Road width surveying method and device and surveying vehicle
阅读说明：本技术 一种道路宽度勘测方法、装置和勘测车 (Road width surveying method and device and surveying vehicle ) 是由 肖健 魏明明 李承涛 陈小二 高君凯 王营 王向阳 王正 孙扬 门阳 佟明 安 于 2019-11-14 设计创作，主要内容包括：本申请公开一种道路宽度勘测方法、装置和勘测车。所述道路宽度勘测方法，包括：通过智能摄像模组采集道路两侧的深度图像和IR图像；对深度图像和IR图像进行边缘检测，得到获取到边缘的深度图像和IR图像；对获取到边缘的深度图像和IR图像进行拟合，确定道路两侧的边缘线；根据智能摄像模组到道路两侧的边缘线的距离计算道路宽度。采用本申请提供的道路宽度勘测方法，通过智能摄像模组采集到的深度图像和IR图像的边缘检测和拟合处理，得到准确的道路边缘线，由此能够精确的测量出道路宽度，操作简便且精确度高。(The application discloses a road width surveying method, a road width surveying device and a surveying vehicle. The road width surveying method includes: acquiring depth images and IR images of two sides of a road through an intelligent camera module; carrying out edge detection on the depth image and the IR image to obtain the depth image and the IR image of which the edges are obtained; fitting the depth image and the IR image of the obtained edge to determine edge lines on two sides of the road; and calculating the width of the road according to the distance from the intelligent camera module to the edge lines of the two sides of the road. By adopting the road width surveying method provided by the application, the accurate road edge line is obtained through edge detection and fitting processing of the depth image and the IR image collected by the intelligent camera module, so that the road width can be accurately measured, and the method is simple and convenient to operate and high in accuracy.)
1. A road width surveying method, comprising:
acquiring depth images and IR images of two sides of a road through an intelligent camera module;
carrying out edge detection on the depth image and the IR image to obtain the depth image and the IR image of which the edges are obtained;
fitting the depth image and the IR image of the obtained edge to determine edge lines on two sides of the road;
and calculating the width of the road according to the distance from the intelligent camera module to the edge lines of the two sides of the road.
2. A method of road width surveying as claimed in claim 1, characterized in that the edge detection is performed on the depth image and the IR image, in particular comprising the sub-steps of:
using a Gaussian filter to filter noise of the smooth image;
calculating the gradient strength and direction of each pixel point in the depth image and the IR image;
applying non-maximum suppression to eliminate spurious responses caused by edge detection;
applying dual threshold detection to determine true and potential edges;
edge detection is finally accomplished by suppressing isolated weak edges.
3. The road width surveying method according to claim 1, wherein fitting the depth image and the IR image acquired of the edge comprises the following sub-steps:
calculating edge points of the IR image and the depth image;
acquiring a minimum ordinate corresponding to each abscissa point under the field angle of the intelligent camera module in the edge points of the IR image and the depth image;
and constructing edge lines on two sides of the road according to each abscissa point and the corresponding minimum ordinate point under the field angle of the intelligent camera module.
4. The road width surveying method of claim 1, wherein the road width is calculated from edge lines on both sides of the road, comprising the sub-steps of:
determining an edge point of the minimum distance from the intelligent camera module to the edge of the road;
calculating the distance from the left side of the vehicle to the left edge of the road and the distance from the right side of the vehicle to the right edge of the road according to the determined edge point with the minimum distance and the distance from the intelligent camera module to the ground;
and calculating the road width according to the distance from the left side of the vehicle to the left side edge of the road, the distance from the right side of the vehicle to the right side edge of the road and the distance between the camera modules.
5. A method of road width surveying as claimed in claim 4, characterized in that the distance from the left side of the vehicle to the left side edge of the road and the distance from the right side of the vehicle to the right side edge of the road are determined by calculating the following equations:
wherein D isLDistance from the left camera module to the left edge of the road, min (D)L) I.e. the minimum distance, D, from the left camera module to the left edge of the roadRDetermine the distance, min (D), of the right camera module to the right edge of the road for the right camera moduleR) Determining the minimum distance from the right camera module to the right side edge of the road for the right camera module; h is the distance between the intelligent camera module and the ground; LD is the distance from the left side of the vehicle to the left edge of the road, RD is the distance from the right side of the vehicle to the right edge of the road;
the road width is determined by the following formula: the road width is the distance between the LD + RD + two camera modules.
6. A road width surveying device, comprising:
the image acquisition module is used for acquiring a depth image and an IR image through the intelligent camera module;
the image edge detection module is used for carrying out edge detection on the depth image and the IR image to obtain the depth image and the IR image which are obtained to obtain edges;
the image fitting module is used for fitting the depth image and the IR image of the acquired edge to determine edge lines on two sides of the road;
and the road width measuring module is used for calculating the road width according to the distance from the intelligent camera module to the edge lines of the two sides of the road.
7. The road width survey apparatus of claim 6, wherein the image edge detection module is specifically configured to use a Gaussian filter to smooth the image and filter out noise; calculating the gradient strength and direction of each pixel point in the depth image and the IR image; applying non-maximum suppression to eliminate spurious responses caused by edge detection; applying dual threshold detection to determine true and potential edges; edge detection is finally accomplished by suppressing isolated weak edges.
8. The road width surveying device of claim 6, wherein the image fitting module is specifically configured to calculate edge points of the IR image and the depth image; acquiring a minimum ordinate corresponding to each abscissa point under the field angle of the intelligent camera module in the edge points of the IR image and the depth image; and constructing edge lines on two sides of the road according to each abscissa point and the corresponding minimum ordinate point under the field angle of the intelligent camera module.
9. The road width surveying device of claim 6, wherein the road width measuring module is specifically configured to determine an edge point of a minimum distance from the intelligent camera module to the road edge; calculating the distance from the left side of the vehicle to the left edge of the road and the distance from the right side of the vehicle to the right edge of the road according to the determined edge point with the minimum distance and the distance from the intelligent camera module to the ground; and calculating the road width according to the distance from the left side of the vehicle to the left side edge of the road, the distance from the right side of the vehicle to the right side edge of the road and the distance between the camera modules.
10. A road width surveying vehicle comprising the road width surveying device of any one of claims 6-9, and further comprising an external sensing device comprising an intelligent camera module and a GPS module;
the intelligent camera module is used for acquiring depth images and IR images of two sides of a road;
the GPS module is used for providing position information for the road width surveying vehicle;
the road width surveying device is used for determining the road width under the position information according to the position information provided by the GPS module.
Technical Field
The application relates to the field of road measurement, in particular to a road width surveying method and device and a surveying vehicle.
Background
Road width is an important factor in logistics transportation, and determines the grade of a road and the traffic capacity of the road. Road transport plays an important role in the transportation industry in China. And the road width is a very important index for restricting the logistics transportation. In vast rural areas and remote areas, the width of the road is narrow, so that the logistics transportation is a great challenge. In certain scenarios, such as transportation of large items, road width is extremely important. Therefore, how to scientifically measure the width of the road and provide data support for logistics transportation becomes an important subject.
Currently, the current methods mainly include:
1. however, the manual measurement is inefficient, it takes too long to manually measure the target link on the spot, and it is necessary to repeatedly confirm the target link, and there is a great risk in getting off the vehicle.
2. The road width estimation method based on the remote sensing data is low in precision and large in hysteresis, and the reading guide width measurement error based on the remote sensing data is relatively large, and in addition, the satellite remote sensing also needs to pay a large cost.
3. The radar imaging device is used for measuring the width of the road, but the radar imaging device generally needs a remarkable marker at the edge of the road, and many road sections cannot meet the requirement.
Disclosure of Invention
The application provides a road width surveying method, which comprises the following steps:
acquiring depth images and I R images of two sides of a road through an intelligent camera module;
carrying out edge detection on the depth image and the I R image to obtain a depth image and a I R image which are obtained to the edge;
fitting the obtained depth image and the obtained I R image to determine edge lines on two sides of the road;
and calculating the width of the road according to the distance from the intelligent camera module to the edge lines of the two sides of the road.
The road width surveying method as described above, wherein the edge detection is performed on the depth image and the I R image, specifically includes the following sub-steps:
using a Gaussian filter to filter noise of the smooth image;
calculating the gradient strength and direction of each pixel point in the depth image and the I R image;
applying non-maximum suppression to eliminate spurious responses caused by edge detection;
applying dual threshold detection to determine true and potential edges;
edge detection is finally accomplished by suppressing isolated weak edges.
The road width surveying method as described above, wherein the fitting of the depth image and the I R image obtained from the edge includes the following sub-steps:
calculating I R edge points of the image and the depth image;
acquiring I R minimum vertical coordinates corresponding to each horizontal coordinate point under the field angle of the intelligent camera module in the edge points of the image and the depth image;
and constructing edge lines on two sides of the road according to each abscissa point and the corresponding minimum ordinate point under the field angle of the intelligent camera module.
The method for surveying the road width as described above, wherein the road width is calculated from the edge lines on both sides of the road, specifically comprises the following sub-steps:
determining an edge point of the minimum distance from the intelligent camera module to the edge of the road;
calculating the distance from the left side of the vehicle to the left edge of the road and the distance from the right side of the vehicle to the right edge of the road according to the determined edge point with the minimum distance and the distance from the intelligent camera module to the ground;
and calculating the road width according to the distance from the left side of the vehicle to the left side edge of the road, the distance from the right side of the vehicle to the right side edge of the road and the distance between the camera modules.
The road width surveying method as described above, wherein the distance from the left side of the vehicle to the left side edge of the road and the distance from the right side of the vehicle to the right side edge of the road are determined by calculating the following formulas:
wherein D isLDistance from the left camera module to the left edge of the road, min (D)L) I.e. the minimum distance, D, from the left camera module to the left edge of the roadRDetermine the distance, min (D), of the right camera module to the right edge of the road for the right camera moduleR) Determining the minimum distance from the right camera module to the right side edge of the road for the right camera module; h is the distance between the intelligent camera module and the ground; LD is the distance from the left side of the vehicle to the left edge of the road, RD is the distance from the right side of the vehicle to the right edge of the road;
the road width is determined by the following formula: the road width is the distance between the LD + RD + two camera modules.
The application also provides a road width surveys device, includes:
the image acquisition module is used for acquiring a depth image and an IR image through the intelligent camera module;
the image edge detection module is used for carrying out edge detection on the depth image and the IR image to obtain the depth image and the IR image which are obtained to obtain edges;
the image fitting module is used for fitting the depth image and the IR image of the acquired edge to determine edge lines on two sides of the road;
and the road width measuring module is used for calculating the road width according to the distance from the intelligent camera module to the edge lines of the two sides of the road.
The road width surveying apparatus as described above, wherein the image edge detection module is specifically configured to use a gaussian filter to smooth the image and filter out noise; calculating the gradient strength and direction of each pixel point in the depth image and the IR image; applying non-maximum suppression to eliminate spurious responses caused by edge detection; applying dual threshold detection to determine true and potential edges; edge detection is finally accomplished by suppressing isolated weak edges.
The road width surveying device as described above, wherein the image fitting module is specifically configured to calculate edge points of the IR image and the depth image; acquiring a minimum ordinate corresponding to each abscissa point under the field angle of the intelligent camera module in the edge points of the IR image and the depth image; and constructing edge lines on two sides of the road according to each abscissa point and the corresponding minimum ordinate point under the field angle of the intelligent camera module.
The road width surveying device comprises a road width measuring module, a road width measuring module and a road width measuring module, wherein the road width measuring module is specifically used for determining an edge point of a minimum distance from an intelligent camera module to a road edge; calculating the distance from the left side of the vehicle to the left edge of the road and the distance from the right side of the vehicle to the right edge of the road according to the determined edge point with the minimum distance and the distance from the intelligent camera module to the ground; and calculating the road width according to the distance from the left side of the vehicle to the left side edge of the road, the distance from the right side of the vehicle to the right side edge of the road and the distance between the camera modules.
The application also provides a road width surveying vehicle, which comprises the road width surveying device and an external sensing device, wherein the external sensing device comprises an intelligent camera module and a GPS module;
the intelligent camera module is used for acquiring depth images and IR images of two sides of a road;
the GPS module is used for providing position information for the road width surveying vehicle;
the road width surveying device is used for determining the road width under the position information according to the position information provided by the GPS module.
The beneficial effect that this application realized is as follows: by adopting the road width surveying method provided by the application, the accurate road edge line is obtained through edge detection and fitting processing of the depth image and the IR image collected by the intelligent camera module, so that the road width can be accurately measured, and the method is simple and convenient to operate and high in accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart of a method for road width surveying according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an intelligent camera module;
FIG. 3 is a schematic view of a road width survey system;
fig. 4 is a survey schematic of a road width survey vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.