Front vehicle ranging method based on monocular vision

A distance measurement method and monocular vision technology, which is applied in the directions of line-of-sight measurement, distance measurement, photogrammetry/video measurement, etc., and can solve the problems that cannot meet the needs, do not consider optical path errors such as lens distortion, and reduce the accuracy of distance measurement. question

Active Publication Date: 2012-09-12
TIANJIN POLYTECHNIC UNIV
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Problems solved by technology

Therefore, they have some common problems: On the one hand, basically all researches are optical models of pinhole imaging or perspective projection, and the geometric relationship of coordinate transformation is based on the ideal optical path, without considering the existence of optical models in actual imaging. Optical path errors such as lens

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  • Front vehicle ranging method based on monocular vision
  • Front vehicle ranging method based on monocular vision

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Embodiment Construction

[0032] The flow chart of the present invention is as figure 1 As shown, the internal parameters of the camera are calibrated first, and the accuracy of the three-line calibration method is verified by geometric calculation and total station measurement, and then the attitude parameters of the camera are statically calibrated by the three-line calibration method. According to different pitch angles of the camera, the segmented The method of fitting function, fitting the functional relationship between the vertical coordinate and the actual vertical distance, and fitting the functional relationship between the vertical coordinate and the actual horizontal distance represented by each pixel. Finally, using the results of lane line detection, the actual pitch angle of the camera is calculated in real time by using the three-line calibration method again, and the distance between the vehicle target and the vehicle is calculated by linear interpolation. The specific implementation p...

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Abstract

The invention belongs to the technical field of intelligent transportation and relates to a front vehicle ranging method based on monocular vision. The method includes: adjusting the posture of a vehicular camera, considering the pitch angle variation range due to bumping to adjust the pitch angle of the camera, and using the obtained actual measurement data to segmentally fit the functional relation between an ordinate and an actual longitudinal distance at different pitch angles and the functional relation between the ordinate and an actual transverse distance represented by per horizontal pixel at different pitch angles; and when a vehicle runs, calibrating real-time pitch angle of the camera according to left and right lane lines detected in real time and a three-line calibration method, and then using the linear interpolation method to calculate to obtain the distance between the vehicle and a target vehicle. The front vehicle ranging method based on monocular vision has a real-time dynamic compensation effect on ranging error caused by vehicle bumping and can be used for accurately calculating the distance between the vehicle and the front vehicle.

Description

technical field [0001] The invention relates to a method that can accurately calculate the distance between the vehicle and the vehicle in front under the condition of high-speed or expressway. The method has real-time dynamic compensation effect on the ranging error caused by vehicle bumps, and belongs to the field of image processing and machine vision. An intelligent vehicle safety assisted driving system applied in the field of intelligent transportation. Background technique [0002] With the development of the world economy, the number of automobiles in the world has increased sharply, and the incidence of traffic accidents has also increased significantly. Traffic accidents have caused huge losses to people's lives, properties and national economies in various countries. The main reason for the increase in the accident rate of expressways and expressways is that the mileage of highways has increased rapidly, and the increase in traffic volume has caused the distance b...

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Application Information

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IPC IPC(8): G01C3/00G01C11/00
Inventor 肖志涛耿磊张芳吴骏方胜宇王悦
Owner TIANJIN POLYTECHNIC UNIV
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