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Image distance measurement method and device, distance measurement equipment and readable storage medium

A measurement method and technology of image distance, applied in the field of image processing, can solve the problems of reading errors, time-consuming, low precision, etc.

Pending Publication Date: 2021-05-18
CHENGDU KANGYE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although manual measurement is cheap, low in training costs, and directly measured between two points with high accuracy, it takes a long time, and the accumulative accuracy of multiple continuous measurements is low, and human reading errors cannot be completely avoided

Method used

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  • Image distance measurement method and device, distance measurement equipment and readable storage medium
  • Image distance measurement method and device, distance measurement equipment and readable storage medium
  • Image distance measurement method and device, distance measurement equipment and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0064] For this example, see figure 1 , showing an image distance measurement method comprising the following steps:

[0065] S10: Construct a three-dimensional coordinate system by using a depth sensor.

[0066] The depth sensor can acquire the three-dimensional information of the image, and the depth information of the image acquired by the depth sensor can be used to construct a three-dimensional coordinate system.

[0067] Exemplarily, a three-dimensional coordinate system can be established with the center of the depth sensor as the origin and the optical axis of the depth sensor as the z-axis; it can also be established with a predetermined point on the depth sensor as the origin and the optical axis of the depth sensor as the z-axis 3D coordinate system. It can be understood that different origin positions of the three-dimensional coordinate system will affect the abscissa and ordinate of the coordinate point.

[0068] S20: Determine corresponding point cloud coordin...

Embodiment 2

[0088] In this embodiment, a three-dimensional coordinate system is established with the center of the depth sensor as the origin and the optical axis of the depth sensor as the z-axis. The schematic diagram of the projection of the two-dimensional sensor and the depth sensor on the ground is as follows: figure 2 As shown, wherein, the relative position of the two-dimensional sensor and the depth sensor includes that the first plane of the depth sensor is parallel to the bottom edge of the second plane of the two-dimensional sensor, the normal of the first plane and the second plane The included angle between the normals of the two planes is fixed, and the center distance between the center of the depth sensor and the center of the two-dimensional sensor is fixed, and the bottom side is the side closest to the ground.

[0089] Further, the schematic diagram of the depth sensor projected on the ground is as follows image 3 shown. Take the center of the depth sensor as the o...

Embodiment 3

[0100] For this example, see Figure 6 , shows that an image distance measurement device 10 includes a three-dimensional coordinate system construction module 11, a point cloud coordinate determination module 12, a fitting plane determination module 13, a mapping coordinate determination module 14, a projected distance determination module 15 and an actual distance determination module 16 .

[0101] The three-dimensional coordinate system construction module 11 is used to construct a three-dimensional coordinate system by using the depth sensor; the point cloud coordinate determination module 12 is used to determine corresponding points according to each pixel point on the depth sensor and the focal length of the corresponding lens of the depth sensor Cloud coordinates; Fitting plane determining module 13, for utilizing each point cloud coordinates to fit the fitting plane of the actual ground under the three-dimensional coordinate system; Mapping coordinate determining module...

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Abstract

The embodiment of the invention discloses an image distance measurement method and device, distance measurement equipment and a readable storage medium. The method comprises the following steps of: constructing a three-dimensional coordinate system by using a depth sensor; according to each pixel point on the depth sensor and the focal length of a lens corresponding to the depth sensor, determining each corresponding point cloud coordinate so as to determine a fitting plane by using the point cloud coordinates; according to the relative positions of a two-dimensional sensor and the depth sensor, determining a first position point and a second position point of a two-dimensional picture on the two-dimensional sensor and a first point mapping coordinate, a second mapping coordinate, a first center mapping coordinate and a first focus mapping coordinate corresponding to a first center and a first focus of a lens corresponding to the two-dimensional sensor in a three-dimensional coordinate system; and determining the actual distance between the first position point and the second position point on the two-dimensional picture according to the first point mapping coordinate, the second mapping coordinate, the first center mapping coordinate and the first focus mapping coordinate. According to the technical scheme, errors caused by manual measurement can be effectively avoided.

Description

technical field [0001] The invention relates to the field of image processing, in particular to an image distance measuring method, device, distance measuring equipment and readable storage medium. Background technique [0002] Existing road accident measurement methods include manual measurement and non-manual measurement. Although manual measurement is cheap, low in training costs, and has high accuracy in direct measurement between two points, it takes a long time, and the accuracy of accumulating multiple continuous measurements is low, and human reading errors cannot be completely avoided. Contents of the invention [0003] In view of the above problems, the present invention proposes an image distance measuring method, device, distance measuring device and readable storage medium. [0004] An embodiment of the present invention proposes an image distance measurement method, the method comprising: [0005] Use the depth sensor to construct a three-dimensional coordi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S11/12
CPCG01S11/12
Inventor 郑波杜厚圻王宗林魏正杰艾克热木江·赛买提
Owner CHENGDU KANGYE TECH CO LTD
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