JPS6131806B2 - - Google Patents
Info
- Publication number
- JPS6131806B2 JPS6131806B2 JP56149846A JP14984681A JPS6131806B2 JP S6131806 B2 JPS6131806 B2 JP S6131806B2 JP 56149846 A JP56149846 A JP 56149846A JP 14984681 A JP14984681 A JP 14984681A JP S6131806 B2 JPS6131806 B2 JP S6131806B2
- Authority
- JP
- Japan
- Prior art keywords
- dimensional
- pattern
- spatial
- texture
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- General Physics & Mathematics (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
- Image Analysis (AREA)
Description
【発明の詳細な説明】
この発明は、速度計測方式、殊に物体の画像デ
ータから物体の移動速度を非接触で測定する速度
計測方式に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed measurement method, and particularly to a speed measurement method for non-contactly measuring the moving speed of an object from image data of the object.
物体の画像データを用いて物体の移動速度を測
定する手法は、種々考案されている。最も簡単な
手法として、映像信号上で目印となるものを一定
時間追跡することにより、位置の変化から移動速
度を知る方法が挙げられるが、実際の映像信号に
はノイズが含まれており、目印が失われたりにせ
の目印が表われたりして追跡に失敗をしていた。
そこで、ノイズに強い手法がいくつか提案されて
いるが、なかでも、相関法と空間フイルタ法が代
表的なものである。前者は、異なつた時刻に得ら
れた二つの空間パターンの空間的ずれを検出し利
用するもの、後者は、空間パターンの適当な荷重
関数によるコンボリユーシヨンの出力の時間的変
化を利用するものである。相関法では、規則パタ
ーンに対しては、ずれの量が一意に定まらない。
また空間フイルタでは、フイルタの選択周波数で
空間パターンのパワスペクトル値が雰でないこと
が必要である。いずれの場合にしろ、空間パター
ンがランダム性を持つていることが必要で、その
スペクトル密度が特殊なものに対しては、測定不
可能であるといつた欠点を持つ。 Various methods have been devised to measure the moving speed of an object using image data of the object. The simplest method is to track landmarks on the video signal for a certain period of time and find out the moving speed from changes in position, but the actual video signal contains noise and the landmarks Tracking was unsuccessful due to missing markers or false landmarks appearing.
Therefore, several noise-resistant methods have been proposed, of which the correlation method and the spatial filter method are representative. The former detects and utilizes the spatial shift between two spatial patterns obtained at different times, and the latter utilizes temporal changes in the output of convolution using an appropriate weighting function of the spatial patterns. be. In the correlation method, the amount of deviation cannot be uniquely determined for regular patterns.
Further, in the spatial filter, it is necessary that the power spectrum value of the spatial pattern is not large at the selected frequency of the filter. In either case, it is necessary that the spatial pattern has randomness, and it has the disadvantage that it is impossible to measure spectral densities that are special.
この発明は、上記に鑑みてなされたもので、物
体の光学的空間パターンのランダム性、規則性の
いかんに関らず、その移動速度を測定し得る計測
方式を提供せんとするものである。 The present invention has been made in view of the above, and it is an object of the present invention to provide a measurement method capable of measuring the moving speed of an object, regardless of whether the optical spatial pattern of the object is random or regular.
この発明を図面にもとづいて説明する。 This invention will be explained based on the drawings.
本発明は、撮像系と処理系とから構成されてい
る。撮像系のモデルを第１図に、処理系における
処理装置の概略構成例を第２図に示す。 The present invention is composed of an imaging system and a processing system. FIG. 1 shows a model of the imaging system, and FIG. 2 shows a schematic configuration example of a processing device in the processing system.
第１図示のように、対象物体１の面と運動方向
は、カメラ２の光軸に垂直とする。カメラはここ
では一次元フオトアレイセンサを想定し、その配
列方向は物体の運動方向と一致させる。カメラの
焦点距離をｆ、カメラと物体との距離をｄとする
とき、物体が一定速度ｖで移動するとすれば、物
体面上の点p′（x′）がセンサ上に対応する点ｐ
（ｘ）は式(1)でその位置が記述される。 As shown in the first diagram, the plane and movement direction of the target object 1 are perpendicular to the optical axis of the camera 2. Here, the camera is assumed to be a one-dimensional photo array sensor, and its array direction is made to match the direction of movement of the object. When the focal length of the camera is f and the distance between the camera and the object is d, and the object moves at a constant speed v, the point p'(x') on the object plane corresponds to the point p on the sensor.
The position of (x) is described by equation (1).
ｘ＝Ｖ・ｔ＋x0 −(1)
但し、
Ｖ＝ｆ・ｖ／ｄ −(2)
x0＝ｆ・x0′／ｄ、x0′はp′の切期位置である。
一定微少時間ごとに撮像された一次元空間パター
ンの時系列を、横軸を時間ｔに採つて第３図示の
ように順次並べて二次元時空間パターン３を合成
する。すると、この二次元パターンは、式(1)で示
される直線方向を持つた一種のテクスチヤとな
る。従つて、このテクスチヤの方向を知れば、式
(2)′より、物体の速度ｖを求めることが出来る。 x=V・t+x 0 −(1) However, V=f・v/d −(2) x 0 =f・x 0 ′/d, x 0 ′ is the cutting position of p′.
A two-dimensional spatio-temporal pattern 3 is synthesized by sequentially arranging the time series of one-dimensional spatial patterns imaged at regular minute intervals as shown in the third diagram, with the horizontal axis representing time t. Then, this two-dimensional pattern becomes a type of texture having a linear direction as shown by equation (1). Therefore, knowing the direction of this texture, the formula
From (2)', we can find the velocity v of the object.
以上の原理にもとづく測定系全体の望ましい処
理の流れを第２図に即して説明する。 A desirable process flow of the entire measurement system based on the above principle will be explained with reference to FIG.
カメラ乃至フオトアレイセンサ２により物体１
の空間パターンを撮像する。その際、望ましくは
直流分の除去と時空間パターンにおける直線の強
調のための微分処理装置４を使つて空間パターン
の微分を行なう。微分された空間パターンの時系
列から、先に述べた二次元時空間パターン３（第
３図）を画像合成装置５により合成する。次に二
次元フーリエ変換装置６により、二次元フーリエ
変換をこの時空間パターンに施す。これに次ぎ、
望ましくは得られたパワスペクトル密度関数ｐ
（ｗt、ｗx）のノイズ成分の除去のため、閾値処
理装置７により閾値処理を行なう。閾値処理は次
式による。 Object 1 is detected by camera or photo array sensor 2.
image the spatial pattern of At this time, the spatial pattern is preferably differentiated using a differential processing device 4 for removing DC components and emphasizing straight lines in the spatiotemporal pattern. The above-mentioned two-dimensional spatio-temporal pattern 3 (FIG. 3) is synthesized by the image synthesizing device 5 from the time series of the differentiated spatial patterns. Next, a two-dimensional Fourier transform device 6 applies two-dimensional Fourier transform to this spatio-temporal pattern. Next to this,
Preferably the obtained power spectral density function p
In order to remove noise components of (w t , w x ), threshold processing is performed by a threshold processing device 7 . The threshold value processing is based on the following equation.
但し、
平面のｗt、ｗx座標軸をそれぞれｔ、ｘ軸に重ね
れば、パワスペクトル密度Ｐ〓（ｗt、ｗx）は、
原点を通り時空間パターンのテクスチヤ方向と直
交する直線上にピーク値列を持つ。したがつて次
式にもとずき方向計算装置８によりテクスチヤの
方向の計算を行なう。 however, If the w t and w x coordinate axes of the plane are superimposed on the t and x axes, respectively, the power spectral density P〓(w t , w x ) is
It has a peak value sequence on a straight line passing through the origin and perpendicular to the texture direction of the spatiotemporal pattern. Therefore, the direction of the texture is calculated by the direction calculation device 8 based on the following equation.
得られたテクスチヤの方向Ｖから式(2)より速度
ｖが求まる。 From the direction V of the obtained texture, the velocity v is determined from equation (2).
上記のように構成された速度計において、二次
元空間パターンの二次元パワスペクトル密度関数
は、速度に対応する方向を持つ直線上にピーク値
を持つ。空間パターンのスペクトルはその直線上
の値に対し直線の方向とは無関係である。したが
つて、従来技術と異なり、本発明では対象物体の
空間パターンのランダム性、規則性のいかんに関
らず測度計測が可能である。 In the speedometer configured as described above, the two-dimensional power spectral density function of the two-dimensional spatial pattern has a peak value on a straight line having a direction corresponding to the speed. The spectrum of a spatial pattern is independent of the direction of the line for its values on the line. Therefore, unlike the prior art, the present invention allows measurement regardless of the randomness or regularity of the spatial pattern of the target object.
尚、同様の原理、装置により、フオトアレイセ
ンサを円周上に配列することにより、回転体の角
度速を測定することも可能である。 Incidentally, it is also possible to measure the angular velocity of the rotating body using the same principle and device by arranging photo array sensors on the circumference.
第１図は、撮像系の概略構成図、第２図は、処
理装置の概略構成図、第３図は、二次元時空間パ
ターンの説明図、である。
図中、１は対象物体、２は撮像装置、３は二次
元空間パターン、５は画像合成装置、６は二次元
フーリエ変換装置、８は方向計算機、である。
FIG. 1 is a schematic configuration diagram of an imaging system, FIG. 2 is a schematic configuration diagram of a processing device, and FIG. 3 is an explanatory diagram of a two-dimensional spatiotemporal pattern. In the figure, 1 is a target object, 2 is an imaging device, 3 is a two-dimensional spatial pattern, 5 is an image synthesis device, 6 is a two-dimensional Fourier transform device, and 8 is a direction calculator.
Claims (1)
装置からの一次元空間パターンの時系列を二次元
時空間パターンに合成し、該時空間パターンのテ
クスチヤの方向を計算することにより上記物体の
速度を計測することを特徴とする速度計測方式。1 A time series of one-dimensional spatial patterns from an imaging device having an imaging function along the moving direction of the object is synthesized into a two-dimensional spatiotemporal pattern, and the velocity of the object is calculated by calculating the direction of the texture of the spatiotemporal pattern. A speed measurement method characterized by measuring speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14984681A JPS5850467A (en) | 1981-09-22 | 1981-09-22 | Speed measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14984681A JPS5850467A (en) | 1981-09-22 | 1981-09-22 | Speed measuring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5850467A JPS5850467A (en) | 1983-03-24 |
| JPS6131806B2 true JPS6131806B2 (en) | 1986-07-23 |
Family
ID=15483928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14984681A Granted JPS5850467A (en) | 1981-09-22 | 1981-09-22 | Speed measuring system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5850467A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60263863A (en) * | 1984-06-12 | 1985-12-27 | Asia Kosoku Kk | Monitoring method of surface flow velocity distribution by stereoscopic image |
| JP5557114B2 (en) * | 2011-01-13 | 2014-07-23 | 茂雄 細川 | Spatial filter anemometer and flow velocity measuring method |
-
1981
- 1981-09-22 JP JP14984681A patent/JPS5850467A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5850467A (en) | 1983-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100547350C (en) | Moving-object height determining apparatus | |
| US4842411A (en) | Method of automatically measuring the shape of a continuous surface | |
| Sveen et al. | Quantitative imaging techniques and their application to wavy flows | |
| US6996255B2 (en) | Apparatus and method for image processing | |
| US6868194B2 (en) | Method for the extraction of image features caused by structure light using image reconstruction | |
| CN114219852B (en) | Multi-sensor calibration method and device for automatic driving vehicle | |
| JPH11242745A (en) | Method for measuring and processing facial image | |
| CN105975923B (en) | Method and system for tracking human objects | |
| JPH07128446A (en) | Fish number measuring method and device and moving body counting method | |
| CN117491991A (en) | Indoor static personnel detection method for millimeter wave radar | |
| US7136171B2 (en) | Method for the extraction of image features caused by structure light using template information | |
| JPS6131806B2 (en) | ||
| CN114119763A (en) | Lidar calibration method and device for automatic driving vehicle | |
| JPH10187974A (en) | Logistics measurement equipment | |
| JPH05135155A (en) | 3D model construction device using continuous slice images | |
| JPH10512953A (en) | Optical range and speed detection system | |
| Hold et al. | A novel approach for the online initial calibration of extrinsic parameters for a car-mounted camera | |
| JPS58196412A (en) | Distance measuring device | |
| JP3060114B2 (en) | Corresponding point search method | |
| JP2508916B2 (en) | Tracking distance measuring device | |
| JPH0991433A (en) | Object monitoring device | |
| JP3225500B2 (en) | Distance measuring device | |
| JP4674316B2 (en) | Position detection apparatus, position detection method, and position detection program | |
| Nonaka et al. | 3D Measurement Using Line Laser and Stereo Camera with Background Subtraction | |
| JP3334451B2 (en) | Moving object detection device |