KR-102960298-B1 - Pavement road surface information acquisition method and system using thereof

Abstract

The present invention relates to a method for acquiring paved road surface information using a line laser and an area camera, and a system for acquiring paved road surface information using the same. The system according to the present invention comprises: a line laser that forms a laser beam line on the road surface that extends in a second direction perpendicular to a first direction in which a vehicle proceeds on the road surface; an area camera that captures the road surface on which the laser beam line is formed to acquire a two-dimensional image—wherein the vertical direction of the two-dimensional image corresponds to the first direction, and the horizontal direction of the two-dimensional image corresponds to the second direction—; an image processing unit that finds a first pixel position ( v ) with the largest image value corresponding to the laser beam line for each vertical line of the two-dimensional image, and then extracts a first image value (Iv) of the first pixel position (v), and a second image value (Iv - 1) and a third image value (Iv +1 ) of a second pixel position (v-1) and a third pixel position (v+1 ) adjacent to the first pixel position. It includes a calculation unit that calculates a road surface image value (I) and a road surface profile value (R) using a second image value (I v-1 ) and a third image value (I v+1 ).

Inventors

• 김상욱
• 최종성
• 성현모

Assignees

• 이성 주식회사

Dates

Publication Date

20260507

Application Date

20231204

Priority Date

20221214

Claims (6)

1. delete
2. A line laser that forms a laser beam line on the road surface in a second direction perpendicular to the first direction in which a vehicle is traveling on the road surface, An area camera that captures a road surface on which the above laser beam line is formed to acquire a two-dimensional image - the vertical direction of the two-dimensional image corresponds to the first direction, and the horizontal direction of the two-dimensional image corresponds to the second direction -, An image processing unit that finds the first pixel position (v) with the largest image value corresponding to the laser beam line for each vertical line of the above two-dimensional image, and then extracts the first image value (I v ) of the first pixel position (v) and the second image value (I v-1 ) and third image value (I v+1 ) of the second pixel position ( v-1 ) and third pixel position ( v+1 ) adjacent to the first pixel position, and It includes a calculation unit that calculates a road surface image value (I) and a road surface profile value (R) using the first pixel position ( v ), the first image value (I v), the second image value (I v -1 ), and the third image value (I v+1 ). The above calculation unit is, The above road surface profile value (R) is expressed in the following mathematical formula Calculated by, Here, S R is a paved road surface information acquisition system where S R is a predetermined conversion coefficient.
3. In Paragraph 2, The above calculation unit is, The above road surface image value (I) is expressed in the following mathematical formula Paved road surface information acquisition system calculated by
4. delete
5. A step of forming a laser beam line on the road surface that is extended in a second direction perpendicular to the first direction in which the vehicle is traveling on the road surface, A step in which an area camera photographs a road surface on which the laser beam line is formed to acquire a two-dimensional image - the vertical direction of the two-dimensional image corresponds to the first direction, and the horizontal direction of the two-dimensional image corresponds to the second direction -, A step in which an image processing unit finds the first pixel position (v) with the largest image value corresponding to the laser beam line for each vertical line of the two-dimensional image, and then extracts the first image value (I v ) of the first pixel position (v) and the second image value (I v-1 ) and third image value (I v+1 ) of the second pixel position ( v-1 ) and third pixel position ( v+1 ) adjacent to the first pixel position, and The calculation unit includes the step of calculating a road surface image value (I) and a road surface profile value ( R ) using the first pixel position (v), the first image value (I v), the second image value (I v-1 ), and the third image value (I v+1 ). The above road surface profile value (R) is given by the following mathematical formula Calculated by, Here, S R is a method for obtaining paved road surface information, where S R is a predetermined conversion coefficient.
6. In Paragraph 5, The above road surface image value (I) is the following mathematical formula Method for obtaining paved road surface information calculated by

Description

Pavement road surface information acquisition method and system using thereof The present invention relates to a method and system for acquiring paved road surface information, and more specifically, to a method for acquiring paved road surface information using a line laser and an area camera, and a system for acquiring paved road surface information using the same. High-resolution road surface images and road surface profiles are acquired at high speed using an ultra-high-speed area camera and a line laser for road surface surveys. Since road surface images and road surface profiles must be extracted at intervals of at least 1 mm while driving at speeds of 80 km/h or less, the area camera used requires a high-resolution camera capable of acquiring and transmitting 4K-class video at 30K frames per second and an ultra-high-speed interface, and in addition, a high-performance PC is required to extract road surface images and road surface profiles from the acquired video in real time. To transmit area camera video at 4K resolution and 30K frames per second, ultra-high-speed serial interfaces such as Coaxpress 2.0 are currently primarily used. However, implementing such an interface requires installing a Frame Grabber interface card like Coaxpress 2.0 on a desktop PC, which necessitates installation on rack-mount type PCs that are vulnerable to vibration and dust during vehicle operation. Furthermore, PCs equipped with dual CPUs or higher are used to process high-resolution video transmitted at high speeds in real time; however, these are expensive and lack durability, placing significant limitations on their use in automotive environments. Meanwhile, a method is known in which a line laser is irradiated perpendicularly to the road surface, and a road surface profile corresponding to a height from the road surface is obtained by finding the location where the image value from the line laser beam is brightest in a 2D image captured by an area camera and applying a predetermined transformation coefficient. However, if the road surface profile is obtained using the conventional method, information loss may occur because the pixel location where the illumination brightness value from the line laser beam is highest is represented only as an integer. FIG. 1 is a configuration diagram of a paved road surface inspection system according to one embodiment of the present invention. FIG. 2 shows an embodiment of a line laser and an area camera according to the present invention mounted on a vehicle. FIG. 3 shows a two-dimensional image obtained through an area camera according to one embodiment of the present invention. Figure 4 shows an example in which three pixels are extracted for each vertical line in a two-dimensional image according to one embodiment of the present invention. Figure 5 shows the brightness value distribution of a line laser beam. FIG. 6 is a diagram illustrating an exemplary method for calculating road surface image values and road surface profile values according to the present invention. Figure 7 exemplarily illustrates the case where the position with the brightest brightness value of the laser beam line in Figure 6 is located at the start point, end point, or center of the first pixel with the largest image value. FIG. 8 is a flowchart illustrating a method for acquiring paved road surface information using a line laser and an area camera according to an embodiment of the present invention. Preferred embodiments that enable a person skilled in the art to easily implement the present invention will be described in detail below with reference to the attached drawings. However, these embodiments are intended to explain the present invention more specifically, and it will be obvious to a person skilled in the art that the scope of the present invention is not limited by them. The configuration of the invention, intended to clarify the solution to the problem to be solved by the present invention, is described in detail with reference to the attached drawings based on preferred embodiments of the present invention. It is noted in advance that in assigning reference numbers to the components of the drawings, the same reference number is assigned to identical components even if they are located in different drawings, and that components of other drawings may be cited if necessary when describing the drawings. Furthermore, in describing the operating principle of the preferred embodiments of the present invention in detail, specific descriptions of known functions or configurations related to the present invention, as well as other general matters, are omitted if it is determined that such detailed descriptions could unnecessarily obscure the essence of the present invention. Additionally, throughout the specification, when a part is described as being 'connected' to another part, this includes not only cases where they are 'directly connected,' but also cases where they are 'indirectly connected' with