Height measurement method and device of highway height permitted frame for vehicle based on binocular vision

A technology of binocular vision and height measurement, which is applied in the direction of measuring device, line-of-sight measurement, and distance measurement, etc., and can solve problems such as casualties, height limit and vehicle damage

Inactive Publication Date: 2019-09-06
重庆迪星天科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is often difficult for some drivers to accurately judge whether the height of the vehicle can safely pass through the

Method used

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  • Height measurement method and device of highway height permitted frame for vehicle based on binocular vision
  • Height measurement method and device of highway height permitted frame for vehicle based on binocular vision
  • Height measurement method and device of highway height permitted frame for vehicle based on binocular vision

Examples

Experimental program
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Embodiment 1

[0080] A binocular vision-based method for measuring the height of a vehicle-use highway elevation limit. With two wide-angle cameras, the binocular vision system is used to perform real-time photography, tracking and positioning of the height-limited crossbeam target. The binocular vision system is used during vehicle driving. Real-time measurement of the distance from the vehicle and the relative roof height of the height-limited vehicle, and provide early warning information for the driver, including the following steps:

[0081] (1) Calibrate the parameters of the binocular camera,

[0082] The binocular vision system installed on the roof of the car selects two cameras with the same internal parameters. First, the internal parameters of a single camera are calibrated for one of the cameras; the relative position between the two cameras is measured through calibration, and the light The axes are parallel to each other, and the horizontal axes of the camera coordinate syste...

Embodiment 2

[0089] The difference between this embodiment and embodiment 1 is:

[0090] Step (1) carrying out parameter calibration to binocular camera further comprises the following steps:

[0091] (1.1) Single camera parameter calibration

[0092] The binocular vision system selects two cameras with the same internal parameters. First, the internal parameters of a single camera are calibrated for one of the cameras;

[0093] Step (1.1) single camera parameter calibration further includes the following steps:

[0094] Let P=(X, Y, Z) be a point in the scene, in the pinhole camera model, it needs to go through the following transformations, and finally becomes the image point p=(μ, v) on the two-dimensional image,

[0095] d) Transform P from the world coordinate system to the camera coordinate system through rigid body transformation rotation and translation. This transformation process uses the relative pose between the cameras, that is, the external parameters of the camera.

[0096]...

Embodiment 3

[0133] The present embodiment provides a binocular vision-based height measuring device for the height limit of the highway limit shelf, including: an identification unit for identification and height measurement of the highway limit limit shelf, a controller unit for algorithm implementation and issuing control instructions, for An audible and visual alarm unit that sends out warning information, which is placed in the center of the front window glass or on the roof of the car;

[0134] (1) Recognition unit for identification and height measurement of highway limit elevation

[0135] The unit includes a binocular camera, the binocular camera uses a full HD resolution camera, and the binocular cameras are installed side by side;

[0136] (2) Algorithm implementation and controller unit that issues control instructions

[0137] The control unit adopts a micro-control processor, and the micro-control processor has the characteristics of compact structure, which can effectively ...

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Abstract

The invention discloses a height measurement method and device of a highway height permitted frame for a vehicle based on binocular vision. Two wide-angle cameras and a binocular vision system are used for shooting, tracking and locating a height permitted beam target in real time, the binocular vision system is used for measuring the distance from the vehicle to the height permitted frame and therelative height of a vehicle roof in real time, early warning information is provided for drivers, driving and road traffic safety are ensured, a space geometry relation is used for calculating the height of a road frame and the distance between the vehicle and the road frame, the height measurement method and device have the advantages of being high in computing speed and less in calculation resource consumption, the real-time requirements of vehicle safety early warning are effectively met, a limit constraint binocular correction method is adopted to reduce the matching search space, two-dimensional search is reduced to one-dimensional search, the advantage of high matching speed is realized, a checkerboard calibration method is adopted, the internal parameters of the camera can be obtained effectively, and the accuracy of image depth data calculation can be ensured.

Description

technical field [0001] The invention belongs to the technical field of driving assistance devices, and uses an image measurement method to realize real-time automatic measurement of the height of a highway overpass, specifically a method for measuring the height of a highway overpass for vehicles based on binocular vision. Background technique [0002] The height limiter is a device that can limit the height of vehicles on the road. For the upper and lower ramps of some viaducts and some roads that do not allow heavy vehicles to pass, the protection of the roads is realized by setting the height limit to limit the passage of super-high vehicles. [0003] The common height-limiting frame generally adopts a door-shaped structure, which is composed of two columns on both sides and a height-limiting beam on the top. The height-limiting beam is used to limit the passage of super-high vehicles. However, it is often difficult for some drivers to accurately judge whether the height...

Claims

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Application Information

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IPC IPC(8): G01C3/20G06T7/80
CPCG01C3/20G06T2207/30244G06T7/85
Inventor 陈小平朱怀涛李翔文斌张进
Owner 重庆迪星天科技有限公司
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