AVM camera-based 3D laser vision object recognition and high-speed measuring system and method

摘要

An AVM camera-based high speed measurement system in a tunnel and a high speed measurement method in the tunnel are provided. The AVM camera-based high speed measurement system in the tunnel includes a laser light source that projects a laser on the inner surface of the tunnel, and a number of tunnel inspection cameras that acquire an RGB image by photographing the inner surface of the tunnel, and analyzes a number of RGB images. AVM (Around View Monitoring) device for inspection to generate RGB panoramic image on the inner surface of the tunnel, and a number of laser cameras that acquire a laser image by photographing an area where the laser is projected on the inner surface of the tunnel, and multiple lasers AVM device for 3D sensor that generates laser panoramic image from laser images acquired by cameras and acquires 3D coordinates of laser points projected on the inner surface of the tunnel (hereinafter referred to as ''laser point'') from laser panoramic image. , 3D coordinates of RGB panoramic images and laser points to analyze defects and deformation inside the tunnel The measurement device includes a tunnel inner measurement device, a laser light source, an AVM device for inspection, an AVM device for 3D sensors, and an autonomous moving object that autonomously moves the tunnel measurement device.