Research on the Monocular Ranging Method of the Leading Vehicle in Multi-weather
Yong Tian
*
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China.
Quancai Li
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China.
Shuman Guo
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China.
Gongrou Fu
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China.
Shichang Wang
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China.
Junkai Guo
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, 450045, China.
*Author to whom correspondence should be addressed.
Abstract
In order to improve the accuracy of the monocular distance measurement of the vehicle in front under sunny, cloudy, rainy, snowy, and foggy weather, an improved pixel-mapping monocular distance measurement method is proposed. This method is based on eight-connected domains to detect the front vehicle, obtain the line pixels of the target vehicle in the image, and fit the image line pixels to the corresponding real longitudinal distance function, and combine the fitted function with the internal and external parameters of the camera. An improved pixel-mapping monocular ranging model is obtained. Set up a test environment under different weather to verify the feasibility of the algorithm. The results show that in the four environments, the detectable distances are within 70m, 60m, 30m, and 40m respectively; the error of the improved pixel-mapping monocular ranging method is reduced by 0.6% on average compared with before the improvement, up to 0.92% ; The improved algorithm ranging errors under the four weathers are 1.8513%, 2.6987%, 4.0137%, and 2.5795% respectively, which achieves the purpose of improving the accuracy of the monocular distance measurement of the vehicle in front under multiple weather conditions.
Keywords: Multi-weather, front vehicle, monocular ranging, pixel mapping