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A crossing fine positioning method based on visual sense

A precise positioning and visual technology, applied in the field of visual navigation and positioning of intelligent traffic, can solve the problems of visual positioning limited to indoor environment and high positioning cost

Inactive Publication Date: 2016-11-23
BEIJING UNION UNIVERSITY
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the disadvantages of the high cost of existing high-precision GPS positioning and the limitation of visual positioning in the indoor environment, and propose a fine positioning method for intersections based on vision

Method used

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  • A crossing fine positioning method based on visual sense
  • A crossing fine positioning method based on visual sense
  • A crossing fine positioning method based on visual sense

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Experimental program
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Embodiment approach

[0068] 1. Install a monocular camera directly under the rearview mirror of the vehicle in accordance with the requirements of step 1. The optical axis of the camera is required to coincide with the central axis of the vehicle.

[0069] 2. Follow the detailed steps of steps 2, 3, and 4 to implement, the parameters involved are: the horizontal axis width of the actual field of view of the bird's-eye view is 1500cm, and the vertical axis length is 2500cm; the size of the bird's-eye image is width 300 Pixels, 500 pixels high, each pixel in the bird's-eye view represents an actual distance of 5 cm; the blind spot distance of the camera is 300 cm.

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Abstract

A crossing fine positioning method based on visual sense belongs to the field of computer vision and safe and intelligent transportation. According to the method, whether a vehicle arrives nearby a crossing is judged by crossing scene identification, and then inverse perspective transformation is carried out on a crossing image acquired by a monocular camera to obtain an inverse perspective image; then stop line detection and distance measurement and lane line detection are carried out to get the longitudinal distance of the vehicle from the stop line and the lateral distance of the vehicle from the lane line and a course angle; and according to the obtained data, world coordinate system horizontal coordinate calculating is carried out according to the obtained data to finally achieve the position coordinates of the vehicle. The crossing fine positioning is carried out through the method of visual sense so as to overcome disadvantages of high cost of high precision GPS positioning.

Description

Technical field [0001] A vision-based precision positioning method for intersections belongs to the field of computer vision and intelligent transportation visual navigation and positioning. Background technique [0002] With the continuous development of social economy and science and technology, cars have become a part of people's lives as a means of transportation, and safe driving and intelligent driving have become people's pursuit. Positioning navigation technology is an important component of intelligent driving, which can be divided into GPS positioning navigation and visual navigation. At present, the mainstream positioning methods in smart cars are positioning through high-precision GPS, which is very costly. Visual navigation is generally realized by means of lane line detection or self-positioning based on vision, and its cost is low. [0003] The Chinese invention patent with publication number CN104217439A discloses an indoor visual positioning system and method. Th...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/56G06V20/586G06V10/94G06V10/48G06V10/462G06F18/22
Inventor 袁家政刘宏哲黄先开李超郑永荣
Owner BEIJING UNION UNIVERSITY