Pedestrian distance measurement method based on vehicle-mounted monocular camera
A monocular camera and distance measurement technology, applied in the field of deep learning convolutional neural network, can solve the problems of long measurement distance, short detection distance, high cost, etc., and achieve the effect of avoiding car accidents and convenient calibration
Pending Publication Date: 2022-01-28
TIANJIN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
Among them, ultrasonic rangefinders and infrared rangefinders are mainly used in vehicle reversing control systems due to their short detection distances; laser and microwave radar rangefinders are often used in vehicle active systems due to their advantages of long measurement distances and high precision. Safety control system, but its product specifications are large, and the farther the distance is, the higher the cost
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[0022] Vehicles operating in the factory are likely to collide with pedestrians during normal driving and cause accidents. Therefore, in order to avoid such accidents, a camera is installed on the vehicle, and the distance between the vehicle and pedestrians is calculated in real time through the video captured by it. When the vehicle is running normally, when the distance between it and pedestrians decreases to a certain threshold, it will remind the driver to make corresponding operations or perform active braking to achieve the purpose of protecting pedestrians. In order to illustrate the technical solutions in the prior art of the present invention more clearly, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.
[0023] Step 1: This design is calibrated under OpenCV, the pixel coordinate system point (u, v) and the world coordinate s...
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The invention designs a pedestrian distance measurement method based on a vehicle-mounted monocular camera. The core of vehicle-mounted camera pedestrian distance measurement is accurate detection of pedestrians, the pedestrians in a road environment in front of a vehicle are detected in real time by using a YOLOv4 algorithm, the positions of the pedestrians in a pixel coordinate system can be obtained, pixel coordinates of the pedestrians and the camera in the pixel coordinate system are converted into world coordinates of the pedestrians and the camera in a world coordinate system through OpenCV calibration, and the distance between the pedestrian and the automobile can be obtained by calculating the distance between the two points.
Description
technical field [0001] The invention relates to technical fields such as deep learning convolutional neural networks, and in particular to a ranging method based on a darknet framework-based YOLOv4 pedestrian detection algorithm. Background technique [0002] In road environment perception such as pedestrian detection and ranging, cameras have the advantages of rich information and low cost. In the realization of advanced driver assistance systems and future unmanned driving, camera-based pedestrian ranging will be a key technology. At present, the methods used in automobile ranging mainly include the following: laser ranging, ultrasonic ranging, microwave ranging, infrared ranging, and visual ranging. Among them, ultrasonic rangefinders and infrared rangefinders are mainly used in vehicle reversing control systems due to their short detection distances; laser and microwave radar rangefinders are often used in vehicle active systems because of their long measurement distance...
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Login to View More IPC IPC(8): G01C11/02G01C11/04G06T7/73G06T7/80G06N3/04G06N3/08
CPCG01C11/02G01C11/04G06T7/80G06T7/73G06N3/04G06N3/08G06T2207/10016G06T2207/20081G06T2207/20084G06T2207/30244G06T2207/30252
Inventor 王以忠易凯周艳均
Owner TIANJIN UNIVERSITY OF SCIENCE AND TECHNOLOGY