Road marking acquisition method based on orthographic projection and device

Abstract

The invention provides a road marking acquisition method based on orthographic projection and a device and belongs to the image and video technology field. The method comprises steps that, a camera device mounted on an acquisition vehicle is utilized to acquire road images, and a target image is acquired; image processing on the target image is carried out to acquire the position of a road edge in the target image; the position of a road can be determined according to the position of the road edge in the target image, characteristic point extraction from the target image is carried out based on the position of the road to acquire calibrated characteristic points; a conversion relation between a camera device coordinate system and a space coordinate system is acquired according to the calibrated characteristic points, and a reverse perspective transformation matrix is generated; picture transition for the target image is carried out according to the reverse perspective transformation matrix, and a front view of the target image is acquired. Through the method, real-time road marking acquisition is realized, calibration, rectification and front view generation are automatically realized, subsequent processing time is greatly saved, and manpower and material resources are greatly saved.

Description

technical field [0001] The invention relates to the field of image and video technology, in particular to a method and device for collecting road markings based on orthographic projection. Background technique [0002] The collection of ground markings is one of the map information that map information collectors pay more attention to. In the existing collection schemes, in addition to manual collection methods, the method of map collection vehicles is generally used. Traditional collection vehicles need to be professionally installed with various sensors. To collect ground marking lines, a professional camera must be fixed on the vehicle, and there are strict requirements on the angle of the camera. At the same time, manual conversion between the camera coordinate system and the vehicle coordinate system is required. Calibrate. After calibration, if the camera is reinstalled, fixed or even moved, it needs to be recalibrated again. Therefore, in order to ensure the accura...

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Problems solved by technology

[0003] However, this traditional collection method has many inconveniences. For example, each collection vehicle needs to be specially modified, and cameras are added, and the project volume is large. When deployed in large quantities, the time cost and capital cost are relatively large; manual calibration is required, and this method is cumbersome. It is time-consuming, and it cannot be corrected in time when the camera angle changes unexpectedly, and the measurement error is large

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