基于单目视觉三维重建的货运列车超限检测方法研究  

Research on detection method of freight train gauge-exceeding based on 3D reconstruction of monocular vision

作　　者：杜伦平[1] 朱天赐 刘期柏 梁力东 王泉东 傅勤毅[1] 刘斯斯 DU Lunping;ZHU Tianci;LIU Qibai;LIANG Lidong;WANG Quandong;FU Qinyi;LIU Sisi(School of Traffic and Transportation Engineering,Central South University,Changsha 410075,China;Freight Department of China Railway Guangzhou Group Co.,Ltd.,Guangzhou 510088,China)

机构地区：[1]中南大学交通运输工程学院,湖南长沙410072 [2]广州局集团公司货运部,广东广州510088

出　　处：《铁道科学与工程学报》2021年第4期1009-1016,共8页Journal of Railway Science and Engineering

基　　金：广州铁路局科研项目(广铁合货运部(2019)0002);国家自然科学基金青年基金资助项目((2018)61806222)。

摘　　要：针对基于雷达和激光等技术的货运列车超限检测系统存在检测区域不完整及只能在列车移动状态下进行测量的缺陷,提出一种基于单目视觉三维重建的货运列车超限检测方法。通过单目视觉三维重建算法对获取的序列图像进行建模处理得到目标货运列车的三维点云模型。对三维点云模型进行全局坐标系转换与切片投影,得到目标货运列车若干横截面二维点云图形。结合铁路货运列车超限检测标准,构建标准界限图形。将获得的二维点云图形代入标准界限图形中进行超限检测判别。实验结果显示,该方法具有较高的检测精度和检测效率,能够满足铁路货运列车超限检测作业要求。In view of the defects of the detection system of freight train gauge-exceeding based on radar and laser technology that the detection area is incomplete and can only be measured in the moving state of the train,a method of gauge-exceeding detection of freight train based on monocular visual 3D reconstruction was proposed.The 3D point cloud model of the target freight train was obtained by modeling and processing the acquired sequence images through the monocular visual 3D reconstruction algorithm.The global coordinate system conversion and slice projection were performed on the three-dimensional point cloud model to obtain two-dimensional point cloud graphics of several cross sections of the target freight train.Combined with the railway freight train gauge-exceeding detection standard,a standard limit graph was constructed.The obtained two-dimensional point cloud graphics were substituted into the standard boundary graphics for gauge-exceeding detection and discrimination.Experimental results show that the method has high detection accuracy and efficiency,and can meet the requirements of railway freight train gauge-exceeding detection.

关 键 词：货运列车 超限检测 单目视觉 三维重建 点云模型处理 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]