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Object detecting method and device based on stereoscopic camera

A stereo camera, object detection technology, applied in the field of image processing, to achieve the effect of reducing, eliminating or occlusion

Inactive Publication Date: 2014-02-19
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] As above, the method of using stereo cameras to detect objects has been introduced in the known literature, but how to detect objects when there is occlusion, especially serious occlusion, is still a difficult problem to be solved

Method used

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  • Object detecting method and device based on stereoscopic camera
  • Object detecting method and device based on stereoscopic camera

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Embodiment Construction

[0026] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] It will be described in the following order:

[0028] 1. The overall process of the object detection method

[0029] 2. Coordinate transformation and acquisition of planar projection view

[0030] 3. Examples of specific object detection methods

[0031] 4. Example of methods for occlusion area calculation and detection parameter adjustment

[0032] 5. Object detection device

[0033] 6. System hardware configuration

[0034] 7. Summary

[0035] 1. The overall process of the object detection method

[0036] The following describes an overall process of detecting objects in a predetermined space by using a stereo camera arranged for the predetermined space according to an embodiment of the present invention.

[0037] figure 1 A gener...

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Abstract

The invention discloses an object detecting method and device based on a stereoscopic camera. The method includes the following steps: carrying out coordinate conversion on a stereoscopic image which is obtained during the stereoscopic camera shooting an object, obtaining a stereoscopic image which is equivalent to an image of an object which is shot by an imaginary camera in a preset direction and obtaining a planar projection view of the stereoscopic image which undergoes the coordinate conversion, in a preset projection direction; with respect to the projection view, carrying out object detection based on detection parameters; calculating areas in which object shield is detected; with respect to positions in areas in which the object shield is detected, adjusting the detection parameters; and with respect to the positions in the areas in which the object shield is detected, detecting the object based on the adjusted detection parameters. The object detection method and device effectively avoids effects of the shield on object detection and tracking so that the object can be detected more accurately through making use of already available image data as far as possible.

Description

technical field [0001] The present invention relates generally to image processing, and more particularly to methods and apparatus for object detection based on stereo cameras. Background technique [0002] There are many methods for human detection in the field of image processing, most of which use color (or grayscale) images. For example, dynamic background modeling based on mixed Gaussian (GMM) combined with foreground segmentation method, face detection based on Haar feature, pedestrian detection method based on HOG, etc. Due to the limitations of acquisition equipment, color (or grayscale) images only contain two-dimensional information, so when there is occlusion due to incomplete features, detection failure is an unavoidable problem. [0003] There are many stereoscopic information acquisition devices. One class of stereo cameras uses actively emitting infrared light to aid in the generation of stereo information, such as the Microsoft Kinect. Another type of ster...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T7/00
Inventor 王鑫范圣印
Owner RICOH KK
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