Method for measuring distance and height by vehicle-mounted monocular camera based on vertical type target

Abstract

The invention discloses a method for measuring distance and height by a vehicle-mounted monocular camera based on a vertical type target, and belongs to the technical field of intelligent vehicle environmental perception. Through the operations of template matching, candidate point clustering and screening and accurate positioning on a region of interest of a vertical type target image, the method realizes the detection and the positioning of a sub pixel level angular point, combines a projective geometry model, and creates a mapping relation between an image ordinate and an actual imaging angle, thereby realizing the measurement of the distance and the height. The inner and outer parameters of the camera are not needed to be calibrated, a calibrating board or a reference object is not needed to be placed repeatedly, the possibility of the occurrence of error is reduced, and not only are the operation steps reduced, but also the measuring accuracy is improved; compared with the conventional corner detection, the target point of the target can be detected more accurately, so that the calculated amount of the follow-up clustering and screening is reduced, the height measure of the monocular camera is realized on the basis of calculating the actual imaging angle and distance, and the cost is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle environment perception, relates to a distance measurement and height measurement technology based on machine vision, and specifically relates to a vehicle-mounted monocular camera based on a vertical target for distance measurement and detection of obstacles, bridge holes or culverts, etc. altimetry method. Background technique [0002] As the most important part of the intelligent vehicle environment perception system, machine vision provides a large amount of necessary environmental information for the decision-making layer, which is of great significance. Among them, the distance measurement and height measurement of the object provide important parameter information for the anti-collision warning, path planning and vehicle classification of the driverless or assisted driving system, and the passability detection of culverts and bridges. At present, the machine vision measurement o...

AI Technical Summary

Problems solved by technology

This method is also widely used in engineering, but requires a larger site, and the accuracy will be affected by actual measurement and data fitting errors

As for height measurement, sensors such as lidar are mainly used for measurement, and there are few published research results using only monocular real-time height measurement

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