CN101846503A - Luggage information on-line obtaining system based on stereoscopic vision and method thereof - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于立体图像的采集与处理技术领域，具体地说涉及一种基于立体视觉的行李信息在线获取系统及其方法。The invention belongs to the technical field of acquisition and processing of stereoscopic images, and in particular relates to an online luggage information acquisition system based on stereovision and a method thereof.
背景技术Background technique
随着世界各国航空客运市场的快速发展，乘坐飞机来往于各地的旅客人数在不断增多。然而，受机场、行李装卸、分检设备、人员素质、甚至天气等多种不确定因素的影响，航班行李发生不正常运输的事故越来越多。With the rapid development of the air passenger transport market in various countries in the world, the number of passengers flying to and from various places is constantly increasing. However, affected by various uncertain factors such as airports, baggage handling, sorting equipment, personnel quality, and even weather, there are more and more accidents of abnormal transportation of flight baggage.
对于这些不正常运输的行李，在1980年以前，世界各国航空公司基本上是采用电传(TTY)的方式相互查询。在各国航空公司的呼吁和期待下，1980年、1984年、1989年相继出现了第一代行李查询BAGTRAC系统(BAGGAGE TRACING SYSTEM，缩写为BT)、第一代行李查询管理系统BAHAMAS(BAGGAGE HANDLING MANAGEMENT，缩写为BM)、以及基于上述BT和BM两套系统的世界行李查询系统WORLDTRACER。世界行李查询系统WORLD TRACER充分利用了现代化的信息管理方式，对世界上加入这套系统的航空公司，实现了事故行李的自动核对查找、实时监控和系统管理。这套系统的主机备份在美国亚特兰大的数据处理中心，由各国航空公司采用租借的形式交费使用。For these abnormally transported luggage, before 1980, airlines around the world basically checked each other by way of telex (TTY). Under the call and expectation of airlines in various countries, the first generation of baggage inquiry BAGTRAC system (BAGGAGE TRACING SYSTEM, abbreviated as BT) and the first generation of baggage inquiry management system BAHAMAS (BAGGAGE HANDLING MANAGEMENT) appeared successively in 1980, 1984 and 1989. , abbreviated as BM), and the world baggage inquiry system WORLDTRACER based on the above two systems of BT and BM. The world baggage tracking system WORLD TRACER makes full use of modern information management methods, and realizes automatic check and search, real-time monitoring and system management of accident baggage for airlines that have joined this system in the world. The mainframe of this system is backed up in the data processing center in Atlanta, USA, and is used by airlines of various countries in the form of lease.
受高昂的费用、无中文功能等因素影响，目前我国仅有国航、东航、南航和厦航等少数几家航空公司的部分有国际运输的航站使用这套“环球行李查询系统”，相互间还做不到行李信息资源的完全共享。Affected by factors such as high costs and no Chinese function, currently only a few airlines in my country, such as Air China, China Eastern Airlines, China Southern Airlines and Xiamen Airlines, use this "Global Baggage Inquiry System" at some terminals with international transportation. It is still not possible to fully share luggage information resources.
我国各航空公司独立处理不正常运输的行李，对事故行李缺乏有效沟通，使得行李运输的事故率居高不下，旅客的行李投诉率也逐年攀升，增加了承运人的运营成本，极大影响了承运人的信誉。虽然国内有个别航空公司，如南航，对外公布开发了一套用于行李查询、能与互联网相衔接的，具有中文功能的行李查询系统，但这套系统因为仅限于本航空公司内部使用，而且使用的航站少，还没有充分发挥出其应有的作用。对于不正常运输的行李，当前国内大多数机场主要依赖于行李处理人员通过目测方法获得行李的基本信息，人工登记行李基本情况表。随着行李不正常运输事故的日益增多，这种重复、低效的全人工处理方式，严重影响了事故行李处理的效率，也给事故行李处理人员带来了繁重的工作量。对于我国这样一个航空运输业快速发展的大国，当前不正常运输行李的查询现状与我国民航运输的发展极不和谐。my country's airlines independently handle abnormally transported luggage, and lack effective communication on accident luggage, resulting in a high accident rate in luggage transport, and an increase in passenger luggage complaints, which increases the carrier's operating costs and greatly affects Carrier's reputation. Although some domestic airlines, such as China Southern Airlines, have announced to the public that they have developed a luggage inquiry system that can be connected to the Internet and has Chinese functions, but this system is limited to the internal use of the airline, and the use of There are few terminals, and it has not fully played its due role. For abnormally transported luggage, currently most domestic airports mainly rely on the luggage handlers to obtain the basic information of the luggage through visual inspection, and manually register the basic information of the luggage. With the increasing number of accidents involving abnormal baggage transportation, this repetitive and inefficient manual handling method has seriously affected the efficiency of accident baggage handling, and has also brought a heavy workload to accident baggage handlers. For my country, a big country with a fast-growing air transport industry, the current status of inquiries about abnormally transported luggage is extremely inconsistent with the development of my country's civil aviation transport.
为了从根本上解决事故行李的查找问题，应该利用现代高科技，研发我国自己的、性价比高、具有中文功能的“行李查询系统”，将各地航站的行李信息互通互联，进而使出现行李运输事故的旅客，能够通过互联网，方便地查阅和调取自己行李的信息。这不仅能提高事故行李的查找率，还能减轻行李查询工作人员的负担，更方便旅客。In order to fundamentally solve the problem of finding luggage in an accident, modern high-tech should be used to develop my country's own "baggage query system" with high cost performance and Chinese functions, so as to interconnect the luggage information at various airports, so as to make luggage transportation appear. Passengers involved in accidents can easily check and retrieve their luggage information through the Internet. This can not only increase the search rate of accident baggage, but also reduce the burden on baggage search staff, making it more convenient for passengers.
如何实现机场事故行李的自动统计与查询，而且能最大限度地保持现行的机场行李运行机制，成为广大机场和航空公司高度关注的问题。其中，行李尺寸和颜色是事故行李查询的重要指标和重要依据，因此，行李尺寸和颜色等信息的自动获取对于行李的信息统计与有效查询具有非常重要的意义。How to realize the automatic statistics and query of airport accident baggage, and how to maintain the current airport baggage operation mechanism to the greatest extent, has become a problem of great concern to the majority of airports and airlines. Among them, luggage size and color are important indicators and important basis for accident luggage query. Therefore, automatic acquisition of luggage size and color information is of great significance for luggage information statistics and effective query.
利用计算机视觉和图像处理技术来获得行李的尺寸和颜色等信息，具有成本低、非接触、在线和自动测量的特点，不仅可用于机场行李的测量，也可用于火车站、长途汽车站等行李的测量。目前，虽然立体视觉已经在很多领域得到了应用，但是还未曾出现基于立体视觉的行李信息在线获取系统。Use computer vision and image processing technology to obtain information such as the size and color of luggage. It has the characteristics of low cost, non-contact, online and automatic measurement. It can be used not only for luggage measurement at airports, but also for luggage at railway stations and long-distance bus stations. Measurement. At present, although stereo vision has been applied in many fields, there has not been an online baggage information acquisition system based on stereo vision.
发明内容Contents of the invention
本发明的目的在于提供一种基于立体视觉的行李信息在线获取系统与方法，利用计算机视觉和图像处理技术，实现行李尺寸与颜色信息的低成本、非接触、自动、在线获取。The object of the present invention is to provide a system and method for online acquisition of luggage information based on stereo vision, which uses computer vision and image processing technology to realize low-cost, non-contact, automatic, online acquisition of luggage size and color information.
为了实现本发明的目的，本发明的第一方面是提供一种基于立体视觉的行李信息在线获取系统，该系统的技术方案包括：图像采集工作台，图像采集部、图像处理模块和服务器，其中：图像采集工作台内安装图像采集部；图像采集部在线、非接触获取行李经过图像采集工作台时的立体像对；图像处理模块与图像采集部连接，图像处理模块进行两方面的处理：一是对图像采集部获取的立体像对进行特征提取与匹配处理，重构出行李表面的三维深度信息，在此基础上计算行李的长、宽、高尺寸，另一方面是对图像采集部采集的行李图像进行颜色空间变换，提取行李的颜色特征，并对颜色特征进行分类，得到行李颜色信息；服务器与图像处理模块连接，负责接收图像处理模块得到的行李尺寸和颜色信息，以及行李的立体像对，为行李管理人员和旅客提供行李信息的查询服务。In order to achieve the purpose of the present invention, the first aspect of the present invention is to provide a system for obtaining luggage information online based on stereo vision, the technical solution of which includes: an image acquisition workbench, an image acquisition unit, an image processing module and a server, wherein : The image acquisition unit is installed in the image acquisition workbench; the image acquisition unit acquires the stereoscopic image pair when luggage passes through the image acquisition workbench online and non-contact; the image processing module is connected with the image acquisition unit, and the image processing module performs two processes: one It is to perform feature extraction and matching processing on the stereo image pair acquired by the image acquisition unit, reconstruct the three-dimensional depth information of the luggage surface, and calculate the length, width and height of the luggage on this basis. Carry out color space transformation on the luggage image, extract the color features of the luggage, and classify the color features to obtain the luggage color information; the server is connected to the image processing module and is responsible for receiving the luggage size and color information obtained by the image processing module, as well as the three-dimensional information of the luggage. For example, it provides baggage information query service for baggage management personnel and passengers.
其中，所述图像采集部包括：位于图像采集工作台内的立体彩色摄像机、照明装置、行李检测仪及行李传送装置；立体彩色摄像机嵌在图像采集工作台的内顶面上，由多个彩色摄像机组成；照明装置安装于图像采集工作台的内顶面或内侧面上，照明装置发射出的光束照射到行李上，用于为立体彩色摄像机成像提供照明，以便立体彩色摄像机获取清晰的行李图像；行李传送装置水平放置，其上放置行李，用于水平运送行李；行李检测仪安装于图像采集工作台的内侧面，位于图像采集工作台内侧面的中间偏下方的位置，用于检测行李传送装置上是否有行李出现；当行李检测仪检测到有行李时，触发立体彩色摄像机采集行李的立体像对。Wherein, the image acquisition unit includes: a stereoscopic color camera located in the image acquisition workbench, an illumination device, a luggage detector and a baggage conveying device; Composed of cameras; the lighting device is installed on the inner top or inner side of the image acquisition workbench, and the light beam emitted by the lighting device is irradiated on the luggage, which is used to provide lighting for the imaging of the stereoscopic color camera, so that the stereoscopic color camera can obtain a clear luggage image ;The luggage conveying device is placed horizontally, and luggage is placed on it, which is used to transport luggage horizontally; the luggage detector is installed on the inner side of the image acquisition workbench, located at the lower middle of the inner side of the image acquisition workbench, and is used to detect luggage conveyance Whether there is luggage on the device; when the luggage detector detects that there is luggage, it will trigger the stereo color camera to collect the stereo image pair of luggage.
其中，所述立体彩色摄像机，在该基于立体视觉的行李信息在线获取系统开启后，始终处于工作状态；当有行李经过行李检测仪时，行李检测仪检测到有行李出现，产生开关控制信号；该开关控制信号送给立体彩色摄像机，触发立体彩色摄像机将各个彩色摄像机获取的行李图像传输到行李处理模块；在此过程中，每个彩色摄像机输出一幅行李图像；设立体彩色摄像机由N个彩色摄像机组成，则这N个彩色摄像机总共可输出N幅行李图像，这N幅关于同一行李的图像共同构成该行李的立体像对；在立体彩色摄像机工作前，需要先对立体彩色摄像机进行标定，获得立体彩色摄像机的内外参数，用于计算行李表面的三维深度信息。Wherein, the stereoscopic color camera is always in working state after the on-line baggage information acquisition system based on stereo vision is turned on; when luggage passes by the luggage detector, the luggage detector detects that there is luggage, and generates a switch control signal; The switch control signal is sent to the stereoscopic color camera, triggering the stereoscopic color camera to transmit the baggage image acquired by each color camera to the baggage processing module; in this process, each color camera outputs a baggage image; If it is composed of color cameras, the N color cameras can output a total of N baggage images, and the N images of the same baggage together form a stereo image pair of the baggage; before the stereo color camera works, it is necessary to calibrate the stereo color camera , to obtain the internal and external parameters of the stereo color camera, which are used to calculate the three-dimensional depth information of the luggage surface.
其中，所述服务器上安装有上网装置，并与Internet网络连接。Wherein, an Internet access device is installed on the server and is connected to the Internet.
为了实现本发明的目的，本发明的第二方面是提供一种利用行李信息在线获取系统的行李信息在线获取方法，该方法包括步骤如下：In order to achieve the purpose of the present invention, the second aspect of the present invention is to provide a luggage information online acquisition method using the luggage information online acquisition system, the method includes the following steps:
步骤S1：行李传送装置在水平方向作匀速运动，若行李传送装置有行李出现时，行李随着行李传送装置一起相对于地面作水平匀速运动；位于图像采集工作台内的行李检测仪始终在检测是否有行李经过，同时立体彩色摄像机中的多个彩色摄像机也始终在以一定的帧率采集图像；当有行李经过行李检测仪时，行李检测仪检测到行李而输出开关控制信号，该开关控制信号触发立体彩色摄像机将多个彩色摄像机采集的行李图像进行一次输出并送给图像处理模块，即每个彩色摄像机输出一幅图像，若立体彩色摄像机由N个彩色摄像机组成，则送给图像处理模块的图像总共为N幅，这N幅关于同一行李的图像共同构成该行李的立体像对；行李的立体像对获取工作完成后，则执行步骤S2；Step S1: The baggage conveyor moves at a constant speed in the horizontal direction. If there is luggage on the baggage conveyor, the baggage moves along with the baggage conveyor relative to the ground at a horizontal uniform speed; the baggage detector located in the image acquisition workbench is always detecting Whether there is luggage passing by, at the same time, multiple color cameras in the stereo color camera are always collecting images at a certain frame rate; when there is luggage passing by the luggage detector, the luggage detector detects the luggage and outputs a switch control signal. The signal triggers the stereoscopic color camera to output the luggage image collected by multiple color cameras once and send it to the image processing module, that is, each color camera outputs an image, if the stereoscopic color camera is composed of N color cameras, it will be sent to the image processing module There are a total of N images of the module, and these N images of the same luggage together constitute a stereo pair of the luggage; after the acquisition of the stereo pair of luggage is completed, step S2 is performed;
步骤S2：图像处理模块对立体彩色摄像机获取的行李立体像对中的多幅行李图像分别进行特征提取，得到特征基元，然后对来自不同图像的特征基元进行匹配，得到不同图像之间相对应的特征基元；Step S2: The image processing module performs feature extraction on multiple baggage images in the baggage stereo image pair acquired by the stereo color camera to obtain feature primitives, and then matches the feature primitives from different images to obtain the relative value between different images. Corresponding feature primitives;
步骤S3：根据匹配的特征基元，再结合已标定好的立体彩色摄像机的内外参数，利用双目立体视觉原理，重构行李表面的三维深度信息；Step S3: According to the matched feature primitives, combined with the internal and external parameters of the calibrated stereo color camera, using the principle of binocular stereo vision, reconstruct the 3D depth information of the luggage surface;
步骤S4：将行李表面的三维深度信息生成一幅灰度图像，该图像的像素坐标反映的是行李表面不同部位的位置，图像的灰度反映的是像素坐标所对应的行李表面位置处的深度信息，像素的灰度值越大表示该像素所对应位置处的深度值越大，像素灰度值越小则对应的深度值越小；从该幅反映行李表面三维深度信息的灰度图像中分割出行李区域，找到行李区域的最小外接矩形，从而得到行李的长度和宽度；Step S4: Generate a gray-scale image from the three-dimensional depth information of the luggage surface. The pixel coordinates of the image reflect the positions of different parts of the luggage surface, and the gray scale of the image reflects the depth at the position of the luggage surface corresponding to the pixel coordinates Information, the larger the gray value of the pixel, the greater the depth value at the corresponding position of the pixel, and the smaller the pixel gray value, the smaller the corresponding depth value; from the gray image reflecting the three-dimensional depth information of the luggage surface Divide the luggage area and find the minimum circumscribed rectangle of the luggage area to obtain the length and width of the luggage;
利用行李表面的三维深度信息，再结合立体彩色摄像机距行李传送装置的高度信息，计算得到行李的高度；再根据行李的长、宽、高，生成行李的尺寸信息；Using the three-dimensional depth information of the baggage surface, combined with the height information of the stereo color camera and the baggage conveyor, the height of the baggage is calculated; and then the size information of the baggage is generated according to the length, width and height of the baggage;
步骤S5：对立体彩色摄像机获取的行李图像进行颜色空间变换，将原来由三基色(RGB)颜色空间表示的行李图像转换到色调、饱和度和亮度(HIS)颜色空间，提取行李的主色调颜色特征，并根据预先设定好的颜色类对行李的颜色特征进行分类，得到行李的颜色信息；Step S5: Carry out color space transformation on the baggage image acquired by the stereo color camera, convert the baggage image originally represented by the three primary colors (RGB) color space to the hue, saturation and brightness (HIS) color space, and extract the main color of the baggage feature, and classify the color features of the luggage according to the pre-set color classes to obtain the color information of the luggage;
步骤S6：图像处理模块将行李的长、宽、高尺寸和颜色信息，送到服务器进行保存，以便行李管理人员和旅客查询。Step S6: The image processing module sends the length, width, height and color information of the luggage to the server for storage, so that the luggage management personnel and passengers can inquire.
其中，所述立体彩色摄像机，在该基于立体视觉的行李信息在线获取系统开启后，始终处于工作状态；组成立体彩色摄像机的多个彩色摄像机以一定的帧率不断地采集行李的图像；当有行李经过行李检测仪时，行李检测仪检测到有行李出现，产生开关控制信号；该开关控制信号送给立体彩色摄像机，触发立体彩色摄像机将各个彩色摄像机获取的行李图像进行输出。Wherein, the stereoscopic color camera is always in the working state after the on-line luggage information acquisition system based on stereo vision is turned on; multiple color cameras forming the stereoscopic color camera continuously collect luggage images at a certain frame rate; when there is When the baggage passes through the baggage detector, the baggage detector detects the presence of baggage and generates a switch control signal; the switch control signal is sent to the stereoscopic color camera, which triggers the stereoscopic color camera to output the baggage image captured by each color camera.
其中，所述图像处理模块对图像采集部获取的行李图像进行两方面的处理与分析，一方面是利用立体像对来重构行李表面的三维深度信息，进而获得行李的长、宽、高尺寸，另一方面是对行李图像进行分析处理，提取行李的颜色特征并分类，获取行李的颜色信息。Wherein, the image processing module carries out two aspects of processing and analysis on the luggage image acquired by the image acquisition unit. On the one hand, it uses the stereo image pair to reconstruct the three-dimensional depth information of the luggage surface, and then obtains the length, width and height dimensions of the luggage. On the other hand, it analyzes and processes the luggage image, extracts and classifies the color features of the luggage, and obtains the color information of the luggage.
本发明的有益效果：本发明的基于立体视觉的行李信息在线获取系统与方法，以计算机视觉、图像处理与机器学习技术为基础，基于立体视觉原理获取行李的尺寸，同时采用基于监督学习的方法，对行李的颜色特征进行分类识别，获取行李的颜色信息。系统安装方便，操作简单，成本低廉，一次投入便可长期有效，不仅可在线自动获取行李的尺寸和颜色，而且不必事先在行李上设置标签，从而实现了在不改变当前机场运行机制的前提下非接触自动获取行李信息的目的，可大大减少行李处理人员的工作量，提高行李处理的效率。Beneficial effects of the present invention: the system and method for obtaining luggage information online based on stereo vision, based on computer vision, image processing and machine learning technology, obtains the size of luggage based on the principle of stereo vision, and adopts a method based on supervised learning at the same time , classify and identify the color features of the luggage, and obtain the color information of the luggage. The system is easy to install, easy to operate, low in cost, and can be effective for a long time after one investment. Not only can the size and color of luggage be obtained automatically online, but also there is no need to set tags on the luggage in advance, so that it can be achieved without changing the current airport operation mechanism. The purpose of non-contact automatic acquisition of luggage information can greatly reduce the workload of luggage handling personnel and improve the efficiency of luggage handling.
附图说明Description of drawings
图1是本发明的总体结构图；Fig. 1 is the general structural diagram of the present invention;
图2是本发明的图像采集部侧视示意图；Fig. 2 is a schematic side view of the image acquisition unit of the present invention;
图3是本发明的图像采集部前视示意图；Fig. 3 is a schematic front view of the image acquisition unit of the present invention;
图4是系统工作流程图。Figure 4 is a flow chart of the system work.
附图中主要标号说明Explanation of main symbols in the attached drawings
1：图像采集工作台；2：图像采集部； 21：立体彩色摄像机；1: Image acquisition workbench; 2: Image acquisition department; 21: Stereo color camera;
22：照明设备； 23：行李检测仪；24：行李传送装置；22: Lighting equipment; 23: Baggage detector; 24: Baggage conveyor;
3：图像处理模块；4：服务器；5：行李。3: image processing module; 4: server; 5: luggage.
具体实施方式Detailed ways
实例：机场事故行李信息在线获取Example: online acquisition of airport accident baggage information
本发明提出的一种基于立体视觉的行李信息在线获取系统与方法，可广泛用于事故行李信息的自动获取，如机场事故行李信息的在线提取。下面结合实例进行具体说明。A system and method for online acquisition of luggage information based on stereo vision proposed by the present invention can be widely used in automatic acquisition of accident luggage information, such as online extraction of airport accident luggage information. The following will be described in detail in combination with examples.
如图1所示，本发明的基于立体视觉的机场事故行李信息在线获取系统，除电源外，主要由图像采集工作台1、图像采集部2、图像处理模块3和服务器4组成。As shown in Fig. 1, the airport accident baggage information online acquisition system based on stereo vision of the present invention is mainly composed of an
如图2和图3示出图像采集部2的示意图，所述图像采集部2包括位于图像采集工作台1内的立体彩色摄像机21、照明装置22、行李检测仪23和行李传送装置24。2 and 3 show schematic diagrams of the image acquisition unit 2 , which includes a
图像采集工作台1，主要用来安装和固定图像采集部2。图像采集工作台1呈倒立的凹槽形，具有一定的长度、宽度、高度和厚度，安装于行李传送装置24的上方。图像采集工作台1始终处于静止状态。The
立体彩色摄像机21嵌在图像采集工作台1的内顶面上，立体彩色摄像机21由多个彩色摄像机组成，不同彩色摄像机的光轴位于同一平面内，该平面与行李传送装置24的前进方向垂直。组成立体彩色摄像机21的多个彩色摄像机在系统开启后，始终处于工作状态，以一定的帧率同步采集行李5的图像。当有行李5经过行李检测仪23处时，行李检测仪23检测到有行李5出现，则发出一个开关控制信号。该开关控制信号送给立体彩色摄像机21，触发立体彩色摄像机21将各个彩色摄像机同步获取的行李图像传输到行李处理模块3。在此过程中，每个彩色摄像机有一幅行李图像进行输出。本实施方案中，立体彩色摄像机采用Bumblebee2双目立体彩色摄像机。因此，该双目立体彩色摄像机21总共可输出两幅行李图像，这两幅关于同一行李5的图像共同构成了该行李5的立体像对。The
照明装置22可安装于图像采集工作台1的内顶面或内侧面上，本实施方案中，照明装置22安装于图像采集工作台1的内顶面上。照明装置22发射出的光束照射到行李5上，用于为立体彩色摄像机21成像提供照明，以使得立体彩色摄像机21获取清晰的行李图像。The
行李检测仪23安装于图像采集工作台1的内侧面，位于图像采集工作台1内侧面的中间偏下方的位置，用于检测行李传送装置24上是否有行李5出现。行李传送装置24水平放置，其上放置行李5，用于水平运送行李5。当行李传送装置24上有行李5时，行李传送装置24携带行李5一起在水平方向上作匀速运动。行李5经过行李检测仪23时，行李检测仪23检测到有行李5出现，产生开关控制信号。The
本实施案例中，行李检测仪23采用对射式光电开关，对射式光电开关主要由在结构上相互分离且光轴相对放置的发射器和接收器组成，发射器和接收器分别安装在图像采集工作台1相对的内侧面上，如图3所示。当发射器和接收器之间没有行李5经过时，发射器发出的光线直接进入接收器，当有行李5经过发射器和接收器之间且阻断光线时，该光电开关将产生一个开关控制信号。In this implementation case, the
行李传送装置24，采用通常的传送带结构，用于运送行李5，在水平方向上作匀速运动。The
图像处理模块3，主要用于图像存储、图像分析处理、行李尺寸计算与颜色信息生成。图像处理模块3既包括支撑图像存储和运算的硬件单元，也包括专门用于行李信息获取的图像处理算法。图像处理模块3利用立体视觉原理，对行李5的立体像对进行分析处理，恢复行李5的表面三维深度信息，进一步结合立体彩色摄像机21距行李传送装置24的高度信息，计算得到行李5的长、宽、高尺寸；同时，图像处理模块3对立体彩色摄像机21采集的行李图像进行颜色空间变换，提取行李5的主色调颜色特征并进行分类，获得行李5的颜色信息。Image processing module 3 is mainly used for image storage, image analysis and processing, baggage size calculation and color information generation. The image processing module 3 includes not only hardware units supporting image storage and calculation, but also image processing algorithms specially used for baggage information acquisition. The image processing module 3 uses the principle of stereo vision to analyze and process the stereo image pair of the
服务器4，是一般的计算机系统，服务器4中包括一个存储行李尺寸与颜色信息的数据库。服务器4上还安装有上网设置，并与Internet网络连接，机场行李管理人员或旅客可通过Internet访问服务器4，用于行李尺寸和颜色等信息的存储与查询。The server 4 is a general computer system, and the server 4 includes a database storing luggage size and color information. The server 4 is also equipped with an Internet connection, and is connected to the Internet. The airport luggage management personnel or passengers can access the server 4 through the Internet for storage and query of information such as luggage size and color.
如图4示出本发明的基于立体视觉的行李信息在线获取系统的获取方法的流程图，首先是行李检测仪23检测到有行李5出现时，立体摄像机21采集的行李图像送往图像处理模块3，然后图像处理模块3对行李图像进行分析处理，得到行李的尺寸和颜色信息，并送往服务器以备查询。具体实现如下：Figure 4 shows the flow chart of the acquisition method of the luggage information online acquisition system based on stereo vision of the present invention. First, when the
步骤S1：行李传送装置24在水平方向作匀速运动，若行李传送装置24有行李5出现时，行李5随着行李传送装置24一起相对于地面作水平匀速运动。位于图像采集工作台1内的行李检测仪23始终在检测是否有行李5经过，同时立体彩色摄像机21中的多个彩色摄像机也始终在同步地以一定的帧率采集图像。当有行李5经过行李检测仪23时，行李检测仪23检测到行李5而输出开关控制信号，该开关控制信号触发立体彩色摄像机21将多个彩色摄像机同步采集的行李图像进行一次输出并送给图像处理模块3，即每个彩色摄像机输出一幅图像，若立体彩色摄像机由N个彩色摄像机组成，则送给图像处理模块3的图像总共为N幅，这N幅关于同一行李5的图像共同构成该行李5的立体像对。本实施方案中，立体彩色摄像机采用Bumblebee2双目立体彩色摄像机，则本方案中的立体像对由2幅图像组成。行李5的立体像对获取工作完成后，则执行步骤S2。Step S1: The
当一件行李离开行李检测仪23后，若行李检测仪23再次检测到有新的行李出现，则再次触发立体彩色摄像机21对各彩色摄像机采集的图像进行输出，并送往图像处理模块3。此过程循环进行。After a piece of baggage leaves the
步骤S2：图像处理模块3对立体彩色摄像机21获取的行李立体像对中的多幅行李图像分别进行特征提取，得到以关键点或曲线形式表示的特征基元，然后对来自不同图像的特征基元进行匹配，得到不同图像之间相对应的特征基元。Step S2: The image processing module 3 performs feature extraction on multiple luggage images in the luggage stereo image pair acquired by the
步骤S3：根据匹配的特征基元，再结合已标定好的立体彩色摄像机21的内外参数，利用双目立体视觉原理，重构行李表面的三维深度信息。Step S3: According to the matched feature primitives, combined with the internal and external parameters of the calibrated
步骤S4：将行李表面的三维深度信息生成一幅灰度图像，该图像的像素坐标反映的是行李表面不同部位的位置，图像的灰度反映的是像素坐标所对应的行李表面位置处的深度信息，像素的灰度值越大表示该像素所对应位置处的深度值越大，像素灰度值越小则对应的深度值越小。从该幅反映行李表面三维深度信息的灰度图像中分割出行李区域，找到行李区域的最小外接矩形，从而得到行李5的长度和宽度；Step S4: Generate a gray-scale image from the three-dimensional depth information of the luggage surface. The pixel coordinates of the image reflect the positions of different parts of the luggage surface, and the gray scale of the image reflects the depth at the position of the luggage surface corresponding to the pixel coordinates Information, the larger the gray value of the pixel, the larger the depth value at the corresponding position of the pixel, and the smaller the gray value of the pixel, the smaller the corresponding depth value. Segment the baggage area from the grayscale image reflecting the three-dimensional depth information of the baggage surface, find the minimum circumscribed rectangle of the baggage area, and obtain the length and width of the
利用行李表面的三维深度信息，再结合立体彩色摄像机21距行李传送装置24的高度信息，计算得到行李的高度；再根据行李5的长、宽、高，生成行李5的尺寸信息。Using the three-dimensional depth information of the luggage surface, combined with the height information of the
步骤S5：对立体彩色摄像机21获取的行李图像进行颜色空间变换，将原来由三基色(RGB)颜色空间表示的行李图像转换到色调、饱和度和亮度(Hue，Saturation and Intensity，HSI)颜色空间，提取行李5的主色调颜色特征，并根据预先设定好的颜色类(如红色、白色、黑色等)对行李5的颜色特征进行分类，得到行李5的颜色信息。Step S5: Carry out color space transformation on the baggage image acquired by the
步骤S6：图像处理模块3将行李5的长、宽、高尺寸和颜色信息，以及行李的立体像对，送到服务器4进行保存，以便行李管理人员和旅客查询。Step S6: The image processing module 3 sends the length, width, height and color information of the
以上所述，仅为本发明中的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉该技术的人在本发明所揭露的技术范围内，可理解想到的变换或替换，都应涵盖在本发明的包含范围之内，因此，本发明的保护范围应该以权利要求书的保护范围为准。The above is only a specific implementation mode in the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technology can understand the conceivable transformation or replacement within the technical scope disclosed in the present invention. All should be covered within the scope of the present invention, therefore, the protection scope of the present invention should be based on the protection scope of the claims.
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