Nguyin Viet Hung vd Dig Tap chi: KHOA HQC & CONG NGHB 169(09) 3 9 - 4 4
MO HINH HOA PHU'CfNG PHAP DO T O C D Q 6 TO DlTA TREN XU^ LY ANH Nguyen Viet Himg^', Nguyin Thj Thao^, Do Huy Khoi^, Nguyen Tien Diing'
'Tivmg Dgi hpc Bach Khoa Hd Ngi (MUST) 'Truang Dai hgc Cdng ngh$ thdng tin vd Truyin thong •• DH Thai Nguyen TOM TAT
Ngay nay, ty dong h6a trong quan ^ va giam sat giao thdng la cflng vipc vo ciing can thilt, cac phuang lien giao thdng can dugc dieu khien va giam sat hoan tgan tu dgng Giam sat cac phuoTig ti?n giao thgng nhJm thyc thi cac dieu khoan trong Lujt Giao diong dudng bo va de giao thong dien ra an toan, thdng sudt Do do, vi§c iing dyng phuang phap do toe dp fl to dya tren xu \<; ^nh la vi§c lam quan trpng va can thiet Phuang phap moi dugc cac tac gia de xuat sii dung mgt camera de mo hinh hoa khoang each tir camera tdi phuong tipn Trong phuang phap nay, vi tri ciia phuong tien CO the xac dinh ling vdi timg diem anh thu duoc dya vao thong so 13p dat ciia camera Phuong phip nay c6 the tan dyng cac camera giam sat hien c6 ma khong can thay doi hay lap them thiet bi ho trg khac, dieu nay phii hop vdi ca sd ha tang giao thflng d Vipt Nam
Tir khoa: loc dg xe; 6 to; dg sdu; camera, xir ly dnh
(handover) hoac dat vudng gdc vdi mat dudng. Phuong phap nay va phuong phap sii dyng camera ket hop vdi thdng tin quang trong [2] gay dat do ve kinh te, khd trien khai d cac nude dang phat trien, Phuang phap sii dung mpt camera de mo hinh hda gdc quet nhu [4] chua dai dipn dupc cho gdc quet theo tirng diem anh thu dugc tren timg khung hinh.
Ngoai ra, phuong phap sii dyng camera ket hgp vdi phuong phap nhan dien phuong tipn ciing dugc sit dung nhu trong [5], do toe dp phuong tipn bang tir trudng do xe di qua thay doi ket hgp vdi camera va nhgn dang bien so phuong tipn. Nhung phuang phap nay can tin hipu dong bd va gay ton kem,
Nghien ciiu nay dua ra phuong phap mdi nhim xac dinh vi tri va udc lirgng khoang each dl chuyen ciia phuong tien tir thdng so cua camera. Nhdm tac gia de xuat tinh toan dp dich chuyen ciia phuong tien tir cac mo hinh toan hpc theo cac diem anh, Md hinh hS thong Mo hinh hinh hpc ciia camera
Ban chat cua camera anh la mot hp thau kinh, H$ thong kinh nay cd tinh chat theo nhu nguon [6] dugc the hien d Hlnh I.
Hien tugng quang hoc irng dung tren may anh dugc mo ta nhu sau. Cac vat the lan luot la A.
B vk C cac vat the nay dugc ngim qua lo Gidi thieu
Trong nhung nam gan day, hp thong Giao thong thong minh (Intelligent Transportation System - ITS) da bat dau dupc nhieu nude dang phat tnen ap dung nham myc dich ty ddng hda giam sat va dieu khien giao thong Mdt he thdng ITS cd the thay the rat nhieu nhan luc, hoat ddng lipn tye va chii dpng giam sat dieu khien giao thong. Cac he thong giao thdng thong-minh tieu chuan cd cac chiic nang: dieu khien den tin hieu giao thong, canh bao nguy hiem ddi vdi cac phuang ti^n dang luu thdng tren dudng, kiem soat va quan Iy giao thdng, duy tri trat ty, thu phi dipn hi, giam sat toe dp phuang tien, giam sat va quan ly cac phuang tien tham gia diing luat va quan Iy luu lupng phuong tipn de dieu hudng ddng phuang tien. Do do, trien khai do toe dp xe 6 to la vipc lam can thiet trong vipc xay dyng cac tinh nang co ban cho hp tiiong ITS d Vi^ Nam Hien nay, tren the gidi da cd nhieu nghien ciiu cdng bo ve phuang phap do toe dO phucmg tien giao thong. Phuong phap sii dung 2 camera de do toe dp phuong tipn dugc gidl thipu d trong [1,3] sii dyng 2 camera toe do cao 160 khung hinh mot giay {frame-per- second-fps) dugc dgt vdi gdc khac nhau de tinh toan toe do xe qua vung chuyen giao
Tel 0904 090800. Email, nguyenvielhungi] 12@gmail a
Nguyen Viet Hung vd Dig Tap chi KHOA HOC & CONG NGHE 169(09): 39-44 ngam O. Tryc chinh di qua O la phap tuypn
vdi man s Khoang each giira cac vgt the la khdng giong nhau.
Hinh 1. Hien ttrgng quang hoc Cac VI tri ciia vat the theo tia tdi di qua O den man s Anh thu dugc tren man s la anh ciia cac vat the dua vao hien tupng quang hpc trong thau kinh Tinh chat cua anh nay la anh thgt va ngugc chieu vdi vat the. Vat the gan Io ngim hon thi anh to hon cac vat the khac d xa hon, Lo ngim nay dugc dgi dien cho mpt hp thau kinh tren may anh, trong trudng hpp nay anh thu dugc se nam tren tieu cy/cua may anh.
4-i
Hinh 2. Anh thu dugc doi luang Cac phuang trinh tinh toan:
(1)
*'5%«
Hinh 3. Mo hinh thiet Idp camera Tir Hinh 2 cho thay anh ciia vgt thu dugc tren man hogc tren cam bien ludn each tam 0 mpt khoang chinh bang tieu cu / , Chinh bdi cac dac trung nay ma anh thu dupc ludn la anh phing, khdng hien thi dd sau, npn can thiet
phai mo hinh hda dugc dp sau ciia anh dya vao thong so dudng di
Cac tac gia da mo hinh hda vi tri lip dgt camera tren dudng trong Hinh 3 day la ca so de tinh toan cac vi tri tga dp cua phuong tipn.
Camera cd thong so nhu sau, gdc quay camera la p (§='25), do phan giai camera la mn ihw dugc chinh la anh /. Camera dupc dat each mgt duong vdi dp cao la K true ciia camera la Or, gdc ngang ciia camera la {a^S).
Dudng cd the doc hogc duac dai dipn bdi mpt ham so, true Ox ciia camera cat mat dudng tgi C. Diem C se luon la vimg trung tam ciia anh, vi diem C nim d vimg chinh giira cam bien anh ciia camera, Vi tri diem L chinh la ddng diem anh d dudi cimg hay vi tri gan nhat camera cd the thu duoc. Tir cac thong so tren cd the tinh toan dugc khoang each den vat the.
Tir cac khoang each tinh toan dugc, cd the thyc hien do toe dp doi vdi phuang tien.
M6 hlnh hinh hgc ciia du&ng giao thong tir dnh thu tren camera
Mgc dii dudng phuong tien di chuyen la 2 luong song song vdi nhau nhung tren ^ h thu dupc vdi timg gdc ngang ma dudng phuang tien di chuyen cd the cat nhau d xa nhimg nim trong khung hinh hoac nam ngoai khung hinh thu dupc,
Y nghia hinh hpc theo gdc nhin ciia doi tupng dugc the hien trong Hinh 4.
vanish point
Hinh 4, I 'anish Point (iP) tir cdc true chinh ciia doi tu(;mg trong dnh Kipm tra md hinh ciia dudng theo mdt diem giao, diem giao nay cd nhipm vy quan trpng trong vipc xac dinh vi tri ciia phuong tipn tren dudng theo chieu rpng cua dudng.
Cac tryc song song vdi nhau sc giao nhau tgi mpt diem theo gdc dat ciia camera dua vao y nghia hinh hoc.
Nguyin Viet Hung vd Dtg Tgp chi KHOA HOC & CONG NGHE 169(09): 39-44 Trong trudng hpp nay, VP chinh la phan
dudng d rat xa so vdi viing camera cd the quan sat ro, di^u nay phy thupe vao dp phan giai ciia camera, tieu cu camera co dinh Diem VP nay duoc tim tir cac cgnh dudng cat nhau. De ve dugc VP cac tac gia chi ap dung phuong phap nay tren con dudng thing. Neu diem VP o trong anh, thi gdc nhin nay phu hpp vdi vipc quan sat giao thdng tren mpt tuyen dudng, VP d ngoai anh tiic la chi tap trung quan sat mpt viing giao thong nao do, Y nghia ciia VP quan trpng trong viec phan tich chieu ngang cua khung hinh.
Mo hinh cua camera CO ban dua tren cac ffieu kien' - Gia sii dudng la thang hoan toan. Vi neu cong hoac doc thi se khdng tim dugc vanish point. Dogn dudng dang xet rat nhd so vdi dudng cong cua trai dat
- Anh ao thu dugc la anh that (anh thgt ngugc chieu vdi vgt va d sau he tiiau kinh 1 khoang la f) do khoang each / rat nhd so vdi vi tri phuong tlpn tdi camera.
- Coi tryc vuong gdc vdi 00 cd tam gdc nhin thu dugc nam ngay tren dd.
- Npu dudng cd dp doc thi vi tri cac diem cat lan lugt la L va C, cdn /,' va C' la diem cat tgi tryc vuong gdc vdi mat phang trai dat - Neu dudng khdng doc thi L tning L' vk C trimg C
Phan tich man /: man / la man dgi dipn cho I hinh anh thu dugc tir camera giam sat. Anh / cd kich thudc mn, kich thudc nay chinh la kich thudc cac diem anh so tren cam bien.
Kich thudc diem anh theo hang hoac theo cpt cung chinh la anh xa gdc quet cua camera len cac diem anh.
Do dd, kich thudc ciia anh / la m.n thi cd the duoc dgi dipn cho gdc quet cua camera.
Bdi ong kinh ciia campra la tron, cam bi^n camera hinh chu nhat, gdc quet ciia camera ling vdi dudng cheo ciia anh Cac dii lipu khac da duac nha san xuat logi bd 6i do khdng phii hpp vdi mit dac bipt la viing vipn cua anh d dgng trdn tren thau kinh.
Til gdc quet va kich thudc ma trgn dicm gnh, cac tac gia da tinh toan dugc timg vi tri dipm anh, chinh la cac gdc nhd trong gdc quet ciia camera. Moi diem anh cd kich thudc la 1 don vi, ludi ma trgn dugc tgo thanh tir cac diem anh cd kich thudc bang nhau, cac diem anh nay each tam ciia hp thau kinh mpt kich thudc l a / Diem O la tam ciia hp thau kinh trpn camera O' la tam roi tren sensor hinh anh. Do dd, tgi diem .^(/,y) gdc tao bdi O'OA cd cong thirc tong quat se la:
/
(2)Tir day theo tinh chat dudng tron, hinh chii nhgt va cac tinh chat lupng giac ta cd the tinh dupc cac diem anh trong anh / cd kich thudc m.n tuong ung vdi mdt gdc quet ciia camera.
Trong gidi hgn bai toan do van toe phuang tipn cac tac gia chi xet cac phuong tipn di chuyen thang va do dd cac tac gia chi xet cac diem anh ciia doi tupng theo chieu doc khung hinh myc dich la de xac dinh dp dai khoang each di chuyen ciia doi tugng. Goi Ap la kich thudc I diem anh tren cam bipn:
/ t a n J
Ap = (3)
Tir gdc a va gdc S da biet, cd dupc vj tri ciia diem A tren anh thu dugc nam each tam 00 mpt khoang nhu sau,
Neu diem./4(/,y)vdi / > — thi.
neu diem A{i,j)vaii <— thi:
d = h.tan\ a+\ i5 + arctan
Nguyin Viet Hung vd Dtg Tgp chi KHOA HOC & CONG NGH$ 169(09)'39-4?"
Nhdn dgng d td
Phuong phap duoe cac tac gia sii dyng d day la phuong phap trit nen d^ tim ra sy khac nhau giira cac anh \\x dd nhgn dgng ra doi tupng chuyen dpng trong video.
Trong [7,8] cac tac gia da tong hgp lai dua ra mo hinh nen cho nhieu doi tupng va md hinh nay dugc dua ra nhu sau:
m)=z^,,M^.-/^,,.i;)
(6)Cac tac gia da su dyng them phuong phap phan logi phuong tien duoc gidi thieu trong [9] de phan loai phuang tien dua vao gdc ciia phuang tipn nhgn dang dugc
Khung hinh trong video
Tiiy vao moi camera cd thuoc tinh khac nhau, camera cac tac gia su dung cd 12 khung hinh trong mdt giay (fps) Ta co ban do khung hinh nhu sau:
1 2 3
V
4
^
5 6 7 8 9 10 11 12
1
Frames in a second
Hinh 5. Bieu dien sd khung hinh trong mgt gidy (camera thit nghiem co toe dg 12fps) Tit ban do frame, cd the tinh dupc khoang thdi gian giiia 2 frame lien tiep nhau la: 1/12 giay. Khi cac phuang tien d khoang each xa tien gan vao camera cd the sit dung cac cap khung hinh lien tiep nhau hoac khdng lien tiep dp tinh toan do dich chuyen ciia phuang tipn trong khoang thdi gian At. Tir do tinh toan dupc vgn toe tmng binh v cua phuong tien theo cong thuc
- As
V = - . (7) Vi phuong tien khdng phai la mpt diem trong
khung hinh thu dugc, cac tac gia de xuat chi xet cac diem ciia phucmg tien gan camera nhat de bao toan trong tam cua phuong tien khi phuang tipn di tir xa tdi gan, 42
Nhian dBng phBBng tilSn
Tinh toSn viatri phSSng tiEn trong Hnh
Tinh todn vSntBcdraa' ItriphBEnetiSngiElaca
C
hBBng tian^ THcdB \Hinh 6. Lmi do thudt loan ciia phuang phdp Trong khung hinh, diem anh la don vi nhd nhat cd the chia dupc, nen cac tac gia da sii dyng phuong phap mo hinh hda de xac dinh duoc vi tri ciia phuong tien thu dupc tii camera theo diem anh, Phuang phap nay cd the md hinh hda dugc ca kich thudc ciia vat the tir xa tdi gan Tir kich ban mo phdng va nguon dii lipu ciia camera thu dugc, cac phuong tipn cd hudng di chuyen tir phia dudi len phia tren ciia khung hinh (tir vi tri m™„ d day khung hinh den vi tri VP hay d hang ma giai thugt nhan dien phuang tipn cd the phat hien dupc), Do do, trong nghien ciiu nay cac tac gia chi xac dinh dp dich cua phuong tipn tren ^ h thu dugc theo hang m de tinh vgn toe ciia phuong tipn
Thdi gian doi tuong da di vao khung hinh nhung chua so hda dugc thanh diem anh dgi dien } la IQ va thdi gian doi tupng di vao khung hinh va bat dau duoc so hda tgi diem anh ;• la ti. i la diem anh dgi di^n cho mpt doan duong. Thdi gian va quang dudng nay la rat nhd so vdi thdi gian va quang dudng phuong tipn di chuyen nen nhdm tac giii thong nhat khdng xet tdi.
Ket qua Mo phdng
Nhdm tac gia sii dyng du lieu camera mpt mit giao thong d Viet Nam de md phdng va danh gia kpt qua. Thong so cua camera dya theo Bang I,
Nguyin Vict Hrnig va Dig Tap chf KHOA HOC & CONG NGHE 169(09) 39-44 Bang 1. Thong sc
Chieu cao camera so vdi mat dudng Goc ngang ciia camera Goc quet ciia camera theo chieu doc Tieu cy ciia camera
Dd phSn giai camera
lap dgl earner
6,15 met 78,7 dp 37,4 dp 4mm 600x800 Trong khung hinh thu duoc nhdm tac gia chi
xet tdi vung dupc ke mau dd dupc minh hpa trong Hinh 7 vi day la vimg phu hpp vdi kich ban. Khi trdi toi, camera giam sat cd hudng nhin den dang sau phuong tien vdi muc dich la vipc nhan dang phuang tien va trich xuat bien so xe ro rang hon so vdi camera cd hudng nhin den ding trudc.
Trong Hinh 7, cac phuong tien dang dimg chd den dd trong viing bao mau 36 khdng duoc nhgn ra vi c ^ tac gia sii dung phuong phap trir nen de tim ra cac phucmg tien chuyen dpng trong bai toan udc lugng tinh toan van toe phuang tien. Cac phuong tipn nay ke tir luc dirng sau mot chuoi khung hinh thi se bi thuat toan coi la nen va khong nhgn dipn ra cd phuong tipn.
Bi£u oO VAN T6C DO Dlfpc
Hinh 7. Hinh dnh gdc vd dnh nhdn dgng phucmg ti^n thu duac
So phuang tipn d to sau khi nhgn dgng va phan logi dugc the hien d trong Hinh 8 gom 20 phuang tien.
Hinh 8. Cde phuang ti^n nhgn dang dugc Ket qua md phdng do toe dp ciia phuong phap nay dugc the hien ft-ong Hinh 9. Bang du lipu dugc dua ra tir vgn toe do dugc ciia 20 mau 6 td tim duoc trong bo dii Heu tiiu dupc Trong bieu do nay, cac tac gia da tiiong ke 2 toe dp mau sii dyng tin Tiieu GPS danh gia sai so ciia phuong phap.
Hinh 9. So sdnh toe d4 linh bdng xir ty dnh V&I do tif GPS Bang 2. Ddnh gid sai so Fhuinig
tien Toe do
GPS
#8 19,70kni/h
#11 25,Qlkm/h
Toe do cua phu'tmg phap de xuat
19,43kni/h 25,17kni/h Trong Bang 2 the hipn toe do theo 2 phuang phap. Coi toe dp do dupc bing GPS la vgn toe chinh xac cua phuang tipn can do Theo thong ke tir Bang 2 thi sai so ciia phucmg phap Idn nhat la 98,62% ciia phuang tien #8 va 99,36%
vdl phucmg tipn #11 Ket luan
Trong nghipn ciiu nay cac tac gia da md hinh hda dupc khoang each giira cac diem anh cua khung hinh thu duoc tir vi tri 1 ^ dat camera va cac thuoc tinh cua camera, day la nghien ciiu mdi, Cac ket qua cua nghien ciru nay cd the dugc ap dung trong nhieu ITnh vyc xii Iy anh tir camera bing each tai tao lai dang hinh hoc khong gian cua doi tupng theo chieu say.
Phuong phap dugc trinh bay trong bai bao co y nghTa khoa hoc va thuc tien, Phuong phap nay phat huy diem mgnh tren dudng cao toe hogc khi cac phuong tipn khdng phai dirng do, vi khi do toe do cua phuong tipn tai doan dudng do se it thay doi.
43
Nguyen Viet Hung vd Dtg Tap chi KHOA HOC & CONG NGHB 169(09): 39-
L&icdm cm
Nghien eiiu nay la san pham ciia de tai cd ma so T2017-07-15, dupc tai trg bdi kmh phi ciia trudng Dai hpc Cong nghe Thdng tin va Trayen thdng.
TAI LIEU THAM K H A O 1. D, F, Llorca, C, Salinas, M Jimenez, I Parra, A G Morcillo, R Izquierdo, J Lorenzo, M, A Sotelo, "Two-camera based accurate vehicle speed measurement using average speed at a fixed point", IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), pp, 2533-2538,2016.
2, Fumiaki Mitsugi, Toshiyuki Nakamiya, Yoshito Sonoda, Hirohani Kawasaki, "High-Speed Camera and Fibered Optical Wave Microphone Measurements on Surface-Dielectric-Barrier Discharges", IEEE Transactions on Plasma Science, pp. 2642 - 2648, 2015.
3 Chen Yajun, Zhang Erhu, Kang Xiaobing,
"Divisional S'eloeity Measurement For High- Speed Cotton Flo-w Based on Double CCD Camera and Image Cross-Correlation Algorithm", The U t h IEEE Intemational Conference on Electronic Measurement & Instruments, pp, 202- 206,2013.
4, Viet-Hoa Do, Le-Hoa Nghiem, Ngoc Pham Thi, Nam Pham Ngoc, "A Simple Camera Calibration Method For Vehicle J^elocity Estimation", 12th International Conference on Electncal Engineenng /Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), pp 1-5,2015,
5, Diogo Carbonera Luvizon, Bogdan Tomoyuki Nassu, and Rodngo Minetto, "A Video-Based System for Vehicle Speed Measurement in Urban Roadways", IEEE Transactions On Intelligent Transportation Systems, pp 1-12,2016.
6, David A Forsyth and Jean Ponce, "Computer Vision A Modern Approach" second edition, 2012 7 C. Stauffer and W E L Grimson, 'Adaptive background mixture models for real-time tracking", Proc IEEE CVPR 1999, pp. 246-252, June 1999.
8 Massimo Piccardi, "Background subtraction techniques: a review", IEEE Intemational Conference on Systems, Man and Cybernetics, pp 3099-3104,2004
9 Nguyen Viet Hung. Nguyen Hoang Dung, Le Chung Tran, Thang Manh Hoang and Nguyen Tien Dzung "Vehicle Classification by Estimation of the Direction Angle in a Mixed Traffic Flow ", IEEE Sixth International Conference on Communications and Electronics (ICCE), pp 365 -368,2016,
SUMMARY
A M O D E L V E L O C I T Y M E A S U R E M E N T M E T H O D F O R CAR BASE I M A G E P R O C E S S I N G
Nguyen Viet Hung^*, Nguyen Tbi Thao^, Do Huy Khoi^, Nguyen Tien Dzung^
'Hanoi University of Science and Technology
^University of Information and Communication Technology - TNU
Today, automation in traffic management and monitoring has been important, vehicles need to be controlled and monitored automatically. Monitoring of transportation vehicles to implement the provisions of the Law on Road Traffic and to ensure safety Uaffic Therefore, the application of velocity measurement method based on image processing is important The new method has been proposed by the authors used parameters of camera to model the distance from the camera to the vehicle. In this method, the location of the vehilce could be determined for each pixel obtained based on camera settings This method take advantage of the existing surveillance camera system without changing or installing other supporting equipment, which is suitable for transportation infrastructure in Vietnam
Keywords, velocity; car; depth; camera; image processing.
Ngdy nhdn bai:lS/4/2017; Ngdy phdn biin: 09/5/2017; Ngdy duyit ddng: 30/9/2017 Tel: 0904 090800. Email: ngiiyenviethiingl} [email protected]
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