Method for detecting automatically contact point of vehicle wheel and ground
An automatic detection and contact point technology, applied in the field of image processing, can solve the problems of judging the wheel and the ground, difficult to recognize by the human eye, etc., to achieve the effect of improving the detection accuracy, overcoming the labor intensity, and solving the environmental limitations
Inactive Publication Date: 2010-05-19
INST OF AUTOMATION CHINESE ACAD OF SCI
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For example, in the case of insufficient light at night, it is difficult to judge the contact point between the wheel and the ground in the image only by the human eye; the image taken in the rainy day is difficult for the human eye to identify because the color of the wheel and the ground become very close
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[0035] The present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that the described embodiments are only intended to facilitate the understanding of the present invention, rather than limiting it in any way.
[0036] 1. Some preliminary knowledge
[0037] 1.1 Camera Calibration
[0038] The symbols in the present invention are stipulated as follows, and the coordinates of an image point are m=(u, v) T , the coordinates of a three-dimensional space point in the camera coordinate system are expressed as P=(X, Y, Z) T . Their corresponding homogeneous coordinate forms are and The camera model uses a perspective projection model, and according to the principle of central projection:
[0039] λ m ~ = K R T P ~
[0040] in ...
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The invention discloses an automatic detesting method of contact points between wheels and ground. The steps of the invention comprise establishing an intrinsic parameter model of the camera, obtaining intrinsic parameter matrix of the camera, simply calculating discretional images which are shot at the scene of traffic accidents, obtaining an intrinsic parameter of the camera, automatically adjusting effective focal length of the camera according to the situation of the scene of the traffic accidents to extract clear live images, re-estimating the intrinsic parameter of the camera in every live image, processing the live images with wheels and extracting main contour line of the wheel images, confirming a central projective point and a perpendicular eliminating shadow point of the wheelsto obtain the projective line of the central projective point and the perpendicular eliminating shadow point and finding the contact point between the wheels and ground surface on the projective line.The invention replaces the mode mainly employing artificially extracting the contact point between the wheels and the ground surface, and relatively effectively overcomes the shortages of high laborintensity, easily being influenced by external factor and the like, thereby satisfying the need of automatically treating by system.
Description
technical field [0001] The invention belongs to the technical field of image processing, and relates to camera calibration, measurement based on a single image, and practical application technologies of image processing. Background technique [0002] At present, the on-site processing of traffic accidents mainly adopts the method of manual survey. This method has the disadvantages of long processing time, low precision, high labor intensity, and many personnel required. [0003] In recent years, many researchers have begun to study the application of visual measurement technology in traffic accident scene processing. The basic idea is to measure by taking images of traffic accident scenes to reduce the time of on-site processing and improve the quality and efficiency of investigation; among them, accident The detection of on-site feature points is a key issue in the application of visual measurement technology to the scene of traffic accidents, such as the detection of the c...
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IPC IPC(8): G06T7/00G06T7/60G01B11/00G01B11/24
Inventor 赵训坡胡占义曾慧谭博怡
Owner INST OF AUTOMATION CHINESE ACAD OF SCI