本文關(guān)鍵詞：基于實(shí)虛靶標(biāo)融合及無人機(jī)攝影的交通事故現(xiàn)場(chǎng)勘測(cè)技術(shù)研究　出處：《吉林大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 道路交通事故 SUAV 靶標(biāo) 實(shí)虛融合 2D-DLT 事故現(xiàn)場(chǎng) 勘測(cè)

【摘要】：交通事故現(xiàn)場(chǎng)勘測(cè)是道路交通事故處理的首要問題,對(duì)事故成因的全面細(xì)致分析具有重要意義�；趩畏鶊D像的攝影測(cè)量二維直接線性變換(2D direct linear transformation,2D-DLT)方法,能從事故現(xiàn)場(chǎng)拍攝的像片中獲得車輛停止位置、制動(dòng)拖印、碎片散落分布位置等重要信息,受到了交通事故現(xiàn)場(chǎng)勘測(cè)領(lǐng)域的關(guān)注。但由于在勘測(cè)時(shí)標(biāo)定物上的特征點(diǎn)不能分布于交通事故現(xiàn)場(chǎng)關(guān)注區(qū)域的四周場(chǎng)景,以及無法克服拍攝傾角對(duì)勘測(cè)精度的影響等原因,導(dǎo)致適用性受限,實(shí)用性不強(qiáng)。因此,應(yīng)對(duì)攝影測(cè)量2D-DLT方法進(jìn)行改進(jìn),為交通事故現(xiàn)場(chǎng)勘測(cè)提供新的技術(shù)方法和理論支持。本文以交通事故現(xiàn)場(chǎng)勘測(cè)技術(shù)為切入點(diǎn),通過構(gòu)建實(shí)虛靶標(biāo)融合模型,獲得了大范圍的虛擬標(biāo)定物。為提高實(shí)虛靶標(biāo)融合的實(shí)施效果,設(shè)計(jì)了實(shí)標(biāo)定物,研究了其上特征點(diǎn)的檢測(cè)方法,并進(jìn)行了實(shí)虛靶標(biāo)融合的布局分析。為提高攝影測(cè)量2D-DLT方法的適用性,提出了基于實(shí)虛靶標(biāo)融合的改進(jìn)2D-DLT法,克服了單一標(biāo)定物外延區(qū)勘測(cè)精度差的缺陷。為提高攝影測(cè)量2D-DLT方法的實(shí)用性,提出了小型無人機(jī)(small unmanned aircraft vehicles,SUAV)攝影2D-DLT測(cè)量法,有效解決了使用普通相機(jī)采用攝影測(cè)量2D-DLT方法勘測(cè)交通事故現(xiàn)場(chǎng)時(shí),由于拍攝傾角小造成的勘測(cè)精度低等缺陷。具體研究工作如下:實(shí)虛靶標(biāo)融合模型的構(gòu)建。為了獲得與交通事故現(xiàn)場(chǎng)勘測(cè)相適應(yīng)的較大范圍虛擬標(biāo)定物,在研究相機(jī)成像過程及鏡頭畸變因素的基礎(chǔ)上,通過攝影時(shí)布設(shè)在交通事故現(xiàn)場(chǎng)中的各個(gè)實(shí)標(biāo)定物相對(duì)于相機(jī)坐標(biāo)系的旋轉(zhuǎn)矩陣和平移向量,將多個(gè)實(shí)標(biāo)定物的位置統(tǒng)一到相同坐標(biāo)系下,構(gòu)建了實(shí)虛靶標(biāo)融合模型。從相機(jī)內(nèi)方位參數(shù)的計(jì)算、實(shí)標(biāo)定物位姿的計(jì)算及模型參數(shù)的優(yōu)化三個(gè)方面,研究了實(shí)虛靶標(biāo)融合模型參數(shù)的計(jì)算方法。以攝影時(shí)實(shí)標(biāo)定物上自身尺寸的歐式距離不變、實(shí)標(biāo)定物之間滿足共面關(guān)系及控制點(diǎn)的重投影誤差最小為約束條件,優(yōu)化了實(shí)虛靶標(biāo)融合模型參數(shù)。最后,以仿真試驗(yàn)驗(yàn)證了實(shí)虛靶標(biāo)融合模型構(gòu)建及參數(shù)計(jì)算的可行性和穩(wěn)定性。實(shí)虛靶標(biāo)融合的實(shí)施及布局分析。在實(shí)虛靶標(biāo)融合模型的構(gòu)建過程中,實(shí)標(biāo)定物是重要基礎(chǔ)。通過分析交通事故現(xiàn)場(chǎng)特點(diǎn),設(shè)計(jì)了平面結(jié)構(gòu)的黑白相間棋盤格標(biāo)定物。使用中值濾波方法對(duì)現(xiàn)場(chǎng)圖像進(jìn)行預(yù)處理,突出圖像中感興趣的特征后,采用半自動(dòng)檢測(cè)(semi automatic detection,SAD)方法提取實(shí)標(biāo)定物上的特征點(diǎn)。通過實(shí)標(biāo)定物上特征點(diǎn)提取試驗(yàn),與Harris檢測(cè)方法對(duì)比,可有效抑制非精確控制點(diǎn)的出現(xiàn),提高實(shí)標(biāo)定物上特征點(diǎn)提取的準(zhǔn)確性。為提高實(shí)虛靶標(biāo)融合的實(shí)施效果,通過室內(nèi)試驗(yàn)對(duì)實(shí)虛靶標(biāo)融合的布局進(jìn)行分析。研究結(jié)果表明,對(duì)于現(xiàn)場(chǎng)固定區(qū)域布設(shè)4個(gè)分散的實(shí)標(biāo)定物,能以最少的實(shí)標(biāo)定物數(shù)獲得最大的虛擬標(biāo)定物覆蓋面積。基于實(shí)虛靶標(biāo)融合勘測(cè)事故現(xiàn)場(chǎng)。將實(shí)虛靶標(biāo)融合應(yīng)用于交通事故現(xiàn)場(chǎng)勘測(cè),克服單一標(biāo)定物外延區(qū)勘測(cè)精度差的缺陷,提高其適用性。通過研究攝影測(cè)量2D-DLT方法原理、非線性優(yōu)化方法以及傳統(tǒng)的控制點(diǎn)坐標(biāo)獲取方法,建立了實(shí)虛靶標(biāo)融合后控制點(diǎn)的優(yōu)選策略,從而獲得事故現(xiàn)場(chǎng)關(guān)注區(qū)域四周的控制點(diǎn)坐標(biāo)數(shù)據(jù),提出了基于實(shí)虛靶標(biāo)融合的改進(jìn)2D-DLT法。通過現(xiàn)場(chǎng)試驗(yàn)分別考查了實(shí)虛靶標(biāo)融合后建立的虛擬標(biāo)定物所占區(qū)域大小、虛擬標(biāo)定物所占區(qū)域大小相同時(shí)實(shí)標(biāo)定物面積大小以及對(duì)比使用單一實(shí)標(biāo)定物與實(shí)虛靶標(biāo)融合對(duì)勘測(cè)結(jié)果的影響。試驗(yàn)結(jié)果顯示:虛擬標(biāo)定物所占區(qū)域越大,待測(cè)區(qū)域的測(cè)量相對(duì)誤差平均值越小,攝影測(cè)量的結(jié)果越好;在虛擬標(biāo)定物所占區(qū)域大小不變的前提下,隨著實(shí)標(biāo)定物面積的增加,待測(cè)區(qū)域的測(cè)量相對(duì)誤差平均值變化不大,攝影測(cè)量的結(jié)果基本不變;采用實(shí)虛靶標(biāo)融合比采用單一實(shí)標(biāo)定物進(jìn)行攝影測(cè)量的結(jié)果更好。從而驗(yàn)證了基于實(shí)虛靶標(biāo)融合的改進(jìn)2D-DLT法的優(yōu)越性。最后,對(duì)一個(gè)案例應(yīng)用結(jié)果分析,并證明了改進(jìn)2D-DLT法的可行性。SUAV攝影勘測(cè)事故現(xiàn)場(chǎng)。SUAV攝影可方便地實(shí)現(xiàn)從低空俯視拍攝地面圖像,而且成像分辨率現(xiàn)已滿足有關(guān)標(biāo)準(zhǔn)的要求。將SUAV攝影應(yīng)用于交通事故現(xiàn)場(chǎng)勘測(cè),抑制使用普通相機(jī)采用攝影測(cè)量2D-DLT方法勘測(cè)交通事故現(xiàn)場(chǎng)時(shí),拍攝傾角對(duì)勘測(cè)精度的不利影響。為減少2D-DLT方法計(jì)算中的病態(tài)方程求解問題,提出了先將像點(diǎn)的量測(cè)坐標(biāo)值和物點(diǎn)的世界坐標(biāo)值歸一化處理,然后采用奇異值分解的方法計(jì)算DLT參數(shù)的SUAV攝影2D-DLT測(cè)量法,并通過仿真試驗(yàn)證實(shí)了該方法的有效性。為了給SUAV攝影2D-DLT測(cè)量法的實(shí)施提供指導(dǎo),研究了攝影高度的估算方法。最后,將實(shí)虛靶標(biāo)融合用于SUAV攝影2D-DLT測(cè)量法,構(gòu)建了SUAV攝影勘測(cè)事故現(xiàn)場(chǎng)的完整方法,設(shè)計(jì)了方法流程、硬件設(shè)備以及測(cè)試程序。通過現(xiàn)場(chǎng)試驗(yàn)驗(yàn)證了SUAV攝影勘測(cè)事故現(xiàn)場(chǎng)的有效性,測(cè)量數(shù)據(jù)的平均誤差小于1%,比使用普通數(shù)碼相機(jī)采用地面攝影測(cè)量的平均誤差進(jìn)一步減小。SUAV攝影勘測(cè)事故現(xiàn)場(chǎng),能有效解決由于拍攝傾角小造成的圖像校正精度低、場(chǎng)景覆蓋面小及可用信息恢復(fù)少等缺陷,提高交通事故現(xiàn)場(chǎng)勘測(cè)的精度,增強(qiáng)攝影測(cè)量2D-DLT方法的實(shí)用性。
[Abstract]:The traffic accident scene survey is the primary problem of road traffic accidents, a comprehensive and detailed analysis on the cause of the accident is of great significance. Photogrammetry 2D direct linear transformation based on single image (2D direct linear transformation, 2D-DLT) method, get the vehicle stop position to take pictures from the scene of the accident, the brake drag India, important pieces of information scattered location, by field survey of traffic accident scene. But due to concerns around the scene calibration feature points on not distributed in the region of interest in the investigation of traffic accident scene, and unable to overcome the influence of shooting angle on surveying precision and other reasons, resulting in limited applicability, practicality is not strong. Therefore, to improve the response of photogrammetry 2D-DLT method, support new methods and theories for traffic accident scene survey. Based on the traffic accident scene survey As a starting point, through the construction of virtual target fusion model, the virtual calibration object in wide range. In order to improve the effect of the implementation of the real and imaginary target fusion, is designed to achieve calibration, the research on feature point detection method, and analyzes the real and imaginary target fusion layout. In order to improve the applicability of photography the measurement method of 2D-DLT, this paper proposes an improved 2D-DLT method based on the fusion of real and virtual target, overcoming the single calibration accuracy of survey material epitaxial region defects. In order to improve the practicality of photogrammetry 2D-DLT method, proposed the small UAV (small unmanned aircraft vehicles, SUAV 2D-DLT) photography measurement method, effective solution to the use of ordinary camera the use of photogrammetry 2D-DLT method to survey the traffic accident site, due to the low precision of surveying defects caused by small angle shot. The specific research work is as follows: the real and imaginary target to construct the fusion model. In order to get The larger range and adapt to the traffic accident scene survey of the virtual calibration object, based on the factors of distortion imaging process and camera lens, through various photography layout at the scene of the traffic accident in the calibration object relative to the camera coordinate system rotation matrix and translation vector, a plurality of position calibration object to the same coordinate. Under the construction of real and virtual target fusion model. From the calculation of orientation parameters in the camera calibration, optimize the pose calculation and model parameters of the three aspects, studies the method of calculating the real and imaginary target fusion model parameters. Real time calibration of Euclidean distance with photography on its dimension unchanged between real calibration things that satisfy the minimum reprojection error between coplanar and control point as the constraint condition, optimization of the real and imaginary target fusion model parameters. Finally, the simulation results show that the real and imaginary target fusion model and The feasibility and stability of calculation parameters. The real and imaginary target fusion implementation and layout analysis. In the process of building virtual target fusion model, real calibration is an important basis. Through the analysis of the traffic accident scene, design of the plane structure of the black and white checkerboard calibration. The preprocessing of the scene image by median filtering the method, characteristics of interest outstanding image after using semi automatic detection (semi automatic detection, SAD) method to extract the real calibration feature points on the calibration test. The feature points on Extraction and Harris detection method of contrast, can effectively inhibit the emergence of accurate control points, improve the calibration accuracy of extraction the feature points on. In order to improve the effect of the real and imaginary target fusion, based on the real and imaginary target fusion layout of the indoor test analysis. The results show that, for fixed site area layout 4 The dispersion of real target, with a minimum number of real calibration object to obtain the maximum virtual calibration object coverage area. The real and imaginary target fusion accident scene investigation based on virtual reality. The target fusion is applied to the traffic accident scene survey, overcome the single calibration accuracy of survey material epitaxial region defects, improve its applicability by 2D-DLT principle. The method of photogrammetry, nonlinear optimization method and the traditional method to obtain the coordinates of control points, to set up an optimum control strategy of point target fusion of the virtual reality, the scene of the accident to get attention control points around the regional coordinate data, this paper proposes an improved 2D-DLT method based on the fusion of real and virtual target. Through field test virtual calibration object to establish virtual reality the target fusion was investigated respectively for the size of the region, the virtual calibration area occupied by the same size when the calibration object size and contrast using a single calibration. With the real and imaginary target fusion effect on the survey results. Experimental results show that the virtual calibration area occupied by a larger measuring area average relative error value is small, the results of photogrammetry is better; in the virtual calibration object for the same size under the premise of regional, with the increases in the calibration area. To measure the regional average relative error value changes little, photogrammetric results basically unchanged; the real and imaginary target fusion than using single real calibration of photogrammetry results better. In order to verify the superiority of the improved 2D-DLT method based on the fusion of real and imaginary target. Finally, a case analysis of the application results, and it is proved that the improved 2D-DLT method the feasibility of the accident scene investigation.SUAV.SUAV photography photography can be realized conveniently from low altitude overlooking the ground is photographed image, and image resolution has meet the requirements of the relevant standards. The SUAV photography In the application of traffic accident scene survey, prohibiting the use of ordinary camera using photogrammetric 2D-DLT method to survey the traffic accident scene, shooting angle on the adverse effects of survey accuracy. For solving ill posed equations of 2D-DLT method to reduce the calculation, puts forward the world coordinate first image point measurement coordinates and pixel normalized. Then the singular value decomposition method to calculate the parameters of DLT SUAV photography 2D-DLT measurement method, and the effectiveness of the method is verified by simulation experiments. In order to provide guidance to the implementation of SUAV photography 2D-DLT measurement method, study the estimation method of the height of the photography. Finally, the real and imaginary target fusion for SUAV 2D-DLT photography measurement method, construction a complete method to survey the scene of the accident SUAV photography, design methods and processes, hardware equipment and test procedures. Through field test to verify the SUAV photography survey at the scene of accident The validity, the average error of measurement data is less than 1%, than the average error using a common digital camera using photogrammetry to reduce.SUAV photograph the accident scene investigation, can effectively solve the captured image caused by small angle correction precision is low, the coverage of the scene and small information available recovery less defects, improve the traffic accident scene survey precision. To enhance the usefulness of photogrammetry 2D-DLT method.

【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;U491.31

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6 厲秀昀;專家呼吁讓醫(yī)生有合法身份進(jìn)入交通事故現(xiàn)場(chǎng)急救[N];中國(guó)中醫(yī)藥報(bào);2007年

7 本報(bào)記者 武_，

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