基于高清摄像机的高速公路路面散落物自动检测方法研究  

An Automatic Detection Method of Scattered Objects on the Expressway Surface Based on HD Camera Data

作　　者：豆秀梅 胡晓光[2] 闫超德[3] 沙月进[4] DOU Xiumei;HU Xiaoguang;YAN Chaode;SHA Yuejin(Henan Geology&Mineral College,Zhengzhou 450000,China;Jiangsu Transportation Institute,Nanjing 211112,China;Zhengzhou University,Zhengzhou 450001,China;Southeast University,Nanjing 211112,China)

机构地区：[1]河南地矿职业学院,河南郑州450000 [2]江苏省交通科学研究院股份有限公司,江苏南京211112 [3]郑州大学,河南郑州450001 [4]东南大学,江苏南京211112

出　　处：《地理信息世界》2020年第4期90-94,共5页Geomatics World

基　　金：国家自然科学基金项目(41671455)资助。

摘　　要：高速公路路面散落物对行车构成严重安全隐患,因此提出一种利用双目高清摄像机数据检测高速公路路面散落物的方法。首先,通过高速公路两侧的双目高清摄像机同步获取两帧图像,利用设置在高速公路两侧和中央分隔带的标志点三维坐标,实时标定立体图像的内外参数;然后,自动识别一定间隔的同名核线与道路车道线的交点,计算这些格网点的三维坐标,生成不规则四边形数字高程模型;最后,通过双目图像的密集匹配提取路面范围内的三维点云数据,并将点云数据与数字高程模型数据进行比较,提取高出路面异常高程点,实现高速公路路面散落物的自动发现。实验表明,该方法在检测距离为600 m情况下、能够对高出路面10 cm的散落物实现自动检测。Scattered objects on highway surface are serious safety hazard to driving.This paper proposed a method to detect scattered objects on highway pavement using the data from binocular HD camera.First,two frames of images are synchronously acquired by the binocular HD cameras on both sides of highway.The internal and external parameters of the stereoscopic image are calibrated in real time by using the three-dimensional coordinates of the mark points set on both sides and the central separation zone of highway.Then,the intersection points of corresponding epipolar line and the road lane lines are automatically identified,and three-dimensional coordinates of these grid points are calculated to generate irregular quadrilateral DEM.Finally,the 3D point cloud data within the road surface is extracted by dense matching of binocular images,and the abnormal elevation points which are obviously higher than road surface are extracted through the comparison between point cloud data and DEM data in order to achieve the goal of automatic detection of scattered objects on expressway surface.Experiments show that the method can automatically detect the scattered objects which are 10 cm higher than the road surface when the detection distance is 600 m.

关 键 词：高清摄像机 三维坐标 同名核线 不规则四边形DEM 散落物检测 

分 类 号：P23[天文地球—摄影测量与遥感]