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Monocular vision range finding method

A technology of monocular distance measurement and monocular camera, which is applied in the directions of line-of-sight measurement, distance measurement, and measurement devices, which can solve the problems of poor generalization ability, complicated measurement process, low measurement accuracy and real-time performance

Active Publication Date: 2019-03-19
INNER MONGOLIA AGRICULTURAL UNIVERSITY
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Problems solved by technology

[0004] Since the monocular vision distance measurement method based on machine learning and deep learning requires a large amount of data for learning, and the generalization ability of the obtained model is restricted by many factors, in the process of vehicle monocular vision distance measurement, under the current technical conditions , the vehicle-mounted monocular visual distance measurement method has technical problems such as low measurement accuracy and real-time performance, complex measurement process, and poor generalization ability

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Embodiment 1

[0026] refer to figure 1 , which shows a flow chart of the steps of an embodiment of monocular distance measurement in the present invention, which may specifically include the following steps:

[0027] Step S101, obtaining the imaging picture of the measurement target through the vehicle-mounted monocular camera;

[0028] The monocular camera sends the imaging picture containing the measurement target to the processor; the processor digitizes the imaging picture, and converts the original coordinate system of the imaging picture with the upper left corner of the picture as the origin into the The center of the imaging picture is the first coordinate system with the origin.

[0029] Preferably, the method for converting the original coordinate system into the first coordinate system is:

[0030] Acquire the coordinate system of the imaging picture read by machine vision, that is, the coordinates with the upper left corner of the imaging picture as the coordinate origin;

[...

Embodiment 2

[0060] refer to Figure 4 , which shows a flow chart of the steps of an embodiment of monocular distance measurement in the present invention, which may specifically include the following steps:

[0061] Step S201, obtaining the imaging picture of the measurement target through the vehicle-mounted monocular camera;

[0062] The monocular camera sends the imaging picture containing the measurement target to the processor; the processor digitizes the imaging picture, and converts the original coordinate system of the imaging picture with the upper left corner of the picture as the origin into the The center of the imaging picture is the first coordinate system with the origin.

[0063] Preferably, the method for converting the original coordinate system into the first coordinate system is:

[0064] Acquire the coordinate system of the imaging picture read by machine vision, that is, the coordinates with the upper left corner of the imaging picture as the coordinate origin;

...

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Abstract

The embodiment of the invention provides a monocular vision range finding method and relates to the field of vehicle-mounted range finding. The method comprises the following steps: acquiring an imaging picture of a measurement target by a vehicle-mounted monocular camera; calculating the object distance of the measurement target according to the imaging picture and an actual scene, namely a horizontal distance between the measurement target and the monocular camera; and compensating the object distance according to an image distance error formula of the monocular camera and / or an incidence error formula, so as to acquire an actual distance. By applying the scheme provided by the embodiment of the invention, relatively high accuracy and timeliness are achieved in vehicle-mounted range finding, and the generalization ability is relatively strong.

Description

technical field [0001] The invention relates to the field of vehicle distance measurement, in particular to a monocular vision distance measurement method. Background technique [0002] The combination of distance sensor and video sensor for distance measurement, speed measurement and target recognition is the main data collection and analysis method for smart cars and unmanned vehicles. The number and variety of sensors, the massive data transmission and processing requirements per second, make the hardware manufacturing cost, maintenance cost, data processing cost and technical complexity of current smart cars and unmanned cars increase sharply, which not only affects smart cars , The speed of technological development of unmanned vehicles also affects the market promotion of smart vehicles and unmanned vehicles. The key reason for analyzing the sharp increase in the manufacturing, maintenance and technology costs and technical difficulty of intelligent vehicles and unman...

Claims

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Application Information

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IPC IPC(8): G01C3/00
CPCG01C3/00
Inventor 李美安赵海平史宝珠田润刘洋
Owner INNER MONGOLIA AGRICULTURAL UNIVERSITY
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