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Vehicle speed measuring method based on moving vision of aerial robot

An aerial robot and measurement method technology, applied in the field of computer vision, can solve the problems of difficult installation, low flexibility, high cost, etc., and achieve the effect of strong mobility and convenient use

Pending Publication Date: 2021-07-02
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The method of the invention overcomes the disadvantages of traditional fixed speed measurement equipment such as low flexibility, high cost, and difficult installation, and gets rid of the high requirements of the existing air vehicle speed measurement scheme on the flying attitude of the aerial robot. The requirements are not high, it can monitor the speed of ground vehicles in real time, and it is easy to use

Method used

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Experimental program
Comparison scheme
Effect test

specific Embodiment

[0055] 1. Collect data

[0056] Aerial robots are used to take road images such as highways and provincial roads, and a large amount of image data of various roads based on the mobile vision of aerial robots is obtained. And use the labelme software to mark the vehicles and lane lines in the image.

[0057] 2. Data preprocessing

[0058] Due to the frequent occurrence of vehicle occlusion, vehicle changing lanes and pressing the lane line, the flight direction of the aerial robot is inconsistent with the road direction, and the shooting picture is affected by light, etc., in order to ensure the accuracy and precision of model training, it is necessary to Perform data augmentation on the data. The means of translation, rotation, flipping, cropping, scaling, adjustment of hue, brightness, saturation, perspective transformation, image fusion, and image occlusion are used to process the image by combining these means to simulate roads under different conditions In this case, data...

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Abstract

The invention discloses a vehicle speed measuring method based on mobile vision of an aerial robot, and the method comprises the steps that a video image picture shot by the aerial robot is obtained so as to obtain the motion track of a vehicle; meanwhile, by detecting a lane line on a road where the vehicle is located, the distance on the map is calculated, the ratio of the actual distance to the distance on the map is obtained, and the actual movement distance of the vehicle is calculated; and the instantaneous speeds of all vehicles in the picture are finally calculated. The method overcomes the defects that traditional fixed speed measuring equipment is low in flexibility, high in manufacturing cost, difficult to install and the like, gets rid of the high requirement of an existing aerial vehicle speed measuring scheme for the flight attitude of an aerial robot, is high in maneuverability and low in requirement for the flight attitude and a flying hand, can monitor the speed of a ground vehicle in real time, and is convenient to use.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to a vehicle speed measurement method. Background technique [0002] Existing vehicle speed measurement is generally based on bayonet speed measurement, which is basically combined with speed measurement radar for speed measurement. This kind of equipment can only capture and collect evidence of speeding vehicles at specific locations or specific intervals, which has great limitations. . [0003] Due to the shortcomings of the traditional method of vehicle speed measurement based on fixed speed measuring cameras and speed measuring instruments, the capture area is limited, the equipment deployment is cumbersome, the equipment is expensive, and it is difficult to repair in time after damage, and the location of most speed measuring equipment is known. Personnel can change the speed of the vehicle in a targeted manner to avoid the monitoring of the speed measuring...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06K9/62G08G1/054
CPCG06T7/246G08G1/054G06T2207/10016G06T2207/20081G06T2207/20084G06T2207/30236G06V2201/08G06F18/214
Inventor 王鹏张红生
Owner NORTHWESTERN POLYTECHNICAL UNIV
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