Speed measuring method and device

Abstract

The invention discloses a speed measurement method and device, and the method comprises the steps: obtaining a frame of image generated by a plane imaging device for an object to be subjected to speed measurement, and the image comprises the object to be subjected to speed measurement; and determining the speed of the object to be subjected to speed measurement in any one-dimensional or multi-dimensional direction based on the deformation quantity of the marker in the image, the deformation quantity of the marker being determined based on the original shape of the marker and the imaging shape of the marker in the image. According to the method, the speed of the to-be-measured object in any one-dimensional direction in the three-dimensional direction can be determined based on the deformation quantity of the marker in the single-frame image, and measurement through multiple frames is not needed, so that the real-time performance of speed measurement is improved.

Description

Technical Field

[0001] This application relates to the field of speed measurement, and more particularly to a speed measurement method and apparatus. Background Technology

[0002] Existing speed measurement technologies mainly fall into two categories: one is based on sensors such as radar, and the other is based on visual speed measurement.

[0003] like Figure 1 As shown, in an existing TOF radar velocity measurement scheme, the laser transmitter emits a laser pulse at time t0, simultaneously triggering a timer, and the laser receiver receives the return signal at time t1. Let the speed of light be c, then the target distance at time t1 is... At time t2, the laser emitter sends another laser pulse to the target, which is received by the laser receiver at time t3. Therefore, the target distance at time t3 is... The target velocity can be calculated from the distance changes at times t1 and t3. This method can only measure the radial velocity of a target and cannot determine the lateral and longitudinal velocities of the object. Therefore, it is not applicable to scenarios where it is necessary to detect the lateral or longitudinal velocities of an object.

[0004] like Figure 2 As shown, the visual velocimetry technology can be broken down into three steps: 1. Extracting the moving target from each frame of images captured by the camera (e.g., optical flow, background subtraction, frame difference, etc.); 2. Generating a 3D point cloud of the target using the conversion relationship between the camera and physical space; 3. Determining the 3D positional change of the target between frames using at least two frames, and calculating the target's three-dimensional velocity vector based on the 3D positional change between frames and the acquisition time difference between the two frames. Although visual velocimetry technology can measure the velocity of a target in three dimensions, it requires at least two or even more frames of image sequence to measure the velocity of a moving object, resulting in insufficient real-time performance.

[0005] In summary, there is an urgent need for a more efficient velocity measurement scheme that can measure velocity in any dimension. Summary of the Invention

[0006] This application provides a speed measurement method and apparatus for calculating the speed of an object under test in any one or more three-dimensional directions based on a single frame image, thereby improving the real-time performance of speed measurement.

[0007] In a first aspect, this application provides a velocity measurement method, the method comprising: acquiring a frame image generated by a planar imaging device for a velocity-to-be-measured object, the image including the velocity-to-be-measured object; and determining the velocity of the velocity-to-be-measured object in any one-dimensional or multi-dimensional direction based on the deformation of a marker in the image, wherein the deformation of the marker is determined based on the original shape of the marker and the imaged shape of the marker in the image.

[0008] With the above design, the velocity of the object to be measured in any one dimension of the three-dimensional direction can be determined based on the deformation of the marker in a single frame image, without the need for measurement through multiple frames, thereby improving the real-time performance of velocity measurement.

[0009] In one possible design, the deformation of the marker includes the deformation of at least two imaging points; determining the velocity of the object to be measured in one or more dimensions based on the deformation of the marker in the image includes: determining the velocity of the target in each dimension of the three-dimensional direction based on the deformation of the marker including at least two imaging points.

[0010] The above design determines the velocity in multiple directions by the deformation of at least two imaging points, which is faster than determining the velocity in three directions by capturing two frames of images and can improve the real-time performance of velocity measurement.

[0011] In one possible design, the method further includes: obtaining an imaging deformation model of the device, the imaging deformation model being used to generate a static image of the marker in the image based on the original shape of the marker; the deformation of a first imaging point is determined based on a first position of the first imaging point in the image and a second position of the first imaging point in the image, wherein the first imaging point is any one of at least two imaging points.

[0012] The above design determines the static image of the marker based on the imaging deformation model, eliminating the need to actually capture two frames containing the marker, thus improving the real-time performance of velocity measurement.

[0013] In one possible design, the three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image; the velocity of the one-dimensional or multi-dimensional direction includes the velocity of some or all of the first direction, the second direction, and the third direction.

[0014] In one possible design, the three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image; the deformation of the first imaging point includes a first displacement of the first imaging point in the first direction, or the deformation of the first imaging point includes the first displacement and a second displacement of the first imaging point in the second direction.

[0015] In one possible design, the imaging deformation model includes the imaging parameters of the device; the first displacement includes the displacement caused by the velocity in the first direction; the displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient; the first object-image conversion coefficient is generated based on the imaging parameters.

[0016] In one possible design, the imaging deformation model includes the imaging parameters of the device;

[0017] The first displacement includes the displacement caused by the velocity in the first direction and the displacement caused by the velocity in the third direction; the displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient; the displacement caused by the velocity in the third direction is related to one or more parameters among the velocity in the third direction, the scanning time, and the second object-image conversion coefficient; the first object-image conversion coefficient and the second object-image conversion coefficient are generated based on the imaging parameters.

[0018] In one possible design, the imaging deformation model includes the imaging parameters of the device;

[0019] The second displacement includes the displacement caused by the velocity in the second direction; the displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scanning time, and the third object-image conversion coefficient; the third object-image conversion coefficient is generated based on the imaging parameters.

[0020] In one possible design, the imaging deformation model includes the imaging parameters of the device; the second displacement includes the displacement caused by the velocity in the second direction and the displacement caused by the velocity in the third direction; the displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scan time, and the third object-image conversion coefficient; the displacement caused by the velocity in the third direction is related to one or more parameters among the velocity in the third direction, the scan time, and the fourth object-image conversion coefficient; the third object-image conversion coefficient and the fourth object-image conversion coefficient are generated based on the imaging parameters.

[0021] In one possible design, the imaging deformation model includes imaging parameters of the device, which include one or more of the following: field of view, image resolution, scanning frequency, and distance between the device and the object to be measured.

[0022] In one possible design, the image is generated by time-series sampling of the object to be measured.

[0023] Secondly, this application provides a speed measuring device, the device comprising: a module / unit for performing the method described in the first aspect or any possible design of the first aspect; in one example, the electronic device includes an acquisition module and a processing module. These modules / units can be implemented in hardware or by hardware executing corresponding software.

[0024] Thirdly, this application provides an electronic device including at least one processor, at least one memory, a display screen, and a transceiver; wherein the one or more memories store one or more computer programs, the one or more computer programs including instructions, which, when executed by the one or more processors, cause the electronic device to perform the technical solutions of the first aspect of this application and any possible design of the first aspect.

[0025] The fourth aspect provides a chip coupled to a memory in an electronic device for calling a computer program stored in the memory and executing the first aspect of this application and any possible design of the first aspect.

[0026] The fifth aspect provides a computer-readable storage medium comprising a computer program that, when executed on an electronic device, causes the electronic device to perform the technical solutions described in the first aspect and any possible design of the first aspect.

[0027] A sixth aspect provides a computer program comprising instructions that, when executed on a computer, cause the computer to perform the technical solutions described in the first aspect and any possible design thereof.

[0028] For the beneficial effects of aspects two through six, please refer to the beneficial effects of aspect one, which will not be repeated here. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a radar measurement technology scenario;

[0030] Figure 2 This is a scene illustration of a visual measurement technology.

[0031] Figure 3 This is a flowchart illustrating a speed measurement method provided in an embodiment of this application.

[0032] Figure 4 A schematic diagram illustrating a scanning imaging method provided in an embodiment of this application;

[0033] Figure 5 A schematic image provided for an embodiment of this application;

[0034] Figure 6 This is a schematic diagram of a global coordinate system;

[0035] Figure 7 Another schematic diagram provided for an embodiment of this application;

[0036] Figure 8 This is one of the schematic diagrams illustrating the relationship between velocity and imaging deformation provided in this application embodiment;

[0037] Figure 9 This is a second schematic diagram illustrating the relationship between velocity and imaging deformation, provided as an embodiment of this application.

[0038] Figure 10 This is the third schematic diagram illustrating the relationship between velocity and imaging deformation in an embodiment of this application.

[0039] Figure 11 Schematic diagrams of various scanning directions provided for embodiments of this application;

[0040] Figure 12 A schematic diagram of a speed measuring device provided in an embodiment of this application;

[0041] Figure 13 This is a schematic diagram of another speed measuring device provided in an embodiment of this application. Detailed Implementation

[0042] This application provides a speed measurement method, which includes determining the speed of the object to be measured in one or more dimensions based on the deformation of a marker on the object in a frame of an image. This method can solve the problem in the prior art that at least two or more frames of image sequence are required to measure the speed of a moving object, and can improve the real-time performance of the measurement.

[0043] The technical solution provided in this application will be introduced next.

[0044] This application provides a speed measuring device for performing the speed measuring method provided in this application.

[0045] In one application scenario, this speed measuring device is used in vehicles, such as in-vehicle navigation systems and autonomous driving systems, and can be used to measure the one-dimensional or multi-dimensional speed of targets (such as people, objects, animals, etc.).

[0046] In one application scenario, this speed measurement device is used in aerospace equipment, such as airplanes and drones, and specifically in aerospace navigation systems.

[0047] In one application scenario, the speed measuring device is used in monitoring equipment, such as security monitoring cameras and electronic traffic police cameras. For example, the one-dimensional or multi-dimensional speed of the target measured by the electronic traffic police camera can be used to assist traffic police in determining responsibility.

[0048] In one application scenario, this speed measurement device is used in robots, such as handling robots, production robots, and entertainment robots, to detect the one-dimensional or multi-dimensional speed of targets in the robot's surrounding environment, which can assist the robot in maintaining a constant speed and avoiding obstacles.

[0049] In one application scenario, the speed measuring device is used in a smart terminal, which includes, but is not limited to, mobile phones, wearable devices (such as watches, bracelets, etc.), augmented reality (AR) devices, virtual reality (VR) devices, etc.

[0050] The speed measurement method provided in this application will be described in detail below.

[0051] Figure 3 This is a flowchart illustrating a speed measurement method provided in an embodiment of this application. The method may include the following steps:

[0052] Step 301: Obtain a frame image of the target (such as the object to be measured) (denoted as the target image).

[0053] A target image is an image generated by temporal sampling of the target. Temporal sampling refers to obtaining multiple sampling points sequentially over time. For example, a planar imaging device scans a target and generates an image containing the target using the principle of scanning imaging.

[0054] See Figure 4 One scanning method is shown: a planar imaging device scans the target line by line, with each line scanning in the same direction. Figure 4 The black dots in the image represent sampling points, and multiple sampling points are acquired sequentially in each scan row. For example, a scanning process may include: first, scanning along the first row, sequentially acquiring multiple sampling points; after the first row is scanned, quickly resetting; then scanning along the second row, sequentially acquiring multiple sampling points; after the second row is scanned, quickly resetting; then scanning along the third row, sequentially acquiring multiple sampling points, and so on. The scanning trajectory contains two characteristic changes: time and space. That is, the sampling points are arranged in order of sampling time; the sampling times of multiple sampling points are different, and the spatial location of the acquired target is also different. Finally, the planar imaging device generates an image containing the target based on the information acquired from multiple sampling points. For example, the information of the sampling points may include one or more of the following: reflectance intensity, color, point cloud, etc. Grayscale values ​​can be extracted based on the reflectance intensity acquired from each sampling point; correspondingly, the target image can be a grayscale image, a red, green, blue (RGB) image, or an image generated based on a point cloud.

[0055] It should be understood that generating a target image based on the scanning imaging principle is an example. This application also supports other time-series sampling methods to generate images. As long as the imaging points in the generated image meet the time and space characteristics described above, it is applicable to this application. No specific limitation is made.

[0056] Step 302: Determine the deformation of the markers in the target image, wherein the target image contains markers.

[0057] The target may contain one or more markers; therefore, the steps to determine the deformation of the markers may include:

[0058] (1) Selection of Marking Objects. In this application, the marking objects should have clear specifications. For example, the marking objects for a vehicle can be selected as license plates, text on the vehicle body, wheels, windshields, and other objects with fixed specifications. The prior information database includes prior information on various marking objects. The prior information is used to indicate the specifications of the marking objects, including size and shape.

[0059] Identify the markers contained in the target in the image. If there are multiple markers, select one of them and determine the specifications of the selected marker based on the prior information of that marker.

[0060] (2) Obtain a static image of the marker.

[0061] One acquisition method includes acquiring a first imaging deformation model of a planar imaging device, and determining a static image of a marker based on the first imaging deformation model. The first imaging deformation model is used to map the static image of the marker in a target image based on the marker's specifications. For ease of comparison, the marker in the target image can be referred to as the deformed image, and the static image as the image without deformation. It can be understood as the image generated by the planar imaging device scanning the target, assuming the target is stationary when the target image is captured; this image contains the marker without deformation.

[0062] (3) Overlay a static image onto the target image. For example... Figure 5 As shown, Figure 5 (a) is shown as the target image, which contains a deformed image of the marker (the target is not shown). Figure 5 (b) is shown as a deformed image containing the marker. Figure 5 Image (c) shows the image obtained by overlaying a static image of the marker onto the target image. For example... Figure 5 As described in (c), during superposition, the starting point of the deformed image of the marker in the target image (i.e., the first imaging point scanned (e.g., A')) can be coincided with the starting point (e.g., A) in the static image of the marker.

[0063] It should be noted that, Figure 5The described methods are merely examples, and this application does not limit the method of generating the superimposed image, as long as the superimposed image simultaneously contains both the morphological image and the static image of the marker. It should also be noted that the method of determining the static image of the marker based on the first imaging deformation model is only one example. In the embodiments of this application, the prior information database may also include static images of the marker generated by the planar imaging model from multiple perspectives.

[0064] (4) Determine the shape of the marker based on the superimposed image.

[0065] First, define the global coordinate system XYZ, see [link / reference] Figure 6 In one example, the X direction refers to the direction parallel to the scanning direction, and the Y direction refers to the direction perpendicular to the X direction in the image plane. The Z direction is the direction perpendicular to the image plane, i.e., both the X and Y directions. It can be understood that the horizontal direction in the field of view is the X direction, the vertical direction is the Y direction, and the forward / backward direction is the Z direction. For example, a moving car can have forward / backward movement in the Z direction and lateral movement in the X direction. As another example, an airplane in the air can have movement in any of the X, Y, and Z directions.

[0066] return Figure 5 (c) The target image is a two-dimensional image containing an X-axis and a Y-axis, representing the X and Y directions respectively. The deformation of the marker can be determined by the displacement deviation (or pixel deviation) between the same imaging point in the deformed image and the static image, such as the displacement deviation between B' and point B, and the displacement deviation between C' and point C. Taking an imaging point as an example, the displacement deviation between B' and point B includes a displacement of X in the X direction. b '-X b The displacement in the Y direction is Y. b '-Y b .

[0067] The deformation of the marker may include displacement deviations of at least two imaging points, wherein the displacement deviation of at least one imaging point includes displacement in both the X and Y directions, and the displacement deviations of the remaining imaging points may include displacement only in the X direction, as will be explained below and will not be repeated here.

[0068] It should be noted that the method of determining the deformation of the marker based on the superimposed images described above is only one optional method. In an alternative method, this application can also determine the deformation based on the coordinates of multiple points in the deformed image of the marker in the target image and the coordinates of corresponding multiple points in the static image of the marker. For example, Figure 7 Image (a) shows a target image containing a deformed image of a sign on a vehicle. Figure 7Image (b) shows a static image containing the marker. Without overlay, the coordinates of the imaging point in the deformed image (e.g., B'(X)) can be directly determined based on the global coordinate system. b ', Y b ')), and the coordinates of the corresponding imaging point in the static image (e.g., B(X)). b Y b Determine the deformation variables. It should be understood that... Figure 7 The image shown in (b) is for illustrative purposes only and is not an actual photograph.

[0069] Step 303: Determine the velocity of the target in any one-dimensional or multi-dimensional direction based on the deformation of the marker.

[0070] See also Figure 6 In the aforementioned global coordinate system, the target's velocity can include one-dimensional or multi-dimensional velocities such as velocity in the X, Y, and Z directions. The velocity components in each of the X, Y, and Z directions are denoted as v. x v y v z For example, a moving car can move forward or backward in the Z direction, that is, it has a velocity v in the Z direction. z And the lateral movement in the X direction, i.e., the velocity v in the X direction. x For example, an airplane can have a velocity v in the X direction while in the air. x The velocity v in the Y direction y and the velocity v in the Z direction z .

[0071] In one implementation, the deformation of the marker is input into a second imaging deformation model to obtain the velocity of the marker (target) in one or more dimensions output by the second imaging deformation model. Because the marker is located on the target, the marker and the target have the same velocity.

[0072] The second imaging deformation model is used to map the relationship between the velocity of the target in each of the three dimensions and the deformation of the target in the image generated by the planar imaging device. In this embodiment, the second imaging deformation model is constructed using the imaging parameters of the planar imaging device and includes the constraint relationship between the velocity and deformation of the target in the three dimensions.

[0073] The following describes the constraints contained in the second imaging deformation model:

[0074] First, let's take the example of a target that may have a velocity in three dimensions:

[0075] Assume the target has velocities v in three directions. x v y v zThese three motion components will cause three types of scanning imaging deformations of the target on the imaging plane: v x This causes the image to tilt, v y This causes a change in imaging height, v z This leads to trapezoidal distortion in the image (the theory of near-to-far distortion: parts closer to the image appear larger, and parts farther away appear smaller). The coupling of these three deformations results in a distorted image. Therefore:

[0076] (1) The displacement deviation of the imaging point in the x-direction includes the displacement due to v x The resulting displacement and v z The resulting displacement.

[0077] The imaging point is due to v x The resulting displacement in the X direction satisfies:

[0078] X b '-X b =v x *t ab *K1 Formula 1

[0079] Among them, t ab This represents the scanning time from point A' to point B'. Figure 4 In the example shown, the scan time can be determined based on the number of sampling points between A' and B' and the scan frequency; K1 represents the first object-image conversion coefficient.

[0080] The imaging point is due to v x The resulting displacement in the x-direction satisfies:

[0081] X b '-X b == v z *t ab *K2 Formula 2

[0082] Wherein, K2 represents the second object-image conversion coefficient.

[0083] (2) The displacement deviation of the imaging point in the Y direction includes the displacement due to v y The resulting displacement and v z The resulting displacement.

[0084] The imaging point is due to v y The resulting displacement in the Y direction satisfies:

[0085] Y b '-Y b =v y *t ab *K3 Formula 3

[0086] Among them, t ab K represents the scanning time from point A' to point B', and K3 represents the third object image conversion coefficient.

[0087] The imaging point is due to v z The resulting displacement in the y-direction satisfies:

[0088] Y b '-Y b =v z *t ab *K4 Formula 4

[0089] Wherein, K4 represents the fourth object image conversion coefficient.

[0090] Combining the above formulas, we can obtain:

[0091] X b '-X b =v x *t ab *K1+v z *t ab *K2 Formula 5

[0092] Y b '-Y b = v y *t ab *K3+v z *t ab *K4 Formula 6

[0093] It should be noted that the first, second, third, and fourth terms here are only used to distinguish the different object-image conversion coefficients corresponding to velocities in different directions, and do not have specific meanings.

[0094] The first to fourth object-image conversion coefficients mentioned above are constructed based on the imaging parameters of the planar imaging device, wherein the imaging parameters include some or all of the following:

[0095] Field of view (e.g., FOV) x ×FOV y Image resolution (X) im ×Y im ), scan frequency f scan The distance R between the planar imaging device and the target.

[0096] See Figures 8-10 Example provided:

[0097] K1 = X im / R·FOV x

[0098] K2 = X im ·sinθ x / R·FOV x

[0099] K3 = X im / R·FOV y

[0100] K4 = X im ·sinθ y / R·FOV y

[0101] Based on the above imaging parameters, construct the first to fourth object-image conversion coefficients, and substitute them into formulas 5 and 6 above to obtain:

[0102] Based on the above results The deformation formula and the displacement of at least two imaging points can determine v. x v y v z .

[0103] For example, based on the displacement deviations of imaging points B' and C' respectively, we can obtain:

[0104]

[0105] Based on X b '-X b The value of X c '-X c The value of v. Substituting into equations ① and ② above, we get v. x v z For example, x′ b -x b =29, x c ′-x c =23, Substituting the system parameters into equations ① and ②, we obtain v x =15m / s, v z = 1 m / s.

[0106]

[0107] v z Substituting into equation ③ above, we get v y For example, v z =1m / s, y′ b -y b Substituting 1 into equation ③, we obtain v. y =0.

[0108] It should be noted that (1) the object-image conversion coefficients constructed above are only one example. The object-image conversion coefficients corresponding to different planar imaging devices may be different, and the same planar imaging device may also have different object-image conversion coefficients under different imaging methods. This application embodiment does not limit this. In addition, the method of determining the three-dimensional velocity by the displacement of two imaging points in the above example is also an example. This application embodiment can calculate the velocity based on the displacement of more than two imaging points. For example, when the number of imaging points selected in the first step is greater than 3, an overdetermined system of equations is formed. The least squares method or linear programming can be used to solve the overdetermined equations to obtain a more accurate solution.

[0109] (2) Figure 4 The scanning direction shown is only one example. Other scanning methods are also applicable to the embodiments of this application, such as those described above. Figure 11 Other scanning methods shown are applicable to the embodiments of this application as long as the scanning trajectories are non-intersecting and the scanning directions are consistent. In addition, the scanning method can be line-by-line scanning or multi-line synchronous scanning. The difference between the two lies in the different calculation of the scanning time of the imaging points. In multi-line synchronous scanning, the scanning time between imaging points is determined based on the difference in the number of columns between two imaging points and the scanning frequency.

[0110] It is understandable that the more and denser the number of scan lines, the more partitions the image is divided into. In this embodiment, the size of the number of spatial partitions corresponds to the speed measurement accuracy, and the more spatial partitions per unit time, the higher the speed measurement accuracy.

[0111] (3) The first imaging deformation model and the second imaging deformation model can be the same model or different models.

[0112] (4) If the target has velocity in only two dimensions, such as a vehicle, it has v x v z Then v in the above formula can be... y The relevant parameters are set to 0 to calculate the velocities in the other two directions, which will not be elaborated here.

[0113] With the above design, the velocity of the object to be measured in any one dimension of the three-dimensional direction can be determined based on the deformation of the marker in a single frame image, without the need for measurement through multiple frames, thereby improving the real-time performance of velocity measurement.

[0114] The methods provided by the embodiments of this application have been described above with reference to the accompanying drawings. The apparatus provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0115] Based on the same inventive concept as the method embodiments, this application also provides a data processing apparatus for performing the above-described... Figure 3 Any of the methods shown in the method embodiments. For example... Figure 12As shown, the device 1200 includes an acquisition module 1201 and a processing module 1202. Specifically, in this device 1200, the modules are connected to each other through a communication channel.

[0116] The acquisition module 1201 is used to acquire a frame image generated by the planar imaging device for the object to be measured, the image including the object to be measured; see details below. Figure 3 Step 301 in the method embodiment shown will not be repeated here.

[0117] Processing module 1202 is used to determine the velocity of the object to be measured in one or more dimensions based on the deformation of a marker in the image. The deformation of the marker is determined based on the original shape of the marker and the image shape of the marker in the image. See details... Figure 3 Step 303 in the method embodiment shown will not be repeated here.

[0118] In one possible implementation, the deformation of the marker includes the deformation of at least two imaging points;

[0119] When the processing module determines the velocity of the object to be measured in one or more dimensions based on the deformation of the markers in the image, it is specifically used to: determine the velocity of the target in each dimension of the three-dimensional direction based on the deformation of the at least two points.

[0120] In one possible implementation, the acquisition module is further configured to: acquire an imaging deformation model of the device, the imaging deformation model being used to generate a static image of the marker in the image based on the original shape of the marker;

[0121] The deformation of the first imaging point is determined based on the first position of the first imaging point in the image and the second position of the first imaging point in the image, wherein the first imaging point is any one of at least two imaging points.

[0122] In one possible implementation, the three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image.

[0123] The velocity in the one-dimensional or multi-dimensional direction includes the velocity in some or all of the first direction, the second direction, and the third direction.

[0124] In one possible implementation, the three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image.

[0125] The deformation of the first imaging point includes a first displacement of the first imaging point in a first direction, or

[0126] The deformation of the first imaging point includes the first displacement and the second displacement of the first imaging point in the second direction.

[0127] In one possible implementation, the imaging deformation model includes the imaging parameters of the device;

[0128] The first displacement includes the displacement caused by the velocity in the first direction;

[0129] The displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient;

[0130] The first object-image conversion system is generated based on the imaging parameters.

[0131] In one possible implementation, the imaging deformation model includes the imaging parameters of the device;

[0132] The first displacement includes the displacement caused by the velocity in the first direction and the displacement caused by the velocity in the third direction;

[0133] The displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient;

[0134] The displacement caused by the velocity in the third direction is related to one or more of the following parameters: the velocity in the third direction, the scanning time, and the second object-image conversion coefficient;

[0135] The first object-image conversion system and the second object-image conversion system are generated based on the imaging parameters.

[0136] In one possible implementation, the imaging deformation model includes the imaging parameters of the device;

[0137] The second displacement includes the displacement caused by the velocity in the second direction;

[0138] The displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scanning time, and the third object conversion coefficient;

[0139] The third object-image conversion system is generated based on the imaging parameters.

[0140] In one possible implementation, the imaging deformation model includes the imaging parameters of the device;

[0141] The second displacement includes the displacement caused by the velocity in the second direction and the displacement caused by the velocity in the third direction;

[0142] The displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scanning time, and the third object conversion coefficient;

[0143] The displacement caused by the velocity in the third direction is related to one or more parameters among the velocity in the third direction, the scanning time, and the fourth object conversion coefficient;

[0144] The third and fourth object-image conversion systems are generated based on the imaging parameters.

[0145] In one possible implementation, the imaging deformation model includes imaging parameters of the device, which include one or more of the following:

[0146] Field of view, image resolution, scanning frequency, and the distance between the device and the object to be measured.

[0147] In one possible implementation, the image is generated by time-series sampling of the object to be measured.

[0148] This application also provides a computing device 1300. For example... Figure 13 As shown, the computing device 1300 includes a bus 1302, a processor 1304, a memory 1306, and a communication interface 1308. The processor 1304, the memory 1306, and the communication interface 1308 communicate with each other via the bus 1302. The computing device 1300 may be a server, a storage array, or a hard disk enclosure, etc. It should be understood that this application does not limit the number of processors and memories in the computing device 1300.

[0149] Bus 1302 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 13 The bus 1302 may be represented by a single line, but this does not mean that there is only one bus or one type of bus. The bus 1302 may include a path for transmitting information between various components of the computing device 1300 (e.g., memory 1306, processor 1304, communication interface 1308).

[0150] The processor 1304 may include any one or more processors such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0151] The memory 1306 may include volatile memory, such as random access memory (RAM). The processor 1304 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD), etc., without limitation.

[0152] In one embodiment, the computing device 1300 is used to execute the functions of the device 1200. The memory 1306 stores executable program code, and the processor 1304 executes this executable program code to implement the functions of the aforementioned acquisition module 1201 and processing module 1202, thereby realizing the speed measurement method. That is, the memory 1306 stores instructions for the computing device 1300 to execute the speed measurement method provided in this application.

[0153] The communication interface 1308 uses transceiver modules such as, but not limited to, network interface cards and transceivers to enable communication between the computing device 1300 and other devices or communication networks.

[0154] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. When the computer program product is run on at least one computing device, it causes the at least one computing device to perform a data processing method.

[0155] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. When the computer program product is run on at least one computing device, it causes the at least one computing device to perform a data processing method.

[0156] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computing device can store, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to perform a data processing method.

[0157] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0158] It should be understood that the processor mentioned in the embodiments of this application can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor, implemented by reading software code stored in memory.

[0159] For example, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0160] It should be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAM (DR RAM).

[0161] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0162] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0163] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0164] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0165] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0166] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0167] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope and intent of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and variations.

Claims

1. A speed measurement method, characterized in that, The method includes: Acquire a frame image generated by a planar imaging device for an object whose velocity is to be measured, the image including the object whose velocity is to be measured; Based on the deformation of the marker in the image, the velocity of the object to be measured in any one or multiple dimensions is determined. The deformation of the marker is determined based on the original shape of the marker and the image shape of the marker in the image.

2. The method as described in claim 1, characterized in that, The deformation of the marker includes the deformation of at least two imaging points; Based on the deformation of markers in the image, the velocity of the object to be measured in one or more dimensions is determined, including: Based on the deformation of the at least two imaging points, the velocity of the target in each of the three dimensions is determined.

3. The method as described in claim 2, characterized in that, The method further includes: The imaging deformation model of the device is obtained, and the imaging deformation model is used to generate a static image of the marker in the image based on the original shape of the marker. The deformation of the first imaging point is determined based on the first position of the first imaging point in the image and the second position of the first imaging point in the image, wherein the first imaging point is any one of at least two imaging points.

4. The method according to any one of claims 1-3, characterized in that, The three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image. The velocity in the one-dimensional or multi-dimensional direction includes the velocity in some or all of the first direction, the second direction, and the third direction.

5. The method as described in claim 3, characterized in that, The three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image. The deformation of the first imaging point includes a first displacement of the first imaging point in a first direction, or The deformation of the first imaging point includes the first displacement and the second displacement of the first imaging point in the second direction.

6. The method as described in claim 5, characterized in that, The imaging deformation model includes the imaging parameters of the device; The first displacement includes the displacement caused by the velocity in the first direction; The displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient; The first object-image conversion system is generated based on the imaging parameters.

7. The method as described in claim 5, characterized in that, The imaging deformation model includes the imaging parameters of the device; The first displacement includes the displacement caused by the velocity in the first direction and the displacement caused by the velocity in the third direction; The displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient; The displacement caused by the velocity in the third direction is related to one or more of the following parameters: the velocity in the third direction, the scanning time, and the second object-image conversion coefficient; The first object-image conversion system and the second object-image conversion system are generated based on the imaging parameters.

8. The method as described in claim 4 or 5, characterized in that, The imaging deformation model includes the imaging parameters of the device; The second displacement includes the displacement caused by the velocity in the second direction; The displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scanning time, and the third object conversion coefficient; The third object-image conversion system is generated based on the imaging parameters.

9. The method as described in claim 4 or 5, characterized in that, The imaging deformation model includes the imaging parameters of the device; The second displacement includes the displacement caused by the velocity in the second direction and the displacement caused by the velocity in the third direction; The displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scanning time, and the third object conversion coefficient; The displacement caused by the velocity in the third direction is related to one or more parameters among the velocity in the third direction, the scanning time, and the fourth object conversion coefficient; The third and fourth object-image conversion systems are generated based on the imaging parameters.

10. The method according to any one of claims 1-9, characterized in that, The imaging deformation model includes the imaging parameters of the device, and the imaging parameters include one or more of the following: Field of view, image resolution, scanning frequency, and the distance between the device and the object to be measured.

11. The method according to any one of claims 1-10, characterized in that, The image is generated by time-series sampling of the object to be measured.

12. A speed measuring device, characterized in that, The device includes: The acquisition module is used to acquire a frame image generated by the planar imaging device for the object to be measured, the image including the object to be measured. The processing module is used to determine the velocity of the object to be measured in any one or multiple dimensions based on the deformation of the marker in the image, wherein the deformation of the marker is determined based on the original shape of the marker and the image shape of the marker in the image.

13. The apparatus as claimed in claim 12, characterized in that, The deformation of the marker includes the deformation of at least two imaging points; When the processing module determines the velocity of the object to be measured in one or more dimensions based on the deformation of the markers in the image, it is specifically used to: determine the velocity of the target in each dimension of the three-dimensional direction based on the deformation of the at least two imaging points.

14. The apparatus as claimed in claim 13, characterized in that, The acquisition module is further configured to: acquire the imaging deformation model of the device, the imaging deformation model being used to generate a static image of the marker in the image based on the original shape of the marker; The deformation of the first imaging point is determined based on the first position of the first imaging point in the image and the second position of the first imaging point in the image, wherein the first imaging point is any one of at least two imaging points.

15. The apparatus according to any one of claims 12-14, characterized in that, The three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image. The velocity in the one-dimensional or multi-dimensional direction includes the velocity in some or all of the first direction, the second direction, and the third direction.

16. The apparatus as claimed in claim 14, characterized in that, The three-dimensional direction includes a first direction parallel to the scanning direction of the planar imaging device, a second direction perpendicular to the first direction, and a third direction perpendicular to the imaging plane corresponding to the image. The deformation of the first imaging point includes a first displacement of the first imaging point in a first direction, or The deformation of the first imaging point includes the first displacement and the second displacement of the first imaging point in the second direction.

17. The apparatus as claimed in claim 16, characterized in that, The imaging deformation model includes the imaging parameters of the device; The first displacement includes the displacement caused by the velocity in the first direction and the displacement caused by the velocity in the third direction; The displacement caused by the velocity in the first direction is related to one or more parameters among the velocity in the first direction, the scanning time, and the first object-image conversion coefficient; The displacement caused by the velocity in the third direction is related to one or more of the following parameters: the velocity in the third direction, the scanning time, and the second object-image conversion coefficient; The first object-image conversion system and the second object-image conversion system are generated based on the imaging parameters.

18. The apparatus as claimed in claim 16 or 17, characterized in that, The imaging deformation model includes the imaging parameters of the device; The second displacement includes the displacement caused by the velocity in the second direction and the displacement caused by the velocity in the third direction; The displacement caused by the velocity in the second direction is related to one or more parameters among the velocity in the second direction, the scanning time, and the third object conversion coefficient; The displacement caused by the velocity in the third direction is related to one or more parameters among the velocity in the third direction, the scanning time, and the fourth object conversion coefficient; The third and fourth object-image conversion systems are generated based on the imaging parameters.

19. The apparatus according to any one of claims 12-18, characterized in that, The imaging deformation model includes the imaging parameters of the device, and the imaging parameters include one or more of the following: Field of view, image resolution, scanning frequency, and the distance between the device and the object to be measured.

20. The apparatus according to any one of claims 12-19, characterized in that, The image is generated by time-series sampling of the object to be measured.

21. An electronic device, characterized in that, The device includes at least one processor and at least one memory; wherein the one or more memories store one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the electronic device to perform the method as described in any one of claims 1 to 11.

22. A chip system, characterized in that, The chip system includes a processing circuit and a storage medium, wherein the storage medium stores instructions; when the instructions are executed by the processing circuit, they implement the method as described in any one of claims 1 to 11.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program that, when run on an electronic device, causes the electronic device to perform the method as described in any one of claims 1 to 11.

Images