Vehicle length and speed calculating method based on three-dimensional (3D) vehicle boundary frame
A vehicle length and speed calculation technology, which is applied in calculation, fluid velocity measurement, computer parts, etc., can solve problems such as detection failure, high equipment cost, and lack of low-cost calculation methods, and achieve equipment cost reduction and high precision. Effect
Active Publication Date: 2019-10-08
SOUTHEAST UNIV
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Problems solved by technology
However, the cost of equipment in this way is high, and when the distance between vehicles is very close, it will bring large detection errors and even lead to detection failures
As a low-cost detection technology, video technology has been widely studied, but its detection accuracy is still not ideal
Vehicle length is an important indicator of vehicle classification, and its effective and low-cost calculation methods are still lacking.
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[0031] The present invention will be further described below in combination with specific embodiments.
[0032] Taking a traffic scene on a bridge deck as an example, the length and speed of passing vehicles in the camera are detected. Specifically include the following:
[0033] 1. Determine the first, second, and third vanishing points of the scene according to the lane line, vehicle texture, and street light position in the traffic scene, and determine the intersection point of different straight lines in the same direction in the scene, that is, the vanishing point, according to the least square method. And based on these three orthogonal vanishing points, make a tangent to the vehicle mask generated by Mask R-CNN to construct a 3D vehicle bounding box, such as figure 1 As shown, firstly, the corner points 1, 2, 3, and 4 of the 3D bounding box can be directly determined according to the intersection points between tangent lines, and then the other four corner points 5, 6,...
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The invention provides a vehicle length and speed calculating method based on a 3D vehicle boundary frame. The method comprises that (1) a vehicle mask layer is generated based on a Mask R-CNN; (2) tangent lines are made towards the generated vehicle mask layer from three disappeared points in a scene to form the 3D vehicle boundary frame; (3) a vehicle virtual detection zone is established, and whether a vehicle is within the detection zone is determined according to whether the central point of the front side of the bottom surface of the 3D vehicle boundary frame is within the detection zone; (4) pixel coordinates of pavement reference points are determined according to a lane dotted line segment and the scene disappeared points, and a homographic matrix between the road planar world coordinates and the corresponding pixel coordinates is solved according to the known length of the lane dotted line segment and width of lanes; (5) the practical vehicle length is calculated by means ofthe homographic matrix and the 3D vehicle boundary frame; and (6) the vehicle speed is calculated by means of the homographic matrix, the 3D vehicle boundary frame and the virtual detection zone. Thecalculating precision is high, the equipment cost is low, and the method can be effectively applied to the smart traffic system.
Description
technical field [0001] The invention relates to a method for calculating vehicle length and speed based on a three-dimensional vehicle bounding box, and belongs to the fields of computer vision technology and intelligent transportation. Background technique [0002] Vehicle length and speed are important parameters in traffic vehicle information. Vehicle speed is usually obtained by sensors buried under the road surface or by placing radar on the road. However, the cost of equipment in this way is high, and when the distance between the vehicles is very close, it will bring a large detection error or even lead to detection failure. As a low-cost detection technology, video technology has been widely studied, but its detection accuracy is still not ideal. Vehicle length is an important indicator for vehicle classification, and its effective and low-cost calculation methods are still lacking. How to realize the calculation of vehicle length and speed effectively, with high ...
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Login to View More IPC IPC(8): G01B11/04G01P5/18G06K9/00
CPCG01B11/043G01P5/18G06V20/42G06V2201/08
Inventor 张建张博
Owner SOUTHEAST UNIV