CN106097480A - Vehicle operation data record system - Google Patents
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- CN106097480A CN106097480A CN201610405359.6A CN201610405359A CN106097480A CN 106097480 A CN106097480 A CN 106097480A CN 201610405359 A CN201610405359 A CN 201610405359A CN 106097480 A CN106097480 A CN 106097480A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
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Abstract
nullThe invention discloses vehicle operation data record system，The view data of instrumental panel in instrumental panel video camera captured in real-time vehicle travel process，The view data in front in forward direction viewpoint cameras captured in real-time vehicle travel process，Car status information in onboard sensor Real-time Collection vehicle travel process，Data processing module is mounted with instrumental panel template database and alarm module，The view data transmission of instrumental panel camera acquisition is compared to data processing module with instrumental panel template database，Identify vehicle speed data and instrumental panel indication signal data，Data processing module combines the forward image data of forward direction viewpoint cameras transmission、The car status information of onboard sensor transmission carries out aggregation process、Preserve，And call alarm module when vehicle-state exception，On-the-spot reduction and simulation module reduction accident generating process is called when vehicle generation vehicle accident.
Description
Technical field
The present invention relates to vehicle and travel recording technique field, be specifically related to vehicle operation data record system.
Background technology
When automobile generation specific event, accident or fault, the reason of record specific event, analysis accident or fault needs
Travelling data to be obtained, but these travelling datas obtain being difficult to afterwards.
Driver is when driving, and main focus is three aspects: dead ahead visual angle, instrumental panel, well perception vehicle
Transport condition (such as sound, vibrations etc.).In existing system, seldom have and the information with this three aspect is carried out collecting preservation, and use
Reduce in driving conditions.And the instruction information of instrumental panel is more and the most general, a lot of drivers can only debate and know conventional instruction
Data, often do not have concept maybe can ignore these promptings to special fault cues.
The most existing vehicle is commonly used GPS alignment system and is positioned, but owing to the positioning precision of GPS is relatively low, vehicle moves
During gps signal existence and stability problem so that the continuity of data, reliability are not high enough.
By collection electronic data as reference more than in existing scheme, and electronic data can not become evidence intuitively；By
Different in the kind model of vehicle, can be with the traveling shape of accurate recording vehicle currently without a kind of simple common apparatus
State, cannot preserve complete evidence, cannot be completely reproduced up the state of vehicle at that time when there is accident or happenstance.
Summary of the invention
Goal of the invention: for the deficiencies in the prior art, the present invention provides a kind of vehicle operation data record system, it is possible to real
Reappear driving conditions the most afterwards.
Technical scheme: vehicle operation data record system of the present invention, takes the photograph including instrumental panel video camera, forward direction visual angle
Camera, onboard sensor, data processing module, on-the-spot reduction and simulation module；Instrumental panel video camera captured in real-time vehicle runs over
The view data of instrumental panel in journey, in forward direction viewpoint cameras captured in real-time vehicle travel process, the view data in front, vehicle-mounted
Car status information in sensor Real-time Collection vehicle travel process, data processing module is mounted with instrumental panel template database
And alarm module, the view data transmission of instrumental panel camera acquisition is carried out to data processing module with instrumental panel template database
Comparison, identifies vehicle speed data and instrumental panel indication signal data；Data processing module is used for monitoring vehicle-state, at vehicle-state
Combine the forward image data of forward direction viewpoint cameras transmission time abnormal, the car status information of onboard sensor transmission is converged
Always processing, preserve and call alarm module, call on-the-spot reduction and simulation module when vehicle generation vehicle accident, grand master pattern is gone back at scene
The data intending module receiving instrument dial plate video camera and onboard sensor transmission determine accident generation material time point, and utilize key
The data recovery accident panoramic view of forward direction viewpoint cameras transmission during time point.
Improving technique scheme further, described instrumental panel video camera is at least one, is fixed on steering wheel and supports seat
On；Described onboard sensor is angular-rate sensor, shaking sensor, acceleration transducer, gyro sensor, speed arteries and veins
That rushes in sensor is one or more, and angular-rate sensor is arranged on the steering wheel of vehicle, for detecting the rotation of steering wheel
Angle, shaking sensor is for detecting transport condition and abnormal shake, seismism, the acceleration transducer collecting vehicle of vehicle
Acceleration information, the data that gyro sensor collection vehicle turns to, speed pulse sensor collection vehicle road speed
Data.
Further, described data processing module is provided with radio communication unit and base station communication, and being used for receiving base station provides
Present road information and upload the event data of vehicle.
Further, the information of described instrumental panel template data library storage includes instrumental panel picture, and in instrumental panel, each refers to
Show the figure of signal, position, indicating mode and instruction implication.
Further, the view data transmission of described instrumental panel camera acquisition is to data processing module and instrumental panel template
Data base's process of comparing is as follows:
(11) read pending instrumental panel image, be translated into bianry image；
(12) area in bianry image is removed too small, it is possible to certainly for non-pointer and the region of scale；
(13) position finder hand of dial, expands white portion, removes unrelated parameter；
(14) search connected region border, retain image simultaneously, in case labelling below；
(15) the largest connected region of pointer in all connected regions is found out；
(16) extract pointer angle with Radon algorithm, obtain speed by the scale template of storage in instrumental panel template database
Degree information；
(17) deduct the connected region figure in largest connected region, identify the R that falls back, neutral N, automatic catch D, parking P letter
Breath, determines gear information；
(18) store image with data form after extracting critical data, reduce the pressure of storage image.
Further, described on-the-spot recovery module is provided with histogram analysis module and SIFT algoritic module, histogram analysis
Module determines material time point according to instrumental panel image information and the car status information of in vehicle accident two crucial vehicles,
SIFT algoritic module, on the basis of material time point, travels the image information in front, recovery accident aphorama according to two vehicles
Figure.
Further, first, extract and vehicle accident relates to the travelling data of thing vehicle and collects；
Second, histogram analysis module is according to the instrumental panel image information in vehicle driving data and car status information
Determine the material time point that vehicle accident is corresponding；
3rd, on the basis of material time point, SIFT algoritic module is retrodicted out the driving rail of each vehicle before having an accident
Mark, shows the vehicle-mounted image on corresponding time point, the process that reduction accident occurs simultaneously:
(21) be distributed by the rectangular histogram approximate data in data mining, Decision Tree Inductive analyzes material time point；
(22) to relating to image information I in two crucial vehicle traveling fronts in thing vehicle1(x,y)、I2(x, y), carry out based on
The extracting and matching feature points of SIFT algorithm, recovery accident panoramic view: use Gaussian convolution computing to build metric space, Gauss
Difference function D (x, y, σ) is by calculating with two of constant multiplication factor k adjacent scalogram aberrations:
D (x, y, σ)=(G (x, y, k σ)-G (x, y, σ)) * I (x, y)=L (x, y, k σ)-L (x, y, σ) (1)
Initial pictures, through progressively Gaussian convolution computing, obtains a series of metric space, i.e. Gauss yardstick DOG space, space
Extreme point detection key point is made up of the Local Extremum in DOG space, middle test point and it is adjacent with 8 of yardstick
Point 9 × 2 points totally 26 points corresponding with neighbouring yardstick compare, to guarantee all to examine at metric space and two dimensional image space
Measure extreme point；
The direction distribution of extreme point: (x, y), (x, y) with direction θ to calculate its gradient modulus value m for each sampled point L
(x, formula y) is:
Characteristic point describes the generation of son: rotated to by coordinate axes on the gradient direction of characteristic point, it is ensured that rotational invariance, logical
Describe a characteristic point frequently with 16 son points, then calculate the gradient accumulated value in 8 directions in every height point, obtain feature
Point describes the characteristic vector of son, for 4*4*8=128 dimensional vector；Obtained by characteristic vector there is invariable rotary shape so permissible
Extract I respectively1And I2Characteristic vector in two width images carries out Feature Points Matching, is spliced into a width panoramic view；
4th, the process occurred according to the accident of on-the-spot reduction and simulation modules exhibit determines the responsibility of accident.
Beneficial effect: compared with prior art, advantages of the present invention:
1, event in driving conditions being connected with corresponding instrumental panel image, view data can be as directly
The evidence seen, for violating the regulations judgement, accident responsibility judgement etc.；
2, by the analysis to instrumental panel image, can be with the indication signal data of identifier dial plate, when failures are detected,
Can prompting driver promptly and accurately；
3, reappear driving conditions accurately, intuitively by on-the-spot reduction and simulation module, can be used for scene of a traffic accident reduction
Quickly locate fix duty, vehicle trouble investigation and reproduction, vehicle peccancy evidence obtaining.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
In figure: 1, instrumental panel, 2, instrumental panel video camera, 3, data processing module, 4, forward direction viewpoint cameras, 5, direction
Dish, 6, angular transducer, 7, shaking sensor, 8, acceleration transducer, 9, gyro sensor, 10, velocity pulse sensing
Device.
Fig. 2 is the operating diagram of data processing module；
Fig. 3 is the operating diagram of on-the-spot recovery module.
Detailed description of the invention
Below by accompanying drawing, technical solution of the present invention is described in detail.
Embodiment 1: instrument is set on seat as it is shown in figure 1, support at steering wheel 5 according to the size of meter panel of motor vehicle and structure
Disk video camera 2, when instrumental panel is wider or during more dispersed and distributed, an instrumental panel video camera cannot shoot complete instrumental panel figure
Picture, can use multiple instrumental panel video camera 2 to shoot the instrumental panel image of different piece respectively；Vehicle is installed forward direction visual angle
Photographic head 4；Vehicle arranges angular-rate sensor 6, shaking sensor 7, acceleration transducer 8, gyro sensor 9, speed
Degree impulser 10, angular-rate sensor 6 is arranged on the steering wheel 5 of vehicle, for detecting the rotational angle of steering wheel 5,
Shaking sensor 7 is for detecting transport condition and abnormal shake, seismism, acceleration transducer 8 collection vehicle of vehicle
Acceleration information, the data that gyro sensor 9 collection vehicle turns to, speed pulse sensor 10 collection vehicle road speed
Data, on vehicle, the position installation data processing module 3 of instrumental panel video camera 2 processes with on-the-spot reduction and simulation module, data
Module loading has instrumental panel template database and is provided with wireless communication module and alarm module, and instrumental panel template database is according to vapour
Vehicle number is set up, and the information of storage includes instrumental panel picture, the figure of each indication signal, position, indicating mode in instrumental panel
With instruction implication, wireless communication module is used for communicating with mobile network base station or traffic control system base station, data processing module
By wireless communication module obtain present road information that base station provides (such as speed limit restricted driving information, front road section traffic volume accident or
The information of road congestion) give driver, and to upload vehicular events data to base station and put on record, event includes breaking rules and regulations, accident, prominent
Send out fault such as vehicle to cast anchor warning.
Running data processing method is carried out based on above-mentioned setting:
(1) instrumental panel template database is set up according to automobile model；
(2) obtain in real time the instrumental panel image information in vehicle travel process, vehicle travel front image information and
Car status information；
Instrumental panel real-time image information acquisition algorithm:
1. read pending instrumental panel image, be translated into bianry image；
2. the region that area is too small, can affirm non-pointer and scale is removed in image；
3. being positioning pointer, expanded by white portion, unrelated small articles (travelling milimeter number, ambient temperature) is removed in corrosion；
4. search connected region border, retain this figure simultaneously, in case labelling below；
5. find out in (the largest connected region) of most probable pointer in all connected regions；
6. extract pointer angle with Radon algorithm, obtain velocity information by with the contrast of instrumental panel template database；
7. button removes the connected region figure in largest connected region, identifies R, N, D, P information, determines gear information；
8. extract the form of data storage after critical data and non-image, reduce the pressure of storage image
(3) data processing module monitoring vehicle-state, if finding, vehicle-state is abnormal, as abnormal in Vehicle Speed, turn
To abnormal, braking is abnormal, instrumental panel is reported to the police: extraction apparatus dial plate image information and instrumental panel template database phase comparison, identification car
Speed data and instrumental panel indication signal data, instrumental panel can be divided into mechanical type and electronic type two kinds, various in mechanical type instrumental panel
The position of indication signal is fixing, can there is the switching at difference in functionality interface in electronic instrument dish, and the content of display also has
Institute is different.Therefore, when template is set up for electronic instrument dish, should first define the feature of each function interface, then describe each
The implication of instrument display information in individual function interface.Such as in mechanical type instrumental panel, speed shows the form mostly being pointer rotation,
In electronic instrument dish, speed is then indirectly displayed as digital form by some, believes the numeral in electronic instrument dish or word
Breath should use OCR technique to be identified, owing in each vehicle, the installation site of instrumental panel video camera, angle can exist certain
Difference, it is therefore desirable to mated by the carrying out of instrumental panel image with instrumental panel template by accuracy registration algorithm, calculates installation by mistake
Difference, view data can be modified in actual moving process, be beneficial to automatically the identifying of instrumental panel information, reduce fortune
Calculation amount；Travel the image information in front in combination with vehicle, car status information generates the image with digital watermarking and driving
Data, image includes instrumental panel image or instrumental panel image and the combination of forward direction multi-view image, and digital watermarking comprises instrumental panel
Analytical data, onboard sensor data, shooting time labelling, the data after extraction process carry out Macro or mass analysis preservation and by report
Alert module is to vehicle driver's alert；
(4) if finding, vehicle-state strange happening part is vehicle accident, extracts two travelling datas relating to thing vehicle, such as Fig. 2, figure
Shown in 3, on-the-spot reduction and simulation module on the basis of the time point that each vehicle has an accident, each car before having an accident of retrodicting out
Travelling data, show the combination image on corresponding time point, reduction accident generating process simultaneously；Determine in vehicle accident and close
2, key vehicle, extraction apparatus dial plate data and vehicle status data, go out triggered time point by histogram analysis module analysis；With
On the basis of material time point, SIFT algoritic module is retrodicted out the wheelpath of each vehicle before having an accident, and shows correspondence simultaneously
Vehicle-mounted image on time point, the process that reduction accident occurs: combine vehicle speed data and Vehicular turn data, simulate vehicle
Actual travel track, and while display driving trace, show the vehicle-mounted image on corresponding time point, thus reproduce vehicle
Driving process；
Wherein: vehicle-mounted image is instrumental panel image or instrumental panel figure image and the group of two kinds of images of forward direction multi-view image
Close, by the combination of above two image, can be than the scene that more comprehensively reproduction driver observes；
Vehicle speed data is by extracting in instrumental panel image or being provided by speed pulse sensor, and Vehicular turn data are passed by angle
Sensor or gyro sensor provide, or are analyzed the image of forward direction viewpoint cameras and obtain；
By to the relative analysis of the consecutive image that forward direction viewpoint cameras shoots, the object of reference information extracted in image,
May determine that vehicle is in the state that craspedodrome state is in turning, it is possible to obtain the angle turned.
When using on-the-spot reduction and simulation resume module vehicle accident, it is realized by the following method:
First, obtain the travelling data of the data processing module relating to vehicle in vehicle accident and collect；
Second, determine, according to the travelling data of each vehicle, the corresponding time point that has an accident with each vehicle；
Can be by checking forward direction multi-view image, checking the sudden change of speed, comparison shaking sensor, acceleration transducer
The methods such as data, determine the time point of the correspondence that has an accident in travelling data；
3rd, on the basis of the time point that each vehicle has an accident, the driving of each vehicle before having an accident of retrodicting out
Track, shows the vehicle-mounted image on corresponding time point, the process that reduction accident occurs simultaneously:
Merge various data analysiss by statistical method in data mining and go out triggered time point:
Rectangular histogram is to use branch mailbox to carry out approximate data distribution, is a kind of data regularization form.According to time point, timing statistics
Point eigenvalue obtains quantity.The data that strange happening part triggers are few event, so statistics with histogram is effective.Multi-class data determines strange happening
Part time point, utilizes Decision Tree Inductive to obtain final material time point；
Assuming that in vehicle accident, vehicle 1 and 2 is crucial vehicle, the image travelling front photographed is I1(x,y)、I2(x,
Y), two width figure SIFT algorithms are carried out characteristic matching and complete panoramic view；
SIFT algorithm, scale invariant feature conversion (Scale-invariant feature transform, SIFT) is one
The algorithm planting computer vision is used for detecting and describe the locality characteristic in image, and it finds extreme point in space scale, and
Extracting its position, yardstick, rotational invariants, this algorithm is delivered in 1999 by David Lowe, within 2004, improves and sums up,
This algorithm may be used for image mosaic.SIFT algorithm key step is as follows:
1, metric space is built: in order to the position of key point is stablized in detection effective in metric space, Lowe proposes
Difference of Gaussian convolution, difference of Gaussian function D (x, y, σ) can be by two adjacent scalogram aberrations with constant multiplication factor k
Calculate:
D (x, y, σ)=(G (x, y, k σ)-G (x, y, σ)) * I (x, y)=L (x, y, k σ)-L (x, y, σ) (1)；
Initial pictures, through progressively Gaussian convolution computing, obtains a series of metric space, i.e. Gauss yardstick (DOG) space.
2, spatial extrema point detection:
Key point is made up of the Local Extremum in DOG space, middle test point and it is with 8 consecutive points of yardstick
9 × 2 points corresponding with neighbouring yardstick totally 26 points compare, to guarantee all to detect at metric space and two dimensional image space
To extreme point.
3, the direction distribution of extreme point:
For each sampled point L, (x, y), (x, y) (x, formula y) is with direction θ to calculate its gradient modulus value m
4, the generation of characteristic point description:
Coordinate axes is rotated on the gradient direction of characteristic point, it is ensured that rotational invariance, generally use 16 son points to retouch
State a characteristic point, then calculate the gradient accumulated value in 8 directions in every height point, obtain characteristic point describe son feature to
Amount, for 4*4*8=128 dimensional vector；Obtained characteristic vector has invariable rotary shape so I can be extracted respectively1And I2Two width
Characteristic vector in image carries out Feature Points Matching, is spliced into final image I.
Finally, the process occurred according to the accident of on-the-spot reduction and simulation modules exhibit determines the responsibility of accident.
Although as it has been described above, represented and described the present invention with reference to specific preferred embodiment, but it must not be explained
For the restriction to the present invention self.Under the spirit and scope of the present invention premise defined without departing from claims, can be right
Various changes can be made in the form and details for it.
Claims (7)
1. vehicle operation data record system, it is characterised in that: include instrumental panel video camera, forward direction viewpoint cameras, vehicle-mounted biography
Sensor, data processing module, on-the-spot reduction and simulation module；Instrumental panel in instrumental panel video camera captured in real-time vehicle travel process
View data, the view data in front in forward direction viewpoint cameras captured in real-time vehicle travel process, onboard sensor is adopted in real time
Car status information in collection vehicle travel process, data processing module is mounted with instrumental panel template database and alarm module,
The view data transmission of instrumental panel camera acquisition is compared to data processing module with instrumental panel template database, identifies car
Speed data and instrumental panel indication signal data；Data processing module is used for monitoring vehicle-state, combines when vehicle-state exception
The forward image data of forward direction viewpoint cameras transmission, the car status information of onboard sensor transmission carry out aggregation process, guarantor
Depositing and call alarm module, calling on-the-spot reduction and simulation module when vehicle generation vehicle accident, on-the-spot reduction and simulation module connects
The data receiving instrumental panel video camera and onboard sensor transmission determine accident generation material time point, and when utilizing material time point
The data recovery accident panoramic view of forward direction viewpoint cameras transmission.
Vehicle operation data record system the most according to claim 1, it is characterised in that: described instrumental panel video camera is at least
It is one, is fixed on steering wheel and supports on seat；Described onboard sensor is angular-rate sensor, shaking sensor, acceleration biography
One or more in sensor, gyro sensor, speed pulse sensor, angular-rate sensor is arranged on the steering wheel of vehicle
On, for detecting the rotational angle of steering wheel, shaking sensor is for detecting transport condition and abnormal shake, the vibrations of vehicle
Phenomenon, the acceleration information of acceleration transducer collection vehicle, the data that gyro sensor collection vehicle turns to, velocity pulse
Sensor acquisition vehicle driving speed data.
Vehicle operation data record system the most according to claim 1, it is characterised in that: described data processing module is provided with
Radio communication unit and base station communication, for receiving the present road information that base station provides and the event data uploading vehicle.
Vehicle operation data record system the most according to claim 1, it is characterised in that: described instrumental panel template database
The information of storage includes instrumental panel picture, the figure of each indication signal, position, indicating mode and instruction implication in instrumental panel.
Vehicle operation data record system the most according to claim 1, it is characterised in that: described instrumental panel camera acquisition
View data transmission as follows to data processing module and instrumental panel template database process of comparing:
(11) read pending instrumental panel image, be translated into bianry image；
(12) area in bianry image is removed too small, it is possible to certainly for non-pointer and the region of scale；
(13) position finder hand of dial, expands white portion, removes unrelated parameter；
(14) search connected region border, retain image simultaneously, in case labelling below；
(15) the largest connected region of pointer in all connected regions is found out；
(16) extract pointer angle with Radon algorithm, obtain speed letter by the scale template of storage in instrumental panel template database
Breath；
(17) deduct the connected region figure in largest connected region, identify R, neutral N, automatic catch D, the parking P information of falling back, really
Determine gear information；
(18) store image with data form after extracting critical data, reduce the pressure of storage image.
Vehicle operation data record system the most according to claim 1, it is characterised in that: described on-the-spot recovery module is provided with
Histogram analysis module and SIFT algoritic module, histogram analysis module is according to the instrumental panel of in vehicle accident two crucial vehicles
Image information and car status information determine material time point, and SIFT algoritic module is on the basis of material time point, according to two
Vehicle travels the image information in front, recovery accident panoramic view.
Vehicle operation data record system the most according to claim 6, it is characterised in that: the work of described on-the-spot recovery module
Make process as follows:
First, extract and vehicle accident relates to the travelling data of thing vehicle and collects；
Second, histogram analysis module determines according to the instrumental panel image information in vehicle driving data and car status information
The material time point that vehicle accident is corresponding；
3rd, on the basis of material time point, SIFT algoritic module is retrodicted out the wheelpath of each vehicle before having an accident, with
Time show the vehicle-mounted image on corresponding time point, the process that reduction accident occurs:
(21) be distributed by the rectangular histogram approximate data in data mining, Decision Tree Inductive analyzes material time point；
(22) to relating to image information I in two crucial vehicle traveling fronts in thing vehicle1(x,y)、I2(x y), is carried out based on SIFT
The extracting and matching feature points of algorithm, recovery accident panoramic view: use Gaussian convolution computing to build metric space, difference of Gaussian
Function D (x, y, σ) is by calculating with two of constant multiplication factor k adjacent scalogram aberrations:
D (x, y, σ)=(G (x, y, k σ)-G (x, y, σ)) * I (x, y)=L (x, y, k σ)-L (x, y, σ) (1)
Initial pictures, through progressively Gaussian convolution computing, obtains a series of metric space, i.e. Gauss yardstick DOG space, spatial extrema
Point detection key point is made up of the Local Extremum in DOG space, middle test point and it with yardstick 8 consecutive points and
9 × 2 points totally 26 points that neighbouring yardstick is corresponding compare, to guarantee all to detect at metric space and two dimensional image space
Extreme point；
Extreme point direction distribution: for each sampled point L (x, y), calculate its gradient modulus value m (x, y) and direction θ (x, y)
Formula be:
Characteristic point describes the generation of son: rotated to by coordinate axes on the gradient direction of characteristic point, it is ensured that rotational invariance, generally
Use 16 son points to describe a characteristic point, then calculate the gradient accumulated value in 8 directions in every height point, obtain characteristic point
The characteristic vector of son is described, for 4*4*8=128 dimensional vector；Obtained characteristic vector has invariable rotary shape so can divide
Take I indescribably1And I2Characteristic vector in two width images carries out Feature Points Matching, is spliced into a width panoramic view；
4th, the process occurred according to the accident of on-the-spot reduction and simulation modules exhibit determines the responsibility of accident.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610405359.6A CN106097480A (en) | 2016-06-08 | 2016-06-08 | Vehicle operation data record system |
| CN201710426085.3A CN107195024B (en) | 2016-06-08 | 2017-06-08 | Universal vehicle operation data record system and processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610405359.6A CN106097480A (en) | 2016-06-08 | 2016-06-08 | Vehicle operation data record system |
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| CN106097480A true CN106097480A (en) | 2016-11-09 |
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