Moving pedestrian representation method, recognition method and device thereof

Abstract

A moving pedestrian recognition method and device are provided, in which the camera shooting direction is the z-axis, the pedestrian height direction is the y-axis, and the plane perpendicular to the ground is the xy-axis plane, and an xyz rectangular coordinate system is established. The moving pedestrian recognition method can The method includes: obtaining the candidate pedestrian outline of the time series from the depth map of the time series; based on the candidate pedestrian outline of the time series, obtaining at least one of the x-direction distance distribution, y-direction distance distribution, and z-direction distance distribution of the time-series candidate pedestrian outline. ; and based on at least one of the various directions of the time series candidate pedestrian outline, determine whether the candidate pedestrian outline is a pedestrian. The distance distribution in each direction of the pedestrian outline is basically only related to the individual's own physical characteristics and walking characteristics. Therefore, it is not easily affected by the external environment. It is suitable for pedestrian recognition and can quickly identify pedestrians. It is suitable for many applications such as vehicle driving assistance systems. real-time requirements.

Description

technical field [0001] The present invention relates to depth image processing, and more particularly relates to a moving pedestrian representation method, a recognition method and a device thereof in computer vision technology. Background technique [0002] Pedestrian recognition is an essential and important function in driver assistance systems and vehicle automatic navigation systems. The detection and recognition of moving pedestrians plays an important role in reducing traffic accidents and driving safety. In many scenarios, such as when someone is crossing the road, or when pedestrians are walking toward or away from the vehicle, or suddenly appear in the driver's field of vision, the rapid detection and recognition of pedestrians is very important for the safety of pedestrians and drivers. is an important question. [0003] The current pedestrian recognition technology is mainly based on grayscale / color images for pedestrian feature extraction and classifier traini...

AI Technical Summary

Problems solved by technology

[0006] Generally, there are various poses of various pedestrians, and using grayscale / color images to model the various poses of pedestrians requires a large number of training samples and complex training, and in practical applications, the recognition rate may not meet the actual Application Requirements Questions

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