Pavement disease detection method and device and storage medium

Abstract

The invention relates to a pavement disease detection method and device and a storage medium. The method comprises the following steps: emitting laser to a pavement through at least three vehicle-mounted lasers, and collecting a pavement image through a vehicle-mounted camera connected with each vehicle-mounted laser; acquiring an image pixel coordinate corresponding to each laser point in the pavement image; obtaining ray vectors from the optical center of the vehicle-mounted camera to the laser points according to the image pixel coordinates; obtaining pixel coordinates of the laser points on the pavement according to a unit projection vector and the ray vectors based on ray intersection; and obtaining a pavement normal vector according to the pixel coordinates, and obtaining a pavement reference point according to the pixel coordinates and the pavement normal vector. According to the technical scheme of the invention, the accuracy of the pavement disease image information can be ensured, and the later maintenance operation on the pavement can be carried out more smoothly.

Description

technical field [0001] The present invention relates to the technical field of intelligent transportation, in particular to a road surface disease detection method, device and storage medium. Background technique [0002] Pavement diseases, such as cracks, potholes, etc., have caused potential threats to road facilities and driving safety. It is a key operation to maintain pavement service performance and prevent its further degradation through road inspection to detect and treat pavement diseases in time. For road pavement disease detection, there is currently a way to collect road surface images through vehicle-mounted cameras, and information such as disease size can be extracted from them to provide engineering quantity reference for subsequent maintenance operations. However, for example, on long-distance and rough roads, vehicles equipped with cameras will often experience bumps, which will cause the relative positional relationship between the camera and the road sur...

AI Technical Summary

Problems solved by technology

However, for example, on long-distance and rough roads, vehicles equipped with cameras will often experience bumps, which will cause the relative positional relationship between the camera and the road surface to change continuously, thereby affecting the accuracy of the road surface disease information extracted from the images it captures. Accuracy, and affect the later maintenance of the road surface

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