Vehicle ranging method based on monocular vision

A distance measurement method and monocular vision technology, which is applied in the directions of measuring distance, line-of-sight measurement, measuring devices, etc., can solve problems such as inaccurate measurement, achieve the effects of improving detection speed, reducing error rate, and improving accuracy

Inactive Publication Date: 2015-09-09
NORTHEASTERN UNIV
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Problems solved by technology

The disadvantage of this type of method is that accurate information of the image needs to be used

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  • Vehicle ranging method based on monocular vision
  • Vehicle ranging method based on monocular vision
  • Vehicle ranging method based on monocular vision

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] figure 1 It is the flow chart of the vehicle ranging method based on monocular vision in this embodiment, and the method includes the following specific steps:

[0039] Step 1: Install a monocular camera on the vehicle, measure the height of the camera, and obtain the focal length parameters of the camera;

[0040] First fix the monocular camera in front of the vehicle, determine the height of the camera from the ground and the angle between its axis and the horizontal direction, that is, the vertical height and pitch angle of the monocular camera;

[0041] Step 2: using the monocular camera to collect video images under the highway environment;

[0042] Step 3: the video image preprocessing process before the target vehicle detection;

[0043] Step 3.1: Use Gaussian filtering to perform preliminary denoising and filtering p...

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Abstract

The invention discloses a vehicle ranging method based on monocular vision, and belongs to the field of target detection and ranging. The method comprises the steps of installing a monocular camera on a vehicle, measuring the height and the pitching angle of the camera, and determining focal distance parameters of the camera; acquiring a video image in an expressway environment; performing preliminary de-noising and filtration on the video image by adopting Gaussian filtration; performing interest region segmentation preprocessing before detection of a target vehicle on the video image; performing vehicle detection in a segmented video image region, wherein an Haar feature for increasing a wheel feature and a tail feature is adopted in the target vehicle detection, so as to effectively improve the accuracy of target vehicle identification; and measuring the distance of the target vehicle, wherein a ranging method based on pin-hole imaging is adopted within a short-distance range, while a ranging method of data fitting is adopted within a long-distance range, so that the error rate is reduced, and a real-time ranging effect can be achieved. The method has the advantages of high detection speed, high accuracy, strong real-time property and low cost.

Description

Technical field [0001] The invention belongs to the field of target detection and ranging, in particular to a vehicle ranging method based on monocular vision. Background technique [0002] With the development of highway traffic, especially the expressway system, the traffic accident rate is also showing an upward trend, and traffic safety has become the focus of people's attention. Therefore, research on vehicle safety assisted driving technology provides vehicles with safety assisted driving functions, thereby providing intelligent technical services for reducing traffic accidents caused by drivers' subjective factors. Because of the large amount of information it provides and good stability, computer vision has gradually become the research focus of vehicle safety assisted driving technology. With the continuous development of computer vision technology, its role in intelligent vehicle systems has been continuously improved. The application of vision technology in vehic...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G06T7/20G01C3/00
CPCG06T7/215G01C3/00G06T2207/10016G06T2207/30248G06V20/56G06F18/24
Inventor 张云洲孙鹏飞李继凡孟蕾
Owner NORTHEASTERN UNIV
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