阅读说明：本技术 一种单目视觉测距的处理方法 (Monocular vision distance measurement processing method ) 是由 何鹏飞 于 2021-01-23 设计创作，主要内容包括：本发明公开了一种单目视觉测距的处理方法,包括以下步骤：通过单目摄像头拍摄物体,对物体进行图像采集,将采集的图像进行预处理,采用高斯滤波器对视频图像进行初步去噪、滤波处理,对成像图片和实际场景进行测量目标的物距,进行物体位置定位。该单目视觉测距的处理方法,通过单目摄像头拍摄物体,对物体进行图像采集,不同的物体图像都能通过单目摄像头采集下来,将采集的图像进行预处理,采用高斯滤波器对视频图像进行初步去噪、滤波处理,将计算后的实际距离传输到显示器上,将物体的实际距离传输到显示器上进行实施显示,保证安全性,有利于图像信息测量的准确性、实时性高、测量过程方便等优点。(The invention discloses a processing method of monocular vision distance measurement, which comprises the following steps: shooting an object through a monocular camera, carrying out image acquisition on the object, preprocessing the acquired image, carrying out preliminary denoising and filtering processing on a video image by adopting a Gaussian filter, measuring the object distance of a target on an imaging picture and an actual scene, and carrying out object position positioning. The monocular visual ranging processing method comprises the steps of shooting an object through a monocular camera, carrying out image acquisition on the object, acquiring different object images through the monocular camera, preprocessing the acquired images, carrying out preliminary denoising and filtering processing on the video images by adopting a Gaussian filter, transmitting the calculated actual distance to a display, transmitting the actual distance of the object to the display for implementation and display, ensuring safety, and being beneficial to the advantages of accuracy of image information measurement, high real-time performance, convenience in measuring process and the like.)

1. A monocular visual ranging processing method is characterized by comprising the following steps:

s1) shooting an object through the monocular camera, and carrying out image acquisition on the object;

s2) preprocessing the collected image, and carrying out preliminary denoising and filtering processing on the video image by adopting a Gaussian filter;

s3) measuring the object distance of the target between the imaging picture and the actual scene, and positioning the object position;

s4) transmitting the measured object distance to a central processing unit through the Internet for calculation processing;

s5) then calculating the distance error and the incidence error through the PID controller, and transmitting the calculated data to the storage unit through the central processing unit for storage and backup;

s6) transmitting the calculated actual distance to a display for performing display test data.

2. The method for processing the monocular visual ranging of claim 1, wherein the monocular camera is one or more of a circular vehicle-mounted camera or a square vehicle-mounted camera.

3. The method as claimed in claim 1, wherein the pre-processing of the picture processes the acquired image by noise and filtering, and processes the picture by imaging.

4. The method as claimed in claim 1, wherein the given target position coordinates are used to measure the object distance of the target for the imaged picture and the actual scene.

5. The method as claimed in claim 1, wherein the input terminal of the central processing unit is connected to the output terminal of the internet, and the input terminal of the central processing unit is connected to the output terminal of the power supply.

6. The method as claimed in claim 1, wherein the central processing unit is bi-directionally connected to a storage unit, and the central processing unit is bi-directionally connected to a PID controller.

7. The method as claimed in claim 1, wherein the PID controller calculates the distance error and the incidence error, and displays the actual distance of the object to be tested through the display.

Technical Field

The invention relates to the technical field of target ranging, in particular to a monocular visual ranging processing method.

Background

With the development of highway traffic, particularly highway systems, the traffic accident rate also shows an increasing trend, and traffic safety becomes a focus of more and more attention of people. Therefore, the vehicle safety driving assisting technology is researched, a safety driving assisting function is provided for the vehicle, and intelligent technical service is provided for reducing traffic accidents caused by subjective factors of drivers. The distance sensor and the video sensor are combined to carry out distance measurement, speed measurement and target identification, and the method is a main data acquisition and analysis means of the current intelligent vehicle and unmanned vehicle. The sensors with various numbers and types and massive data transmission and processing requirements per second enable the hardware manufacturing cost, the maintenance cost, the data processing cost and the technical complexity of the existing intelligent vehicles and unmanned vehicles to be increased sharply, so that the technical development speed of the intelligent vehicles and unmanned vehicles is influenced, and the market popularization of the intelligent vehicles and unmanned vehicles is also influenced. The key reason for analyzing the rapid increase of the manufacturing, maintenance and technical costs and technical difficulty of intelligent vehicles and unmanned vehicles is the increase of the number of sensors without restriction.

At present, in the vehicle-mounted monocular vision distance measurement process, accurate information of an image is required to be used for measurement, the measurement is easy to be inaccurate due to the inaccuracy of the image information, and the vehicle-mounted monocular vision distance measurement method has the technical problems of low measurement accuracy and real-time performance and complex measurement process.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a monocular vision distance measurement processing method, which has the advantages of accurate image information measurement, high real-time performance and simple measurement process and solves the problems of inaccurate image information measurement, low measurement accuracy and real-time performance and complex measurement process.

(II) technical scheme

In order to achieve the above purpose, the invention provides the following technical scheme: a monocular visual ranging processing method comprises the following steps:

s1) shooting an object through the monocular camera, and carrying out image acquisition on the object;

s2) preprocessing the collected image, and carrying out preliminary denoising and filtering processing on the video image by adopting a Gaussian filter;

s3) measuring the object distance of the target between the imaging picture and the actual scene, and positioning the object position;

s4) transmitting the measured object distance to a central processing unit through the Internet for calculation processing;

s5) then calculating the distance error and the incidence error through the PID controller, and transmitting the calculated data to the storage unit through the central processing unit for storage and backup;

s6) transmitting the calculated actual distance to a display for performing display test data.

Preferably, the monocular camera is one or more of a round vehicle-mounted camera, a square vehicle-mounted camera and the like.

Preferably, the image preprocessing is used for processing the acquired image by noise and filtering and imaging the image.

Preferably, the given target position coordinates measure the object distance of the target for the imaging picture and the actual scene.

Preferably, the input end of the central processing unit is connected with the output end of the internet, and the input end of the central processing unit is connected with the output end of the power supply.

Preferably, the central processing unit is bidirectionally connected with a storage unit, and the central processing unit is bidirectionally connected with a PID controller.

Preferably, the PID controller calculates the image distance error and the incidence error, and displays the actual test object distance through a display.

(III) advantageous effects

Compared with the prior art, the invention provides a monocular vision distance measurement processing method, which has the following beneficial effects:

the monocular visual ranging processing method comprises the steps of shooting an object through a monocular camera, carrying out image acquisition on the object, carrying out high-efficiency acquisition on different object images such as static images, dynamic images, different positions and different forms through the monocular camera, preprocessing the acquired images, carrying out preliminary denoising and filtering processing on video images by adopting a Gaussian filter, wherein the specific operation of the Gaussian filter is to scan each pixel in the images by using a template, replace the value of a central pixel point of the template by using a weighted average gray value of the pixels in the neighborhood determined by the template, carry out preliminary denoising and filtering processing on the video images, ensure the high definition and accuracy of the images, measure the object distance of a target for an imaging picture and an actual scene, position location of the object, and measurement on the acquired images and the object images in the actual scene, determining the calculated real distance of the target object, transmitting the measured object distance to a central processing unit through the Internet for calculation processing, performing calculation processing on the shot image through the central processing unit to better confirm the real object position distance, then passing through a PID controller, calculating the distance error and incidence error, transmitting the calculated data to a storage unit through a central processing unit for storage and backup, storing and storing the processed data through the storage unit for subsequent searching, use and comparison as samples, transmitting the calculated actual distance to a display for implementing and displaying test data, transmitting the actual distance of the object to the display for implementing and displaying, the method has the advantages of ensuring the detection of the actual distance of the object, ensuring the safety, being beneficial to the measurement of the image information, having high accuracy and real-time performance, being convenient for the measurement process and the like.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a flowchart of a monocular visual ranging processing method according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

The embodiment of the invention provides a processing method of monocular visual ranging, which comprises the following steps as shown in figure 1:

s1) shooting an object through the monocular camera, acquiring images of the object, and acquiring different object images through the monocular camera, such as static images, dynamic images, different positions and different forms;

s2) preprocessing the collected image, and performing preliminary denoising and filtering processing on the video image by adopting a Gaussian filter, wherein the Gaussian filter specifically comprises the steps of scanning each pixel in the image by using a template, replacing the value of a central pixel point of the template by using a weighted average gray value of the pixels in the neighborhood determined by the template, and performing preliminary denoising and filtering processing on the video image to ensure the high definition and accuracy of the image;

s3) measuring the object distance of the target between the imaging picture and the actual scene, positioning the object position, measuring the collected image and the object image in the actual scene, and determining the calculated real distance of the target object;

s4) the measured object distance is transmitted to a central processing unit through the Internet for calculation, and the central processing unit calculates the shot image to better confirm the position distance of the real object;

s5) then calculating the distance error and the incidence error through a PID controller, transmitting the calculated data to a storage unit through a central processing unit for storage and backup, and storing the processed data through the storage unit so as to be convenient for subsequent searching, use and comparison as samples;

s6) the calculated actual distance is transmitted to a display to carry out implementation and display of test data, and the actual distance of the object is transmitted to the display to carry out implementation and display so as to ensure that the actual distance of the object is detected and the safety is ensured.

Specifically, the monocular camera is one or more of a round vehicle-mounted camera or a square vehicle-mounted camera, the acquired image is subjected to noise and filtering by image preprocessing, the image is subjected to imaging processing, the object distance of the target is measured between the imaged image and an actual scene by setting a target position coordinate, the object is shot by the monocular camera, the image of the object is acquired, different object images can be acquired by the monocular camera, such as static images, dynamic images, different positions and different forms, efficient acquisition is carried out, the acquired image is preprocessed, a Gaussian filter is used for carrying out primary denoising and filtering processing on the video image, the Gaussian filter is a linear smoothing filter and is suitable for eliminating Gaussian noise and widely applied to the noise reduction process of image processing, and the Gaussian filter is a process for carrying out weighted averaging on the whole image, the value of each pixel point is obtained by weighted averaging of the pixel point and other pixel values in the neighborhood, so that the accuracy of measuring the actual distance of the object is improved;

the input end of the central processing unit is connected with the output end of the Internet, the input end of the central processing unit is connected with the output end of the power supply, the central processing unit is connected with the storage unit in a bidirectional mode, the central processing unit is connected with the PID controller in a bidirectional mode, the PID controller calculates the image distance error and the incidence error, the display displays the actual tested object distance, the PID controller can adjust the input value according to historical data and the occurrence rate of the difference, therefore, the system can be more accurate and stable, the PID controller can prove through a mathematical method that under the condition that other control methods cause the system to have stable errors or the process is repeated, a PID feedback loop can keep the stability of the system, in a PID loop, the errors are eliminated, the past errors are averaged, and the future errors are predicted through the change of the transmission errors, and the image distance error and the incidence error are calculated through the PID controller, the calculated data are transmitted to the storage unit through the central processing unit to be stored and backed up, the processed data are stored and stored through the storage unit, the subsequent searching, use and comparison are facilitated to be used as samples, the calculated actual distance is transmitted to the display, the display test data are implemented and displayed, the actual distance of the object is transmitted to the display to be displayed, the actual distance of the object is detected, the safety is guaranteed, and the accuracy of image information measurement is facilitated.

In summary, the following steps: the monocular visual ranging processing method comprises the steps of shooting an object through a monocular camera, carrying out image acquisition on the object, carrying out high-efficiency acquisition on different object images such as static images, dynamic images, different positions and different forms through the monocular camera, preprocessing the acquired images, carrying out preliminary denoising and filtering processing on video images by adopting a Gaussian filter, wherein the specific operation of the Gaussian filter is to scan each pixel in the images by using a template, replace the value of a central pixel point of the template by using a weighted average gray value of the pixels in the neighborhood determined by the template, carry out preliminary denoising and filtering processing on the video images, ensure the high definition and accuracy of the images, measure the object distance of a target for an imaging picture and an actual scene, position location of the object, and measurement on the acquired images and the object images in the actual scene, determining the calculated real distance of the target object, transmitting the measured object distance to a central processing unit through the Internet for calculation processing, performing calculation processing on the shot image through the central processing unit to better confirm the real object position distance, then passing through a PID controller, calculating the distance error and incidence error, transmitting the calculated data to a storage unit through a central processing unit for storage and backup, storing and storing the processed data through the storage unit for subsequent searching, use and comparison as samples, transmitting the calculated actual distance to a display for implementing and displaying test data, transmitting the actual distance of the object to the display for implementing and displaying, the method has the advantages of ensuring the detection of the actual distance of the object, ensuring the safety, being beneficial to the measurement of the image information, having high accuracy and real-time performance, being convenient for the measurement process and the like.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a qualifier" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.