Traffic sign positioning method based on spherical panoramic video

Abstract

The invention discloses a traffic sign positioning method based on spherical panoramic video. Firstly, an Adaboost classifier of traffic signs is trained by Haar characteristics, and the traffic signs are detected on the basis; on the basis of detection results, centroid positions of detection regions are calculated, and the centroid positions are used as the positions of the traffic signs; two spherical live-action images containing the same traffic sign are chosen, and on the basis of the position mapping relation of the two spherical live-action images, the position of the traffic sign in three-dimensional space is determined; the coordinate of the spatial position is converted into a geodetic spatial rectangular coordinate, then the geodetic spatial rectangular coordinate is converted into a geodetic coordinate, longitude and latitude information in the geodetic coordinate is extracted, and positioning of the traffic signs in a two-dimensional map is achieved. By means of the traffic sign positioning method, users only need to drive on a road once, all surrounding scenes can be shot, therefore, positioning of all the traffic signs in the scenes can be performed, longitude and latitude coordinates corresponding to the signs on the live-action images can be calculated, and positioning is performed. Time and labor are saved, the positioning algorithm is high in efficiency, and real-time performance is good.

Description

technical field [0001] The invention relates to the technical field of traffic sign positioning, in particular to a traffic sign positioning method based on spherical panoramic video. Background technique [0002] The collection of traffic signs in vector maps is of great significance to traffic facility management and vehicle intelligent navigation. In today's society with fast construction, many traffic elements, and fast updates, it is an important topic to study fast and accurate traffic sign collection. The key to the collection of traffic sign information is the location of traffic signs. On the basis of accurate and fast positioning of traffic signs, draw them on the vector map according to the location information of traffic signs. [0003] Traditional manual surveying and mapping methods are inefficient and costly, and cannot meet the needs; positioning methods based on aerial and satellite images are affected by image accuracy, and automatic identification is diff...

AI Technical Summary

Problems solved by technology

[0003] Traditional manual surveying and mapping methods are inefficient and costly, and cannot meet the needs; positioning methods based on aerial and satellite images are affected by image accuracy, and automatic identification is difficult; while positioning methods based on ordinary videos are limited by the viewing angle of a single camera , it is impossible to locate all the signs on both sides of the road in one collection process. However, it is necessary to judge the range of video viewing angles during repeated collections, which will cause repeated collections or missed collections.

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