Speed measurement method and apparatus based on multiple cameras

Abstract

The present invention provides a speed measurement method and apparatus using a plurality of cameras. The speed measurement method includes: S1: calibrating positions of the respective cameras in a camera group, which are on a mobile platform at fixed relative positions; S2: obtaining a sequence of synchronized images from the respective cameras in the camera group, and recording time stamps thereof; and S3: performing a registration on the images captured by the respective cameras in the camera group and, if a registration result of two of the images is greater than a first threshold, calculating a position transformation matrix for the two images, and then calculating a position transformation matrix for the mobile platform based on the positional relationships between the cameras that captured the two images, and finally calculating a speed information of the mobile platform based on the position transformation matrix and an interval between times when the two images were captured. Calculating a speed of the mobile platform through registration of images captured by different cameras can overcome the problem with single camera-based speed measurement that the distance between locations where successive images are captured conflict with a degree of coincidence of the images and enables the obtainment of high-accuracy moving speed information.