High-speed rail overhead contact line equipment object detection and tracking method based on Kalman filtering

A Kalman filter and target detection technology, applied in image data processing, instruments, calculations, etc., to achieve the effect of solving the problem of false detection and missed detection

Active Publication Date: 2017-02-22
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0006] In view of the problems referred to above, the present invention proposes a high-speed rail catenary target detection and tracking method based on Kalman (Kalman) filtering, to solve the target detection and tracking problems of (tunnels, bridges) catenary under complex backgrounds

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  • High-speed rail overhead contact line equipment object detection and tracking method based on Kalman filtering
  • High-speed rail overhead contact line equipment object detection and tracking method based on Kalman filtering
  • High-speed rail overhead contact line equipment object detection and tracking method based on Kalman filtering

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[0035] In order to make the technical solutions, implementation steps and tracking effects of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0036] The present invention uses the actual observed data set as the sample set to verify the effectiveness of the algorithm. The dataset covers the disturbances such as changes in external light, shadows, and line changes that appear in the catenary observation images during the high-speed rail operation.

[0037] figure 1 It is a flow chart of a method for detecting and tracking objects in a high-speed rail catenary based on Kalman filtering according to an embodiment of the present invention, such as figure 1 As shown, the Kalman filtering-based high-speed rail catenary target detection and tracking method includes the following steps:

[0038] Step S1: collecting sample images;

[0039] In this step, the catenary vid...

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Abstract

The invention discloses a high-speed rail overhead contact line equipment object detection and tracking method based on Kalman filtering. The method comprises the following steps: acquiring sample images; preprocessing the sample images; for the preprocessed sample images, obtaining pixel points on a horizontal scanning line and performing saliency ordering, and extracting salient pixel points; based on the extracted salient pixel points, detecting catenary wires and lead wires in the preprocessed sample images; determining a catenary wire and lead wire cooperative tracking strategy, and tracking the catenary wires and the lead wires; and based on the Kalman filtering, predicting an object movement locus, and correcting a tracking result. According to the invention, based on a Kalman filtering principle, through detecting and tracking the catenary wires and the lead wires in a complex background, overhead contact line equipment is monitored in real time, early warnings can be effectively given in case of emergencies in a driving process such as pantograph-catenary disconnection and the like, and accidents caused by pantograph-catenary slip are avoided to a certain degree.

Description

technical field [0001] The invention belongs to the technical field of image target detection and tracking, in particular to a high-speed rail catenary target detection and tracking method based on Kalman filtering. Background technique [0002] Among the component modules of contemporary high-speed railways, the pantograph-catenary system is responsible for providing stable, continuous and reliable electrical energy to the EMU, and is one of the core equipment to ensure the operation of the high-speed railway EMU. The pantograph system mainly includes pantograph and catenary. In order to realize the video monitoring of the pantograph and catenary system, engineers and technicians set some technical parameters of the catenary, such as line temperature, pull-up value, derived value, etc. The catenary mainly includes wires and load-bearing cables, whose positions determine the pull-up value and the derived value. At the same time, the degree of contact between the wires and t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/277
CPCG06T2207/10016G06T2207/20081G06T2207/30252
Inventor 张文生陈东杰胡文锐杨叶辉杨阳何泽文
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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