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A method and device for detecting the size of an object

A technology for detecting targets and objects, which is applied in the field of stereo vision, can solve the problems of high installation complexity, high hardware cost, and inability to guarantee measurement accuracy of laser ranging, and achieve accurate detection, reduce the amount of computation, and reduce installation complexity. Effect

Active Publication Date: 2019-03-26
ZHEJIANG DAHUA TECH CO LTD
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Problems solved by technology

[0007] The purpose of the present invention is to provide a method and device for detecting the size of the target object, so as to solve the problems of high installation complexity, high hardware cost and inability to guarantee the measurement accuracy of the detection method of laser ranging

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  • A method and device for detecting the size of an object
  • A method and device for detecting the size of an object

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Embodiment Construction

[0055] The erected stereo camera needs to meet the following conditions: the baseline of the stereo camera is parallel to the reference plane, each optical axis is parallel and the reference plane is included in the field of view. And perform the calibration of the internal and external parameters of the stereo camera as follows: the baseline B of the stereo camera, the focal length f of the stereo camera, the coordinates of the image center point in the image coordinate system (u 0 , v 0 ), height h from the ground c , pitch angle θ. In addition, the corresponding relationship between the image ordinate v of the reference surface area in the image and the parallax d can also be obtained through calculation, denoted as d g (v).

[0056] When it is necessary to know the relative position of the target object detected by the image in the environment, it is necessary to determine the reference plane in the environment, and establish the camera coordinate system and the world c...

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Abstract

The invention discloses a method and a device for detecting dimensions of a target object. A baseline of a stereo camera and a reference plane are parallel, optical axes of the stereo camera are parallel, and the reference plane is contained in the visual field. The method comprises steps that pre-calibrated inner and outer parameters of the stereo camera are utilized, and epipolar correction on a first image and a second image of images shot through the stereo camera is carried out; a target object area of the first image is determined; the boundary of a target object in the target object area is determined after epipolar correction; the parallax of each row of pixel points of the target object area after epipolar correction in the second image after epipolar correction is determined; and the dimensions of the target object are determined according to the parallax and the boundary. The method solves problems that a laser distance measurement detection mode has disadvantages of high mounting complexity level and high hardware cost and cannot guarantee measurement precision.

Description

technical field [0001] The invention relates to the field of stereo vision, in particular to a method and device for detecting the size of an object. Background technique [0002] In many scenarios, there is a need to detect the size of the target object. For example, in road traffic scenarios, considering that super long, super high, and super wide vehicles will increase the probability of traffic accidents and pose a threat to road traffic safety, it is necessary to detect whether the vehicle's length, width and height exceed the limit. [0003] At present, the common method of detecting the size of the target is the laser ranging method. Still taking the detection of vehicle length, width, and height as an example, this method requires multiple sets of laser range finders to be installed at the same position to measure the length, width, and height of the vehicle. [0004] The method of laser ranging to detect the size of the target has at least the following problems: ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/60G06T7/80G06T5/00G01B11/02
CPCG01B11/028G06T5/00G06T2207/10012
Inventor 卢维李乾坤潘石柱
Owner ZHEJIANG DAHUA TECH CO LTD
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