KR101843990B1 - Modulating method of motion blur and measuring method of vehicle velocity vector using the same - Google Patents

Abstract

The present invention relates to a novel sensor system which can measure information on the relative speed between a vehicle and the ground, and relates to a method for modulating motion blur and a method for measuring speed information of a vehicle by using the same which can modulate motion blur which can be obtained by a camera, can measure the speed of the vehicle by using information on the modulated motion blur, and can estimate information on the speed, thereby measuring the speed information of the vehicle with a low-cost small system while having increased accuracy in measured speed information, and not only controlling dynamics of the vehicle by being less sensitive to an environmental change since an exposure time is unaffected, and having a small size system, a small amount of calculation, and high accuracy, but also applying to various fields of estimating an accurate position of the vehicle, self-driving, etc.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motion blur modulation method,

The present invention relates to a method of modulating a motion blur obtainable through a camera and a method of measuring a velocity of the vehicle using the modulated motion blur information and estimating velocity information.

In order to control the vehicle safely, it is very important for the driver or the operation control device to estimate the speed information of the vehicle and the force information generated in the tire. Conventionally, in order to obtain the vehicle speed vector information, And a vehicle dynamics model using inertial measurement unit (IMU) information for measuring acceleration, or fusing it with a global positioning system (GPS).

However, the uncertainty of the speed information may increase due to the uncertainty of the model, the delay of the GPS signal, and the drift of the IMU information, which may cause a large error in estimating the force acting on the tire. Also, the laser measurement method is accurate, but the price is high and the size is so large that it can not be mounted on a commercial vehicle.

 Therefore, it is necessary to develop a technology that can measure the speed information of the vehicle with a high accuracy of the measured speed information and a low cost and small size.

KR 10-1610502 B1 (2014.04.01.)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a method and apparatus for modulating a motion blur obtained through a camera and measuring the speed of the vehicle using the modulated motion blur information, The present invention also provides a method for measuring a vehicle speed using the method and a motion blur modulation method capable of measuring the speed information of the vehicle at a low cost with a high accuracy of the measured speed information.

According to an aspect of the present invention, there is provided a method for modulating motion blur, comprising the steps of: photographing a ground surface with a camera installed in the vehicle when the vehicle is traveling, generating motion blur in a photographed image recorded in the image sensor of the camera During the traveling of the vehicle, any one of the image sensor of the camera, the lens of the camera, and the camera may be moved in a specific pattern so that a motion blur modulated in a tilted manner with respect to the moving direction of the vehicle may be generated.

In addition, any one of the image sensor, camera lens, and camera of the camera may be moved in a specific pattern, and may be moved in a direction inclined by a specific angle with respect to the longitudinal direction connecting the front and rear of the vehicle.

In addition, any one of the image sensor of the camera, the lens of the camera, and the camera may linearly reciprocate a specific section at a constant speed in a direction perpendicular to the photographing direction.

In addition, any one of the image sensor, camera lens, and camera of the camera may be rotated and reciprocated at a specific angular speed around a rotational axis perpendicular to the photographing direction at a predetermined angular velocity.

In addition, any one of the image sensor, camera lens, and camera of the camera may be moved in a specific pattern, and may be moved in a pattern having any one of a sine wave, a triangle wave, a square wave, and a trapezoid wave.

The method of measuring a vehicle speed using the motion blur modulation method according to the present invention is a method for measuring a vehicle speed using a motion blur modulation method in which, when a vehicle runs, the image sensor of a camera, (S10) for generating a motion blur modulated in a tilted form with respect to a moving direction of the vehicle; A step (S20) of modulating the motion blur to acquire the tilt information of the modulated motion blur with reference to the longitudinal direction connecting the front and rear of the vehicle; And a vehicle speed vector information extraction step (S30) of obtaining speed vector information of the vehicle from the speed at which one of the image sensor, camera lens, and camera of the camera moves and the tilt information; . ≪ / RTI >

In the motion blur modulation step S10, the motion blur may be modulated by moving the image sensor of the camera, the lens of the camera, or the camera and moving the camera at a specific speed Vc while changing its direction.

In addition, in the step of measuring the slope of the modulated motion blur (S20), the slope information of the modulated motion blur can be obtained by using a pattern generated by repeating a Fourier transform or a directional projection several times .

In the vehicle speed vector information extraction step S30, the Gabor filter is subjected to convolution pre-integration at various angles, and then the angle information, the convolutional neural network, and the deep running Deep learning technique and artificially intelligence technique can be used to acquire vehicle speed vector information.

A method for measuring a slip angle of a vehicle using a motion blur according to the present invention is a method for measuring a slip angle of a vehicle using a motion blur, A motion blur forming step (SA10) of photographing in a state in which it is not moved, so that motion blur is generated in the photographed image; And a tilt measuring step (SA20) of obtaining motion tilt information of the motion blur based on a longitudinal direction connecting the front and rear of the vehicle in the photographed image; And a slip angle estimating step (SA30) of estimating a slip angle (?) Of the vehicle from the inclination information of the motion blur; . ≪ / RTI >

According to another aspect of the present invention, there is provided a motion blur modulation apparatus comprising: a camera including a lens and an image sensor for recording light information gathered using the lens, the camera being installed on a vehicle so as to face the ground; And modulating means for repeatedly moving any one of the image sensor, the lens, and the camera in a specific pattern; . ≪ / RTI >

The modulating means may further comprise: an arm coupled to the camera; A ball joint coupled to an end of the arm; A cylindrical cam having a concave groove formed in a zigzag shape along the circumferential direction on the outer circumferential surface thereof and having a ball of a ball joint inserted into the groove; And a motor coupled to the cylindrical cam to rotate the cylindrical cam; . ≪ / RTI >

The modulating means may include elastic means having both ends supported by one side of the camera and a vehicle body of the vehicle; A heart cam disposed on the other side of the camera so as to be in contact with an outer peripheral surface thereof; And a motor coupled to the heart cam to rotate the heart cam; . ≪ / RTI >

The modulation means may be a voice coil motor (VCM) having one side coupled to the camera body and the other side coupled to at least one of the lens and the image sensor.

Further, the vehicle speed information measurement apparatus of the present invention may further comprise: the motion blur modulation apparatus; An image processor coupled to the image sensor, the image processor extracting speed information of the vehicle from information recorded in the image sensor; And a communication module, connected to the image processor, for transmitting the speed information obtained from the image processor to the ECU of the vehicle. . ≪ / RTI >

The motion blur modulation method of the present invention and the vehicle speed measurement method using the same are new sensor systems capable of measuring the relative speed information between the vehicle and the ground. The motion blur modulation method is insensitive to the exposure time, It has a merit that it can be applied to various fields such as precise position estimation and autonomous driving of a vehicle as well as dynamics control of a vehicle because it has a small amount of calculation and high accuracy.

1 is a perspective view showing a system in which modulation means for modulating a camera and a motion blur according to the present invention are mounted on a side surface, a rear side, and a vehicle interior side of the vehicle.
4 is a photograph showing image information (image) obtained by photographing the ground surface by the camera according to the present invention.
5 and 6 are images in which a motion blur occurs when the vehicle according to the present invention is moving at a longitudinal velocity u and a lateral velocity v.
Figs. 7 and 8 are images in which the motion blur is photographed while the vehicle according to the present invention is being shaken repeatedly in a specific pattern in the lateral direction using the modulation means while the vehicle is moving at the longitudinal velocity u and the lateral velocity v.
Figure 9 is the slope (m1, m2) for modulating the motion blur in the modulation motion blur speed (v _c), transverse velocity (u), the longitudinal speed of the vehicle (v) and the modulation motion blur according to the invention And FIG.
10 and 11 are diagrams illustrating an image processing process using a modulated motion blur image in a vehicle speed measurement method using the motion blur modulation method of the present invention.
12 is a front view showing a motion blur modulation apparatus according to the first embodiment of the present invention.
13 is a top plan view of a motion blur modulation apparatus according to a second embodiment of the present invention.
14 and 15 are conceptual diagrams showing a motion blur modulation apparatus according to a third embodiment of the present invention;

Hereinafter, the motion blur modulation method of the present invention and the vehicle speed measurement method using the same will be described in detail with reference to the accompanying drawings.

[Motion blur modulation method]

FIG. 1 is a perspective view showing a system in which modulation means for modulating a camera and a motion blur according to the present invention are mounted on a side surface, a rear side, and a vehicle interior side of a vehicle, FIG. 4 is a view FIGS. 5 and 6 are images in which a motion blur occurs when the vehicle according to the present invention is moving at the longitudinal velocity u and the lateral velocity v, and FIGS. 7 and 8 are photographs showing the information (image) Is a modulated image of a motion blur photographed while modulating the camera repeatedly in a specific pattern using modulation means while the vehicle following the vehicle is moving at the longitudinal velocity u and the lateral velocity v.

As shown in the figure, the motion blur modulation method of the present invention includes the steps of photographing the ground surface by the camera 100 installed in the vehicle 10 when the vehicle 10 travels, The camera image sensor 130, the camera lens 120, and the camera 100 are moved in a specific pattern while the vehicle 10 is traveling, so that motion blur occurs in the photographed image, A Modulated Motion Blur (MMB) modulated in a tilted manner with respect to the moving direction of the vehicle 10 may be generated.

First, since the cells of the image sensors 130 are uniformly distributed on the x axis and the y axis when the light coming in through the lens 120 of the camera 100 moves in a specific direction with time, , And the clearly visible stripe caused by this afterimage in the photographed image is called motion blur. That is, a motion blur occurs due to a difference in relative speed between the vehicle and the ground. When the ground 100 is photographed using the camera 100 installed inside or outside the vehicle 10 when the vehicle 10 travels, A motion blur is generated in the image photographed by the camera. Herein, the present invention moves any one of the image sensor 130 of the camera, the lens 120 of the camera and the camera 100 in a specific pattern to form an artificial motion blur while the vehicle 10 is traveling, 10, a modulated motion blur (MMB) modulated in a tilted manner can be obtained.

For example, as shown in FIGS. 1 to 3, the camera 100 may be installed inside or outside the vehicle so as to face the asphalt or off-road road, which is the ground on which the vehicle 10 is mounted. As shown in FIG. 1, the camera 100 may be installed on a side surface (side surface) of the vehicle so as to face the ground vertically (photograph the bottom). In the rear camera module, As shown in FIG. 3, a camera may be installed on the windshield inside the vehicle so as to face the ground horizontally (facing forward) or obliquely to the front of the vehicle And can be installed in various ways.

Herein, when the vehicle 10 does not move, the image information photographed by the camera 100 installed so as to face the ground is shown in Fig. 5 and FIG. 6, an image in which the motion blur is photographed while the vehicle 10 is moving at the velocity v in the longitudinal direction (X-axis direction) and the velocity v in the lateral direction (Y-axis direction) 6, the x and y axes are the same as the X and Y axes in the vehicle coordinate system. Also, it can be seen that the vehicle moves in the direction of an angle (?) Formed by the sum vector of the velocity vectors u and v with the x axis in the image in which the motion blur is generated.

At this time, for example, if the camera 100 is swung in the lateral direction (Y-axis direction) while the vehicle 10 is traveling, and repeatedly receiving the image in a specific pattern, image information having the modulated motion blur as shown in FIGS. It can be obtained from the camera. That is, as shown in the drawing, a modulated motion blur (MMB) modulated in a tilted manner with respect to the moving direction of the vehicle 10 can be generated, and two kinds of lines having different slopes can be crossed Can be displayed as an image of the form.

In addition, any one of the image sensor 130 of the camera, the lens 120 of the camera, and the camera 100 is moved in a specific pattern, and a longitudinal direction (X-axis) connecting the front and rear of the vehicle 10 Direction) in a direction tilted by a specific angle. Thus, even if the vehicle 10 travels in a direction tilted with respect to the X-axis direction, a motion blur modulated in a form tilted with respect to the traveling direction of the vehicle may appear. Here, the specific angle may be variously formed within an angular range that is greater than 0 degrees and smaller than 360 degrees as an inclined angle with respect to the X-axis in the longitudinal direction, and may be variously formed in the lateral direction Y Axis direction).

In addition, any one of the image sensor 130, the camera lens 120, and the camera 100 can linearly reciprocate a specific section at a constant speed v _c in a direction perpendicular to the photographing direction. That is, for example, the camera 100 for photographing while viewing the ground vertically can be linearly reciprocated at a constant speed in the lateral direction (Y-axis direction) perpendicular to the photographing direction, thereby modulating the motion blur.

In addition, any one of the image sensor 130, the lens 120, and the camera 100 of the camera may be rotated and reciprocated at a predetermined angular velocity around a rotational axis perpendicular to the photographing direction at a constant angular velocity. And are arranged in the longitudinal direction (X direction), for example about an axis of rotation fixed to the vehicle 10 and the camera 100 can be rotated, so that reciprocating rotation certain angular range at a constant angular velocity (ω _c) motion blur Can be modulated.

Also, any one of the image sensor 130 of the camera, the lens 120 of the camera, and the camera 100 may be moved in a specific pattern, and a pattern having any one of a sine wave, a triangle wave, Lt; / RTI > Any one of the camera image sensor 130, the camera lens 120 and the camera 100 may be moved so that a displacement having an amplitude component according to the time or phase of the waveforms may occur. Motion or rotational reciprocating motion.

[Vehicle speed measurement method]

The method of measuring vehicle speed using the motion blur modulation method of the present invention is a method of measuring a vehicle speed using a camera 100 mounted on the vehicle 10 while the vehicle 10 is running, A motion blur modulating step (S10) of moving either the camera lens (120) or the camera (100) in a specific pattern so as to generate a modulated motion blur in a tilted form with respect to the moving direction of the vehicle (10); A step (S20) of a modulated motion blur to acquire the tilt information of the modulated motion blur with reference to a longitudinal direction (X-axis direction) connecting the front and rear of the vehicle 10; And a vehicle speed vector information extracting step (S30) for obtaining speed vector information of the vehicle from the speed at which one of the camera image sensor (130), the camera lens (120) and the camera (100) ; . ≪ / RTI >

First, in the motion blur modulation step S10, the motion blur can be modulated by using the above-described motion blur modulation method.

In the slope measurement step S20 of the modulated motion blur, the slope of two types of slopes having different slopes with respect to the longitudinal direction (X-axis direction) in the modulated motion blur can be measured.

In the vehicle speed vector information extraction step S30, for example, when the camera 100 is moved (shaken) in a specific pattern and the motion blur is modulated, the velocity vector of the vehicle is calculated from the information shaking the camera 100 and the tilt information Information can be extracted. That is, since the slope information of the modulated motion blur includes the speed information of the vehicle 10, the speed vector information of the vehicle can be obtained.

At this time, in the motion blur modulation step (S10), one of the image sensor 130 of the camera, the lens 120 of the camera and the camera 100 is moved and changed to a specific speed v _c Motion blur can be modulated by moving.

That is, when the speed v _c for shaking the camera 100 in the lateral direction to modulate the motion blur is made constant, the speed + v _c , -v _c for modulating the motion blur as shown in FIG. 9, Motion blur occurs due to the sum vector of the velocity u and the lateral velocity v. At this time, these equations can be expressed as shown in equation 1 and the equation 2, below, is m1 + v _c, u, v is a vector sum of the inclination motion blur created of, m2 is the -v _c, u, v The sum vector is the slope of the motion blur produced.

(식 1)

(Equation 1)

(식 2)

(Equation 2)

Thus, the velocities u and v of the vehicle can be measured using the above equations.

In addition, it is possible to generate a trajectory representative of the modulated motion blur as shown in Fig. 10, and the expression representing this trajectory is as shown in Fig. Here, x1, y1, x2, y2 are arbitrary initial starting points in the image. For upward-trajectory is the upper equation, and for the downward-trajectory is the lower equation. In addition, the direction of the center line that bisects the angle corresponding to the x-axis direction among the angles formed by the two trajectories can be the moving direction of the vehicle.

In addition, in the step of measuring the slope of the modulated motion blur (S20), the slope information of the modulated motion blur can be obtained by using a pattern generated by repeating a Fourier transform or a directional projection several times .

11, an outline is extracted from the modulated motion blur image photographed using the modulation means 200 and the camera 100, and a fast Fourier transform is performed on the outline. Then, a point spread function (PSF) Point Spread Function) can be estimated, and the longitudinal speed and the lateral speed of the vehicle can be measured. Alternatively, the outline may be extracted from the modulated motion blur image and the gradient may be estimated using a pattern that repeats the direction projection several times, thereby measuring the longitudinal velocity and the lateral velocity of the vehicle. In addition, various image processing techniques can be used to extract the outline and estimate the slope of the motion blur.

In the vehicle speed vector information extraction step S30, the Gabor filter is subjected to convolution pre-integration at various angles, and then the angle information, the convolutional neural network, and the deep running Deep learning technique and artificially intelligence technique can be used to acquire vehicle speed vector information.

A method for measuring a slip angle of a vehicle using the motion blur of the present invention is a method for measuring a slip angle of a vehicle using a motion blur, 130), a motion blur forming step (SA10) of photographing the camera (120) and the camera (100) in a state in which they are not moved, and causing motion blur in the photographed image; And a tilt measuring step (SA20) of obtaining a tilt information of the motion blur based on a longitudinal direction (X-axis direction) connecting the front and rear of the vehicle (10) in the photographed image; And a slip angle estimating step (SA30) of estimating a slip angle (?) Of the vehicle from the inclination information of the motion blur; . ≪ / RTI >

The step of forming a motion blur (SA10) is a step of photographing the ground using the camera 100 fixed on the vehicle 10 and fixed so as not to move, thereby causing motion blur in the photographed image. The tilt measuring step SA20 of the motion blur is a step of measuring the tilt of the lines based on the longitudinal direction (X-axis direction) in the image in which the motion blur is generated. In addition, the slip angle estimating step (SA30) is a step of estimating the slip angle [beta] of the vehicle from the inclination information of the motion blur. That is, the slope (angle information) of the lines in the motion blur generated in the photographed image is measured, and it is possible to find out in which direction the car slides by using only the angle information of the motion blur.

[Motion Blur Modulation Device]

The motion blur modulation apparatus 1000 of the present invention includes a lens 120 and an image sensor 130 for recording light information gathered using the lens 120. The motion blur modulation apparatus 1000 includes a vehicle 10, A camera 100 mounted on the camera body 100 and capable of photographing the ground surface; And a modulating means (200) for repeatedly moving any one of the image sensor (130), the lens (120) and the camera (100) in a specific pattern. . ≪ / RTI >

That is, the motion blur modulation apparatus 1000 may include a camera 100 capable of photographing the ground and a modulation means 200 capable of shaking the camera 100 in a specific pattern. 14, the camera 100 includes a body 110 forming an outer shape, a lens 120 coupled to the body 110, and a lens 120 disposed apart from the body 110, Sensor 130 as shown in FIG. The lens 120 is a device used to concentrate or disperse light within a predetermined area, and the image sensor 130 may be a device that records (stores) light information collected through the lenses 120. [ The modulating means 200 may be various devices capable of repeatedly moving either the image sensor 130, the lens 120 or the camera 100 in a specific pattern. Hereinafter, the modulating means 200 Will be described.

In addition, the modulation means 200 includes an arm 210 coupled to the camera 100; A ball joint 220 coupled to an end of the arm 210; A cylindrical cam 230 having a concave groove 231 formed in a zigzag shape along the circumferential direction on the outer circumferential surface thereof and having a ball of the ball joint 220 held in the groove 231; A motor 240 coupled to the cylindrical cam 230 to rotate the cylindrical cam 230; . ≪ / RTI >

That is, in the first embodiment of the modulating means 200, the rotary shaft 211 is fixed in the longitudinal direction (X-axis direction) to the vehicle body of the vehicle 10 or the support base provided to extend from the vehicle 10, An arm 210 is coupled to the rotary shaft 211. The camera 100 may be coupled to a lower side of the arm 210 so that the camera 100 faces the lower side of the ground. A roller and a ball joint may be coupled to one end of the arm 210. The motor 240 is fixed to the vehicle body of the vehicle 10 or a supporting base extended from the vehicle 10. The cylindrical cam 230 is coupled to the motor 240, (230) can be rotated. At this time, a groove 231 is formed concavely in a zigzag shape along the circumferential direction on the outer circumferential surface of the cylindrical cam 230, and a ball of the ball joint 220 is seated in the groove 231.

When the cylindrical cam 230 is rotated, the arm 210 and the camera 200 can be rotated within a specific angle range around the rotation axis 211 along the profile of the groove 230 formed on the outer circumferential surface, May be waved in a specific pattern so that the camera 100 moves repeatedly while changing directions. In this case, and grooves 230 formed on the outer peripheral surface of the cylindrical cam 230 can be formed in turn so that the oblique direction are formed in an inclined straight line shape changes with respect to the circumferential direction, whereby the camera at a constant angular velocity (ω _c) in accordance with ( 100). Further, as the length of the arm 210 becomes longer or the range of rotation becomes narrower, it is similar to making the camera 100 linearly reciprocate in the transverse direction, so that the reciprocating motion of the camera 100 in the horizontal direction at a constant speed v _c The same effect can be obtained. The profiles of the grooves 230 formed on the outer circumferential surface of the cylindrical cam 230 may be variously formed in a zigzag shape such as a triangular wave shape, a trapezoidal wave shape, a sine wave shape, a sine wave modulated shape, The camera 100 can move in a pattern having a component of a specific waveform.

The modulating means 200 includes elastic means 250 having both ends supported by a side of the camera 100 and a vehicle body of the vehicle 10; A heart cam 260 disposed on the other side of the camera 100 so as to be in contact with an outer circumferential surface thereof; A motor 270 coupled to the heart cam 260 to rotate the heart cam 260; . ≪ / RTI >

That is, in the second embodiment of the modulating means 200, as shown in FIG. 13, the elastic means 250 is interposed between the support body provided on the vehicle body 10 or the vehicle 10 and one side of the camera 100 A motor 100 fixed to the vehicle body of the vehicle 10 or a support provided to extend from the vehicle 10 is provided with a heart cam 260 disposed on the other side of the camera 100 The heart cam 260 can be rotated by the driving of the motor 270 and the outer circumferential surface of the heart cam 260 can be arranged to be in contact with the other side of the camera 100 have. At this time, although not shown, the camera 100 may be coupled to the vehicle 10 by an LM guide (Linear Motion Guide) or the like so that the camera 100 can be linearly moved in the lateral direction (Y axis direction).

Thus, when the heart cam 260 is rotated, the camera 100 can reciprocate linearly within a specific range in the horizontal direction according to the contour of the heart shape. At this time, the camera 100 can be linearly reciprocated in the horizontal direction at a constant speed v _c according to the outline shape of the heart cam 260.

The modulation means 200 may include a voice coil motor VCM having one side coupled to the body 110 of the camera 100 and the other side coupled to at least one of the lens 120 and the image sensor 130. Voice Coil Motor, 280).

That is, in the third embodiment of the modulating means 200, only the lens 120 of the camera 100 can be moved using the voice coil motor 280 as shown in FIG. The voice coil motor 280 includes a coil 281 coupled to the body 110 of the camera 100, a permanent magnet 282 coupled to the lens 120 and spaced apart from the coil 281, And elastic means 283 interposed between the coil 281 and the permanent magnet 282 and supported or coupled at both ends. The voice coil motor 280 may be formed in the form of an electric or mechanical model as shown in FIG. 15. In addition, the modulation means 200 may be formed in various forms using the voice coil motor 280.

Thus, when a current is applied to the coil 281, only the lens 120 can vibrate rapidly in a state where the image sensor 130 of the camera 100 is fixed, and at this time, the role of reducing the vibration in the voice coil motor 280 itself At the same time, the lens can be moved quickly in a specific pattern.

[Vehicle speed information measuring device]

In addition, the vehicle speed information measuring apparatus of the present invention may further comprise: the motion blur modulation apparatus 1000; An image processor (300) coupled to the image sensor (130) for extracting speed information of the vehicle (10) from information recorded in the image sensor (130); And a communication module, connected to the image processor 300, for transmitting the speed information obtained from the image processor 300 to the ECU of the vehicle 10; . ≪ / RTI >

That is, the image processor 300 modulates the modulated motion blur stored in the image sensor 130 of the camera 100 through the above-described motion blur modulation apparatus 1000, and extracts velocity information of the vehicle And the speed information of the extracted vehicle can be sent from the image processor to the ECU of the vehicle through the communication module. Thus, the speed information of the vehicle can be used to control the speed and direction of the vehicle by the ECU.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It goes without saying that various modifications can be made.

1000: motion blur modulation device
10: vehicle 100: camera
110: body 120: lens
130: Image sensor
200: modulation means
210: arm 211: rotating shaft
220: ball joint 230: cylindrical cam
231: groove 240: motor
250: elastic means 260: heart cam
270: Motor 280: Voice coil motor
281: Coil 282: Permanent magnet
283: Elastic means
300: image processor

Claims (15)

When a vehicle runs, photographing a ground surface with a camera installed in the vehicle so that a motion blur is generated in a photographed image recorded in an image sensor of the camera,
Wherein the motion blur is generated by moving the image sensor of the camera, the lens of the camera, and the camera in a specific pattern while the vehicle is running, thereby modulating the motion blur in a tilted manner with respect to the moving direction of the vehicle. Modulation method.
The method according to claim 1,
Characterized in that any one of the image sensor of the camera, the lens of the camera and the camera moves in a specific pattern and moves in a direction tilted by a specific angle with respect to the longitudinal direction connecting the front and rear of the vehicle Blur modulation method.
The method according to claim 1,
Wherein one of the image sensor of the camera, the lens of the camera, and the camera linearly reciprocates at a predetermined speed in a direction perpendicular to the photographing direction.
The method according to claim 1,
Wherein one of the image sensor of the camera, the lens of the camera, and the camera rotationally reciprocates in a specific angular range around a rotational axis perpendicular to the photographing direction at a constant angular velocity.
The method according to claim 1,
Wherein one of the image sensor of the camera, the lens of the camera, and the camera moves in a specific pattern and moves in a pattern having any one of a sine wave, a triangle wave, a square wave, and a trapezoid wave.
A camera lens and a camera in a specific pattern while photographing the ground surface with a camera installed in the vehicle when the vehicle is running, A motion blur modulating step (S10) for causing a motion blur to occur;
A step (S20) of modulating the motion blur to acquire the tilt information of the modulated motion blur with reference to the longitudinal direction connecting the front and rear of the vehicle; And
A vehicle speed vector information extraction step (S30) of obtaining speed vector information of the vehicle from the speed at which one of the image sensor of the camera, the lens of the camera, and the camera moves and the tilt information;
Wherein the speed information of the vehicle is measured.
The method according to claim 6,
In the motion blur modulation step S10,
Wherein the motion blur is modulated by moving at least one of the image sensor of the camera, the lens of the camera, and the camera and moving at a specific speed Vc while changing the direction.
The method according to claim 6,
In the slope measurement step S20 of the modulated motion blur,
Wherein the gradient information of the modulated motion blur is obtained by using a pattern generated by repeating a Fourier transform or a directional projection several times.
The method according to claim 6,
In the vehicle speed vector information extraction step S30,
A convolutional neural network, a deep learning technique, and an artificially intelligent technique, which have a maximum value after carrying out a convolution pre-integration at various angles of a Gabor filter, And acquiring velocity vector information of the vehicle using one of the velocity vector information of the vehicle.
When the vehicle is running, the ground surface is photographed with a camera installed in the vehicle. The image sensor, the lens of the camera and the camera are photographed in a state in which the camera is not moved based on the vehicle, thereby causing motion blur A motion blur forming step SA10; And
A tilt measuring step (SA20) of obtaining motion tilt information of the motion blur based on a longitudinal direction connecting the front and rear of the vehicle in the photographed image; And
A slip angle estimating step (SA30) of estimating a slip angle (?) Of the vehicle from the inclination information of the motion blur;
And determining a slip angle of the vehicle using the motion blur.
A lens and an image sensor for recording light information collected using the lens, the camera being installed on a vehicle so as to face the ground and photographing the ground; And
Modulating means for repeatedly moving any one of the image sensor, the lens and the camera in a specific pattern;
And a motion blur modulation device.
12. The method of claim 11,
Wherein the modulation means comprises:
An arm coupled to the camera;
A ball joint coupled to an end of the arm;
A cylindrical cam having a concave groove formed in a zigzag shape along the circumferential direction on the outer circumferential surface thereof and having a ball of a ball joint inserted into the groove; And
A motor coupled to the cylindrical cam to rotate the cylindrical cam;
Wherein the motion blur modulation apparatus comprises:
12. The method of claim 11,
Wherein the modulation means comprises:
Elastic means having both ends supported by one side of the camera and a vehicle body of the vehicle;
A heart cam disposed on the other side of the camera so as to be in contact with an outer peripheral surface thereof; And
A motor coupled to the heart cam to rotate the heart cam;
Wherein the motion blur modulation apparatus comprises:
12. The method of claim 11,
Wherein the modulation means comprises:
And a voice coil motor (VCM) having one side coupled to the body of the camera and the other side coupled to at least one of the lens and the image sensor.
A motion blur modulation apparatus according to claim 11;
An image processor coupled to the image sensor, the image processor extracting speed information of the vehicle from information recorded in the image sensor; And
A communication module connected to the image processor for transmitting speed information obtained from the image processor to an ECU of the vehicle;
And a vehicle speed sensor for measuring the speed of the vehicle.

Images