Method of dynamically ranging target with vehicular single camera

Abstract

The invention discloses a method of dynamically ranging a target with a vehicular single camera, comprising steps of sampling a 0-momnet picture in video images of a camera, defining it as a first-frame picture PT [0], graying the picture, recognizing a target in the grayed picture to obtain a typical target outline, marking with a square, and recording image height PTH(0) ad image width of the square image of the target at this moment; sequentially recording PT[1], PT[2] to PT[i] images of adjacent i frames to obtain image height PTH(N) and image width PTW(N) of an image of the target in the PT[N] image; recording current vehicle speed; calculating by deducting to obtain a distance from the target. According to the method, the single camera is used with no assistance; the method has good timeliness, an algorithm is simple, and the method is easy to combine with videos in real time; the method is independent of optical parameters and target object characteristics; the method is highly adaptive to scenes and is low in cost and high in practicality.

Description

technical field [0001] The invention relates to a method for dynamic distance measurement of a vehicle-mounted single camera target, which can realize dynamic distance measurement of front or rear objects or targets by a single camera. Background technique [0002] Dynamic distance measurement is a basic problem in many application fields, and it has important application value in navigation, building construction, traffic control, and military affairs. [0003] The traditional dynamic distance measurement methods mainly include two types. One is to use laser, sonar, ranging radar and other active devices for active measurement. In addition to the high cost of this measurement method, the measured target is easily affected (laser, radar, etc.) Electromagnetic radiation, etc.), which is not conducive to the protection of the measured target and the concealment of measurement activities (such as military reconnaissance). The second is: the measurement method based on image (v...

AI Technical Summary

Problems solved by technology

[0016] Tsinghua University's Chinese patent CN201010224728.4, based on monocular video, adopts 2D-3D calculation, and then 3D-2D inversion comparison, continuous iterative processing, can obtain 3D information in 2D images, but in its method, 3D calculations are computationally intensive, and the algorithm involved may not converge, and the final result cannot be obtained

In addition, due to the constant iteration involved, it is not suitable for real-time video ranging requirements

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