CN103322984B - Based on the range finding of video image, speed-measuring method and device - Google Patents
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Abstract
Range finding based on video image provided by the invention, speed-measuring method and device.Wherein, vertical with the movement locus of testee and the movement locus of described testee is under the prerequisite of straight line at camera optical axis, measure described testee when moving to a some B by the some A in described movement locus, the distance between the some A ' that described some A and some B is corresponding in the plane of delineation and some B '; According to the distance between the described some A ' that records and some B ', and the mapping proportion coefficients of respective distances in movement locus middle distance to the described plane of delineation, calculate the distance between described some A and some B.Adopt method of the present invention and device, real-time and the degree of accuracy of measurement can be improved.
Description
Technical field
The present invention relates to range finding, velocity measuring technique, particularly relate to a kind of range finding based on video image, speed-measuring method and device.
Background technology
At present, camera imaging model is mainly relied on based on the range finding of video image, the mode that tests the speed, the point in world coordinate system is determined by the mapping equation setting up image coordinate system mid point and world coordinate system mid point, and then ask distance in world coordinate system, the movement velocity of object is being determined according to the Distance geometry time in world coordinate system.Which has versatility, but owing to relating to the demarcation of camera inside and outside parameter in measuring process, this process not only complexity, calculated amount greatly, is difficult to meet and measures requirement in real time, also can there is certain error because of parameters timing signal, cause final measurement to there is comparatively big error.
Summary of the invention
In view of this, the invention provides a kind of range finding based on video image, speed-measuring method and device.The problem that measuring accuracy is low, measurement real-time is low that prior art exists can be overcome.
A kind of distance-finding method based on video image provided by the invention, vertical with the movement locus of testee and the movement locus of described testee is under the prerequisite of straight line at camera optical axis, described method comprises:
Step b, measure described testee when moving to a some B by the some A in described movement locus, the distance between the some A ' that described some A and some B is corresponding in the plane of delineation and some B ';
Step c, according to described in distance between the some A ' that records and some B ', and the mapping proportion coefficients of respective distances in movement locus middle distance to the described plane of delineation, calculates the distance between described some A and some B.
Further, before described step b, also comprise:
Step a, demarcate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation according to the reference point of known separation in described movement locus.
Further, described step a comprises:
Step a1, to measure when described testee moves to reference point D by the reference Point C that described movement locus middle distance is known, the some C ' that described reference Point C and reference point D are corresponding in the described plane of delineation and the distance put between D ';
Distance geometry reference Point C between the some C ' that step a2, basis record and some D ' and the distance between reference point D, calculate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation.
Further, in described movement locus, demarcate the known reference point of a series of spacing, utilize the method for step a1 and step a2 to obtain the mapping proportion coefficients of respective distances in a series of described movement locus middle distance to the described plane of delineation;
According to least square method, the mapping proportion coefficients of respective distances in described a series of described movement locus middle distance to the described plane of delineation is processed, obtain the mapping proportion coefficients of optimum described movement locus middle distance to respective distances in the described plane of delineation.
Accordingly, present invention also offers a kind of speed-measuring method based on video image, it is characterized in that: comprising:
Method as above is adopted to measure the range difference of described testee in adjacent two two field pictures;
According to the mistiming of the range difference recorded and adjacent two two field pictures, calculate the movement velocity of described testee.
Accordingly, present invention also offers a kind of distance measuring equipment based on video image, comprising:
Measurement module, under being the prerequisite of straight line for and the movement locus of described testee vertical with the movement locus of testee at camera optical axis, measure described testee when moving to a some B by the some A in described movement locus, the distance between the some A ' that described some A and some B is corresponding in the plane of delineation and some B ';
Computing module, for the distance between the some A ' that records according to described measurement module and some B ', and the mapping proportion coefficients of respective distances in movement locus middle distance to the described plane of delineation, calculate the distance between described some A and some B.
Further, also comprise:
Demarcating module, for demarcating the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation according to the reference point of known separation in described movement locus.
Further, described demarcating module comprises:
Measuring unit, for measuring when described testee moves to reference point D by the reference Point C that described movement locus middle distance is known, the some C ' that described reference Point C and reference point D are corresponding in the described plane of delineation and the distance put between D ';
Demarcate unit, for the Distance geometry reference Point C between the some C ' that records according to described measuring unit and some D ' and the distance between reference point D, calculate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation.
Further, order the known reference point of a series of spacing in described movement locus acceptance of the bid, utilize described measuring unit and demarcate the mapping proportion coefficients that unit obtains respective distances in a series of described movement locus middle distance to the described plane of delineation;
Described demarcation unit, also for processing the mapping proportion coefficients of respective distances in described a series of described movement locus middle distance to the described plane of delineation according to least square method, obtain the mapping proportion coefficients of optimum described movement locus middle distance to respective distances in the described plane of delineation.
Accordingly, present invention also offers a kind of speed measuring device based on video image, comprising:
Distance measuring equipment as above, for measuring the range difference of described testee in adjacent two two field pictures;
Computing module, for the mistiming of the range difference that records according to distance measuring equipment and adjacent two two field pictures, calculates the movement velocity of described testee.
Beneficial effect of the present invention:
The embodiment of the present invention is for the peculair motion of object, namely the movement locus of testee is the situation of straight line, camera optical axis is adjusted to vertical with testee movement locus find range again, benefit so is, for the distance of point-to-point transmission corresponding in the Distance geometry plane of delineation in movement locus between any two points by scale-up factor constant for existence one, i.e. the mapping proportion coefficients of respective distances " in the movement locus middle distance to the plane of delineation ", therefore when needing to measure the distance between movement locus mid point A and some B, distance between the some A ' only needing measurement image plane corresponding and some B ', recycling mapping proportion coefficients is converted into the distance between an A and some B, this kind of distance measuring method, simplify video ranging process, avoid complicated camera internal and external parameter calibration process, improve real-time and the precision of measurement.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the geometric relationship figure of video camera imaging.
Fig. 2 is the schematic diagram based on video image range finding of the present invention.
Fig. 3 is the schematic flow sheet of the embodiment of the method based on video image range finding of the present invention.
Fig. 4 is to illustrate based on video image distance-finding method application example figure.
Fig. 5 is the structural representation of the embodiment of the distance measuring equipment based on video image of the present invention.
Fig. 6 is the structural representation of the embodiment of the speed measuring device based on video image of the present invention.
Embodiment
Before introducing the range finding of the embodiment of the present invention, speed-measuring method, first the principle of the embodiment of the present invention is described.And before principle of specification, be necessary the geometric relationship first introducing video camera imaging.
As shown in Figure 1, be the geometric relationship figure of video camera imaging.In the example shown, point 0 is the photocentre of video camera, O-X
cy
cz
ccamera coordinates system, the optical axis Z of video camera
cbe O with the intersection point of the plane of delineation
1, with O
1for true origin sets up image coordinate system O
1-xyz
c, the wherein x-axis of image coordinate system and the X of camera coordinates system
caxle is parallel, the Y of the y-axis of image coordinate system and camera coordinates system
caxle is parallel, the z-axis of image coordinate system and the Z of image coordinate system
caxle overlaps, the distance OO between Two coordinate system initial point
1for focal distance f.For the X of in camera coordinates system
1, when imaging, some X
1picture point x on plane of delineation xy
1be OX
1with the intersection point of the plane of delineation.
Understood the geometric relationship of video camera imaging by Fig. 1 after, the range measurement principle figure based on video image of composition graphs 2 illustrates principle of the present invention.
As shown in Figure 2, as a line segment (X in figure of the composition of two in camera coordinates system
1x
2) and optical axis Z
ctime vertical, the projection of this line segment in the plane of delineation (x in figure
1x
2) certain and this line segment themselves parallel (i.e. X
ix
2//x
1x
2).Prove as follows:
By coordinate system O
1-xyz
cknow, Z
cfor face O
1the normal of xy, again line segment X
1x
2with Z
cvertical and X
1x
2not at face O
1in xy, therefore X
1x
2be parallel to face O
1xy.Again from projection feature: x
1for OX
1with plane of delineation O
lthe intersection point of xy.X
2for OX
2with plane of delineation O
lthe intersection point of xy.I.e. x
1x
2for face OX
1x
2with plane of delineation O
lthe intersection of xy, again X as from the foregoing
1x
2be parallel to face O
1xy, therefore have X
1x
2//x
1x
2.
Due to X
1x
2//x
1x
2, therefore Δ Ox
1x
2≈ Δ OX
1x
2, therefore have: | X
1x
2|=K|x
1x
2|, wherein k is constant.
In summary, when movement locus of object is straight line and is vertical with optical axis, on movement locus any two points composition the projection of line segment in the plane of delineation will with line segment themselves parallel, and the proportionate relationship that existence one is fixing therebetween, this fixing proportionate relationship, being follow-uply called as the mapping proportion coefficients of respective distances " in the movement locus middle distance to the plane of delineation ", represents with " λ ".Due to x can be obtained easily by analyzing video image
1x
2as long as therefore know the mapping proportion coefficients of respective distances in movement locus middle distance to the plane of delineation, just X can be obtained easily
1x
2length.And the distance of 2 that in movement locus middle distance to the plane of delineation, the determination of the mapping proportion coefficients of respective distances can be corresponding in the plane of delineation by 2 of measuring known separation in this movement locus is determined.
After the above-mentioned principle to the embodiment of the present invention is described, lower mask body is described in detail to the range finding of the embodiment of the present invention, the process of speed-measuring method.
Please refer to Fig. 3, is the schematic flow sheet of the embodiment of the distance-finding method based on video image of the present invention.The precondition of the execution of the method flow process is: the movement locus of testee is straight line, and camera optical axis is vertical with the movement locus of testee.In reality is just used, measure the move distance of object by video image in most cases and/or speed is measured when object does rectilinear motion, therefore the movement locus of testee is that straight line can not cause restriction to the application of the embodiment of the present invention owing to being of universal significance.And whether camera optical axis is vertical with the movement locus of testee can realize by adjusting video camera, in preferred scheme, for the ease of adjusting video camera, for video camera is equipped with The Cloud Terrace, video camera can around The Cloud Terrace do on a large scale Space Rotating motion, with facilitate camera optical axis is adjusted to vertical with movement locus.
When above-mentioned precondition meets, described method flow specifically comprises:
Step S11, demarcate the mapping proportion coefficients of respective distances in movement locus middle distance to the plane of delineation according to the reference point of known separation in movement locus.
Step S12, measure testee when moving to a some B by the some A in movement locus, the distance between the some A ' that some A and some B is corresponding in the plane of delineation and some B '.
Step S13, according to the distance between the some A ' that records and some B ', and the mapping proportion coefficients of respective distances in movement locus middle distance to the plane of delineation, the distance between calculation level A and some B.
Needs illustrate, the not each necessary step measured of step S11, for same movement locus, because on it all there is identical mapping proportion coefficients with point corresponding in the plane of delineation in any two points, therefore this mapping proportion coefficients only needs to demarcate once, before movement locus does not change, all can repeatedly be suitable for.Certainly, after movement locus changes, not only to adjust The Cloud Terrace and make optical axis vertical with movement locus, also again will demarcate mapping proportion coefficients.Below in conjunction with an instantiation, above-mentioned ranging process is described.
As shown in Figure 4, its mid point X
1, X
2and P
othe point on same straight-line trajectory, and X
1and X
2reference point, its spacing | X
1x
2| known, P
oit is any point on same straight-line trajectory.Optical axis Z
cvertical with this straight-line trajectory, some x
1, some x
2and P
o1an X
1, X
2and P
opoint corresponding in the plane of delineation.
In reality is just used, X
1, X
2be probably the two-end-point on same track, testee is at X
1, X
2between motion, when a certain moment, testee is from X
1move to P
o, namely range finding is now survey P
oat a distance of X
1the distance of fortune, namely | X
1p
o|.From method flow above, in measurement | X
1p
o| before, need to demarcate the mapping proportion coefficients of movement locus middle distance to plane of delineation middle distance in advance, therefore first control testee by X
1move to X
2, corresponding point x in measurement image plane
1, x
2between distance | x
1x
2|, then movement locus middle distance to plane of delineation middle distance mapping proportion coefficients λ=| X
1x
2|/| x
1x
2|.
For expansion scheme, can demarcate a series of as X in movement locus
1, X
2the known reference point of spacing, then above-mentioned mode is utilized to record the mapping proportion coefficients of respective distances in a series of described movement locus middle distance to the described plane of delineation, least square method is finally utilized to process the mapping proportion coefficients of respective distances in described a series of described movement locus middle distance to the described plane of delineation, obtain the mapping proportion coefficients of optimum described movement locus middle distance to respective distances in the described plane of delineation, to improve the precision of measurement further.
After obtaining λ, when testee is by X
1move to P
otime, by measuring x in video image
1, P
o1distance, then pass through formula: | X
ip
o|=λ × | x
1p
o1|, just can realize range finding.
For testing the speed, only need to measure testee by X
1move to P
orequired time t, just can by formula: v=|X
1p
o|/t, obtains.But this may need to increase timing device in addition, the simpler method of one is: because the general second beats of video camera takes the photograph tens two field pictures, and the frame period Δ t between every two field picture is fixing, and be easy to obtain, as long as therefore measure the distance that testee moves within the frame period Δ t time, also can obtain v, and the distance that testee moves within the frame period Δ t time also can be recorded by said method, its implementation procedure is: suppose that testee is positioned at X in the n-th two field picture
1x
2on P
opoint, is positioned at X in the (n+1)th two field picture
1x
2on P
o+1point, obviously | X
1p
o|, | X
1p
o+1| all can record, so V=(| X
1p
o+1|-| X
1p
o|)/Δ t, because Δ t will be very little, therefore can well be similar to the instantaneous velocity of object of which movement, for the object of low-speed motion, measurement effect will be better.
Below corresponding to said method, the range finding based on video image of the present invention, distance measuring equipment are described.
Please refer to Fig. 5, is the structural representation of the embodiment of the distance measuring equipment based on video image of the present invention.This distance measuring equipment 1 comprises:
Demarcating module 11, for under camera optical axis is vertical with the movement locus of testee and the movement locus of testee is the prerequisite of straight line, demarcate the mapping proportion coefficients of respective distances in movement locus middle distance to the described plane of delineation according to the reference point of known separation in movement locus.
Measurement module 12, for measure described testee move to a some B by the some A in described movement locus time, the distance between the some A ' that described some A and some B is corresponding in the plane of delineation and some B '.
Computing module 13, for the some A ' recorded according to measurement module and the distance put between B ', and the movement locus middle distance that demarcating module 11 is demarcated is to the mapping proportion coefficients of respective distances in the described plane of delineation, calculates the distance between described some A and some B.
Concrete, demarcating module 11 can comprise: measuring unit 21, for measuring when testee moves to reference point D by the reference point c that movement locus middle distance is known, the some C ' that described reference point c and reference point D is corresponding in the described plane of delineation and the distance put between D '.
Demarcate unit 22, for the Distance geometry reference point c between the some c ' that records according to described measuring unit and some D ' and the distance between reference point D, calculate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation.
In a kind of expansion scheme, order the known reference point of a series of spacing in movement locus acceptance of the bid, utilize described measuring unit and demarcate the mapping proportion coefficients that unit obtains respective distances in a series of described movement locus middle distance to the described plane of delineation; Then, according to least square method, the mapping proportion coefficients of respective distances in described a series of described movement locus middle distance to the described plane of delineation is processed by demarcation unit, obtain the mapping proportion coefficients of optimum described movement locus middle distance to respective distances in the described plane of delineation.
Please refer to Fig. 6, is the structural representation of the embodiment of the speed measuring device based on video image of the present invention.This speed measuring device 3 comprises:
Distance measuring equipment 1, for measuring the range difference of described testee in adjacent two two field pictures.
Computing module 2, for the mistiming of the range difference that records according to distance measuring equipment and adjacent two two field pictures, calculates the movement velocity of described testee.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (8)
1. based on a distance-finding method for video image, it is characterized in that: vertical with the movement locus of testee and the movement locus of described testee is under the prerequisite of straight line at camera optical axis, described method comprises:
Step b, measure described testee when moving to a some B by the some A in described movement locus, the distance between the some A ' that described some A and some B is corresponding in the plane of delineation and some B ';
Step c, according to described in distance between the some A ' that records and some B ', and the mapping proportion coefficients of respective distances in movement locus middle distance to the described plane of delineation, calculates the distance between described some A and some B;
Before described step b, also comprise:
Step a, demarcate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation according to the reference point of known separation in described movement locus;
Step a1, to measure when described testee moves to reference point D by the reference Point C that described movement locus middle distance is known, the some C ' that described reference Point C and reference point D are corresponding in the described plane of delineation and the distance put between D ';
Distance geometry reference Point C between the some C ' that step a2, basis record and some D ' and the distance between reference point D, calculate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation.
2., as claimed in claim 1 based on the distance-finding method of video image, it is characterized in that:
In described movement locus, demarcate the known reference point of a series of spacing, utilize the method for step a1 and step a2 to obtain the mapping proportion coefficients of respective distances in a series of described movement locus middle distance to the described plane of delineation;
According to least square method, the mapping proportion coefficients of respective distances in described a series of described movement locus middle distance to the described plane of delineation is processed, obtain the mapping proportion coefficients of optimum described movement locus middle distance to respective distances in the described plane of delineation.
3. based on a speed-measuring method for video image, it is characterized in that: comprising:
Adopt the range difference of testee in adjacent two two field pictures as described in the method measurement according to any one of claim 1-2;
According to the mistiming of the range difference recorded and adjacent two two field pictures, calculate the movement velocity of described testee.
4. based on a distance measuring equipment for video image, it is characterized in that: comprising:
Measurement module, under being the prerequisite of straight line for and the movement locus of described testee vertical with the movement locus of testee at camera optical axis, measure described testee when moving to a some B by the some A in described movement locus, the distance between the some A ' that described some A and some B is corresponding in the plane of delineation and some B ';
Computing module, for the distance between the some A ' that records according to described measurement module and some B ', and the mapping proportion coefficients of respective distances in movement locus middle distance to the described plane of delineation, calculate the distance between described some A and some B.
5., as claimed in claim 4 based on the distance measuring equipment of video image, it is characterized in that: also comprise:
Demarcating module, for demarcating the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation according to the reference point of known separation in described movement locus.
6., as claimed in claim 5 based on the distance measuring equipment of video image, it is characterized in that: described demarcating module comprises:
Measuring unit, for measuring when described testee moves to reference point D by the reference Point C that described movement locus middle distance is known, the some C ' that described reference Point C and reference point D are corresponding in the described plane of delineation and the distance put between D ';
Demarcate unit, for the Distance geometry reference Point C between the some C ' that records according to described measuring unit and some D ' and the distance between reference point D, calculate the mapping proportion coefficients of respective distances in described movement locus middle distance to the described plane of delineation.
7. as claimed in claim 6 based on the distance measuring equipment of video image, it is characterized in that: order the known reference point of a series of spacing in described movement locus acceptance of the bid, utilize described measuring unit and demarcate the mapping proportion coefficients that unit obtains respective distances in a series of described movement locus middle distance to the described plane of delineation;
Described demarcation unit, also for processing the mapping proportion coefficients of respective distances in described a series of described movement locus middle distance to the described plane of delineation according to least square method, obtain the mapping proportion coefficients of optimum described movement locus middle distance to respective distances in the described plane of delineation.
8. based on a speed measuring device for video image, it is characterized in that: comprising:
Distance measuring equipment according to any one of claim 4-7, for measuring the range difference of described testee in adjacent two two field pictures;
Computing module, for the mistiming of the range difference that records according to distance measuring equipment and adjacent two two field pictures, calculates the movement velocity of described testee.
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| CN104102835B (en) * | 2014-07-11 | 2017-04-12 | 大连理工大学 | Throw training score detection method based on real-time video images |
| CN105444729B (en) * | 2015-12-13 | 2020-12-22 | 重庆桑耐美光电科技有限公司 | Optical remote measurement method |
| CN106872722B (en) * | 2017-04-25 | 2019-08-06 | 北京精英智通科技股份有限公司 | A kind of measurement method and device of speed |
| CN109029366B (en) * | 2018-07-02 | 2021-01-08 | 中国科学院南京地理与湖泊研究所 | Method for measuring horizontal drift rate of algae spots through aircraft shooting |
| CN109030868A (en) * | 2018-07-06 | 2018-12-18 | 江西洪都航空工业集团有限责任公司 | Plane motion object angular acceleration measurement method in drop-test |
| CN110285829B (en) * | 2019-06-21 | 2020-05-05 | 大庆安瑞达科技开发有限公司 | Geographical calibration ranging method for single-station optical servo monitoring |
| CN110286248A (en) * | 2019-06-26 | 2019-09-27 | 贵州警察学院 | A kind of vehicle speed measuring method based on video image |
| CN114111704B (en) * | 2020-08-28 | 2023-07-18 | 华为技术有限公司 | Method and device for measuring distance, electronic equipment and readable storage medium |
| CN115096196B (en) * | 2022-08-25 | 2022-12-27 | 中国科学院西安光学精密机械研究所 | Visual height and speed measuring method and system for rocket recovery and storage medium |
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