KR101893368B1 - Method and system for measuring three dimensional visibility combined with traffic monitoring - Google Patents

Abstract

Disclosed are a method for measuring three-dimensional visibility using a traffic monitoring camera and a system thereof. The method generates a depth map through first and second images acquired from first and second cameras, forming iso-depth lines according to the depth map, reviewing continuity of the iso-depth lines, and extracting optical distance information according to a certain level of continuity or calculates the optical distance information to an object. Therefore, the method may provide more accurate optical distance information to a driver through a display unit, operate a safety display device or the like when the optical distance is less than a certain distance, or provide alarm information to the driver.

Description

TECHNICAL FIELD [0001] The present invention relates to a three-dimensional visibility measuring method and system using a traffic monitoring camera,

An embodiment of the present invention relates to a three-dimensional visibility measurement method using a traffic monitoring camera, and more particularly, to a three-dimensional visibility measurement method using a traffic monitoring camera capable of calculating visibility information of a visibility measurement while performing traffic monitoring And a system using the same.

There are a myriad of CCTV (closed circuit television) installations worldwide for various purposes. There are CCTVs for simple monitoring, CCTV for prevention purposes, CCTV for analysis and tracking purposes.

There is also CCTV for monitoring the weather. Weather Monitoring CCTV is sometimes used to prevent the driver from being in danger of a traffic accident when the visibility disturbance phenomenon such as fog, mist, fog, etc. can not be secured.

For example, in order to prevent accidents caused by mist or the like, CCTV combined weather monitoring devices are equipped with meteorological instruments at the roadside to measure the visibility at all times, and when the visibility disturbance occurs, the appropriate driving speed is maintained It is also used to guide.

In Korea, many weather stations are installed and operated to measure the weather conditions of the whole country. However, since most weather stations are not adjacent to the road, there is a problem that observation data of a weather station can not easily be accessed or used by a road user. In order to overcome these limitations, a municipal system is installed and operated on the roads as a countermeasure against mist mistakes.

The currently used viscometer is an optical visual system that calculates visibility by the scattering or transmission of light. However, there is a disadvantage in that the accuracy of this type of visibility is lowered when there is a visibility disorder phenomenon.

In particular, due to the characteristics of the optometric system, it is not a measure of the entire area, but a method of representing the visibility of the area with a measurement at a single point, There is a serious problem that the fog generation itself can not be grasped even if fog occurs. For this reason, CCTV system is installed in the same place and monitoring is performed in parallel, or the person is directly dispatched to reflect the observation result obtained by the user, so the current visibility guidance system is very inefficient .

In order to solve such a problem, a visible distance measuring system using CCTV has been introduced in the prior art, but the accuracy and reliability are limited due to the limitation of the method using a monochromatic image.

For example, a weather observation system and method thereof are disclosed in Korean Patent Laid-Open Publication No. 10-2009-0051785. The prior art measures visibility using a visual line and a road model obtained from a moving region of a vehicle.

Also, a road correction measurement system and method using a camera disclosed in Korean Patent Laid-Open Publication No. 10-2011-0037180 are known. The conventional technique includes a communication unit for receiving a video signal from a camera installed on a road and transmitting a result, a video extracting unit for extracting a moving region of the vehicle from the received video signal, and determining a visual line using the extracted moving region And a control unit for calculating a visibility corresponding to the determined line of sight using the correction unit and the correction calculation function.

As described above, since the conventional technologies use the visible line and the road model obtained in the vehicle moving region, there is a problem that the accuracy and reliability of the corrective distance calculated according to the vehicle speed and the lane curvature are inferior.

Korean Patent Laid-Open No. 10-2009-0051785 (2009.05.25.) Korean Patent Laid-Open No. 10-2011-0037180 (April 23, 2011)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the prior art, and it is an object of the present invention to provide a three-dimensional corrective measurement method and system capable of accurately performing two functions of monitoring and correcting measurement by adding only one camera to an existing traffic monitoring system The purpose is to provide.

Another object of the present invention is to create a depth map through a first image and a second image, create an iso-depth line by connecting the same depth in the depth map, The visual distance is calculated by reading the continuity, the calculated visual distance information is provided to the driver through the display device, the safety display device is operated when the visual distance is less than a predetermined distance, And a method of measuring the three-dimensional visibility.

It is another object of the present invention to provide a three-dimensional corrective measurement method and system which are economical compared to the conventional visibility system and can provide more accurate visibility information to the driver, thereby contributing to reducing traffic accidents caused by mist.

According to an aspect of the present invention, there is provided a three-dimensional corrective measurement system comprising a first camera for capturing a first image, a second camera for capturing a second image at a different angle from the first camera, A control unit for calculating visual distance information from an input of a first image captured by the first camera and a second captured image captured by the second camera; A storage unit for storing the first image, the second image, and the visible range information in cooperation with the control unit; And a communication module for supporting network interworking between the control unit, the first camera, and the second camera and the control server, wherein the control unit is configured to generate a depth map using the first image and the second image, And a corrective measurement module for generating an equal depth line from the depth map and detecting continuity of continuity of the equal depth lines to determine whether the continuity is equal to or greater than a predetermined level.

According to another aspect of the present invention, there is provided a method of measuring three-dimensional visibility, comprising: acquiring a stereo image from two cameras and generating a depth map; Creating an iso-depth line in a manner similar to a contour line from the depth map; And determining connection continuity at the equal depth line; Acquiring a maximum value of an iso-depth line among the images having continuity when the continuity of the equal-depth lines has continuity of a predetermined level or more, wherein the maximum value corresponds to a current visible distance.

In one embodiment, the method may further include determining whether the image is authentic in the acquiring step.

In one embodiment, the 3-D visibility measurement method may further include the step of extracting an edge from the original image and superimposing the depth line with the edge in order to increase the accuracy of the continuity have.

In one embodiment, in the case of a three-dimensional visibility measurement method, when an image is not formed due to a visibility obstacle such as a fog, it is impossible to extract an edge from a corresponding region. Therefore, And analyzing the data. In this case, an error of matching due to mist or the like can be eliminated, so that a more accurate visible distance can be determined.

According to another aspect of the present invention, there is provided a method for measuring three-dimensional visibility, comprising the steps of: capturing a first image photographed by a first camera and a second image of a second camera photographed at an angle different from that of the first camera; A first step of acquiring; A second step of generating a depth map based on the first image and the second image; A third step of generating an equal depth line from the depth map; A fourth step of detecting connection continuity of the equal depth lines and judging whether continuity of a predetermined level or more is present; A fifth step of obtaining a maximum value among the equal depth lines having continuity when the equal depth line has continuity of a predetermined level or more and calculating the maximum value as visible range information; And a sixth step of calculating a minimum value of the equal depth lines as visible range information when the equal depth line does not have continuity of a predetermined level or more.

By using the three-dimensional visibility measurement method and system using the traffic monitoring camera of the present invention, it is possible to perform 360 ° omnidirectional measurement by using a zoom lens having a variable focal distance and a pan / tilt device capable of rotating up and down and left and right, And provide a system and method for measuring dimensional correctness.

According to the present invention, a depth map is generated through a first image and a second image, a visual distance to an object is calculated, a visual distance is provided to the driver through a display, When the distance is less than a certain distance, the safety indicator is turned on and the image is provided through the display, so that it is more economical than the conventional visibility system and more accurate visibility information can be provided to the driver, thereby contributing to reduction of traffic accidents due to fog.

In addition, according to the present invention, only one camera is installed in an existing traffic monitoring system to perform two functions, i.e., monitoring and corrective measurement.

FIG. 1 is a block diagram of a three-dimensional visibility measurement system using a traffic monitoring camera according to an embodiment of the present invention.
FIG. 2 is a view illustrating normal images of first and second cameras and images when fog occurs, which can be used in a three-dimensional corrective measurement system according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating a depth map at the time of normal occurrence and fog occurrence that can be used in the three-dimensional corrective measurement system according to an embodiment of the present invention.
FIG. 4 is an exemplary view of an image obtained by extracting an iso-depth line at a normal time and at a mist generation time, which can be used in a three-dimensional corrective measurement system according to an embodiment of the present invention,
FIG. 5 is an exemplary view of a boundary line extraction image that can be used in a three-dimensional corrective measurement system according to an exemplary embodiment of the present invention,
6 is an exemplary view of an image obtained by superimposing an iso-depth line extraction image and a boundary extraction image in normal and fog generation, which can be used in a three-dimensional corrective measurement system according to an embodiment of the present invention,
7 is a diagram illustrating operations of a display unit and a safety display device according to an embodiment of the present invention.
FIG. 8 is a flowchart for explaining a 3-D corrective measurement method according to an embodiment of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of a three-dimensional visibility measurement system using a traffic monitoring camera according to an embodiment of the present invention.

Referring to FIG. 1, the 3D system 100 includes a first image receiving unit 111, a second image receiving unit 112, an infrared ray transmitting unit 114, and a pan / tilt driving unit 116. A control unit 120, a storage unit 130, a communication unit 140, and a display unit 150.

The first image receiving unit 111 is connected to the first camera and acquires the first image from the first camera. The first image receiving unit 111 may include a receiving port for receiving a first image from the first camera or may be connected to the first camera according to a preset configuration or under the control of the controller 120, And a component for performing an operation corresponding to this means.

The second image receiving unit 112 is connected to the second camera similar to the first image receiving unit 111 to acquire the second image from the second camera. The second image receiving unit 112 may include a receiving port for receiving the second image from the second camera or may be connected to the second camera according to a preset configuration or under the control of the control unit 120, A unit for reading the stored second image or a unit for performing an operation corresponding to the means.

The first camera and the second camera may be spaced apart from each other by a predetermined interval to generate a stereo image. The first camera and the second camera may be stereo cameras depending on the implementation.

The first and second image receiving units 111 and 112 may be separate components, but the present invention is not limited thereto and may be implemented as a single image receiving unit.

The infrared light projecting unit 114 may include an infrared light emitter and may be coupled to the first camera and the second camera so that the first and second cameras can be used for night photography or fog generation. In addition, the infrared ray projecting unit 114 may include an infrared ray radiator driving unit for controlling the operation of the infrared ray radiator. In this case, the infrared ray radiator driving unit may be controlled by the control unit 200.

The pan / tilt driving unit 116 includes a pan / tilt driving unit, which is a single piece of hardware installed in a single housing of the first camera and the second camera. The pan / tilt driving unit 116 includes a first camera and a second camera So that a stereo image can be obtained. For this purpose, the pan / tilt driver 116 may include a single drive shaft coupled to the housing to interlock the fan operation and the tilting operation of the first camera and the second camera. Further, the pan / tilt driver 116 may include a driving circuit or a software driving module for controlling the pan / tilt driving unit.

The pan / tilt driving unit 116 may include a first zoom driving unit coupled to the first camera and a second zoom driving unit coupled to the second camera.

The control unit 120 controls the operation of each component of the three-dimensional corrective measurement system. The control unit 120 may include a processor or a microprocessor. The control unit 120 may include a stereo image conversion module 121, a corrective measurement module 122, and a PTZ control module 123.

The stereo image conversion module 121 converts the combination data of the first image of the first camera and the second image of the second camera or the stereo vision image data (hereinafter simply referred to as 'image data', 'source data' ) Can be pre-processed in parallel or in pairs, the vertical error of the preprocessed image data can be removed, the geometric correction can be performed, or the depth map can be generated using the geometrically corrected image data.

In addition, the stereo image conversion module 121 extracts boundary lines corresponding to edges in the image, and generates image data (hereinafter, referred to as 'corrected image data' or 'second image data') in which the depth lines and the boundary line are superimposed .

Also, the stereo image conversion module 121 may extract the depth map from the first image and the second image, and may convert the depth information from the depth map to RGB values.

The visibility measurement module 122 may calculate or obtain the visual distance from the second image data. The information calculated or obtained by the visibility measurement module 122 can be used to activate a safety display device or the like installed in the traffic assisting device or to provide safe driving information to a display device of a roadside or an in-vehicle display device when a fog occurs . The information may include visible range information and the like.

The PTZ control module 123 is a means for controlling the operations of the first camera and the second camera. The PTZ control module 123 can take detailed pictures of the target or the target area through pan, tilt, and zoom functions. The PTZ control module 123 controls the pan or tilting operation of the pan / tilt driver 116 coupled to the first camera and the second camera, respectively, to focus the desired position in the target area where the first camera and the second camera are set .

That is, the PTZ control module 123 controls the pan / tilt driving unit 116 to rotate the first camera and the second camera vertically and horizontally so that 360-degree omni-directional measurement can be performed from the point where the camera is installed. In addition, the PTZ control module 123 can simultaneously control the zoom magnifications of the first camera and the second camera at the same magnification, or individually adjust the zoom magnifications of the first camera and the second camera at different magnifications.

At this time, the corrective measurement module 122 may automatically operate the pan / tilt driver 116 and the zoom lens of the camera at predetermined time intervals through the PTZ control module 123, but the present invention is not limited thereto, As shown in FIG.

The stereo image conversion module 121, the corrective measurement module 122 and the PTZ control module 123 may be implemented in hardware at least partly in the control unit 120 or may be implemented by a program stored in the storage unit 130 by the control unit 120. [ Module, and may be implemented to mount at least one of the stereo image conversion module 121, the corrective measurement module 122, and the PTZ control module 123 and to execute the function.

The storage unit 130 may include storage means such as a semiconductor memory such as a RAM or a ROM, a flash memory, a hard disk, and an optical disk. The storage unit 130 may store at least one of the stereo image conversion module 121, the corrective measurement module 122, and the PTZ control module 123 in the form of a software module.

The communication unit 140 can support transmission and reception of signals and data between the control unit 120 and each component in the three-dimensional corrective measurement system. That is, the communication unit 140 may include a means or a component for providing or supporting a connection for interworking between the input and output stages between the process units in the present system.

Also, the communication unit 140 may include at least one communication subsystem for supporting a wired communication network, a wired network, a wireless communication network, a wireless network, or a combination thereof, and the control unit 120 may include a safety indicator 160, And can transmit and receive signals and data to / from the control server 170 or the display device 180.

The safety indicator 160 may include a fog generation warning device using sound, light, etc., a vehicle guide light installed in a center line, a lane, a guide rail or the like in a fog generation area, and a flashing light. The safety indicator 160 may operate in conjunction with the three-dimensional corrective measurement system 100 and may operate in accordance with the control signals of the system.

The control server 170 can collect and monitor signals and information produced or output in the 3D corrective measurement system 100 and the states of the surrounding interlocking devices operating according to such signals or information. The control server 170 can distinguish the fog generation area based on information of a plurality of adjacent three-dimensional corrective measurement systems or can detect changes such as diffusion and reduction of the fog generation area, Additional traffic safety systems can be operated.

The control server 170 can receive information of the visible range information, the first and second images 201, 201a, 202 and 202a or the safety indicator 160, The display device 160 or the display device 180 can be controlled.

The display device 180 may include a device installed on the road side to display only characters or display characters and images together. In addition, the display device 180 may include all image display devices operating in the intelligent traffic system (ITS). For example, the display device 180 may include various image display devices installed on a road or on a vehicle running on the road.

The three-dimensional corrective measurement system 100 according to the present embodiment may be implemented to include a first camera, a second camera, a safety indicator 160, a control server 17 and an external display device 180 in a broad sense .

The operation principle of the three-dimensional corrective measurement system 100 will be described in more detail as follows.

As shown in FIGS. 2 (a) and 2 (b), the first camera 201 photographs the first image 201 and the second camera 202 photographs the second image 202. Also, as shown in FIGS. 2C and 2D, when the fog occurs, the first camera may capture the first image 201a and the second camera may capture the second image 202a.

If the camera used in the existing traffic monitoring system is the first camera, it can be implemented to perform two functions such as monitoring and corrective measurement by adding only one camera like the second camera.

The first camera and the second camera may be configured to be able to photograph images 360 ° in all directions by using a zoom lens having a variable focal length and a pan / tilt device capable of rotating up and down and left and right.

The first camera and the second camera may simultaneously provide the first image and the second image of the road and the distance to monitor traffic at different zoom magnifications. Here, each of the first image and the second image may be an enlarged image including an object such as a vehicle. In this case, the first camera may operate in a zoom in mode and the second camera may operate in a zoom out mode. Also, the first camera may be implemented as a general image, and the second camera may be implemented as an image to which a fog removal function is applied.

The control unit 120 acquires the first images 201 and 201a captured by the first camera and the second images 202 and 202a captured by the second camera in cooperation with the first camera and the second camera, It is possible to generate images 203 and 204 including depth map information as shown in (a) and (b) of FIG. The depth map can be used to calculate visual range information.

The control unit 120 may include a stereo image conversion module 121, a corrective measurement module 122, and a pan / tilt / zoom (PTZ) control module 123.

The stereo image conversion module 121 generates a depth map using the first image taken by the first camera and the second image taken by the second camera, and creates an equal depth line in the depth map And 206 images), and a boundary line can be extracted from the original image (source data) (see image 207 and 208 in FIG. 5).

At this time, the stereo image conversion module 121 may generate the depth map using the corrected first and second images after correcting the first and second images 201 and 201a, 202, and 202a, respectively. By performing the correction process, a more accurate depth map of the data can be generated.

In the above process, the stereo image conversion module 121 determines a conjugate point from the intersection of the projection center and the reference point on the positional plane of the first and second images 201, 201a, 202 and 202a, To create a depth map using Epipolar Geometry, which generates a depth map.

The corrective measurement module 122 is implemented to detect connection continuity using iso-depth lines and perimeters and to determine if the connection continuity has a continuity above a certain level.

That is, the visibility measurement module 122 extracts edges from the original image of the first image captured by the first camera and the captured image captured by the second camera, and outputs the edge and the back- (See images 209 and 210 in FIG. 6).

In addition, the corrective measurement module 122 may be implemented by further applying a statistic method and a method of extracting a plurality of consecutive images in order to reduce a judgment error at an unclear boundary point when a mist occurs.

The iso-depth line refers to a line extending from the depth map to a point indicating the distance from the depth map, similar to a contour line that is a line connecting points of the same height with respect to the average sea surface of the sea. If an image is formed so that an object is accurately separated from the surrounding background, this image can be judged to have continuity between adjoining image elements (pixels).

Therefore, the visibility measurement module 122 can check the continuity at the equal depth line, and if the maximum value is obtained only when the continuity is equal to or greater than a predetermined level, the visibility measurement module 122 can determine the value as the visible distance.

That is, if the correction does not occur due to mist or the like, then the corrective distance at that time is the theoretical maximum value that can be acquired from the stereo image. At this time, if the equal depth line has continuity of a certain level or more in the visibility measurement module 122, the maximum value in the depth line having continuity is obtained, and the maximum value is calculated as the visible distance information.

In addition, in the case where the correction due to fog or the like occurs, the image is not formed from the farthest point, and if the image is not formed, the matching point can not have regularity. In this case, if the equal depth line does not have continuity of a certain level or more in the corrective measurement module 122, the minimum value of the equal depth lines is calculated as the visible distance information.

This is because when the image is not formed due to the occlusion obstacle such as fog, the edge can not be extracted from the corresponding region. Therefore, when overlapping the plurality of continuous depth lines of the images, Since errors can be eliminated, more accurate viewing distances can be determined.

The first image 201 and the second image 202 are stored in the storage unit 130. The display unit 150 or the display device 180 may display the visual distance calculated by the controller 120 as an image and display the first image 201 or 201a or the second image 202 or 202a You may.

The safety display device 160 may perform a preset operation or output preset information or a screen according to the visible range information calculated by the controller 120. [ The safety indicator 160 may include a device that provides a safety indicator function installed on the road, such as a road electric indicator (VMS), a haze warning indicator, a variable speed limit indicator, a directional speaker, and a fog lamp.

For example, when the safety indicator 160 is a fog light, it is not turned on when the visible distance information is equal to or greater than a certain distance, and when the visible distance information is less than a predetermined distance, Can be operated. Also, according to the implementation, it is possible to set the visible range to a predetermined range and operate the brightness and the blinking speed to be adjusted in a stepwise manner.

Therefore, as shown in FIG. 7, the display device 180 can provide the visual distance as a numerical value, and can also provide an image of the road taken by the first camera or the second camera.

For this, the control server 170 displays the visible range information through the display device 180 when the visibility information calculated by the visibility measurement module 122 is 50 m, One or more safety indicators 160 may be operated.

In this case, the storage unit 130 may store the first image and the second image, and the controller 120 controls the display unit 180 and the safety indicator 160 to operate through the communication unit 140, Can be controlled.

8 is a flowchart illustrating a method of controlling a three-dimensional corrective measurement system according to an embodiment of the present invention.

Referring to FIG. 8, the 3D correction method according to the present embodiment includes a series of steps performed by the 3D correction system described above. First, a first image of the first camera is acquired, The second image of the second camera photographed at a different angle from the camera may be acquired (S802).

Here, the first camera and the second camera simultaneously provide a first image and a second image for photographing roads and distances for traffic monitoring at different angles. The first image and the second image may be images including an object such as a vehicle.

Next, a first image captured by the first camera and a second image captured by the second camera are input, and a depth map is generated using the three-dimensional coordinates in the first and second images (S804).

The step S804 may generate the depth map using the three-dimensional coordinates acquired from the corrected first image and the second image after correcting the first image and the second image, respectively. The step (S804) includes a step of generating a depth map using an epipolar geometry that generates a stereoscopic image through a conjugate point determined from the first image and the second image. According to this method, more accurate data depth map can be generated.

Next, an iso-depth line is generated or extracted from the depth map (S806).

Next, the connection continuity of the back-depth lines is detected and it is judged whether the connection continuity has a certain level or more (S808). In this step S808, edges are extracted from the original image of the first image taken by the first camera and the second image taken by the second camera, and the edge and the equal depth lines are superimposed . ≪ / RTI >

Next, if the equal depth line has continuity of a predetermined level or more, the maximum value among the depth lines having continuity is acquired, and the obtained maximum value, that is, the minimum parallax value is calculated as the visible distance information (S810).

If it is determined in step S808 that the equal depth line does not have continuity of a predetermined level or more, it may be determined whether the photographing center point by the camera is the minimum distance measuring point in step S812. If the photographing center point is the minimum distance measuring point, the minimum or minimum value of the equal depth lines may be calculated or applied as the visible distance information (S814).

On the other hand, if it is determined in step S812 that the photographing center point is not the minimum distance measuring point, the correcting module of the controller or the controller may move the photographing center point step by step (S816). In this case, the control unit can move the photographing center point from a long distance to a short distance measuring point or a position adjacent to the photographing center point by a preset step-by-step zoom-out method. Then, when the photographing center point is located at a predetermined minimum distance measuring point or its area, it is possible to return to the step of acquiring images of the first and second cameras.

Next, the safety indicator may be operated according to the visibility information selectively generated in the above steps S810 and S814 (S818). In this step, it is determined whether or not the visual distance is equal to or greater than a predetermined distance, and in the case where the visual distance information is a reference value less than a certain distance, the safety display device or the like can be operated.

In addition, the controller may display the visible distance through the display device, or store the first image, the second image, the visible range information, and the like in the storage unit (S820).

According to the present embodiment, a depth map is generated based on the first image and the second image, an iso-depth line is formed according to the depth map, connection continuity of the iso-depth line is examined, The visual range information can be extracted or the visual range information up to the object can be calculated. The calculated information is used to provide visibility information to the driver through the display device, or to provide various safety driving environments such as a safety display device when the visual distance information is less than a certain distance and an image through a display device According to the structure and the effect of the present invention, it is possible to provide more accurate correction information to the driver, which is more economical than the conventional visibility system.

The above-mentioned three-dimensional corrective measurement method can be implemented by a control unit, particularly a software module type submodule of the corrective measurement module. Here, the corrective measurement module may include a plurality of submodules that perform respective functions corresponding to the respective steps (S802 to S820). For example, a plurality of submodules may include an acquisition module (corresponding to an acquisition submodule, A generating module, an extracting module, a first determining module, a second determining module, a visible range calculating module, an optimum value applying module, a moving module, an operating module, a display module, and a storing module.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill 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 will be understood that the invention can be variously modified and changed. Therefore, the technical idea of the present invention should not be limited to the above-described embodiments of the present invention, but should be determined by the claims and equivalents thereof.

100: Three-dimensional corrective measurement system 111: First image receiving unit
112: second image receiving unit 114: infrared ray emitter
116: a pan / tilt driver 120:
121: stereo image conversion module 122: corrective measurement module
123: PTZ control module 130:
140: communication unit 150: display unit (internal)
160: safety indicator 170: control server
180: Display device

Claims (5)

A first camera for capturing a first image and a second camera for capturing a second image at an angle different from that of the first camera, the first image captured by the first camera, and the second captured image captured by the second camera, A control unit for calculating visual distance information from an input of an image;
A storage unit for storing the first image, the second image, and the visible range information in cooperation with the control unit; And
And a communication module for supporting network interworking between the control unit, the first camera, and the second camera and the control server,
The control unit includes a stereo image conversion module that generates a depth map using the first image and the second image, and a depth image generation unit that generates an equal depth line from the depth map, detects connection continuity of the equal depth line, And a visibility measurement module for judging whether there is continuity,
Wherein the visibility measurement module acquires a maximum value among the equal depth lines having continuity when the equal depth line has continuity of a predetermined level or more and calculates the maximum value as visible range information, A three-dimensional visibility measuring system using a traffic monitoring camera for analyzing a minimum value of visible distance by superimposing the equal depth lines when there is no boundary line extraction from two images. delete The method according to claim 1,
The stereoscopic image conversion module may include a three-dimensional corrective measurement using a traffic monitoring camera that generates the depth map using an epipolar geometry that generates a stereoscopic image through a conjugate point determined from the first image and the second image system. The method according to claim 1,
The control unit may output one or more of the first image, the second image, and the visible range information to a display device, operate the safety display device in accordance with the visible range information, 2 vision, and / or a combination thereof, to the control server. A first step of acquiring a first image photographed by a first camera and a second image of a second camera photographed at an angle different from that of the first camera;
A second step of generating a depth map based on the first image and the second image;
A third step of generating an equal depth line from the depth map;
A fourth step of detecting connection continuity of the equal depth lines and judging whether continuity of a predetermined level or more is present;
A fifth step of obtaining a maximum value among the equal depth lines having continuity when the equal depth line has continuity of a predetermined level or more and calculating the maximum value as visible range information; And
And a sixth step of, when the equal depth line does not have continuity of a predetermined level or more, a minimum value among the equal depth lines as visible range information
3 - Dimensional Visibility Measurement Method Using Traffic Monitoring Camera.

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