一种余光目标深度及高度的单帧图像测量  

Single-frame Image Measurement of Depth and Height of Afterglow Targets

作　　者：李艳艳 胡亚红[1] 盛伟国 毛家发[1] LI Yanyan;HU Yahong;SHENG Weiguo;MAO Jiafa(School of Computer and Science Technology,Zhejiang University of Technology,Hangzhou 310023,China;School of Information Science and Engineering,Hangzhou Normal University,Hangzhou 311121,China)

机构地区：[1]浙江工业大学计算机与科学技术学院,杭州310023 [2]杭州师范大学信息科学与工程学院,杭州311121

出　　处：《小型微型计算机系统》2024年第8期1921-1928,共8页Journal of Chinese Computer Systems

基　　金：国家自然科学基金项目(62176237、61873082)资助;浙江省自然科学基金项目(LY20F020022)资助;浙江省"尖兵"和"领雁"项目(2023C01022)资助.

摘　　要：在自动避障,目标监控,自动驾驶等领域,基于单目视觉的目标测量总是关键技术之一.但是,已知的单目视觉测量方法只能得到目标的距离和最低点位置坐标,目标高度需要利用其他传感器获取.本文从目标的线特征出发,创造性的提出了关于余光目标像与像平面竖直中线的夹角、余光目标偏离单目相机装置的角度以及单目镜头的俯仰角三个变量之间的关系模型.最后,在单帧目标图像和单目相机的高度已知的情况下,利用该模型实现余光目标深度和高度的测量.实验结果表明,本文提出的测量方法能有效,快速的对目标的高度和距离进行测量.In the fields of automatic obstacle avoidance,target monitoring,and automatic driving,target measurement based on monocular vision is always one of the critical technologies.However,the known monocular vision measurement method can only obtain the distance of the target and the coordinates of the lowest point position,and the height of the target needs to be received by other sensors.Starting from the linear characteristics of the target,this paper creatively proposes the relationship between three variables:the angle between the image of the afterglow target and the vertical center line of the image plane,the angle of the afterglow target from the monocular camera unit,and the pitch angle of the monocular lens.relationship model.Finally,when the height of the monocular camera and the single-frame target image are known,using this model to realize the measurement of the depth and height of the afterglow target.The experimental results show that the measurement method proposed in this paper can effectively and quickly measure the height and distance of the target.

关 键 词：余光目标 单目视觉 目标测量 线特征 单帧图像 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]