CN104821056B - Intelligent warning method based on radar and video fusion - Google Patents
Intelligent warning method based on radar and video fusion Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19606—Discriminating between target movement or movement in an area of interest and other non-signicative movements, e.g. target movements induced by camera shake or movements of pets, falling leaves, rotating fan
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19697—Arrangements wherein non-video detectors generate an alarm themselves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The present invention discloses a kind of intelligent warning method based on radar and video fusion, and step includes：1）Radar monitor and video monitor are arranged in monitor area specifying；2）Radar monitor performs monitoring in real time, when monitored intrusion target enter it is fashionable, output monitoring to intrusion target three-dimensional location coordinates and send warning information, while control and start video monitor and gather current synchronous images output；3）The three-dimensional location coordinates that radar monitor is monitored are mapped as the corresponding position coordinates in synchronous images, obtain radar detection coordinate；4）Intrusion target is identified in synchronous images according to radar detection coordinate, and determines whether to need alarm target to determine warning message according to the view data of the intrusion target identified.The present invention has the advantages of Intelligent Recognition that implementation method is simple, can realize intrusion target and alarm and high alarm accuracy rate.
Description
Technical field
The present invention relates to circumference or area protection technical field, more particularly to a kind of intelligence based on radar and video fusion
Method can be guarded against.
Background technology
With society high speed development, oil, large-scale enterprises and institutions, prison, airport etc. place all start equipped with
Circumference or region prevention device, with have suspicious object enter it is fashionable alarmed, reduce suspicious object to monitor place prestige
The side of body.But typically each it is to be monitored by single monitor, such as pass through list in current circumference or area outlook method
One radar monitor carries out early warning, or by single video monitor with real-time monitor video image, this single prison
The information that prosecutor formula obtains is not comprehensive and its intelligence degree is low, and suspicious object can not effectively be identified, can not be determined
Whether target as needs the target alarmed, such as suspicious object is pedestrian or other toys（Cat, dog, bird etc.）, because
And it is also easy to be influenceed by external environment and cause to report by mistake.Although existing practitioner proposes to combine video analysis and other auxiliary point
The method of analysis is to identify that intrusion target, such as Chinese patent application disclose a kind of intrusion target monitoring side towards perimeter protection
Method, by computer auxiliaring means and Video Analysis Technology, detected by target, three steps of target special medical treatment extraction and target classification
The intrusion target occurred after rapid in intellectualized detection perimeter surveillance video, but this method needs to perform complicated video analysis mistake
Journey, it is unfavorable for performing quick actuation of an alarm, while it is still the analysis for only relying upon video data progress, is unfavorable for preparing
Identification intrusion target.
The content of the invention
The technical problem to be solved in the present invention is that：For technical problem existing for prior art, the present invention provides one
Kind implementation method is simple, can realize the Intelligent Recognition of intrusion target and alarm and alarm accuracy rate is high based on radar and video
The intelligent warning method of fusion.
In order to solve the above technical problems, technical scheme proposed by the present invention is：
A kind of intelligent warning method based on radar and video fusion, step include：
1）Arrange that radar monitor and video monitor perform monitoring in real time in monitor area specifying；
2）When the radar monitor has monitored intrusion target, the three-dimensional position for exporting the intrusion target monitored is sat
Mark and send warning information, while the synchronous images for controlling the video monitor output currently to collect；
3）The three-dimensional location coordinates for the intrusion target that radar monitor is monitored are mapped as corresponding in the synchronization
Position coordinates in image, obtain radar detection coordinate of the intrusion target in the synchronous images；
4）According to the step 3）Obtained radar detection coordinate identifies intrusion target, and root in the synchronous images
Determine whether to need alarm target according to the view data of the intrusion target identified to determine warning message.
As a further improvement on the present invention：The step 3）What the radar monitor that middle basis pre-establishes was monitored
Coordinate corresponding relation of the target in video monitor acquired image plane, the invasion that radar monitor is monitored
The three-dimensional location coordinates of target are mapped as the corresponding position coordinates in the synchronous images；The foundation of the coordinate corresponding relation
Step is：The inner parameter of video monitor is calculated using calibration technique, establishes video monitor coordinate model；Supervised according to radar
The position relationship between device and video monitor is controlled, establishes target that radar monitor under world coordinate system is monitored in video
Coordinate corresponding relation in monitor acquired image plane.
As a further improvement on the present invention：The step 4）In the tool of intrusion target is identified in the synchronous images
Body step is：
4.11）The foreground information in the synchronous images is extracted, and calculates the company of all objects in the foreground information
Logical domain barycentric coodinates, obtain the barycentric coodinates of all foreground targets；
4.12）By the barycentric coodinates of each foreground target respectively with the step 3）Obtained radar detection coordinate enters
Row matching, the intrusion target gone out according to beeline matched rule match cognization in the synchronous images.
As a further improvement on the present invention：The step 4.11）In carry on the back especially by establishing adaptive Gaussian Mixture
Foreground information in synchronous images described in scape model extraction.
As a further improvement on the present invention, the step 4.11）It is preceding also to include removing shadow step, concretely comprise the following steps：
Shade outside sensing chamber；Calculate penumbra region takes scale factor；According to it is described take scale factor calculation remove shade when
Required polishing scale factor, illumination is returned to shadow region according to the polishing scale factor, and retains the texture in shade,
Obtain removing the image after shade.
As a further improvement on the present invention, the step 4.11）Afterwards, step 4.12）It is preceding also to include filter step, specifically
Step is：Constraints, root are established using the geometrical property of morphological dilations operation method and the pedestrian target of required detection
According to the constraints to the step 4.11）Obtained foreground target is filtered to be purified to the foreground target.
As a further improvement on the present invention, the step 4）In determine whether to need the specific steps of alarm target
For：
4.21）Obtain image surface corresponding to the view data of the intrusion target identified in the synchronous images and calculating
Product, and obtain standard alarm image area corresponding to the position coordinates place where the intrusion target；
4.22）By the image area for the intrusion target being calculated compared with the standard alarm image area, if
The difference of the image area of the intrusion target and the standard alarm image area is then judged to needing in preset threshold range
Alarm target, otherwise it is judged to not needing alarm target.
As a further improvement on the present invention, the step 4.21）The position coordinates that middle basis pre-establishes and standard report
Corresponding relation between alert image area, obtain standard alarm image corresponding to the position coordinates place where the intrusion target
Area；What the corresponding relation was established concretely comprises the following steps：Reference material is gathered at diverse location coordinate by video monitor
Image area, and as the standard alarm image area at each position coordinate, by the standard alarm figure at each position coordinate
The corresponding relation that image planes product is established between position coordinates and standard alarm image area by curve matching.
As a further improvement on the present invention, the step 4）Also include target motion mode identification step 5 afterwards）, specifically
Step is：The velocity information of intrusion target that monitoring obtains is obtained by radar monitor, according to the velocity information judge into
Invade the motion mode of target；Obtain the deflection of minimum enclosed rectangle in the view data of intrusion target, the feature ginseng of length-width ratio
Number, identify whether intrusion target is to crawl in ground motion according to the characteristic parameter.
As a further improvement on the present invention：The radar monitor is monostatic radar.
Compared with prior art, the advantage of the invention is that：
1）Intelligent warning method of the invention based on radar and video fusion, by using radar monitor and video simultaneously
Monitor, both advantages can be made full use of to realize complementary, can be obtained in real time in radar monitoring region by radar monitor
Information, the video monitors such as the position coordinates of invader, movement velocity can obtain video data, can obtain comprehensive detection
Information, avoid because single monitor acquisition information is not comprehensive or is influenceed to cause the high rate of false alarm of perimeter protection by external environment；
2）Intelligent warning method of the invention based on radar and video fusion, sat by the position for monitoring radar monitor
Mark data are merged with the image information that video monitor collects, and are believed with the position coordinates obtained with reference to radar monitor
Breath performs image recognition, and the same invasion that radar monitor is monitored can be fast and accurately identified from video image
Target, and strong antijamming capability；The type of intrusion target is differentiated in combination with the view data of the intrusion target identified, with true
Determine warning message, realize Weigh sensor and alarm.
3）The intelligent warning method based on radar and video fusion of the invention, further by calculating the figure of intrusion target
As whether area recognition intrusion target is to need the target alarmed, is had differences using the image area of different target thing and realize mesh
The Intelligent Recognition of type is marked, implementation method is simple and alarm accuracy rate is high；
5）The intelligent warning method based on radar and video fusion of the invention, further by radar monitor obtain into
The velocity information of target is invaded, the motion mode of target can be identified, according to the minimum enclosed rectangle deflection of intrusion target, length and width
Than etc. characteristic parameter can also identify whether intrusion target is to crawl in ground motion, so as to effectively combine radar monitor
Intrusion target is performed with the data that video monitor monitors and more comprehensively identifies, analyze, so as to provide comprehensive alarm
Information.
Brief description of the drawings
Fig. 1 is the implementation process schematic diagram of intelligent warning method of the present embodiment based on radar and video fusion.
Fig. 2 is the realization principle schematic diagram of intelligent warning method of the present embodiment based on radar and video fusion.
Fig. 3 is the flow signal that coordinate corresponding relation between radar monitor and video monitor is established in the present embodiment
Figure.
Fig. 4 is that the implementation process that corresponding relation between position coordinates and standard alarm image area is established in the present embodiment is shown
It is intended to.
Fig. 5 is step 4 in the present embodiment）Idiographic flow schematic diagram.
Embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
As shown in Figure 1, 2, the intelligent warning method based on radar and video fusion, step include in the present embodiment：
1）Arrange that radar monitor and video monitor perform monitoring in real time in monitor area specifying；
2）When radar monitor has monitored intrusion target, the three-dimensional location coordinates of the intrusion target monitored are exported simultaneously
Warning information is sent, while the synchronous images for controlling video monitor output currently to collect；
3）Radar video information fusion：The three-dimensional location coordinates for the intrusion target that radar monitor is monitored are mapped as pair
Radar detection coordinate of the intrusion target in synchronous images should be obtained in the position coordinates in synchronous images；
4）Video image analysis：According to step 3）Obtained radar detection coordinate identifies invasion mesh in synchronous images
Mark, and determine whether to need alarm target to determine warning message according to the view data of the intrusion target identified.
Radar monitor investigative range is wide, distance is remote and is quick on the draw, when there is invader to enter radar monitoring region, thunder
Up to warning information will be sent, prompt have invader's entrance.But the class of invader can not be distinguished or identified to radar monitor
Type, thus easily cause wrong report.The image information of video monitor collection is enriched, and detection content can be identified, still
The more difficult depth information for obtaining object and movable information etc..The present embodiment using radar monitor and video by being supervised simultaneously
Control device to specifying monitor area to be monitored, sit by the position for obtaining invader in radar monitoring region in real time by radar monitor
The information such as mark, movement velocity, video monitor are then used to obtain the video data of monitor area, can combine radar monitor and
The advantage of both video monitors realizes complementation, obtains comprehensive detection information, avoids because single monitor acquisition information is not complete
Face is influenceed to cause to report by mistake by external environment.
The present embodiment is merged by the position coordinate data for monitoring radar monitor with video image information, will
The 3D coordinates for the intrusion target that radar monitor monitors are mapped as the corresponding 2D coordinates in the plane of delineation, and recycling maps
To the synchronous images that are gathered from video monitor of radar detection coordinate in identify intrusion target, know in the image of intrusion target
The location coordinate information that radar monitor is obtained effectively is combined during not, it is thus possible to realize and fast and accurately identify,
And strong antijamming capability；The type of intrusion target is differentiated in combination with the view data of the intrusion target identified, to determine to report
Alert information, so as to realize Weigh sensor and alarm, can find to break in personnel or other needs of monitor area in time
The target of alarm simultaneously determines the need for alarming, and effectively reduces threat of the intrusion target to monitor area, its economy brought and
Social effect is notable.
In the present embodiment, step 3）The target that the radar monitor that middle basis pre-establishes is monitored is in video monitor
Coordinate corresponding relation in acquired image plane, the three-dimensional location coordinates for the intrusion target that radar monitor is monitored are reflected
Penetrate as the position coordinates in synchronous images.The establishment step of coordinate corresponding relation is：Video monitoring is calculated using calibration technique
The inner parameter of device, establish video monitor coordinate model；According to video monitor coordinate model and radar monitor with regarding
Position relationship between frequency monitor, target that radar monitor under world coordinate system is monitored is established in video monitor institute
Coordinate corresponding relation in the plane of delineation of collection.
As shown in figure 3, the present embodiment video monitor is video camera, video camera is calculated first with camera calibration technology
Inner parameter, establish camera coordinates model；According to video camera and the position relationship of radar monitor, world coordinate system is established
Lower coordinate corresponding relation between video camera and radar；The letter of radar monitor is finally realized according to coordinate corresponding relation can
Breath is merged with video information, realizes that the 3D world coordinates of radar monitor detection is converted into corresponding 2D figures in video image
As coordinate p ' (u ', v '), to make full use of the positional information that radar monitor monitors corresponding into video image.
In the present embodiment, step 4）In concretely comprising the following steps for intrusion target is identified in synchronous images：
4.11）The foreground information in synchronous images is extracted, and calculates the connected domain center of gravity of all objects in foreground information
Coordinate, obtain the barycentric coodinates of all foreground targets；
4.12）By the barycentric coodinates of each foreground target respectively with step 3）Obtained radar detection coordinate is matched,
The intrusion target gone out according to beeline matched rule match cognization in synchronous images.
The present embodiment extracts the barycentric coodinates of all foreground targets from synchronous images, then is carried out with radar detection coordinate
Match somebody with somebody, to establish matching relationship of the same object between the information that radar monitor and video monitor monitor so that figure
The target detected as in can correspond with the target that radar monitor detects, so as to the match cognization from synchronous images
Go out the same intrusion target that radar monitor is monitored.
It is fixedly mounted according to perimeter system, the characteristics of background image is static, the present embodiment step 4.11）In be to pass through foundation
Foreground information in adaptive Gaussian mixture model-universal background model extraction synchronous images, can specifically use adaptive real-time background to build
Mould method coarse extraction foreground target.By establishing adaptive background model, enabling suitable in different background environments,
Background information is updated with the change according to background environment immediately, effectively extracts the information of foreground moving.
In the present embodiment, step 4.11）It is preceding also to include removing shadow step, concretely comprise the following steps：Shade outside sensing chamber；Calculate
Penumbra region takes scale factor, wherein transitional region of the penumbra region between prospect and background, take ratio because
The sub specific ratio taken shared by background pixel value, its span is [0,1]；During according to taking scale factor calculation removal shade
Required polishing scale factor, illumination is returned to shadow region according to polishing scale factor, and retain the texture in shade, obtained
Remove the image after shade.Shadow algorithm is dispelled by increasing image, the shadow for reducing object is brought to detection with identification
Interference, can thus avoid the interference due to shade in follow-up object matching identification process from causing the feelings reported by mistake occur
Condition, effectively raise the accuracy in outdoor environment detection.
In the present embodiment, remove shadow step after, step 4.1）It is preceding also to include filter step, concretely comprise the following steps：Utilize shape
State dilation operation method and the geometrical property of the pedestrian target of required detection establish constraints, according to constraints to obtaining
The foreground target taken is filtered to be purified to foreground target.The prospect of background modeling segmentation may be due to illumination, tree
Leaf or other trickle object interference can produce substantial amounts of noise, thus utilize morphological dilations computing, detect the several of target
The constraints what characteristic is established is filtered, and prospect can be effectively purified, so as to reduce due to illumination, leaf, sleet
The flase drop Deng caused by.
In the present embodiment, step 4）In determine whether to need concretely comprising the following steps for alarm target：
4.21）Image area corresponding to the view data of the intrusion target identified in synchronous images and calculating is obtained, and
Standard alarm image area corresponding to position coordinates place where acquisition intrusion target；
4.22）By the image area for the intrusion target being calculated compared with standard alarm image area, if intrusion target
Image area and standard alarm image area difference in preset threshold range, then be judged to needing alarm target, otherwise sentence
It is set to and does not need alarm target.
Because the image area of the different target thing at same position, collected has very big difference, such as same position
Put place pedestrian and the image area of other animals is widely different, thus the type of image area differentiation target can be utilized.It is same
Know in the synchronous images that image area of the object at diverse location gathers there is also difference, the present embodiment from video monitor
After not going out intrusion target, the image area y ' of intrusion target, the position of the intrusion target monitored according to radar monitor are calculated
Coordinate is put, the image area y ' for the intrusion target being calculated and the standard alarm image area y corresponding to the opening position are entered
Row compares, and distinguishes whether intrusion target is to need the target alarmed with this.The target that the present embodiment is alarmed using pedestrian as needs, by
The image area y ' actually calculated is all may result in during IMAQ, image zooming-out and error be present, therefore is mark
Quasi- alarm image area y sets a comparison threshold value（The present embodiment takes 0.5）If the image area y ' of intrusion target and mark
Quasi- alarm image area y ratio value be more than setting comparison threshold value, then may determine that this target for pedestrian, it is necessary to perform report
It is alert, otherwise it may determine that as other toys（Cat, dog, bird etc.）, it is not necessary to perform alarm.
In the present embodiment, step 4.21）Between position coordinates and standard alarm image area that middle basis pre-establishes
Corresponding relation, standard alarm image area corresponding to the position coordinates place where acquisition intrusion target；What corresponding relation was established
Concretely comprise the following steps：Image area of the reference material at diverse location coordinate is gathered by video monitor, and sat as each position
Standard alarm image area at mark, the standard alarm image area at each position coordinate is established into position by curve matching and sat
Corresponding relation between mark and standard alarm image area.
The target that the present embodiment is alarmed using pedestrian as needs, by counting under the alive boundary's coordinate system of pedestrian along camera optical axis
The real area in pedestrian contour region establishes position coordinates and mark in image coordinate system corresponding to the different distance opening position of direction
Corresponding relation between quasi- alarm image area, as shown in figure 4, the present embodiment exists using the adult of standard figure as standard body station
Before video monitor, image of the human body in different distance point is gathered by video monitor（The present embodiment is from apart from video monitoring
A point is taken in 5 meters to 50 meters of device every 1 meter, takes about 50 points altogether）, calculate the image area at different distance point.If image
Area is y, and distance is x, these discrete points using least square fitting, establishes distance x and area y functional relation y=f
（x）, functional relation y=f（x）Corresponding relation as between position coordinates and standard alarm image area.It can be visited using radar
The distance in object z directions is surveyed, object different distance x and corresponding image area y's are established in conjunction with image processing techniques
Functional relation, in this, as the arbiter of succeeding target classification, to identify whether target is to need alarm target.
As shown in figure 5, step 4 in the present embodiment）Detailed implementation steps be：
Shadow removal is carried out to image first.Utilize outdoor illumination particularity and improved color space PCS（Based on perception
Color space）Shade outside sensing chamber, then calculate penumbra region takes scale factor, and last basis takes scale factor meter
Calculate and remove the polishing scale factor that shade answers polishing, corresponding illumination is returned to shadow region by polishing scale factor, reduce
Natural reality image；
Then, adaptive background model is established；
Secondly, constraints is established using the geometrical property of morphological dilations computing, the pedestrian target of required detection to carry out
Filtering, filters some interference informations caused by illumination, leaf, sleet etc.；
Then, information matches relation of the same object in radar monitor and video monitor is established.In calculating prospect
The connected domain barycentric coodinates p (u of all objectsi , vi), 2D image coordinates p ' (u ', v ') that radar monitor is detected with
The barycentric coodinates of all foreground targets search for matching one by one, are used as matching condition using 2 lowest distance value d of p and p ' so that two
The information of the same object that individual monitor detects is corresponding, with from synchronous images match cognization go out radar monitor and monitored
The same intrusion target arrived.
Finally, according to position coordinates and functional relation y=f of standard alarm image area（x）, the invasion mesh that will identify that
Target image area s compared with standard alarm image area y at same position, with judge intrusion target be pedestrian or other
Toy.
In the present embodiment, step 4）Also include target motion mode identification step 5 afterwards）, concretely comprise the following steps：Supervised by radar
Control device obtains the velocity information for the intrusion target that monitoring obtains, and the motion mode of intrusion target is judged according to velocity information, including
It is the motion modes such as walking or race；Obtain the deflection of minimum enclosed rectangle in the view data of intrusion target, length-width ratio
Characteristic parameter, identify whether intrusion target is to crawl in ground motion according to characteristic parameter.Supervised with reference to radar monitor and video
Control device monitoring data can also the information such as acquisition speed information and characteristic parameter, to differentiate the motion mode of intrusion target,
So as to provide more comprehensively warning message.While the present embodiment sends alarm by upper computer software, show detected
The type and invasion mode of intrusion target so that warning message is more directly perceived.
In the present embodiment, radar monitoring implement body uses monostatic radar, and monostatic radar can typically detect x level sides
To positive and negative 7 meters, y vertical direction is positive and negative 3 meters, the scope of the 150 meters of distances in z directions, position and the speed of detection target can be obtained
Information.When there is invader to enter monitor area, can alarm immediately, system enters alert status.During using monostatic radar, only need
To be fixed on video monitor on a monitoring alarm post, it is not necessary to as needing a pair of alarm posts to complete to supervise to penetrating radar
Control region protection, therefore it is simple in construction, integrated level is high and cost is low.Traditional microwave carries out early warning to penetrating radar, it is impossible to obtains
Position and the velocity information of target must be detected, while needs a pair of radars to carry out real-time protection, complicated, collection to monitor area
Into spending, low and cost is high.
Above-mentioned simply presently preferred embodiments of the present invention, not makees any formal limitation to the present invention.It is although of the invention
It is disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, it is every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modifications, equivalents, and modifications made for any of the above embodiments, it all should fall
In the range of technical solution of the present invention protection.
Claims (9)
- A kind of 1. intelligent warning method based on radar and video fusion, it is characterised in that step includes：1）Arrange that radar monitor and video monitor perform monitoring in real time in monitor area specifying；2）When the radar monitor has monitored intrusion target, the three-dimensional location coordinates of the intrusion target monitored are exported simultaneously Warning information is sent, while the synchronous images for controlling the video monitor output currently to collect；3）The three-dimensional location coordinates for the intrusion target that radar monitor is monitored are mapped as corresponding in the synchronous images In position coordinates, obtain radar detection coordinate of the intrusion target in the synchronous images；4）According to the step 3）Obtained radar detection coordinate identifies intrusion target in the synchronous images, and according to knowledge The view data for the intrusion target not gone out determines whether to need alarm target to determine warning message；The step 4）In concretely comprising the following steps for intrusion target is identified in the synchronous images：4.11）The foreground information in the synchronous images is extracted, and calculates the connected domain of all objects in the foreground information Barycentric coodinates, obtain the barycentric coodinates of all foreground targets；4.12）By the barycentric coodinates of each foreground target respectively with the step 3）Obtained radar detection coordinate progress Match somebody with somebody, the intrusion target gone out according to beeline matched rule match cognization in the synchronous images.
- 2. the intelligent warning method according to claim 1 based on radar and video fusion, it is characterised in that：The step 3）Seat of the target that the radar monitor that middle basis pre-establishes is monitored in video monitor acquired image plane Corresponding relation is marked, the three-dimensional location coordinates for the intrusion target that radar monitor is monitored are mapped as corresponding in the synchronization Position coordinates in image；The establishment step of the coordinate corresponding relation is：Calculated using calibration technique in video monitor Portion's parameter, establish video monitor coordinate model；According to the video monitor coordinate model and radar monitor and video Position relationship between monitor, establish the target that radar monitor under world coordinate system is monitored and adopted in video monitor Coordinate corresponding relation in the plane of delineation of collection.
- 3. the intelligent warning method according to claim 1 based on radar and video fusion, it is characterised in that the step 4.11）In extract foreground information in the synchronous images particular by establishing adaptive Gaussian mixture model-universal background model.
- 4. the intelligent warning method according to claim 3 based on radar and video fusion, it is characterised in that the step 4.11）It is preceding also to include removing shadow step, concretely comprise the following steps：Shade outside sensing chamber；Calculate penumbra region take ratio because Son；Required polishing scale factor when scale factor calculation removes shade is taken according to described, according to the polishing scale factor Illumination is returned to shadow region, and retains the texture in shade, obtains removing the image after shade.
- 5. the intelligent warning method according to claim 4 based on radar and video fusion, it is characterised in that the step 4.11）Afterwards, step 4.12）It is preceding also to include filter step, concretely comprise the following steps：Utilize morphological dilations operation method and required inspection The geometrical property of the pedestrian target of survey establishes constraints, according to the constraints to the step 4.11）Obtained prospect Target is filtered to be purified to the foreground target.
- 6. the intelligent warning method based on radar and video fusion according to any one in Claims 1 to 5, its feature It is, the step 4）In determine whether to need concretely comprising the following steps for alarm target：4.21）Image area corresponding to the view data of the intrusion target identified in the synchronous images and calculating is obtained, and Obtain standard alarm image area corresponding to the position coordinates place where the intrusion target；4.22）By the image area for the intrusion target being calculated compared with the standard alarm image area, if described The difference of the image area of intrusion target and the standard alarm image area is then judged to needing to alarm in preset threshold range Target, otherwise it is judged to not needing alarm target.
- 7. the intelligent warning method according to claim 6 based on radar and video fusion, it is characterised in that：The step 4.21）Corresponding relation between position coordinates and standard alarm image area that middle basis pre-establishes, obtains the invasion mesh Standard alarm image area corresponding to position coordinates place where marking；What the corresponding relation was established concretely comprises the following steps：Pass through Video monitor gathers image area of the reference material at diverse location coordinate, and as the standard alarm figure at each position coordinate Image planes are accumulated, and the standard alarm image area at each position coordinate is established into position coordinates and standard alarm by curve matching Corresponding relation between image area.
- 8. the intelligent warning method based on radar and video fusion according to any one in Claims 1 to 5, its feature It is, the step 4）Also include target motion mode identification step 5 afterwards）, concretely comprise the following steps：Obtained and supervised by radar monitor The velocity information of the intrusion target measured, the motion mode of intrusion target is judged according to the velocity information；Obtain invasion mesh The deflection of minimum enclosed rectangle, the characteristic parameter of length-width ratio in target view data, identified and invaded according to the characteristic parameter Whether target is to crawl in ground motion.
- 9. the intelligent warning method based on radar and video fusion according to any one in Claims 1 to 5, its feature It is：The radar monitor is monostatic radar.
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