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Target detection sliding window scanning method based on scene geometric constraint

A geometric constraint and target detection technology, which is applied in the field of video image sliding window scanning based on scene geometric constraints, can solve the problem of high hardware cost of multi-eye detectors, achieve the effect of reducing the amount of computation, reducing the error rate, and improving the detection speed

Inactive Publication Date: 2014-06-25
HANGZHOU DIANZI UNIV
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Problems solved by technology

This method uses eight control points and direct linear transformation algorithm to calculate the homography matrix of the pre-calibrated vehicle camera and the normal vector of the ground plane in the image projection vector, and calculates the sliding window scan according to the constraint equation derived from the geometric constraint relationship of image imaging. The upper boundary and the lower boundary of the constrained area only perform image feature pyramid construction and sliding window scanning detection classification in the corresponding image constrained area, which not only has high scanning efficiency, but also solves the problem of multi-eye detector hardware because only one camera is needed. high cost problem

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  • Target detection sliding window scanning method based on scene geometric constraint
  • Target detection sliding window scanning method based on scene geometric constraint
  • Target detection sliding window scanning method based on scene geometric constraint

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Embodiment Construction

[0022] The specific embodiment of the present invention will be further described in detail below in conjunction with the accompanying drawings, taking the detection target as a pedestrian as an example. Its specific steps are as follows: figure 1 Shown:

[0023] Step 1: Install and calibrate the car camera. The imaging axis of the camera is parallel to the ground plane, that is, the pitch angle, yaw angle, and rotation angle of the camera are all zero. The installation position of the camera is within the range of 20 cm to 160 cm from the ground, and the camera is required to be an ordinary (non-wide-angle) monocular fixed-focus camera.

[0024] Step 2: Measure eight control points and record their coordinates in the space world coordinate system X=[X,Y,Z] T And the coordinates x=[x,y] of the local coordinate system of the image T , the coordinate system is described as figure 2 shown. Requirements for layout of measurement points: These eight points cannot be arranged...

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Abstract

The invention discloses a target detection sliding window scanning method based on scene geometric constraint. An existing total graph sliding window exhaustive search method based on a monocular camera has the problem that the real-time performance of a detection system can not be achieved caused by low search efficiency. The invention discloses the target detection sliding window scanning method based on the scene geometric constraint. According to the method, by using eight control points and a direct linear transformation algorithm, the homography matrix of a pre-calibrated vehicle-borne camera and the projection vector of a ground plane normal vector on an image are calculated, the upper boarder and the lower boarder of a sliding window scanning constraint area are calculated according to a constraint equation deduced from image imaging geometric constraint relation, and the image characteristics pyramid construction and sliding window scanning detection and classification are carried out only in the corresponding image constraint area. The scanning efficiency is high, and since only one camera is needed, a problem of high hardware cost of a multi-stereo detector is solved.

Description

technical field [0001] The invention relates to a high-efficiency sliding window scanning method in target detection of vehicle-mounted video images, in particular to a video image sliding window scanning method based on scene geometric constraints. Background technique [0002] With the rapid development of transportation, traffic safety is becoming more and more important. Target detection and early warning of vehicles and pedestrians in advanced driver assistance systems is an important method to reduce vehicle traffic accidents. Image sliding window scanning search and detection is a key part of vehicle image target detection technology. An important factor affecting the efficiency and real-time performance of image target detection. [0003] Vision-based image target detection can be divided into two categories according to the different detectors used: the full-image sliding window exhaustive search based on monocular cameras and the sliding window search based on mul...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 徐向华任新成周斌
Owner HANGZHOU DIANZI UNIV
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