying means for identifying the type of the antenna line detected by the antenna line detecting means, and if the antenna line type is the antenna line of a preset type as a result of identifying the type of the antenna line, an image of the antenna line is displayed. The vehicle-mounted antenna detecting system according to claim 2 , wherein the image of the number plate portion is transmitted. 5. In addition to the stereo image pickup means, there is further provided an image pickup means for image pickup of an aerial part for obtaining a higher-definition image of the aerial ray, and the image pickup means for aerial part pickup detects the aerial line by the antenna detector. captures a high definition image of the antenna, vehicle antenna detection system of claim 1, wherein the storing the high-resolution image in the image together with storage means of the image and the license plate portion of the antenna. 6. In addition to the stereo image pickup means, an antenna part image pickup means for obtaining a higher-definition image of the antenna is further provided, wherein the antenna part image pickup means detects the antenna detected by the antenna detector. 3. The vehicle-mounted antenna detecting system according to claim 2, wherein a high-definition image of the antenna is picked up, and the high-definition image is transmitted together with the image of the antenna and the image of the number plate section by the transmitting means. 7. In addition to the stereo image pickup means, an antenna part image pickup means for obtaining a higher-definition image of the antenna is further provided, and the antenna part image pickup means identifies the type of antenna by the antenna identification means. As a result, when the antenna is an antenna of a preset type, a high-definition image of the antenna is captured, and the high-definition image is stored in the storage unit together with the image of the antenna and the image of the number plate section. The vehicle-mounted antenna detection system according to claim 3 . 8. In addition to the stereo image pickup means, there is further provided an image pickup means for picking up an aerial portion for obtaining a higher-definition image of the aerial ray, and the image pickup means for aerial portion imaging identifies the kind of the aerial by the aerial ray identifying means. As a result, when the antenna is an antenna of a preset type, a high-definition image of the antenna is captured, and the high-definition image is transmitted by the transmission means together with the image of the antenna and the image of the number plate part. The vehicle-mounted antenna detection system according to claim 4 .