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Method and device for locating object through object detection results of multiple stereo cameras

一种立体相机、定位方法的技术，应用在图像处理领域，能够解决融合结果分裂、融合歧义等问题

Inactive Publication Date: 2014-08-06
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the error between the detection result and the real position, this method often has the problem of fusion result splitting and fusion ambiguity.

Method used

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  • Method and device for locating object through object detection results of multiple stereo cameras
  • Method and device for locating object through object detection results of multiple stereo cameras
  • Method and device for locating object through object detection results of multiple stereo cameras

Examples

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no. 1 example

[0031] Figure 4 A general flowchart of a method for locating an object by using object detection results of multiple stereo cameras according to the first embodiment of the present invention is shown.

[0032] Such as Figure 4As shown, in step S41, a plurality of position information of the object generated by the continuous tracking and detection of the object by each of the stereo cameras is acquired.

[0033] Since each stereo camera performs continuous tracking and detection on the object, for each object detected by each camera, a plurality of position information corresponding to different detection times will be obtained. For example, taking two stereo cameras A and B for tracking detection as an example, using the format defined by expression (1), the position information generated by the tracking detection of camera A is expressed as follows:

[0034] { t A 0 , ( ...

no. 2 example

[0091] The object positioning method according to the second embodiment of the present invention is described below.

[0092] The object location method according to this embodiment is basically the same as the method in the first embodiment, the only difference being that after the object track is formed in step S42, the timestamp resampling synchronization process is performed. Taking the two trajectories shown in expression (6) as an example, the two trajectories corresponding to camera A and camera B have the same data length n, but due to the shooting frame rate and detection and tracking processing speed of each camera difference, there is no guarantee that Trajectory a Timestamp t in i and Trajectory b Timestamp t in i exactly the same. If the shooting frame rate of each camera is high, it can be considered that the difference between the time stamps has little effect on the final positioning result and can be ignored; however, if the shooting frame rate of each cam...

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PUM

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Abstract

The invention discloses a method and a device for locating an object through object detection results of multiple stereo cameras. The method includes: acquiring a plurality of position messages of the object, obtained by each stereo camera continuously tracing and detecting the object; for each stereo camera and each object that the stereo camera traces and detects, forming a trajectory of the object according to the obtained position messages; determining the position of the object by fusing the trajectories of the object, obtained by the different stereo cameras. The method and the device have the advantages that fusing result division and fusing ambiguity occurring when the object is detected and positioned by the multiple stereo cameras can be avoided and the object can be accordingly detected and positioned accurately.

Description

technical field [0001] The present invention relates generally to image processing, and more particularly to methods and apparatus for locating objects using object detection results from multiple stereo cameras. Background technique [0002] Several techniques are known for detecting and localizing objects using a single stereo camera. This is illustrated, for example, in Michael Harville's 2003 article "Stereo Person Tracking with AdaptivePlan-View Templates of Height and Occupancy Statistics". [0003] However, using a stereo camera, the detection angle is limited, and the detection rate is not high enough. Therefore, people gradually began to consider the use of multiple stereo cameras for object detection and localization. Using multiple stereo cameras can increase the detection coverage area and more importantly, improve the detection accuracy. However, there are relatively few studies on how to use multiple stereo cameras for object detection and localization. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00H04N13/243
CPCH04N2013/0085H04N2013/0081G06T2207/10021G06T7/596G06T7/285H04N13/239H04N13/243
Inventor 王鑫范圣印
Owner RICOH KK
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