基于视觉测量的人防门位置检测方法

针对当前地铁人防门无门位置检测的功能，存在人防门侵入列车限界的安全隐患问题，提出了一种基于视觉测量的门位置检测方法。通过在人防门背面设置标定物，利用架设在门背后的相机采集标定物图像，对图像进行预处理后，利用获得的相机外参数，并由此实现标定物上坐标已知3个特征点的坐标转换，根据求解出相机光心到人防门平面的垂直距离和门转过的角度。实验结果表明，该方法测量的人防门角度检测精度在1°以内，距离检测精度在25mm以内，满足人防门检测精度要求。

Civil Air Defense Gate Position Detection Method Based on Visual Measurement

Aiming at the lack of door position detection function of subway civil air defence doors at present, there is a hidden danger that the civil air defence doors intrude into the boundaries of trains. A method of detecting the door position based on visual measurement is proposed. Image acquisition of calibration objects set behind civil air defence doors, after preprocessing the captured image, using the external parameters of the camera, coordinate transformation of the three characteristic points whose coordinates are known on the calibration object is carried out, and the light center of the camera to the plane of the civil air defence door is solved according to the knowledge of space geometry mathematics. The vertical distance and the angle at which the door turns. The experimental results show that the angle detection accuracy of the air defence door measured by this method is less than 1 degree and the distance detection accuracy is less than 25 mm, which meets the requirements of the air defence door detection accuracy.