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A vehicle lower bottom edge positioning method based on horizontal edge information accumulation

A technology of horizontal edge and positioning method, used in instruments, character and pattern recognition, computer parts and other directions, which can solve the problems of being easily affected by background, illumination changes, and inaccurate calculation of the position of the lower bottom edge.

Active Publication Date: 2019-05-28
LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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AI Technical Summary

Problems solved by technology

[0003] The existing bottom edge positioning methods often use the symmetry of the vehicle, the shadow of the bottom edge of the vehicle and other information for positioning, which is easily affected by background and illumination changes, making the calculation of the bottom edge position inaccurate

Method used

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  • A vehicle lower bottom edge positioning method based on horizontal edge information accumulation
  • A vehicle lower bottom edge positioning method based on horizontal edge information accumulation
  • A vehicle lower bottom edge positioning method based on horizontal edge information accumulation

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Embodiment Construction

[0065] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0066] The method of the present invention is applicable to the vehicle detection system of the vehicle-mounted camera. The vehicle-mounted camera is installed at the front windshield, bumper, etc. of the vehicle or the corresponding position behind the vehicle, and is used to monitor the vehicle from the front or the front of the vehicle respectively during the driving process of the vehicle. For other vehicles in the rear, by locating the bottom edge, calculate the spatial position, and realize functions such as collision warning. When the camera is installed, the optical axis of the camera is required to be substantially parallel to the vehicle body (that is, parallel to the ground). If the camera has a pitch angle after installation, the image correction can be performed by the off-line extrinsic calibration method without affecting the app...

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Abstract

The invention provides a vehicle lower bottom edge positioning method based on horizontal edge information accumulation, and the method comprises the following steps: obtaining a rectangular frame containing a vehicle in an image frame of a video; calculating a horizontal edge strength response function of each rectangular frame and a scaling parameter and a translation parameter corresponding toeach rectangular frame; for each rectangular frame in the current image, creating or updating a horizontal edge information accumulation function; And for each rectangular frame in the current image,calculating a target lower bottom edge position according to the horizontal edge information accumulation function of the rectangular frame. The single-frame horizontal edge information is subjected to multi-frame accumulation by calculating the image zooming parameters and the translation parameters, the background edge information is continuously weakened in the accumulation process along with the movement of the vehicle, and the vehicle edge information is continuously enhanced in the accumulation process, so that the background interference is effectively overcome, and finally the accuratevehicle lower bottom edge position is obtained. Compared with an existing bottom edge positioning method based on vehicle bottom shadow characteristics, complex background interference can be effectively overcome.

Description

technical field [0001] The invention relates to the technical field of vehicle detection, in particular to a method for locating the bottom edge of a vehicle based on accumulation of horizontal edge information. Background technique [0002] The vision-based vehicle detection system has important applications in the fields of automobile assisted driving and automatic driving. Among them, the monocular camera-based vehicle detection system is favored by major car manufacturers due to its low cost, flexible installation, and easy integration with other hardware devices. In a vehicle detection system based on a monocular camera, it is often necessary to calculate the real spatial position of the detected vehicle based on the position of the lower edge of the vehicle in the image, and then determine the relative positional relationship between the self-vehicle and the detected vehicle to achieve collision warning, Vehicle follow and other functions. It becomes very important t...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32
Inventor 于红绯潘晓光卢紫微王宇彤郭来德魏海平
Owner LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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