Summary of the invention
Technical problem to be solved by the invention is to provide a kind of, and the advertisement board on highway based on in-vehicle camera identifies systemSystem and method, can rapidly and accurately differentiate acquisition identification billboard whether be increase newly, illegal billboard, greatly improve inspectionEfficiency is surveyed, cost of labor is reduced.
The present invention is to solve above-mentioned technical problem and the technical solution adopted is that provide a kind of high speed based on in-vehicle cameraHighway billboard identifying system and method, including data acquisition equipment: it is received including high-resolution industrial camera and satellite positioningMachine for taking pictures to advertisement board on highway, and obtains the satellite location data of picture-taking position；Car-mounted terminal: to acquisitionPhoto is pre-processed and is matched；And the data handled well are uploaded to by center service system by wireless transport module；CenterService system: receiving the upload data from car-mounted terminal, for recording, comparing and displaying billboard data.
Further, the resolution ratio of the high-resolution industrial camera >=5,000,000 pixels, aperture >=F1.4, focal length >=10mm；The satellite positioning receiver is GPS positioning module and/or Beidou positioning module.
Further, the high-resolution industrial camera is mounted on vehicle mirrors, and camera lens is towards vehicle heading.
Further, the car-mounted terminal is powered using cigar lighter.
The present invention also provides a kind of advertisement board on highway identification side based on in-vehicle camera to solve above-mentioned technical problemMethod, wherein include the following steps: S1, first onboard pacify high-resolution industrial camera, car-mounted terminal and satellite positioning receiverAfter filling and fixing, control vehicle is driven at a constant speed；S2, vehicle movement is added up using satellite positioning receiver, and controlledCamera carries out acquisition of taking pictures to the billboard on highway both sides at equal intervals；S3, on car-mounted terminal, to acquisition photo carry outIdentifying processing extracts billboard boundary；S4, center service system receive the upload data from car-mounted terminal, and with it is existing wideIt accuses board GIS figure layer database to compare, and judges whether billboard is newly-increased billboard.
Further, the resolution ratio of the high-resolution industrial camera >=5,000,000 pixels, aperture >=F1.4, focal length >=10mm, the high-resolution industrial camera are mounted on vehicle mirrors, and camera lens is towards vehicle heading；The step S1 adjustmentThe focusing system of camera is enable the object within the scope of the 100m of its front clearly to be shot, and is calculated using based on tessellated calibrationMethod is modified the picture distortion of acquisition according to camera camera internal reference, and then obtains the correction factor of camera photos.
Further, the step S2 includes:
S21, after carrying out binaryzation, Gaussian Blur processing and expansion process to photo, it is based on Canny edge extracting strategy,Obtain the profile of image；S22, the profile in image is screened, excludes the profile of non-billboard in layer；It is S23, rightThe profile to be selected screened carries out perspective conversion, converts rectangular profile for quadrangular configuration, and billboard effective edge is writtenBoundary's database；S24, billboard efficiency frontier database, corresponding satellite location data, time data are written together it is vehicle-mountedIn the SD card of terminal local, while by the mobile network of car-mounted terminal, the data that will test are uploaded to center service system in real timeSystem.
Further, the step S22 includes:
S221, judge whether profile has and only there are four vertex, if so, into S222；Conversely, excluding the profile；S222, judge whether four angle points of profile appear in the boundary of image, if so, excluding the profile；Conversely, intoS223；S223, judge whether profile is a recessed quadrangle, if so, excluding the profile；Conversely, into S224；S224, sentenceWhether profile area defined of breaking is more than 200,000 pixels and less than 400,000 pixels, if it is not, then excluding the profile；Conversely, intoS225；S225, judge whether the distance of four angle points of profile between any two is greater than 100 pixels, if it is not, then excluding the profile；Conversely, into S226；Whether S226, the longest edge for judging profile and most the ratio between short side are greater than 1, if it is not, then excluding；Conversely, intoEnter S227；The distribution of color histogram of S227, the distribution of color histogram for judging the surrounded region of profile and traffic mark board plateWhether related coefficient is greater than 0.9, if so, excluding；Conversely, being then used as profile to be selected.
Further, the center service system in the step S4 is tested after receiving the connection request of remote vehicular terminalTerminal identity is demonstrate,proved, if legal terminal, then data receiver thread is established for it, receives data；If illegal terminal, then closeConnection.
Further, the step S4 includes:
S41, pass through satellite location data, calculate existing wide in the billboard and center service system GIS figure layer of detectionThe space length for accusing board is determined as newly-increased billboard if space length > 15m；Conversely, then entering S42；S42, inspection is calculatedExisting billboard distribution of color histogram related coefficient in the billboard and center service system GIS figure layer of survey, if phase relationNumber is less than 0.9, then it is assumed that is newly-increased billboard；Conversely, then determining that the billboard of detection and the billboard in GIS figure layer are sameOne billboard.
The present invention, which compares the prior art, to be had following the utility model has the advantages that the high speed provided by the invention based on in-vehicle camera is publicRoad billboard identifying system and method are acquired situation along highway by in-vehicle camera, pass through machine vision intelligenceEnergy algorithm, positions in conjunction with GPS/ Beidou, carries out feature identification and positioning to the billboard along highway；It will know in acquisitionNot Chu Lai billboard information compared with existing billboard GIS figure layer database, it is similar with image with geographical locationDegree, thus rapidly and accurately differentiate acquisition identification billboard whether be increase newly, illegal billboard, greatly improve detection efficiency,Reduce cost of labor.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is that the present invention is based on the advertisement board on highway identifying system configuration diagrams of in-vehicle camera.
Referring to Figure 1, the advertisement board on highway identifying system provided by the invention based on in-vehicle camera, comprising:
Data acquisition equipment: including high-resolution industrial camera and satellite positioning receiver, for advertisement board on highwayIt takes pictures, and obtains the satellite location data of picture-taking position；
Car-mounted terminal: acquisition photo is pre-processed and is matched；And the data that will be handled well by wireless transport moduleIt is uploaded to center service system；
Center service system: receiving the upload data from car-mounted terminal, for recording, comparing and displaying billboard numberAccording to.
The selection of each main device module and function are as follows in billboard identifying system of the invention:
Fig. 2 is that the present invention is based on the advertisement board on highway identification process schematic diagrames of in-vehicle camera.
Refer to Fig. 2, the advertisement board on highway recognition methods provided by the invention based on in-vehicle camera, comprising:
(1) camera installation and calibration
After the equipment such as camera, car-mounted terminal, satellite receiver are onboard installed and fixed, camera can be fixed on vehicleOn rearview mirror, camera lens towards vehicle heading, while need to guarantee camera acquisition photo within the scope of will not be obscured by an object；It adjustsThe focusing system of whole camera enables the object within the scope of the 100m of its front clearly to be shot；Using existing based on tessellatedCalibration algorithm is modified the picture distortion etc. of acquisition according to camera camera internal reference, and then obtains repairing for camera photosPositive coefficient.
(2) photo acquisition
When detecting vehicle on a highway when driving, car-mounted terminal can be started and acquire photo.Car-mounted terminal, cameraIt is powered by the cigar lighter of vehicle.After car-mounted terminal normally starts, satellite receiver is by the actual geographical location information data of vehicleCar-mounted terminal is fed back to, adds up the displacement of vehicle by car-mounted terminal.Camera is shot according to the accumulative displacement of car-mounted terminal,Specifically: assuming that vehicle, from static starting, displacement adds up since 0, and when accumulative displacement meets or exceeds 10m, vehicle-mounted endEnd issues instruction, allows camera to acquire photo, is stored in local image data base, corresponding geographical location information data is recorded inLocal geographical location information data library.The accumulative displacement of car-mounted terminal simultaneously adds up again from 0.
Used industrial camera can be according to ambient light, adjust automatically sensitivity.When acquiring photo, it is desirable that can seeDegree is not less than 150m.
(3) billboard Boundary Extraction
After acquiring photo, the photo of acquisition will be further processed in the photo processing software in car-mounted terminal, withIdentify the boundary of billboard in photo, specific as follows:
1, binaryzation+Gaussian Blur processing+expansion process+Canny edge extracting strategy is carried out to photo, obtains imageIn possible profile.Expansion process is the structural element with 3 × 3, each pixel of scan image；It is covered with structural element with itThe bianry image of lid does OR operation, successively traverses the pixel of entire picture, analyzes eight pixels around each pixel, onlyOnly will there are the pixels of black around the pixel, it is black that the pixel color, which is just arranged,.
2, profile in figure is screened, excludes the profile of non-billboard in layer, specifically:
Does (1), profile have and only there are four vertex? if so, into (2)；Conversely, excluding the profile.
Do (2), four angle points of profile appear in the boundary of image? if so, excluding the profile；Conversely, into(3)。
Does is (3), profile a recessed quadrangle? if so, excluding the profile；Conversely, into (4).
(4), whether profile area defined is more than 200,000 pixels and less than 400,000 pixels, if it is not, then excluding the wheelIt is wide；Conversely, into (5).
(5), whether the distance of four angle points of profile between any two is greater than 100 pixels, if it is not, then excluding the profile；InsteadIt, into (6).
(6), whether the longest edge of profile and most the ratio between short side are greater than 1, if it is not, then excluding；Conversely, into (7)
(7), the distribution of color histogram in the surrounded region of profile and the distribution of color histogram of traffic mark board plate are relatedWhether coefficient is greater than 0.9, if so, excluding；Conversely, being then used as profile to be selected.
3, perspective conversion is carried out to the profile to be selected screened in step 2, converts rectangle wheel for quadrangular configurationExterior feature, and billboard efficiency frontier database is written.
4, billboard efficiency frontier database, corresponding geographical location information data, time data are written together vehicle-mountedIn the SD card of terminal local, while by the mobile network of car-mounted terminal, such as 4G network or 5G network, the data that will testIt is uploaded to center service system in real time.
(4) billboard comparing
Center service system verifies terminal identity, if legal end after receiving the connection request of remote vehicular terminalData receiver thread is then established for it in end, receives data；If illegal terminal, then connection is closed.Center service system will be examinedThe billboard data of survey are compared with existing billboard GIS figure layer database, and whether analysis billboard is newly-increased billboard,Specifically:
(1), it by geographical location information data, calculates in the billboard and center service system GIS figure layer of detection and hasThe space length of billboard be determined as newly-increased billboard if space length > 15m；Conversely, then entering (2).
(2), existing billboard distribution of color histogram in the billboard and center service system GIS figure layer of detection is calculatedFigure related coefficient, if related coefficient is less than 0.9, then it is assumed that be newly-increased billboard；Conversely, then determining the billboard and GIS of detectionBillboard in figure layer is same billboard.Billboard data in the GIS figure layer can carry out according to the actual situation moreNewly, such as after billboard contents replacement, the billboard data in GIS figure layer also can be with new.
In conclusion the advertisement board on highway identifying system and method provided by the invention based on in-vehicle camera, it canRapidly and accurately differentiate acquisition identification billboard whether be increase newly, illegal billboard, greatly improve detection efficiency, reduce peopleWork cost, specific advantage are as follows:
I, the present invention passes through machine vision, it can be achieved that acquiring accurate, the quick identification of billboard in picture, avoids traditionArtificial detection it is inefficient, mistakes and omissions are more the disadvantages of.
Ii, present invention will identify that the photo of billboard matches the standard, it can be achieved that billboard with geographical location information dataIt determines position, the distribution of billboard along high speed can be intuitively shown in GIS map.
Iii, the present invention need not rely on high-precision equipment, the convenience devices of support can in common vehicle fast assembling-disassembling,The quick detection of billboard, detection data are uploaded to cloud server in real time, can be used for assisting highway wide along can be achievedThe fast inspection of board is accused, finds the change conditions of billboard in time.
Although the present invention is disclosed as above with preferred embodiment, however, it is not to limit the invention, any this field skillArt personnel, without departing from the spirit and scope of the present invention, when can make a little modification and perfect therefore of the invention protectionRange, which is worked as, to be subjected to the definition of the claims.