光学精密工程2025，Vol.33Issue(12)：1929-1939,11.DOI:10.37188/OPE.20253312.1929
融合语义与三维信息的路面图像逆透视变换
Inverse perspective mapping of pavement image combining semantic and 3D information
摘要
Abstract
Inverse perspective mapping(IPM)of pavement images is a prerequisite for image-based vehi-cle distance perception and pavement damage measurement.The traditional static IPM methods have the problem that the transformation parameters cannot be dynamically adjusted,and the existing dynamic IMP methods are highly dependent on the information such as road lane lines and textures,which often lead to suboptimal correction of perspective distortion.To solve these problems,this study proposed a dynamic IPM method for pavement images based on depth-camera semantic segmentation and 3D plane fitting.First,a semantic-segmentation model was used to extract pavement regions from RGB images,and 3D plane fitting was performed on the corresponding point-cloud data within the pavement regions,eliminat-ing the interference of non-pavement point clouds on pavement fitting.On this basis,using pavement infor-mation and the spatial positional relationship between the camera and the pavement,the relative pose of the camera with respect to the pavement was calculated through a camera-pose-estimation method.Final-ly,based on the imaging relationship of the pavement under different camera poses,a constructed pave-ment-image IPM model was used to correct perspective distortion from the original image to any reference point.Simulation experiments show that the perspective distortion correction error of the proposed method is stable at 10-2 mm when the camera pose has common variations,which is better than the current ad-vanced IPM methods,demonstrating that the proposed method effectively improves the quality of pave-ment image IPM.Real-world experiments further validate the effectiveness of the proposed method.关键词
机器视觉/路面图像/动态逆透视变换/语义分割/位姿估计Key words
machine vision/pavement image/dynamic inverse perspective mapping/semantic segmenta-tion/pose estimation分类
信息技术与安全科学引用本文复制引用
夏晓华,高霄飞,段智威,冯鑫淼..融合语义与三维信息的路面图像逆透视变换[J].光学精密工程,2025,33(12):1929-1939,11.基金项目
陕西省重点研发计划项目(No.2024GX-YBXM-197,No.2025CY-YBXM-545) （No.2024GX-YBXM-197,No.2025CY-YBXM-545）
陕西省交通运输厅科研项目(No.23-10X,No.24-74K) （No.23-10X,No.24-74K）
