基于相机标定的弯道位置信息构建
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国家自然科学基金(6207072223,6200022622)


Curve Position Information Construction Based on Monitoring Camera Calibration
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    摘要:

    弯道是道路交通场景下的重要组成部分之一,在通过视觉信息对道路信息重建的过程中,监控相机构建的传统世界坐标系在弯道场景下难以表示真实的道路空间信息以及车辆位置信息.为了解决此问题,本文提出了基于道路线形的里程坐标系概念.里程坐标系水平方向代表沿道路断面方向的距离信息,垂直方向代表沿道路线形方向的里程信息.对于里程坐标系的构建,首先通过单消失点标定算法和道路先验信息进行相机标定及提出的结果优化方式,获得车道线或道路边缘的真实空间位置.其次,基于世界坐标系下的车道线或道路边缘的真实空间信息进行多项式拟合,得到描述弯道道路线形的拟合曲线.最后将道路标识点或车辆轨迹点向拟合曲线进行投影,获得基于道路断面方向距离信息和沿道路方向距离信息.此方案在弯道模拟实验场景下和实际高速公路弯道场景下进行了实验,结果表明所提出的里程坐标系在实验场景和实际场景的位置平均误差小于5%,具有较好的适应性和较高的精度,相比于传统直线世界坐标系,里程坐标系能够满足实际需求.

    Abstract:

    Curves are an important component of road traffic scenes. In road information reconstruction through visual information, it is difficult for the traditional world coordinate system built by the surveillance camera to represent the real road spatial information and vehicle position information in a curve scene. To solve this problem, this study proposes a mileage coordinate system based on road alignment. In this system, the horizontal direction represents distance information along the road section, and the vertical direction represents mileage information along the road alignment. For the construction of the mileage coordinate system, camera calibration and proposed result optimization are firstly carried out through the calibration algorithm based on a single vanishing point and the road prior information to obtain the real spatial positions of the lane lines or road edges. Then, with the real spatial information of lane lines or road edges in the world coordinate system, polynomial fitting is performed to obtain the fitted road alignment curve. Finally, the road identification points or vehicle track points are projected onto the fitted curve to acquire the distance information based on the road section direction and the distance information in the road direction. This scheme is tested in a simulated experimental curve scene and an actual highway curve scene. The experimental results show that the average position errors of the proposed mileage coordinate system are both less than 5% in the simulated curve scene and the actual scene. Compared with the traditional straight-line world coordinate system, this system, with favorable adaptability and high precision, can meet actual requirements.

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穆勃辰,宋焕生,李聪亮,张文涛.基于相机标定的弯道位置信息构建.计算机系统应用,2022,31(1):55-64

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  • 收稿日期:2021-03-24
  • 最后修改日期:2021-04-21
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  • 在线发布日期: 2021-12-17
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