The present invention relates to a stationary vehicle speed measuring method based on a stereo camera, which comprises the steps of: detecting feature points for detecting a vehicle moved on a region of interest in an image photographed by first and second cameras through a calculation unit, and extracting a feature vector of each of the feature points; performing stereo matching between left and right images in a CPU to obtain a three-dimensional coordinate of each of the feature points; classifying whether the detected feature points exist on a road surface or a vehicle on the basis of a three-dimensional position of each of the feature points; recognizing a movement distance of each of the feature points through matching with vehicle feature points in a previous frame with respect to the classified feature points of the vehicle; and removing erroneous matching pairs through a RANSAC algorithm, and estimating a moving speed of the vehicle to be finally detected. Therefore, vehicle speed measurement accuracy can increase.

    본 발명은 스테레오 카메라 기반 고정식 차량 속도 측정 방법에 관한 것으로, 제1 및 제2 카메라로 촬상한 영상에서의 관심영역상에 이동하는 차량을 감지하기 위해 특징점들을 연산부를 통해 검출하고 각 특징점의 특징벡터를 추출하는 단계; 각 특징점의 3차원 좌표를 얻기 위해 좌우 영상간의 스테레오 매칭을 CPU에서 수행하는 단계; 각 특징점의 3차원 상의 위치에 기반하여 검출된 특징점이 도로면상에 존재하는 특징점인지 차량 상의 특징점인지 분류하는 단계; 분류된 차량의 특징점들에 대해 이전 프레임에서의 차량 특징점들과의 매칭을 통해 각 특징점의 이동 거리를 파악하는 단계; 및 RANSAC 알고리즘을 통해 잘못된 매칭 쌍들을 제거하고 최종적으로 검출하고자하는 차량의 이동 속도를 추정하는 단계;를 포함하는 것을 특징으로 한다.


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    Titel :

    Stereo vision-based vehicle speed measurement method


    Weitere Titelangaben:

    스테레오 카메라 기반 고정식 차량 속도 측정 방법


    Beteiligte:
    KIM YOUNG KOOK (Autor:in) / KIM DONG SUK (Autor:in) / LEE HWA YOUNG (Autor:in)

    Erscheinungsdatum :

    03.09.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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