Calculation method of size mapping relationship of tunnel inspection vehicle based on machine vision
A mapping relationship and machine vision technology, applied in computing, instruments, image analysis, etc., can solve the problems of increasing the difficulty of system development, high price, and slowing down the detection speed, so as to improve the accuracy and availability of the system and reduce the work. The effect of increasing the amount and improving the detection speed
Active Publication Date: 2022-03-25
TONGJI UNIV
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The method of pasting the calibration plate increases the workload in the field and slows down the detection speed, while the laser range finder is usually expensive, which increases the manufacturing cost of the inspection vehicle, and it is necessary to compare the distance data acquired by the laser range finder with the distance data obtained at this time. The collected images establish a corresponding relationship, which further increases the difficulty of system development
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[0026] Below according to the appendix figure 1 and figure 2 , the preferred embodiments of the present invention are given and described in detail, so that the functions and characteristics of the present invention can be better understood.
[0027] see figure 1 and figure 2 , a method for calculating the size mapping relationship of a tunnel detection vehicle based on machine vision according to an embodiment of the present invention, comprising the steps of:
[0028] S1: Install a plurality of cameras 2 on both sides and the top of a detection vehicle 1, use the detection vehicle 1 to collect lining images in a tunnel 3, and record the rotation angle, focus value and zoom value of each camera 2;
[0029] S2: Select any camera 2 among the multiple cameras 2, take the center of the lens of camera 2 as the origin, the vertical upward direction is the positive direction of the X axis, the forward direction of the detection vehicle 1 is the positive direction of the Y axis,...
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The invention provides a method for calculating the size mapping relationship of a tunnel inspection vehicle based on machine vision. Using the principle of binocular vision, two adjacent cameras on the inspection vehicle are calibrated after detection, and the image on the lining is selected from the common area where the corresponding camera obtains the image. For any first feature point, calculate the positional relationship of the first feature point relative to the camera to calculate the positional relationship between the detection vehicle and the lining, and then calculate the distance of each camera relative to the lining, and calibrate the mapping parameters between the image size and the actual size and the distance between the camera and the lining relationship, so as to directly calculate the actual size based on the size of the disease image. The method for calculating the size mapping relationship of the tunnel inspection vehicle based on machine vision of the present invention uses the principle of binocular vision to directly calculate the actual size according to the size of the disease image.
Description
technical field [0001] The invention relates to the field of tunnel detection, in particular to a method for calculating a dimension mapping relationship of a tunnel detection vehicle based on machine vision. Background technique [0002] The existing tunnel lining disease detection is mainly based on manual detection. The inspection personnel conduct inspections at the tunnel site, and take pictures, measure and record the lining diseases. This method not only has a slow detection speed, but also has a strong dependence on the experience of the testing personnel and is highly subjective. In addition, when inspectors conduct inspections in the tunnels, social vehicles passing in the tunnels will inevitably affect the inspection operations, and there are certain safety hazards. Therefore, it becomes more and more urgent to realize the automatic detection of tunnel lining diseases by using the tunnel inspection vehicle integrated with the camera group. [0003] The operation...
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IPC IPC(8): G06T7/00G06T7/60G06T7/73
CPCG06T7/0002G06T7/73G06T7/60
Inventor 谢雄耀王皓正周彪
Owner TONGJI UNIV