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Accurate target distance measurement method based on monocular vision

A distance measurement method and monocular vision technology, applied in the direction of measuring device, radio wave measurement system, using re-radiation, etc., to achieve the effect of good stability, strong practicability, and easy installation

Inactive Publication Date: 2019-07-19
BEIJING UNION UNIVERSITY
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  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problem of using visual calculation to measure the distance of the target in the image, and propose a method for precise distance measurement of the target based on monocular vision

Method used

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  • Accurate target distance measurement method based on monocular vision
  • Accurate target distance measurement method based on monocular vision
  • Accurate target distance measurement method based on monocular vision

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Experimental program
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Embodiment approach

[0047] 1. Carry out camera calibration for the camera used according to step 1, and obtain the internal parameter matrix of the camera:

[0048]

[0049] Extrinsic parameter matrix:

[0050]

[0051] 2. According to the instructions in step 2, select the key points of the distance measurement of the target in the image, such as Figure 5As shown in , get the pixel coordinates of the ranging key point (390,488);

[0052] 3. According to the ranging process in step 3, measure the distance of the selected target key points to obtain the measured value D 1 =(16.761826,3.163548),D 2 =(18.503681,3.618550) (unit: meter);

[0053] 4. According to step 4, carry out error correction on the two distance values ​​obtained, and output the final corrected target measurement value D=(17.284383,3.300049) (unit: meter);

[0054] 5. The comparison between the measured value and the true value is as follows: (unit: meter)

[0055] direction Measurements true value erro...

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Abstract

The invention discloses an accurate target distance measurement method based on monocular vision, belongs to the field of computer visual computation, and is mainly applied to the target distance measurement technology of a front vehicle in intelligent driving scene perception. The method is mainly divided into four major parts, including camera calibration, target distance measurement key point selection, target distance measurement and error correction. A proper distance measurement key point is selected, various distance measurement algorithms are combined, a distance measurement error is corrected, and finally, the accurate distance of the target is obtained. The method can be applied to various industries based on visual computation, for example, the method can be applied to the target distance measurement of the front vehicle of an autonomous vehicle, urban traffic vehicle detection and behavior intention analysis, intelligent robot target distance measurement and the like, and the method exhibits higher accuracy than other visual distance measurement methods.

Description

[0001] Technical field: [0002] The invention relates to a method for precise distance measurement of a target in an image, which belongs to the field of computer vision calculation. [0003] Background technique: [0004] With the rapid development of artificial intelligence technology, the combination of traditional automobile industry and information technology has made great progress in the research of automobile intelligent driving technology. Many large companies have invested heavily in research and development in this field, such as foreign Google, Toyota, Domestic Baidu, BYD and other companies have launched smart driving cars, and the experimental results are satisfactory. Visual computing mainly uses computers to simulate human visual functions, that is, to extract, process and understand the image information of objective things, and finally use it for actual detection, measurement and control. Vision is an important functional means for human beings to observe an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S11/12
CPCG01S11/12
Inventor 刘宏哲王永森
Owner BEIJING UNION UNIVERSITY
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