Road surface image feature matching method and system based on region and motion information

Abstract

The invention discloses a pavement image feature matching method and system based on region and motion information, and the method comprises the following steps: 1, data input: inputting real-time pavement continuous frame images shot by a vehicle-mounted camera, the current motion information of a vehicle, and the parameters of the vehicle-mounted camera; step 2, carrying out feature point partition detection on the input continuous frame images by adopting a FAST corner detection algorithm; 3, based on the position of the vehicle-mounted camera and the image information, preliminarily screening the road surface feature points after partition detection, and determining that the extracted feature points are located on the road surface; 4, predicting the positions of the first frame of road surface feature points in the second frame based on the vehicle body motion information and a camera model; and step 5, taking the world coordinate of the prediction point in the step 4 as a center, matching the continuous frame feature points based on the local image information and the motion information, and outputting pairing information.

Description

Technical field [0001] The present invention relates to the field of image processing, specifically to a pavement image feature matching method and system based on area and motion information. Background [0002] In-vehicle cameras are important sensors for in-vehicle vision systems, providing vehicles with driving environment perception capabilities and providing the basic data needed for decision-making for assisted driving systems. The continuous frame image collected by the vehicle camera is the information basis of environmental perception, and the feature information located on the road surface is particularly important, and the extraction and matching of the road surface features is the basis of road surface target tracking, target motion estimation and visual odometer. Therefore, an efficient and accurate continuous frame pavement feature matching method is required. [0003] At present, the Chinese patent with the publication number 111524192 discloses a calibration meth...

AI Technical Summary

Problems solved by technology

The above matching method can only be used to determine the motion posture of the vehicle, but cannot determine the next frame position of the feature point according to the vehicle running path. The matching calculation is large, time-consuming, and the probability of false matching is high.

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