Method and device for extracting the center of structured light strips for rut detection

Abstract

A method and device for extracting the center of a structured light strip for rut detection, the method comprising: obtaining an image of the center of the light strip; selecting N columns of reference columns and N columns of search columns along the normal direction of the light strip in the image of the center of the light strip , to obtain N reference column laser light bar signals and N search column laser light bar signals respectively; use the signal correlation method to correlate the N search column laser light bar signals with the N reference column laser light bar signals one by one, and obtain the maximum correlation value and the signal offset corresponding to the maximum value; according to the signal offset, determine the center position of the light bar in the middle column of the N columns of search columns, and repeatedly select different search columns until the center position of the light bar of each search column is determined . The invention well solves the disconnection problem of the laser light bar, can quickly and efficiently extract the center of the light bar, and can meet the requirements of the system for real-time detection.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method and device for extracting the center of a structured light strip based on a signal correlation method. Background technique [0002] In the field of road surface rutting detection, point laser sensor method and line laser method are generally used to detect rut depth. Among them, the line laser rutting detection technology is widely used for its advantages of low equipment cost, simple structure, outstanding features, increased sampling information, and can effectively eliminate the error caused by limited sampling points during point laser detection. The line laser detection adopts the principle of triangular distance measurement. The line laser emits a very narrow light to the road surface. When there are no ruts on the road, the light is a straight line. When there are ruts on the road, the light will be distorted. The light streak profile is recorded by a c...

AI Technical Summary

Problems solved by technology

[0003] In the field of rut detection, the extraction of the center of the line-structured light strip is an important issue. If the extracted center of the line-structured light strip is not accurate, the accuracy of rut detection will be reduced

Due to the application scenarios of the rut detection system, there are mainly four problems: 1. The road surface environment is complex, and changes in the road surface structure will bring differences in structured light imaging, making it difficult to obtain satisfactory results in batch automated processing of structured light images; 2. Due to the influence of road surface texture and impurities, the light strip will be disconnected; 3. The external environmental noise, the noise generated inside the hardware such as CCD camera and image acquisition card, etc. are random and invariable, which makes the collected image very noisy; 4. For vehicle-mounted systems, real-time performance is required, so image processing speed requirements are also a challenge

[0004] (1) Some algorithms have weak anti-noise ability, which makes the extraction error of the light bar center large, thus affecting the detection accuracy;

[0005] (2) The amount of data storage is large, the speed of information processing is slow, and real-time data processing cannot be achieved;

[0006] (3) When there are algorithms such as thresholding processing, the original information will be lost;

[0007] (4) Unable to deal with the disconnection and overlapping of actual ruts

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