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3-dimensional (3D) measurement method for reverse images

A reversing image and three-dimensional measurement technology, which is applied in photogrammetry/video measurement, measuring devices, surveying and mapping and navigation, etc., can solve the problem of not being able to measure the height of the target

Inactive Publication Date: 2014-05-28
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a three-dimensional measurement method for reversing images, and use the camera model and the basic principles of projective geometry to derive a three-dimensional measurement method based on reversing images, which can effectively measure the height and three-dimensional coordinates of objects on the road At the same time, it can also realize the two-dimensional plane measurement function of the reversing image, which overcomes the disadvantage that the target height cannot be measured in the two-dimensional plane measurement of the reversing image, and reduces the occurrence of traffic accidents

Method used

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Embodiment 1

[0061] The first step is to make a reversing image camera calibration device

[0062] according to figure 1 The illustrated embodiment produces a reversing image camera calibration device. This device includes: the surface of abcd with a checkerboard. The plane where abcd is located is called the reference plane 3. Put abcd on the ground, and the ground becomes the reference plane 3. The checkerboard in the reference plane 3abcd is composed of 48 black and white squares. The size of each square is 50cm×50cm, and the side ad of the reference plane abcd is the distance measuring line 4; a left plane cdef perpendicular to the reference plane 3abcd, on which there are nine parallel lines perpendicular to the reference plane with intervals of 50cm The straight line 1 of the plane, the height measurement line mn2-1 and the height measurement line ef2-2; the height measurement line mn2-1 and the height measurement line ef2-2 are all parallel to the edge cd of the reference plane 3ab...

Embodiment 2

[0102] This embodiment is to add the manual mode of the reversing image in embodiment 1. The user switches to the manual mode according to the needs. The specific operation method is: the display screen is touch-sensitive, the user selects the reversing image display screen, and selects the reference plane 3 At any point, use opencv software to make a vertical line perpendicular to the reference plane 3 through this point, and add a scale on the vertical line. The scale can be used for density selection, and the height scale 7 in manual mode can be made. This height scale 7 measures the height of any object on the reference plane 3 perpendicular to the reference plane 3 .

Embodiment 3

[0104] This embodiment is to increase the reversing image in embodiment 1 to have the selection function of the distance measuring line. The specific operation method is: one is that there are 3 ranging lines, and the distance between the ranging lines and the rear of the car is 1m and 2m respectively. , 4m, one is that the distance from the rear of the car to the 6 ranging lines is 0.5m, 1m, 1.5m, 2m, 3m, 4m respectively, find the benchmarks corresponding to the two ends of the ranging lines, get the height scale according to the benchmarks, and use opencv Carry out simulation, make control selection, and display these ranging lines in the video respectively, so as to obtain the display of the scale in the intensive reversing image.

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Abstract

The invention provides a 3-dimensional (3D) measurement method for reverse images, relates to image data processing of a 3D target, and discloses a 3D measurement method based on reverse images and derived from utilization of a camera model and a basic principle of projective geometry. The 3D measurement method comprises steps as follows: manufacture of a reverse image camera measuring device, calibration of a reverse image system, calculation of the camera position, calculation of a target height, coordinate system transformation regulation and 3D ruler display of the reverse images. The method can measure the height and the 3D coordinates of the target on a pavement, can achieve the function of two-dimensional plane measurement of the reverse images simultaneously, overcomes the defect that the height of the target cannot be measured in two-dimensional plane measurement of the reverse images, and reduces traffic accidents.

Description

technical field [0001] The technical solution of the present invention relates to image data processing of 3D objects, specifically a three-dimensional measurement method for reversing images. Background technique [0002] With the rapid development of imaging technology and computer vision technology, vehicle-mounted reversing imaging systems are widely assembled on vehicles. Compared with the reversing radar, the reversing image can provide more intuitive visual information, and remind the driver by displaying the distance scale on the screen. The emergence of this technology has greatly improved the degree of driving safety. At present, the general reversing camera system can only realize two-dimensional plane measurement. There are deficiencies in the two-dimensional plane measurement of the reversing image. It can only measure the distance from the road target to the rear of the car and give a warning to the user, but cannot measure the height of the target. Since th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00
CPCG01C11/00G01C11/36
Inventor 胡钊政张兰李娜柏东芳赵斌夏克文
Owner HEBEI UNIV OF TECH
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