Road slope calculation method and device based on monocular vision

A technology of monocular vision and calculation method, which is applied in the direction of camera device and photo interpretation, etc., can solve the problems of measurement result error, etc., and achieve the effect of improving precision, accurate measurement result and improving reliability

Active Publication Date: 2019-06-18
HEFEI UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0003] Aiming at the existing technical problems, the present invention provides a monocular vision road slope calculation method and its calculation device, which solves the problem that the existing monocular vision is difficult to control the influence of road slope changes on the measurement results, often resulting in relatively large The problem of measurement error

Method used

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  • Road slope calculation method and device based on monocular vision
  • Road slope calculation method and device based on monocular vision
  • Road slope calculation method and device based on monocular vision

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Embodiment 1

[0047] see figure 1 , the present embodiment provides a monocular vision road slope calculation method, which includes the following steps:

[0048] Step 1, collecting image information of the road surface, and preprocessing the image information;

[0049] Step 2, extract the straight line information in the processed image information, and add constraints to fit the lane line of the road surface;

[0050] Step 3: extract several feature points on opposite sides of the lane line, and calculate the slope between two adjacent feature points on the same side of the lane line; The change law of the slope of the line, and analyze the change of the slope of the road surface;

[0051] Step 4, first determine the slope number of the road surface according to the change of the slope, and then calculate the image coordinates of the corresponding vanishing point of the road surface according to the feature points on the lane line;

[0052] Step 5: Calculate the slope value of the road...

Embodiment 2

[0083] This embodiment provides a monocular vision road surface slope calculation device, which applies the monocular vision road surface slope calculation method in Embodiment 1. Wherein, the road surface slope calculation device includes an image acquisition module, a lane line fitting module, a detection module, an image coordinate calculation module and a slope value calculation module, and these modules can be integrated into one calculation chip, or can be set separately.

[0084] The image collection module is used to collect the image information of the road surface and preprocess the image information. Wherein, the image acquisition module may include a camera with calibration parameters, and the calibration parameters of the camera include internal parameters and external parameters, and the external parameters include the pitch angle, yaw angle, and rotation angle of the camera. The pitch angle is the angle between the optical axis of the camera and the horizontal p...

Embodiment 3

[0090] This embodiment provides a computer terminal, which includes a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the steps of the monocular vision road slope calculation method of Embodiment 1 are realized.

[0091] The slope calculation method of Embodiment 1 can be applied in the form of software, such as a program designed to run independently and installed on a computer terminal. The computer terminal can be a computer, a smart phone, a control system, and other Internet of Things devices. The slope calculation method in Embodiment 1 can also be designed as an embedded running program, installed on a computer terminal, such as a single-chip microcomputer.

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Abstract

The invention discloses a road slope calculation method and device based on monocular vision. The method comprises the following steps: collecting image information of a road, and carrying out pretreatment on the image information; extracting straight line information in the processed image information, and adding constraint conditions to obtain a lane line of the road through fitting; extractinga plurality of feature points of the lane line, and calculating slope between two adjacent feature points at the same side of the lane line; within one preset time, analyzing slope change informationof the road according to change laws of the lane line slope in a single frame picture; judging the number of slopes of the road according to the slope change information, and then, calculating an image coordinate of a corresponding road surface vanishing point according to the feature points on the lane line; and calculating the slope of the road according to the image coordinate of the road surface vanishing point. The method and device complete the calculation of the road slope by utilizing monocular vision, can better analyze location information of an obstacle and improve precision of thedistance measurement result of the obstacle.

Description

technical field [0001] The invention relates to a slope calculation method in the technical field of automobile driving, in particular to a monocular vision road surface slope calculation method, and also to a monocular vision road surface slope calculation device. Background technique [0002] As the "eyes" of smart cars, cameras have absolute advantages in identifying traffic elements and detecting the depth of obstacles. Moreover, if the slope of the road ahead can be recognized and calculated accurately and in real time, it will help the driver understand the surrounding traffic conditions in real time, and help the driver to control the vehicle safely and stably. At present, in terms of detecting the depth information of obstacles, it is difficult for monocular vision to control the influence of road slope changes on the measurement results, which often produces relatively large measurement results errors. Contents of the invention [0003] Aiming at the existing tec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02G01C11/04B60W40/076
Inventor 王其东蔡必鑫赵林峰魏振亚王慧然梁修天程超谢有浩赵星阳方婷
Owner HEFEI UNIV OF TECH
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