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应用科学学报 ›› 2013, Vol. 31 ›› Issue (5): 512-518.doi: 10.3969/j.issn.0255-8297.2013.05.011

• 信号与信息处理 • 上一篇    下一篇

一种快速鲁棒的车辙检测方法

陈小宇1,2, 雷波3   

  1. 1．武汉大学电子信息学院，武汉430079
    2．武汉大学时空数据智能获取技术与应用教育部工程研究中心，武汉430079
    3．华中光电技术研究所-武汉光电国家实验室，武汉430074
  • 收稿日期:2012-12-23 修回日期:2013-03-07 出版日期:2013-09-26 发布日期:2013-03-07
  • 作者简介:陈小宇，副教授，博士生，研究方向：智能交通系统，E-mail: cxyjoe@163.com
  • 基金资助:

    国家“863”高技术研究发展计划基金(No.2012AA112503) 资助

Fast and Robust Measurement of Pavement Ruts

CHEN Xiao-yu1,2, LEI Bo3   

  1. 1．School of Electronic Information, Wuhan University, Wuhan 430079, China
    2．Engineering Research Center for Spatio-Temporal Data Smart Acquisition and Application,
    Ministry of Education of China, Wuhan University, Wuhan 430079, China
    3．Huazhong Institute of Electro-Optics-Wuhan National Laboratory for Optoelectronics, Wuhan
    430074, China
  • Received:2012-12-23 Revised:2013-03-07 Online:2013-09-26 Published:2013-03-07

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被引次数

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摘要： 提出了一种基于激光三角法的快速路面车辙检测方法. 采用横向投影确定激光线的范围，并通过分段直线拟合去除激光线范围内粗差，然后用贝塞尔曲线对激光线进行拟合，快速稳定地提取出激光线. 为了提高测量精度，提出了基于不规则三角和标定点网格测量点的物方坐标反算方法. 对试验路段的检测结果表明，该方法能以每秒80次的采样频率进行车辙测量，检测结果与人工检测结果吻合较好，可作为路面车辙测量工具用以代替人工检测.

关键词: 激光三角法, 标定, 车辙, 不规则三角网, 曲线拟合

Abstract: This paper proposes a technique for fast detection of pavement ruts based on laser triangulation. For the real-time measurement of ruts, transversal projection is applied to confine the valid region of laser curve, followed by segmental line fitting to eliminate gross errors. Bezier curve fitting is applied to form
a continuous smooth curve representing the road profile. To improve the measuring precision, instead of obtaining parameters of laser triangulation equations and calculating object coordinates of the laser curve, a calibration grid construction method based on triangulated irregular networks (TIN) and the back-calculation algorithm from image points to their object coordinates are proposed. Experimental results show that the algorithm is capable of sampling the road surface 80 times per second. The results of automatic measurements are in general agreement with that of the manual measurements. Therefore, the proposed method is effective and reliable for pavement rut measurement.

Key words: laser triangulation, calibration, rut, triangulated irregular network (TIN), curve fitting

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