Truck box volume measurement under constraint of circle projection and vanishing points

ZHAO Chun-yu; SUN Wei; LI Da-jian; JIA Wei; LIU Hong-juan

doi:10.3788/OPE.20152313.0472

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Truck box volume measurement under constraint of circle projection and vanishing points

更新时间：2020-08-13

- Truck box volume measurement under constraint of circle projection and vanishing points
- Optics and Precision Engineering Vol. 23, Issue 10z, Pages: 472-478(2015)
- 作者机构：
  
  1. 西安电子科技大学空间科学与技术学院,陕西西安,710118
  2. 西北工业大学第365研究所,陕西西安,710065
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152313.0472
  CLC： TP752.1
- Received：03 April 2015，
  
  Revised：01 May 2015，
  
  Published：14 November 2015
- 稿件说明：
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赵春宇, 孙伟, 李大健等. 圆投影及消失点约束下的卡车厢体体积测量[J]. 光学精密工程, 2015,23(10z): 472-478

ZHAO Chun-yu, SUN Wei, LI Da-jian etc. Truck box volume measurement under constraint of circle projection and vanishing points[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 472-478
赵春宇, 孙伟, 李大健等. 圆投影及消失点约束下的卡车厢体体积测量[J]. 光学精密工程, 2015,23(10z): 472-478 DOI： 10.3788/OPE.20152313.0472.

ZHAO Chun-yu, SUN Wei, LI Da-jian etc. Truck box volume measurement under constraint of circle projection and vanishing points[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 472-478 DOI： 10.3788/OPE.20152313.0472.

摘要

为了降低卡车厢体体积测量的成本

对相机内参求解、卡车位姿解算及车厢顶点坐标计算等进行研究

提出了基于正交消失点及圆投影先验的单幅图像卡车体积解算方法。首先

检测出卡车图像中三正交方向消失点

根据消失点求解相机内部参数;然后

将世界坐标系建立在车轮圆心处

利用相机内参数与车轮的单圆投影先验解算出卡车相对于相机的位姿信息

并求出车厢平面方程。最后

联立车厢平面方程与相机成像运算的矩阵方程计算车厢顶点坐标

进而求出卡车车厢体积。实验结果表明:车厢的长度测量误差小于0.3 m

卡车厢体体积测量值和真实值的误差在5%以内。提出的方法有效解决了传统测量方法实施复杂

成本较高等问题

适用于卡车体积的实时测量。

Abstract

To reduce the cost of truck's box volume measuring system

some calculation methods were discussed in detail

such as the solution of intrinsic parameters of a camera

the estimation of truck's position and orientation and the calculation of vertex coordinates on the truck's box. A method focusing on single image measuring was proposed under the constraint of orthogonal vanishing points and circle projection priori from the single image. Firstly

three orthogonal vanishing points were detected from the image and the intrinsic parameters of the camera were figured out according to the vanishing points. Then

the world coordinate system was established at the center of the wheel

then

the position and orientation of the truck relative to the camera were calculated with the intrinsic parameters of the camera and the prior of single circular projection of the wheel and the external facade equation of the truck's box was solved. Finally

the vertex coordinates of the truck's box were calculated with the external facade equation and matrix equation of imaging algorithm

and the volume of truck's box was figured out. Experiment results show that the measuring error of the truck's box length is less than 0.3 m and the error of the truck's box volume is within 5%. The proposed approach is more effective and lower cost as compared with other state of art methods

and is suitable for real-time measurement of truck's box volume.

关键词

Keywords

references

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Related Institution

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