Measuring method of three-dimensional movement track of moving vehicle based on vehicle body control point
A body control and three-dimensional motion technology, applied in the direction of photo interpretation, etc., can solve the problems of radar vehicle speed mismatch, low speed measurement accuracy, and rarely used, etc., to achieve the effect of strong applicability, accurate calculation, and convenient implementation.
Inactive Publication Date: 2012-10-10
SOUTHEAST UNIV
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The first method is limited by the fact that the coil must be fixed, and the disadvantage of the second method is that the vehicle speed may not match the vehicle due to the lack of radar itself
Vehicle speed measurement methods based on video images can generally be divided into monocular video image measurement and binocular video image measurement. Among them, the measurement method based on binocular video images is limited by the high requirements for the location of photographic camera equipment, and at the same time, it needs to be deployed at the speed measurement location. A certain number of spatial three-dimensional control points are rarely used in practice
The vehicle speed measurement based on the monocular video image is based on the position change of the vehicle on the image at different times, and the digital image processing method is used to transform the change of the pixel value of the vehicle into the change of the spatial position. This method is limited by the accuracy of image imaging. The accuracy of the speed measurement method is low
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[0029] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0030] like figure 1 Shown, a kind of measuring method of the mobile vehicle three-dimensional motion track based on vehicle body control point of the present invention, this measuring method comprises the following steps:
[0031] 10. Establish body control point database:
[0032] 101. Select body control points: For each type of vehicle, select n body feature points on the outer surface of the body as body control points. The n body feature points are not in the same plane, where n is an integer, and n≥ 6.
[0033] In step 101, the n vehicle body feature points are located on the outer surface of the vehicle body, preferably located around the vehicle body.
[0034] 102. Establish the three-dimensional coordinate system of the vehicle body: the three-dimensional coordinate system of the vehicle body takes a control point of the vehicle...
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The invention discloses a measuring method of a three-dimensional movement track of a moving vehicle based on a vehicle body control point. The measuring method comprises the following steps of: 10, building a vehicle body control point database; 20, acquiring the three-dimensional coordinate of the vehicle body control point of the moving vehicle; 30, measuring a transformational relation between the three-dimensional coordinate systems of the vehicle body of the moving vehicle at different moments and an image space coordinate system; and 40, measuring the three-dimensional movement track and the gesture change of the moving vehicle. According to the measuring method, the moving vehicle is subjected to close-range photogrammetry by fixed photography equipment based on the vehicle body control point on the moving vehicle, so the accurate measurement of the vehicle speed and the gesture of the vehicle in a driving process can be conveniently achieved.
Description
technical field [0001] The invention relates to a method for measuring a three-dimensional motion track of a mobile vehicle, in particular to a method for measuring a three-dimensional motion track of a mobile vehicle based on vehicle body control points. Background technique [0002] The traffic system needs to monitor the vehicle speed in terms of vehicle management. The traditional methods of measuring vehicle speed are: the first method is to measure with two ground induction coils; the second method is to use the Doppler effect for radar measurement; the third method is to measure the vehicle speed based on video images. The first method is limited by the fact that the coil must be fixed, and the second method has the disadvantage that the vehicle speed may not match the vehicle due to the lack of radar itself. The vehicle speed measurement method based on video images can generally be divided into monocular video image measurement and binocular video image measurement...
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IPC IPC(8): G01C11/08
Inventor 沙月进翁永玲占小康
Owner SOUTHEAST UNIV
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