WO1993019429A1 - Appareil de prise de vue - Google Patents

Appareil de prise de vue Download PDF

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Publication number
WO1993019429A1
WO1993019429A1 PCT/AU1993/000111 AU9300111W WO9319429A1 WO 1993019429 A1 WO1993019429 A1 WO 1993019429A1 AU 9300111 W AU9300111 W AU 9300111W WO 9319429 A1 WO9319429 A1 WO 9319429A1
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WO
WIPO (PCT)
Prior art keywords
image
vision apparatus
cameras
signals
vehicle
Prior art date
Application number
PCT/AU1993/000111
Other languages
English (en)
Inventor
Robert Ciolli
Stuart A. Mccormack
Denis C. Hitchens
Original Assignee
In-Mar-Tech Australia Pty. Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by In-Mar-Tech Australia Pty. Ltd. filed Critical In-Mar-Tech Australia Pty. Ltd.
Publication of WO1993019429A1 publication Critical patent/WO1993019429A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles

Definitions

  • This invention relates to a vision apparatus for recognising a passing object and it relates particularly, but not exclusively, to such apparatus for use in detecting passing objects such as passing vehicles on roadways, passing packaging containers such as shipping containers. Description of the Prior Art
  • image recognition of the object such as characters or the like which may appear on a surface of the object.
  • image signature may comprise the shape of the vehicle
  • image attribute may comprise the registration number or some other characteristic.
  • shipping containers it may be code information applied to a face of the shipping container.
  • a 'signature' is obtained by measuring certain characteristics of a truck at the time of registration and storing this information in a central registry.
  • a detection system is then required to operate on the roadway, so that as a truck passes a detection station, a measurement of the truck's characteristics are made.
  • a comparison is performed to determine whether the truck is indeed the same truck that was presented at the time of initial registration.
  • TAG type of systems in which a transponder is fitted to a truck and interrogated by an antenna array mounted at the roadside, typically to read a unique number stored within the transponder.
  • a difficulty with the transponders is that it is not easy to know whether they are, in fact, operational, hence trucks with faulty transponders may unwittingly avoid detection.
  • the system is also expensive and difficult to implement since each truck must be fitted with a transponder.
  • vision apparatus for recognising an image attribute of a passing object where either one or other of the speed or the length of the object are unknown, said apparatus comprising at least one single- line scan type line scan camera mounted so the passing object will be viewed, electronic means comprising: store means for storing signals indicative of the image of the object throughout line scans, processing means for determining a length of the object between line scans, said processing means having input means where signals representative of at least one of the speed or length of the object can be inputted to enable said signal representative of the length of the object between line scans to be processed, image recognition means to which the signals stored in said store means and to which said signal representative of the length of the object between line scans and to which expected image signature or image attribute signals are supplied for recognition processing, to obtain an output representative of a recognised image signature or image attribute.
  • Such apparatus is independent of the direction of approach of the object.
  • a second ⁇ ingle- line scan type line scan camera which is directed so that the camera views the object, spaced along the direction of travel of the object, so that two sets of signals indicative of the image of the object can be obtained and processed.
  • the apparatus may be duplicated at other locations along the path of the object to provide for interval route timing.
  • the processors at the two locations may be in communication with each other or with yet another processor at a central location.
  • the distances between each of the locations is known so that when the object passes one location its feature such as image signature or image attribute or both will be obtained, and when the same object passes another location its same image signature or image attribute or both will again be obtained, and from the respective times of passing the two -locations and the known distance therebetween the average speed can be determined.
  • the apparatus may be directed to the detection of the position of a vehicle on a roadway.
  • a marking pattern may be laid on the roadway of a known length and position with respect to an edge of the roadway and being coincident with the line scan image field of a camera; the marking pattern comprising a regular pattern which, in the absence of a vehicle, produces a regularly repeating digitised image as determined by the processor, and upon a vehicle entering the image field the digitised image will change to form a resulting digitised image, and by comparison with the said regular digitised image, the width of the vehicle can be determined.
  • the determination can be made from the points in the resulting image where the said regularity ceases and recommences.
  • the position of the vehicle on the roadway can be determined with reference to the sides of the roadway from that point along the line image field where the regularity in the resulting digitised image ceases and recommences.
  • the determined width will indicate what category of vehicle has been detected through a comparison with a store of characteristic widths.
  • the apparatus may also identify an object in terms of the object's length and height.
  • an object By recording an image of the whole of the object as it passes through the field of view of a camera a unique 'signature' of the object can be obtained.
  • the height and length of the object can be determined from processing the image data obtained from the surface of the object as it passes through the field of a camera.
  • An estimate of a object's length might be obtained from the sum of the lengths of image segments having straight sides after normalization.
  • the object's height will be approximately the sum of the lengths of image segments having curved sides after having normalised those curved sides to represent true length.
  • Figure 1 shows schematic detail of two CCD (Change Coupled Device) cameras located above a roadway in a system constructed in accordance with the invention for viewing passing vehicles;
  • CCD Change Coupled Device
  • Figure 2 shows a top view of the configuration in Figure 1;
  • Figure 3 shows in schematic block circuit diagram form the components of the system
  • Figure 4 shows in side elevation a truck just entering the first line scan image field
  • Figure 5 shows a top view of the arrangement, in Figure 4;
  • Figure 6 shows the truck of Figure 4 having moved along the roadway to enter the second line scan image field;
  • Figure 7 shows the truck yet further progressed along the roadway
  • Figure 8 shows a rear view of the truck and the first line scan image field
  • Figure 9 shows examples of images obtained over the surface of the truck for varying conditions
  • Figure 10 shows an example of a marking pattern applied to the roadway
  • Figure 11 shows an embodiment having coverage of two lanes of a roadway
  • Figure 12 shows a flow diagram of typical steps performed by software in operation of a preferred system constructed in accordance with the above embodiments of the invention
  • Figure 13 shows schematic detail of a single CCD camera located to one side of path of travel of an object such as a shipping container in a system constructed in accordance with the invention for viewing passing shipping containers and for recognizing code information on a face of the shipping containers;
  • Figure 14 is a flow diagram of typical steps performed by software in operation of a preferred system in accordance with Figure 13.
  • FIG. 1 and 2 relate to a system installed on a public highway for viewing passing vehicles.
  • the system 10 has components located above and beside the roadway 20.
  • two CCD cameras 30.- 40 are arranged to be above the roadway 20 respectively at heights h j _ and h 2 , and located approximately above the mid- point of the left hand carriageway of roadway 20 (for right hand drive vehicles).
  • the cameras 30,40 are in spaced arrangement.
  • the cameras are charge coupled devices of the single-line scan type line scan cameras.
  • One suitable type of CCD line-scan camera is manufactured by the French company i2R, and sold under type number iVClOO.
  • the line-scan cameras 30,40 of the type specified have a resolution of 2048 pixels in each line, which translates to typically 2 mm lateral resolution on the road surface, given that lane width is typically 3.3 m. Best results are obtained for angles ⁇ , ⁇ in the range 30-60°. For an angle of 45°, since there is one-one correspondence of horizontal speed with vertical speed, any image attribute obtained by the camera of numerals or letters will be 1 to 1 scaled, thereby aiding recognition. There is often a judgement required to be made, in that at an angle near 30° there will be a large 'shadow' behind a vehicle and therefore tail gating vehicles may escape detection.
  • tail gating vehicles will be detected, but there is a loss of resolution in capturing a 'signature' image of a vehicle - the shape of the vehicle - and a similar loss of resolution in capturing an image attribute - registration number.
  • the cameras operate at a line scan frequency of 10,000 lines per second, i.e. 20 MHz, for a vehicle speed of 70 km/h the resolution obtainable is 2 mm at a 45° angle, which is sufficient to allow recognition of vehicle signatures and image attributes such as registration numbers. If a vehicle's speed is, say, 140 km/h, resolution reduces to 4 mm, but it is still possible to recognize the registration number as only the height of the character has been affected, and not the width.
  • the two cameras 30,40 do not necessarily need to have the same resolution, nor do they need to have as high a resolution as frame cameras, as the application and speed of vehicles being detected will dictate an appropriate configuration, particularly if the expected top speed of vehicles is less than 140 km/h.
  • the cameras 30,40 are mounted off the road by any suitable means such as on a gantry, or on some other structure which may also hold road signs, or even from a bridge.
  • the cameras 30,40 are connected to a remote station 50 which comprises an enclosure housing electronic means utilised in implementing the localised control and processing of the system 10.
  • the remote station 50 may include a power supply 51 which can be used to power the electronic means as well as the cameras 30,40.
  • the local processor 52 controls the operation of the localised control/processing at the remote station 50.
  • the processor 52 is in two-way communication with the cameras 30,40.
  • Information received by the local processor 52 from the cameras 30,40 typically relates to signals representative of image data collected, whereas the control lines from the local processor 52 to the cameras 30,40 relate to issuing of control instructions and providing power to the cameras.
  • the local processor 52 can read and write information from a store means in the form of a mass storage device 53. As shown in Figure 3 it is possible to connect further pairs of cameras 30', 40' to the local processor 52, the other pairs being sited above another carriageway.
  • the local processor 52 will periodically be required to transmit information to a centralised location. at a central station 100 for reasons that will become apparent.
  • a modem/Tx/Rx device 54 is connected to the local processor 52.
  • the communications from the local processor 52 to the central station 100 can be via land line or radio transmission or the like.
  • Signals of the image data to be transmitted is likely to be compressed to reduce transmission times.
  • the JPEG Joint Photographers Expert Group
  • the central station 100 can support a number of remote stations 50, with a suitable number of modem/Tx/Rx devices 102 being provided.
  • the host computer 101 has access to a mass storage device 103 and a central control station 104.
  • the central control station 104 would enable an operator to monitor the performance of any one of a number of remote stations 50 as well as performing other operational functions.
  • FIG. 4 shows a truck travelling on the roadway 20 having reached a position where its front bumper enters the image field a x .
  • the cameras 30,40 are typically chosen to operate using infra-red light in the range 600-800 nm, hence the light would not normally be visible to a driver of a truck or other motor vehicle. Even so, it is possible to use the cameras as being sensitive to the visible light spectrum.
  • the system does not require remote triggering from any other sensor to start the image recording.
  • Second, the system is non-invasive to the roadway as the road need not be disturbed to install trip sensors or the like. This, in turn, avoids subsequent road repair costs. The reason both cameras are operational is because the system is designed to operate for a vehicle travelling in either direction on the roadway, in which case either image field a ⁇ ⁇ or a 2 may be entered first. The camera will therefore usually be taking an image of the road surface to use as a reference.
  • the local processor 52 will commence storage of signals of digitised image data. As can be seen from Figure 5, only the middle portion of the line scan image will show a change as each side portion is still incident on the roadway 20. As soon as the truck 60 enters the line scan of the first image field a. it is possible to switch the local processor 52 into a high intensity/high capture mode to enhance the data image.
  • the detection of a vehicle may take place by means of processing the image data obtained from the roadway or a roadway marking pattern as will presently be described with reference to Figure 10 utilising a fast fourier transform (FFT) program to translate the information into the frequency domain.
  • FFT fast fourier transform
  • the front-most portion of the truck then enters the line scan of field a 2 .
  • This event is signalled by the camera 40 to the local processor 52 in which case the elapsed time, t, between field a having been entered and field a 2 now been entered will be known, and by knowing the horizontal separation of the fields, x (given that the same point of the truck will break both line scan beams in the first instance), the speed of the truck can be determined as x/t. This can then be scaled to give an indication of the speed of the truck in units such as km/h.
  • a signal representative of the speed of the truck is determined by comparing a time instant when a part of the truck is at a particular line scan of one of the cameras, and a line instant when the same part of the truck is at the same line scan of the other of the cameras, to obtain a line difference signal.
  • the recording of the image of the truck as performed by camera 30 or 40 should contain image information as to an image attribute - in this case - the registration number plate from which the registration number can be deciphered and appropriate action taken. It may be equally applicable to determine the registration number of a vehicle that is not speeding, for example in route interval timing as will be described presently. If the separation x between the fields a- L and a 2 is quite small, say 100 mm, then a sufficient amount of image information may not have been recorded by camera 30 in order to include the registration number plate.
  • a measure of the acceleration of a vehicle this can be achieved utilising the two camera system. If the time at which the front of the truck enters field a x is ascribed to be t 0 , and the time the front of the truck enters field a 2 having travelled distance x is t ⁇ r then a first velocity V ⁇ is known from x/t. In the same way another velocity can be determined using the rear of the truck as a reference. The times the rear of the truck pass fields a r and a 2 are t 2 and t 3 respectively. This then determines V 2 .
  • the acceleration can be determined from (V 2 - V ⁇ ) / ((t x - t 0 ) - (t 3 - t 2 ) ) .
  • the acceleration is determined by comparing the time difference in the signals indicative of the image of the truck, of the entry and exit instants of the truck within the fields of each camera.
  • a further embodiment to that shown in Figure 2 is to include a third single-line scan type line-scan CCD camera.
  • This third camera will be spaced from the other two cameras either in front of camera 30 or behind camera 40 or between the two cameras, and such that the line field of images a 3 is substantially parallel to fields a x and a 2 .
  • the separation between field a 3 and either a x or a 2 need not be x as between those two.
  • the function of the third camera is to provide another measure of a vehicle's speed some time after, before or during that obtained by the time interval between a x and a 2 . In this way a measure of the vehicle's acceleration can also be obtained, through knowing the change in speed and the time between the respective speeds being recorded.
  • One example of the value of knowing this quantity would be where the cameras were mounted near a set of traffic lights, and if a vehicle was determined to be speeding and accelerating it may be possible to cause the state of the traffic lights to be changed and avoid a collision. Alternatively, it can be determined a driver is engaging in unsafe driving practices by speeding or accelerating through traffic signals.
  • the third camera views the truck at a position along its path of travel different to the two cameras, and where the acceleration of the* object is obtained by comparing the time difference in said signals indicative of a part of the truck at a particular line scan image of the truck in each of the cameras .
  • the central station 100 can support a number of remote stations 50. Given the instance that the registration number of a vehicle has been obtained at one remote station 50, it is then possible to check the route interval time of the vehicle once it passes another remote station 50 simply by matching registration numbers and 'times of day' . This will give an indication of the average speed of that vehicle.
  • a modification of the system permits determining the vehicle parameters of position in a carriageway and its width. This is shown in Figure 10.
  • This modification comprises use of a roadway marking pattern 120 which is laid across the width of the carriageway at a position coincident with fields a ⁇ ⁇ and a 2 .
  • the pattern 120 comprises regularly spaced white squares or rectangles which are periodically interposed by alternately oriented triangles.
  • As the cameras 30,40 record the marking pattern 120 they will generate a regularly repeating digitised image based on 256 grey scale levels.
  • the width of the white segments is at least 2 pixels.
  • a white object will be recorded as a series of pixels (corresponding to the width of each segment according to the resolution) having a grey scale value of, say, 0-10.
  • the roadway segments are black and therefore detected as a series of pixels having a grey scale value of, say, 246-256.
  • a known pattern of grey scaled pixels is continually recorded. There is direct known correlation between each widthwise position in the carriageway and each pixel in the sequence.
  • the sides of the vehicle can be located, and therefore the position of the vehicle in the carriageway.
  • a first estimate of its width can also be determined.
  • FFT fast fourier transform
  • the triangular shapes in the pattern 120 serve a special purpose.
  • the cameras 30,40 are subject to the environment including wind and structural vibrational effects. This may result in the image fields a ⁇ and a 2 being not precisely normal to the carriageway but translating forward and backward along the roadway, or possibly becoming slightly skewed. This translation or skewing effect will be determinate since the reflected image will vary slightly as more or less of the triangle is imaged depending upon the skew. This allows correcting adjustment to be made in the processing of image data of a vehicle, hence maintaining the desired accuracy.
  • the task of obtaining a 'signature' of a truck is made more difficult where the truck is not travelling down the centre of a carriageway, is straddling lanes or is skewed by virtue of changing lanes.
  • These considerations impact on the system configuration and the software required to generate a total image of the truck.
  • each camera must be such as to partly overlap into the adjacent carriageway, and at least by one half of the width of a registration number plate.
  • the second carriageway could be for traffic travelling in the same or different direction.
  • the duplicated system can also be used in conjunction with the first for the detection, discrimination, deciphering of registration number and 'signature' image capture if a vehicle is straddling the lanes.
  • the cameras (30,40 and 70,80) of both carriageways will record respective parts of the whole, including some of the sides of the vehicle.
  • Figure 9A shows a perspective front view of a truck 60 centred in the lane and for a 50 mm object lens.
  • Figure 9B is the resulting image.
  • the configurations of Figures 9C-9I are evident from the annotation on the drawings themselves.
  • Figure 12 shows a flow diagram indicating typical steps in performing all the functions of speed determination, vehicle detection and discrimination, registration number, capture and decryption and vehicle
  • the local processor 52 will analyse that data to determine the actual speed and may also identify and decipher the registration number plate.
  • the registration number plate identification is performed by known software written by the present applicant which is incorporated into a system in use at the Traffic Camera Office in Victoria, Australia, and known under the trade mark ICONISCAN. This information is then transmitted to the host computer 101 where it can be acted on by issuing such as a fine or interfacing with other records over some external bus or communications device represented as 105 such as those that might be held by traffic enforcement agencies and which identify the truck's owner and/or driver.
  • the registration number deciphering could equally be performed by the host computer 101.
  • the complete truck image information is also transmitted to the host computer 101 which can call up the relevant record from the mass storage device 103 in relation to the identified registration number plate to determine whether the truck bearing that registration number plate is the same as the one measured at the time of original registration. It may also be possible to raise an alarm at the central control station 104 such that an operator can alert law enforcement agencies whom may take whatever action deemed appropriate.
  • FIG. 13 and to Figure 14 there is shown a further embodiment which uses only a single- line type line scan camera 30.
  • This system is useful for recognising an image signature or image attribute of a passing object.
  • this system one or other of the speed or the length of the object may be unknown.
  • this system can be used for detecting passing shipping containers 150 which may be lifted from transport vehicles into a ship or other storage area.
  • the line scan camera 30 is directed with its field of view orthogonal to an intended front face of the object - the shipping container 150.
  • the longitudinal extent of the line scan is directed generally horizontally assuming that the shipping container 150 will be lifted vertically.
  • camera 30 views a side face 151 of the shipping container 150 so that a code 153 marked on the face 151 can be viewed line by line as the shipping container 150 passes through the line scan image.
  • the signals provided by the camera 30 of the image of the object are provided to a remote station 50 as in previous embodiments.
  • the remote station 50 may include all the componentry referred to in previous embodiments as well as the componentry at the central station 100 in the previous embodiments. The exact arrangement of components is dictated by the in-use environment. For example, all the processing may be done in the remote unit 50 or there may be transmission of information from the remote unit 50 to the central station 100 as in the previous embodiments. As previously stated, the length of the object may or may not be known.
  • the speed of the object may or may not be known.
  • each single line scan image of the object can be processed relative to another line scan image of the object to form a normalized image of the object over all the line scans.
  • the image signals have been normalized they can be processed with image recognition means for recognition processing of either the signature of the object or an image attribute of the object - either the shape of the object or the code numbers respectively.
  • These signals when recognised by the recognition means can provide an output representative of a recognised image signature or image attribute.
  • Figure 14 shows a typical software flow diagram which can be used to provide the necessary software for the system.
  • the image attribute such as the code characters can be recognised by the software ICONISCAN previously referred to.
  • the length of the shipping container in this case the height of the shipping container
  • the known height can be pre-stored as an appropriate signal.
  • the system described provides an inexpensive, reliable and accurate method of determining the speed of objects utilising readily available equipment and avoiding time consuming and difficult data analysis.
  • the system also has the advantages of allowing other characteristic measurements of objects to be performed, such as an object's positioning, width and an estimate of height and length together with a 'signature' image.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

On décrit un appareil de prise de vue qui comprend au moins une caméra à balayage de ligne de type monoligne (30, 40) installée de manière à surveiller le passage d'un objet (60, 150). Les caméras (30, 40) sont reliées à des dispositifs électroniques (50) avec organe d'enregistrement (53) qui stockent des signaux correspondant à l'image d'un objet présent dans les lignes balayées. Ces dispositifs électroniques (50) comportent des moyens de traitement (52) permettant de traiter ces signaux correspondant à l'image ainsi qu'un autre signal représentatif au moins de la vitesse ou de la longueur de l'objet, ce qui permet de déterminer la longueur de l'objet entre les balayages de ligne. La longueur ainsi déterminée est transmise à un dispositif de reconnaissance d'image (100) et utilisée avec les signaux du dispositif d'enregistrement (53) et comparée à la signature ou aux signaux de caractéristiques d'image que l'on escompte afin d'obtenir une reconnaissance. En cas de reconnaissance, le signal disponible en sortie est représentatifd'une signature ou caractéristique d'image escomptée. On recourt de préférence à deux caméras (30, 40), ce qui permet de voir l'objet (60, 150) à deux endroits placés le long de son trajet et d'obtenir un signal représentatif de sa vitesse par comparaison des instants précis où chaque caméra détecte une partie de l'objet.
PCT/AU1993/000111 1992-03-18 1993-03-18 Appareil de prise de vue WO1993019429A1 (fr)

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AUPL1403 1992-03-18
AUPL140392 1992-03-18

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Cited By (10)

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EP0674186A2 (fr) * 1994-03-23 1995-09-27 Daimler-Benz Aerospace Aktiengesellschaft Dispositif de détection et de classification d'avions ou de véhicules lorsqu'ils roulent de préférance sur la piste d'atterissage et d'envol ou sur la piste de roulage
EP0823036A1 (fr) * 1995-04-28 1998-02-11 Schwartz Electro-Optics, Inc. Detecteur pour systeme intelligent de regulation de la circulation sur les autoroutes et procede d'utilisation
US5809161A (en) * 1992-03-20 1998-09-15 Commonwealth Scientific And Industrial Research Organisation Vehicle monitoring system
WO1999018554A1 (fr) * 1997-10-08 1999-04-15 Tracon Systems, Ltd. Systeme de surveillance video de la circulation routiere
EP0978811A2 (fr) * 1998-08-07 2000-02-09 Siemens Aktiengesellschaft Procédé et appareil de saisie de durée de trajets de véhicules
EP1048961A2 (fr) * 1999-04-30 2000-11-02 Siemens Aktiengesellschaft Appareil et procédé de mesure simultanée de la vitesse et des caractéristiques de la surface d'objets mobiles
WO2012152868A1 (fr) * 2011-05-11 2012-11-15 Morpho Procédé et dispositif de production d'une image contextuelle d'un objet en mouvement
CN104730280A (zh) * 2015-04-10 2015-06-24 苏州大学 一种球类测速方法及系统
CN109085374A (zh) * 2018-07-27 2018-12-25 江苏科技大学 基于kinect的用于低转速系统的多点测速装置及其测速方法
CN111650392A (zh) * 2020-07-03 2020-09-11 东北大学 基于线阵相机立体视觉的金属板材运动速度检测方法

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US5809161A (en) * 1992-03-20 1998-09-15 Commonwealth Scientific And Industrial Research Organisation Vehicle monitoring system
EP0674186A2 (fr) * 1994-03-23 1995-09-27 Daimler-Benz Aerospace Aktiengesellschaft Dispositif de détection et de classification d'avions ou de véhicules lorsqu'ils roulent de préférance sur la piste d'atterissage et d'envol ou sur la piste de roulage
EP0674186A3 (fr) * 1994-03-23 1997-05-28 Daimler Benz Aerospace Ag Dispositif de détection et de classification d'avions ou de véhicules lorsqu'ils roulent de préférance sur la piste d'atterissage et d'envol ou sur la piste de roulage.
EP0823036A1 (fr) * 1995-04-28 1998-02-11 Schwartz Electro-Optics, Inc. Detecteur pour systeme intelligent de regulation de la circulation sur les autoroutes et procede d'utilisation
EP0823036A4 (fr) * 1995-04-28 1999-09-15 Schwartz Electro Optics Inc Detecteur pour systeme intelligent de regulation de la circulation sur les autoroutes et procede d'utilisation
WO1999018554A1 (fr) * 1997-10-08 1999-04-15 Tracon Systems, Ltd. Systeme de surveillance video de la circulation routiere
EP0978811A2 (fr) * 1998-08-07 2000-02-09 Siemens Aktiengesellschaft Procédé et appareil de saisie de durée de trajets de véhicules
EP0978811A3 (fr) * 1998-08-07 2000-08-16 Siemens Aktiengesellschaft Procédé et appareil de saisie de durée de trajets de véhicules
EP1048961A2 (fr) * 1999-04-30 2000-11-02 Siemens Aktiengesellschaft Appareil et procédé de mesure simultanée de la vitesse et des caractéristiques de la surface d'objets mobiles
DE19919925A1 (de) * 1999-04-30 2000-11-16 Siemens Ag Anordnung und Verfahren zur gleichzeitigen Messung der Geschwindigkeit sowie der Oberflächengestalt von bewegten Objekten
DE19919925C2 (de) * 1999-04-30 2001-06-13 Siemens Ag Anordnung und Verfahren zur gleichzeitigen Messung der Geschwindigkeit sowie der Oberflächengestalt von bewegten Objekten
EP1048961A3 (fr) * 1999-04-30 2003-10-15 Siemens Aktiengesellschaft Appareil et procédé de mesure simultanée de la vitesse et des caractéristiques de la surface d'objets mobiles
WO2012152868A1 (fr) * 2011-05-11 2012-11-15 Morpho Procédé et dispositif de production d'une image contextuelle d'un objet en mouvement
CN104730280A (zh) * 2015-04-10 2015-06-24 苏州大学 一种球类测速方法及系统
CN109085374A (zh) * 2018-07-27 2018-12-25 江苏科技大学 基于kinect的用于低转速系统的多点测速装置及其测速方法
CN109085374B (zh) * 2018-07-27 2020-06-16 江苏科技大学 基于kinect的用于低转速系统的多点测速装置及其测速方法
CN111650392A (zh) * 2020-07-03 2020-09-11 东北大学 基于线阵相机立体视觉的金属板材运动速度检测方法

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