Vehicle position and speed estimation method based on binocular sequence images
The invention discloses a vehicle position and speed estimation method based on a binocular sequence image, and the method comprises the following steps: S1, obtaining a depth map and a point cloud map through a ZED binocular camera; S2, achieving background subtraction through a KNN algorithm, and...
Gespeichert in:
| Hauptverfasser: | , , , , |
|---|---|
| Format: | Patent |
| Sprache: | chi ; eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | |
| container_start_page | |
| container_title | |
| container_volume | |
| creator | YIN GUODONG ZHONG HERAN FAN SHISHUO GENG KEKE LIU NENG |
| description | The invention discloses a vehicle position and speed estimation method based on a binocular sequence image, and the method comprises the following steps: S1, obtaining a depth map and a point cloud map through a ZED binocular camera; S2, achieving background subtraction through a KNN algorithm, and identifying a moving target and a static background environment in the sequence image; S3, detectingedge points of the moving target, drawing a rectangular identification box located on the moving target, and tracking the moving target in real time; S4, removing a rectangular identification frame appearing on the non-moving object caused by error factors such as light and shadow; S5, calculating pixel coordinates of a central point of an effective rectangular identification box locked on the moving target; S6, obtaining (X, Y, Z) three-dimensional space coordinates of the points; and S7, estimating the position and the speed of the next moment according to the three-dimensional space coordinates of the previous fra |
| format | Patent |
| fullrecord | <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN111693972A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN111693972A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN111693972A3</originalsourceid><addsrcrecordid>eNqNikEKwjAUBbNxIeodvgfoIhaULqVYXOlG3Jbf5GkDaRL96f0N4gFcDTPMUl3vGJ3xoBTFZRcDcbAkCbAEyW7ib5yQx2hpYCm9-OBCNLPnNwleM4IBlfUJWavFg71g8-NKbbvTrT1XSLGHJDYIyH170Vrvm7o57I71P88HbZo3JQ</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Vehicle position and speed estimation method based on binocular sequence images</title><source>esp@cenet</source><creator>YIN GUODONG ; ZHONG HERAN ; FAN SHISHUO ; GENG KEKE ; LIU NENG</creator><creatorcontrib>YIN GUODONG ; ZHONG HERAN ; FAN SHISHUO ; GENG KEKE ; LIU NENG</creatorcontrib><description>The invention discloses a vehicle position and speed estimation method based on a binocular sequence image, and the method comprises the following steps: S1, obtaining a depth map and a point cloud map through a ZED binocular camera; S2, achieving background subtraction through a KNN algorithm, and identifying a moving target and a static background environment in the sequence image; S3, detectingedge points of the moving target, drawing a rectangular identification box located on the moving target, and tracking the moving target in real time; S4, removing a rectangular identification frame appearing on the non-moving object caused by error factors such as light and shadow; S5, calculating pixel coordinates of a central point of an effective rectangular identification box locked on the moving target; S6, obtaining (X, Y, Z) three-dimensional space coordinates of the points; and S7, estimating the position and the speed of the next moment according to the three-dimensional space coordinates of the previous fra</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; CALCULATING ; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS ; COMPUTING ; COUNTING ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; TESTING</subject><creationdate>2020</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20200922&DB=EPODOC&CC=CN&NR=111693972A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25544,76292</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20200922&DB=EPODOC&CC=CN&NR=111693972A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>YIN GUODONG</creatorcontrib><creatorcontrib>ZHONG HERAN</creatorcontrib><creatorcontrib>FAN SHISHUO</creatorcontrib><creatorcontrib>GENG KEKE</creatorcontrib><creatorcontrib>LIU NENG</creatorcontrib><title>Vehicle position and speed estimation method based on binocular sequence images</title><description>The invention discloses a vehicle position and speed estimation method based on a binocular sequence image, and the method comprises the following steps: S1, obtaining a depth map and a point cloud map through a ZED binocular camera; S2, achieving background subtraction through a KNN algorithm, and identifying a moving target and a static background environment in the sequence image; S3, detectingedge points of the moving target, drawing a rectangular identification box located on the moving target, and tracking the moving target in real time; S4, removing a rectangular identification frame appearing on the non-moving object caused by error factors such as light and shadow; S5, calculating pixel coordinates of a central point of an effective rectangular identification box locked on the moving target; S6, obtaining (X, Y, Z) three-dimensional space coordinates of the points; and S7, estimating the position and the speed of the next moment according to the three-dimensional space coordinates of the previous fra</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>CALCULATING</subject><subject>COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS</subject><subject>COMPUTING</subject><subject>COUNTING</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2020</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNikEKwjAUBbNxIeodvgfoIhaULqVYXOlG3Jbf5GkDaRL96f0N4gFcDTPMUl3vGJ3xoBTFZRcDcbAkCbAEyW7ib5yQx2hpYCm9-OBCNLPnNwleM4IBlfUJWavFg71g8-NKbbvTrT1XSLGHJDYIyH170Vrvm7o57I71P88HbZo3JQ</recordid><startdate>20200922</startdate><enddate>20200922</enddate><creator>YIN GUODONG</creator><creator>ZHONG HERAN</creator><creator>FAN SHISHUO</creator><creator>GENG KEKE</creator><creator>LIU NENG</creator><scope>EVB</scope></search><sort><creationdate>20200922</creationdate><title>Vehicle position and speed estimation method based on binocular sequence images</title><author>YIN GUODONG ; ZHONG HERAN ; FAN SHISHUO ; GENG KEKE ; LIU NENG</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN111693972A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2020</creationdate><topic>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</topic><topic>CALCULATING</topic><topic>COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS</topic><topic>COMPUTING</topic><topic>COUNTING</topic><topic>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</topic><topic>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</topic><topic>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</topic><topic>MEASURING</topic><topic>PHYSICS</topic><topic>RADIO DIRECTION-FINDING</topic><topic>RADIO NAVIGATION</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>YIN GUODONG</creatorcontrib><creatorcontrib>ZHONG HERAN</creatorcontrib><creatorcontrib>FAN SHISHUO</creatorcontrib><creatorcontrib>GENG KEKE</creatorcontrib><creatorcontrib>LIU NENG</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>YIN GUODONG</au><au>ZHONG HERAN</au><au>FAN SHISHUO</au><au>GENG KEKE</au><au>LIU NENG</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Vehicle position and speed estimation method based on binocular sequence images</title><date>2020-09-22</date><risdate>2020</risdate><abstract>The invention discloses a vehicle position and speed estimation method based on a binocular sequence image, and the method comprises the following steps: S1, obtaining a depth map and a point cloud map through a ZED binocular camera; S2, achieving background subtraction through a KNN algorithm, and identifying a moving target and a static background environment in the sequence image; S3, detectingedge points of the moving target, drawing a rectangular identification box located on the moving target, and tracking the moving target in real time; S4, removing a rectangular identification frame appearing on the non-moving object caused by error factors such as light and shadow; S5, calculating pixel coordinates of a central point of an effective rectangular identification box locked on the moving target; S6, obtaining (X, Y, Z) three-dimensional space coordinates of the points; and S7, estimating the position and the speed of the next moment according to the three-dimensional space coordinates of the previous fra</abstract><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | |
| ispartof | |
| issn | |
| language | chi ; eng |
| recordid | cdi_epo_espacenet_CN111693972A |
| source | esp@cenet |
| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING |
| title | Vehicle position and speed estimation method based on binocular sequence images |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-28T09%3A29%3A14IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=YIN%20GUODONG&rft.date=2020-09-22&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN111693972A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true |