Foggy-weather distance measurement method and device thereof as well as distance pre-warning method and device thereof

Abstract

The invention is applicable to the field of digital image processing and provides a foggy-weather distance measurement method and a device thereof as well as a distance pre-warning method and a device thereof. The foggy-weather distance measurement method comprises the following steps of: acquiring a foggy-weather image containing a target vehicle by a distance-measuring object; determining the position point z of a target object which is nearest to the distance-measuring object, in the foggy-weather image; obtaining the dark pixel value D(z) of the position point z of the target object; obtaining an overall atmospheric light value A; calculating the transmittance t(z) of the position point z according to the dark pixel value D(z) and the overall atmospheric light value A, wherein t(z)=1-D(z) / A; and calculating the actual distance d(z) between the target object and the distance-measuring object according to the transmittance t(z) of the position point z, wherein the d(z) is equal to a formula shown by a figure. Compared with the prior art, the invention has the advantages that: the implementation methods are simple, only the single foggy-weather image is processed, the image processing algorithm is fast and efficient, and the devices are simple in structure. The invention is applicable to the distance measurement of vehicles and can also be widely applied to various transportation tools.

Description

technical field [0001] The invention belongs to the field of digital image processing, and in particular relates to a foggy distance measurement method and device, and a distance early warning method and device. Background technique [0002] For ease of explanation, the following terms are first explained. [0003] Dark pixel value: In the local area centered on a certain pixel, the lowest intensity value among the three color channels (R, G, B color channels) is called the dark pixel value of the pixel. Usually, in a clear outdoor image, most areas excluding the sky and gray-white objects, at least one color channel has a very low intensity value, that is, the dark pixel value of the pixels in this area is very low, and in the area covered by fog In noisy images, since image pixels are flooded with atmospheric white light components, the dark pixel values ​​of these pixels will become higher. [0004] Ranging object: A ranging party that measures the distance to an object...

AI Technical Summary

Problems solved by technology

[0012] In view of the above problems, the object of the present invention is to provide a method for measuring distance in foggy weather, which only needs to analyze the single foggy weather photo taken by the distance measuring object. Calculate the distance to the target object. This method is simple, with better performance and higher efficiency, and solves the technical problems of complex and high-cost existing foggy ranging technology.

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