中国机械工程2018，Vol.29Issue(4)：423-428,6.DOI:10.3969/j.issn.1004-132X.2018.04.008
基于双目视觉的工程车辆定位与行驶速度检测
Localization and Driving Speed Detection for Construction Vehicles Based on Binocular Vision
摘要
Abstract
According to the characteristics of low speed and high slip ratio of construction vehi-cles,a method was proposed based on binocular sequence images in order to quickly detect the relative positions and actual speeds of the vehicles.The vehicle-borne binocular vision sensors were used to collect the image sequences of the surrounding environments continuously.And the distances from the environment feature points to the origins of the camera coordinate systems were calculated through matching the captured each frame binocular images using speeded up robust features(SURF),so as to achieve vehicle relative locations.Meanwhile,the feature points of two adjacent frames were tracked and matched based on SURF,and the matching feature points were divided into far points and near points according to different depths of the fields.The rotation matrix and translation vector of the co-ordinate systems in vehicle motions were calculated by using the far points and the near points respec-tively,and then optimized them by Levenberg-Marquardt method.Finally,the velocities of the vehi-cles were estimated according to optimized rotational matrices and translation vectors.The results of outdoor simulation test show the effectiveness and feasibility of the proposed method.关键词
双目视觉/序列图像/特征跟踪匹配/自车速度估计Key words
binocular vision/image sequence/feature tracking and matching/ego-velocity esti-mation分类
信息技术与安全科学引用本文复制引用
同志学,赵涛,贺利乐,王消为..基于双目视觉的工程车辆定位与行驶速度检测[J].中国机械工程,2018,29(4):423-428,6.基金项目
陕西省工业科技攻关项目(2015GY068) （2015GY068）
西安市高校院所人才服务企业工程项目(CXYJZKD007) （CXYJZKD007）
