Calculating the Truck’s Box Volume with a Single Image Under the Circle Projection and Vanishing Points Constraint

  • Wei SunEmail author
  • Wei Lu
  • Chun-yu Zhao
  • Bao-long Guo
  • Da-jian Li
Conference paper
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 109)


To concise the truck’s box volume measuring system, some techniques such as calculation of camera intrinsic parameters, estimation of truck’s position and orientation, and calculation the vertex coordinates on the truck’s box are discussed in details. A novel method based on one single image is proposed under the constraint information of orthogonal vanishing points and circle projection priori. Firstly, three orthogonal vanishing points are detected, the intrinsic parameters of the camera are calculated based on the vanishing points. Secondly, the world coordinate system is established at the center of one of the truck’s wheels the truck’s position and orientation related to the camera’s plane and the external facade equation of truck’s box can be figured out with the camera’s intrinsic parameters and the prior of wheel’s single circular projection. Finally, the vertex coordinates of the truck’s box are calculated based on the external facade equation and matrix equation of projection algorithm. Then the volume of truck’s box can be calculated. Experimental results show that the error of the truck’s box volume is within 5%. The proposed approach is more effective and lower cost than other state of art methods, it is a competitive approach for real-time measurement of truck’s box volume.


Single image Vanishing point Circle projection Posture calculation Volume measurement 



This work was supported by National Nature Science Foundation of China (NSFC) under Grants 61671356, 61201290.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Wei Sun
    • 1
    Email author
  • Wei Lu
    • 1
  • Chun-yu Zhao
    • 1
  • Bao-long Guo
    • 1
  • Da-jian Li
    • 2
  1. 1.School of Aerospace Science and TechnologyXidian UniversityXi’anChina
  2. 2.The 365 InstituteNorthwest Polytechnical UniversityXi’anChina

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