CN106447732B - The method that abnormal region is obtained using parallax information and three-dimensional information - Google Patents
The method that abnormal region is obtained using parallax information and three-dimensional information Download PDFInfo
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Abstract
The invention discloses the methods for obtaining abnormal region using parallax information and three-dimensional information, the variation of front and back parallax value and three-dimensional coordinate occurs using event to detect whether to occur abnormal point, the parallax value of not abnormal conditions is indicated using the Mean Matrix E of setting anaglyph, it recycles and creates new images identical with anaglyph size, partial data is taken to calculate variance and mean value, it recycles the difference of the mean value of pixel value and new images partial data in the corresponding pixel queue of statistics current point to be compared with the threshold value of setting, judges the point in abnormal region;This technological means can overcome the respective disadvantage for presetting standard picture, influence caused by the presence for overcoming the light due to caused by time change, building, plant and other chaff interferents, using parallax value before and after event, measure abnormal point.In addition, the present invention may finally mark respectively the abnormal point of different classifications, for example can mark settlement point, foreign matter point, noise spot according to the attribute of the abnormal point of different characteristics.
Description
Technical field
The present invention relates to visual pattern detection data processing techniques, and in particular to is obtained using parallax information and three-dimensional information
The method in abnormal region.
Background technique
In visual pattern detection data processing technique, the extraction of image information often uses relatively simple means, comes
Image information can usually be used by reaching in expected technical need, such as recognition of face, road traffic, such as different in identification image
In the technology in normal region, often using acquisition standard picture information in advance, then in the image acquisition process in later period, after utilization
The shortcomings that phase image and standard picture carry out differentiation comparison, find discrepancy, final output discrepancy, this mode be,
The standard picture of high quality, high standard is needed, but in actual application, since standard picture is that collection in worksite forms, meeting
Since the external change of light, building, plant causes standard picture inaccurate, wrong report discrepancy is often resulted in, for example, noon
Time collected standard picture and the at dusk image comparison in the later period of acquisition, discrepancy is not only image itself, there is also
The greatest differences of light, for another example standard pictures in 2001 and standard picture in 2002, due to the variation of plant or building
There is also greatest differences, so if being compared and analyzed using previous standard picture always, it will cause a large amount of wrong reports.Cause
This, this technology analyzed using the image comparison in collection in worksite standard picture and later period can not good application.
Summary of the invention
The present invention proposes a kind of method for obtaining abnormal region using parallax information and three-dimensional information.This method makes full use of
According to event the variation of front and back parallax value and three-dimensional coordinate occurs for binocular vision parallax information obtained and three-dimensional information to examine
It surveys and abnormal point whether occurs, and then notify whether control centre sounds an alarm in time.The present invention can effectively solve the problem that effective detection
Abnormal region in image, avoids interfering, and reduces because losing caused by such incident.
The present invention is achieved through the following technical solutions:
The method that abnormal region is obtained using parallax information and three-dimensional information, comprising the following steps:
Step 1: matching the pixel of the same name of synchronous left image and right image, obtain anaglyph and corresponding pixel points
Three-dimensional coordinate information;
Step 2: traversing the pixel of anaglyph, take the mean value of the part anaglyph before current anaglyph and work as
Preceding anaglyph carries out difference operation and judges whether each pixel is abnormal region then by difference and threshold value comparison with this
Point;Concrete mode are as follows: first take before current anaglyph part anaglyph (can it is continuous, can also be with discrete parallax
Image) it is created that the Mean Matrix E of anaglyph, wherein Mean Matrix E indicates the parallax value of not abnormal conditions, then creates
One new images determines the mean values of new images according to caching anaglyph and Mean Matrix, using current in current anaglyph
The difference of the mean value of pixel value and new images is continuously greater than the quantity M of threshold value T in the corresponding pixel queue of point, and is continuously less than-T
Quantity N, the point in abnormal region is judged with this.
The specific judgment method of step 2 is as follows:
Step 2-1: the Mean Matrix E and anaglyph buffer queue Q of anaglyph are set first, wherein Mean Matrix
E indicates the parallax value of not abnormal conditions;
Step 2-2: obtained anaglyph is added in queue Q;
Step 2-3: if the length of queue Q is less than the queue length threshold S of setting, 2-2 is entered step;Otherwise, into
Enter step 2-4;
Step 2-4: if Mean Matrix E is empty matrix, 2-5 is entered step;Otherwise, 2-6 is entered step;
Step 2-5: each point of traversal Mean Matrix E initializes Mean Matrix E using variance method and averaging method;
Step 2-6: creation new images identical with anaglyph size extract corresponding in queue Q each location of pixels
The value of pixel, takes the S*R data wherein started calculating variance and mean value, R are ratio, and R value is between 0 ~ 1;If variance
Greater than threshold value V, then current mean value is replaced using the value of Mean Matrix E corresponding points;Variance is less than threshold value V, but current mean value and
The mean value difference of value matrix E corresponding points is greater than the threshold value T of setting, and current mean value is also replaced with to the value of Mean Matrix E corresponding points;
Remaining situation then retains current mean value and participates in subsequent arithmetic;S*R data are to take a part of data of queue Q;
Step 2-7: the difference for the mean value that pixel value and step 2-6 are obtained in the corresponding pixel queue of statistics current point is continuously big
In the quantity M of threshold value T, and the continuous quantity N for being less than-T;
Step 2-8: if M > S/W or N > S/W, determine that the current point is the point in abnormal region, current point in new images
Value is set as ident value X;M≤S/W or N≤S/W determines the current point then for noise spot, and the point value is set as Y in new images;
Step 2-9: the point of selective updating Mean Matrix E does not update Mean Matrix E's then if it is abnormal region point
Corresponding points;Otherwise, the value of Mean Matrix E corresponding points is updated to current mean value;
Step 2-10: after having traversed all pixels point, queue will be popped up into the anaglyph of queue earliest.
Wherein, when being used to detect road settlement point or foreign matter point, R=1/3, W 2.
The variation of front and back parallax value and three-dimensional coordinate occurs for the present invention to detect whether to occur abnormal point using event, uses
The Mean Matrix E that anaglyph is arranged indicates the parallax value of not abnormal conditions, recycles creation identical as anaglyph size
New images, take partial data to calculate variance and mean value, recycle in the corresponding pixel queue of statistics current point pixel value and new
The difference of the mean value of image portion data is compared with the threshold value of setting, judges the point in abnormal region;This technological means can
To overcome the respective disadvantage for presetting standard picture, overcome the light as caused by time change, building, plant and
It is influenced caused by the presence of other chaff interferents, using parallax value before and after event, measures abnormal point.In addition, the present invention finally may be used
To mark the abnormal point of different classifications respectively according to the attribute of the abnormal point of different characteristics, for example sedimentation can be marked
Point, foreign matter point, noise spot.
When Mean Matrix E is empty matrix, we can not carry out subsequent processing, it is therefore desirable to carry out just to Mean Matrix E
Beginningization processing, and the initialization process of Mean Matrix E, are to calculate variance and mean value using the group point of partial amt in queue Q, so
Afterwards using calculated variance and mean value as the data of Mean Matrix E, avoid in this way as preset standard picture that
The technological deficiency that sample causes a figure to compare initializes Mean Matrix E's using variance method and averaging method method particularly includes: to each
A point to be initiated extracts the value of corresponding pixel points in queue Q, and the group point of wherein continuous S*R quantity is successively taken to calculate variance
And mean value, if variance is less than the threshold value V of setting, the mean value which is put is as the mean value of initialization;Otherwise it randomly selects
The group point of S*R quantity, and the mean value that the group is put is as the mean value of initialization.
Preferably, the attribute according to different abnormal points is different, and the point in abnormal region is the judgment method of settlement point are as follows: if
N > S/W determines the current point then for settlement point, and the point value is set as ident value X1 in new images.
Preferably, the attribute according to different abnormal points is different, and the point in abnormal region is the judgment method of foreign matter point are as follows: if
M > S/W determines the current point then for foreign matter point, the current point value of this in new images is set as ident value X2.
After completing to the identification of abnormal point, we also need to mark corresponding abnormal region, and calculate abnormal region
Size, finally decides whether output warning message, we utilize morphology, and abnormal point is connected to, abnormal region is then calculated
Geometrical characteristic, by these feature exclusive PCR regions, the final three-dimensional dimension that abnormal region is confirmed using three-dimensional coordinate, if
The abnormal region of size, then need to alarm, and if small-sized abnormal region, does not then influence actual demand, then we can not report
It is alert, it can be configured according to specific requirements.This process is properly termed as identification alarm procedure, specific as follows:
Further include step 3-1: passing through step 2, obtained the settlement point of not isolabeling, morphology is carried out to settlement point respectively
Opening operation and closed operation, obtained connected region are settling zone.
Further include step 3-2: passing through step 2, obtained the foreign matter point of not isolabeling, morphology is carried out to foreign matter point respectively
Opening operation and closed operation, obtained connected region are foreign matter region.
Further include step 3-3: passing through step 2, the point in the not abnormal region of isolabeling has been obtained, respectively to abnormal region
Point carries out morphology opening operation and closed operation, and obtained connected region is abnormal region.
Further include step 4: exterior contour is extracted to connected region, and calculates the area of profile, perimeter and corresponding external
The aspect ratio features of rectangle;
It further include step 5: if feature obtained in step 4 meets set by abnormal region or settling zone or foreign matter region
The zone marker is then abnormal region or settling zone or foreign matter region by fixed specification;Otherwise, it is marked as interference range
Domain;
Further include step 6: the three-dimensional coordinate information according to obtained in step 1 further determines that abnormal region or settling zone
Or the three-dimensional dimension in foreign matter region, and then determine whether to sound an alarm.
Compared with prior art, the present invention having the following advantages and benefits:
The variation of front and back parallax value and three-dimensional coordinate occurs for event of the present invention to detect whether to occur abnormal point, while can be with
Effectively detection road surface foreign matter, more rationally effectively detects abnormal region, will not cause to report by mistake due to interference, detection is more
It is accurate to add, and has great practical value.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.
Fig. 1 is basic flow chart of the invention.
Fig. 2 be the present invention in judge current pixel point whether be settling zone or foreign matter region point detail flowchart.
Fig. 3 is the effect image that the present invention is applied in practical sedimentation and foreign matter simulated scenario.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment
As shown in Figure 1, this uses parallax information and the three-dimensional information method that obtains abnormal region, comprising the following steps:
Step 1: matching the pixel of the same name of synchronous left image and right image, obtain anaglyph and corresponding pixel points
Three-dimensional coordinate information;
Step 2: traversing the pixel of anaglyph, take the mean value of the part anaglyph before current anaglyph and work as
Preceding anaglyph carries out difference operation and judges whether each pixel is abnormal region then by difference and threshold value comparison with this
Point;
The specific judgment method of step 2 is as follows:
Step 2-1: the Mean Matrix E and anaglyph buffer queue Q of anaglyph are set first, wherein Mean Matrix
E indicates the parallax value of not abnormal conditions;
Step 2-2: obtained anaglyph is added in queue Q;
Step 2-3: if the length of queue Q is less than the queue length threshold S of setting, 2-2 is entered step;Otherwise, into
Enter step 2-4;
Step 2-4: if Mean Matrix E is empty matrix, 2-5 is entered step;Otherwise, 2-6 is entered step;
Step 2-5: each point of traversal Mean Matrix E initializes Mean Matrix E using variance method and averaging method;
Step 2-6: creation new images identical with anaglyph size extract corresponding in queue Q each location of pixels
The value of pixel, takes the S*R data wherein started calculating variance and mean value, R are ratio, and R value is between 0 ~ 1;If variance
Greater than threshold value V, then current mean value is replaced using the value of Mean Matrix E corresponding points;Variance is less than threshold value V, but current mean value and
The mean value difference of value matrix E corresponding points is greater than the threshold value T of setting, and current mean value is also replaced with to the value of Mean Matrix E corresponding points;
Remaining situation then retains current mean value and participates in subsequent arithmetic;
Step 2-7: the difference for the mean value that pixel value and step 2-6 are obtained in the corresponding pixel queue of statistics current point is continuously big
In the quantity M of threshold value T, and the continuous quantity N for being less than-T;
Step 2-8: if M > S/W or N > S/W, determine that the current point is the point in abnormal region, current point in new images
Value is set as ident value X;M≤S/W or N≤S/W determines the current point then for noise spot, and the point value is set as Y in new images;
Step 2-9: the point of selective updating Mean Matrix E does not update Mean Matrix E's then if it is abnormal region point
Corresponding points;Otherwise, the value of Mean Matrix E corresponding points is updated to current mean value;
Step 2-10: after having traversed all pixels point, queue will be popped up into the anaglyph of queue earliest.
Before step 1 of the invention, it is also necessary to synchronous left image and right image are obtained,
Its detailed process are as follows:
Step 11: off-line calibration binocular camera, determine binocular camera internal reference and outer ginseng.
Step 12: the image of the right video camera of image of the synchronous left video camera of acquisition forms image pair.
Step 13: synchronization finally being obtained to distortion correction is carried out to the image of input according to the camera parameters of calibration
Left image and right image.
The variation of front and back parallax value and three-dimensional coordinate occurs for the present invention to detect whether to occur abnormal point using event, uses
The Mean Matrix E that anaglyph is arranged indicates the parallax value of not abnormal conditions, recycles creation identical as anaglyph size
New images, take partial data to calculate variance and mean value, recycle in the corresponding pixel queue of statistics current point pixel value and new
The difference of the mean value of image portion data is compared with the threshold value of setting, judges the point in abnormal region;This technological means can
To overcome the respective disadvantage for presetting standard picture, overcome the light as caused by time change, building, plant and
It is influenced caused by the presence of other chaff interferents, using parallax value before and after event, measures abnormal point.In addition, the present invention finally may be used
To mark the abnormal point of different classifications respectively according to the attribute of the abnormal point of different characteristics, for example sedimentation can be marked
Point, foreign matter point, noise spot.
When Mean Matrix E is empty matrix, we can not carry out subsequent processing, it is therefore desirable to carry out just to Mean Matrix E
Beginningization processing, and the initialization process of Mean Matrix E, are to calculate variance and mean value using the group point of partial amt in queue Q, so
Afterwards using calculated variance and mean value as the data of Mean Matrix E, avoid in this way as preset standard picture that
The technological deficiency that sample causes a figure to compare initializes Mean Matrix E's using variance method and averaging method method particularly includes: to each
A point to be initiated extracts the value of corresponding pixel points in queue Q, and the group point of wherein continuous S*R quantity is successively taken to calculate variance
And mean value, if variance is less than the threshold value V of setting, the mean value which is put is as the mean value of initialization;Otherwise it randomly selects
The group point of S*R quantity, and the mean value that the group is put is as the mean value of initialization.
Preferably, the attribute according to different abnormal points is different, and the point in abnormal region is the judgment method of settlement point are as follows: if
N > S/W determines the current point then for settlement point, and the point value is set as ident value X1 in new images.
Preferably, the attribute according to different abnormal points is different, and the point in abnormal region is the judgment method of foreign matter point are as follows: if
M > S/W determines the current point then for foreign matter point, the current point value of this in new images is set as ident value X2.
Wherein, when being used to detect road settlement point or foreign matter point, R=1/3, W 2.
After completing to the identification of abnormal point, we also need to mark corresponding abnormal region, and calculate abnormal region
Size, finally decides whether output warning message, we utilize morphology, and abnormal point is connected to, abnormal region is then calculated
Geometrical characteristic, by these feature exclusive PCR regions, the final three-dimensional dimension that abnormal region is confirmed using three-dimensional coordinate, if
The abnormal region of size, then need to alarm, and if small-sized abnormal region, does not then influence actual demand, then we can not report
It is alert, it can be configured according to specific requirements.This process is properly termed as identification alarm procedure, specific as follows:
Further include step 3-1: passing through step 2, obtained the settlement point of not isolabeling, morphology is carried out to settlement point respectively
Opening operation and closed operation, obtained connected region are settling zone;
Further include step 3-2: passing through step 2, obtained the foreign matter point of not isolabeling, morphology is carried out to foreign matter point respectively
Opening operation and closed operation, obtained connected region are foreign matter region;
Further include step 3-3: passing through step 2, the point in the not abnormal region of isolabeling has been obtained, respectively to abnormal region
Point carries out morphology opening operation and closed operation, and obtained connected region is abnormal region.
Further include step 4: exterior contour is extracted to connected region, and calculates the area of profile, perimeter and corresponding external
The aspect ratio features of rectangle;
It further include step 5: if feature obtained in step 4 meets set by abnormal region or settling zone or foreign matter region
The zone marker is then abnormal region or settling zone or foreign matter region by fixed specification;Otherwise, it is marked as interference range
Domain;
Further include step 6: the three-dimensional coordinate information according to obtained in step 1 further determines that abnormal region or settling zone
Or the three-dimensional dimension in foreign matter region, and then determine whether to sound an alarm.
Specific effect in the present invention is shown in Fig. 3, which is that the present invention is applied in practical sedimentation and foreign matter simulated scenario
Effect image.
To simulate true road surface monitoring scene, binocular camera is erected at the place from road surface 15m high, and bows to the ground
It claps.It shows, will test as the result is shown in left image for convenience simultaneously.To simulate settling zone, first in monitoring scene
A carton is artificially placed, carton appears in monitored picture for a long time, then removes carton;To simulate foreign matter region, first
Holding monitored picture is normal condition, is then placed in monitoring scene carton for a long time or people is stood for a long time in monitoring field
Same position in scape.Rectangular area 1 is the settling zone detection effect of simulation in Fig. 3, and rectangular area 2 and rectangular area 3 are mould
Quasi- foreign matter region detection effect.It can be seen from the figure that method provided by the invention can be effectively detected settling zone and
Foreign matter region, and can effectively exclude the interference of movement pedestrian and vehicle;Binocular vision is utilized simultaneously, can reduce light etc.
The influence of external factor greatly improves the accuracy rate of detection.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (8)
1. the method for obtaining abnormal region using parallax information and three-dimensional information, which comprises the following steps:
Step 1: matching the pixel of the same name of synchronous left image and right image, obtain the three-dimensional of anaglyph and corresponding pixel points
Coordinate information;
Step 2: traversing the pixel of anaglyph, take the mean value of the part anaglyph before current anaglyph and work as forward sight
Difference image carries out difference operation, then by difference and threshold value comparison, with this judge each pixel whether be abnormal region point;
Step 2 is specific are as follows:
Step 2-1: the Mean Matrix E and anaglyph buffer queue Q of anaglyph are set first, wherein Mean Matrix E table
Show the parallax value of not abnormal conditions;
Step 2-2: obtained anaglyph is added in queue Q;
Step 2-3: if the length of queue Q is less than the queue length threshold S of setting, 2-2 is entered step;Otherwise, into step
Rapid 2-4;
Step 2-4: if Mean Matrix E is empty matrix, 2-5 is entered step;Otherwise, 2-6 is entered step;
Step 2-5: each point of traversal Mean Matrix E initializes Mean Matrix E using variance method and averaging method;
Step 2-6: creation new images identical with anaglyph size extract respective pixel in queue Q to each location of pixels
The value of point, takes the S*R data wherein started calculating variance and mean value, R are ratio, and R value is between 0 ~ 1;If variance is greater than
Threshold value V, then current mean value is replaced using the value of Mean Matrix E corresponding points;Variance is less than threshold value V, but current mean value and mean value square
The mean value difference of battle array E corresponding points is greater than the threshold value T of setting, and current mean value is also replaced with to the value of Mean Matrix E corresponding points;Remaining
Situation then retains current mean value and participates in subsequent arithmetic;
Step 2-7: the difference for the mean value that pixel value and step 2-6 are obtained in the corresponding pixel queue of statistics current point is continuously greater than threshold
The quantity M of value T, and the continuous quantity N for being less than-T;
Step 2-8: if M > S/W or N > S/W, determine that the current point is the point in abnormal region, current point value is set in new images
For ident value X;M≤S/W or N≤S/W determines the current point then for noise spot, and the point value is set as Y in new images;W takes 2;
Step 2-9: the point of selective updating Mean Matrix E does not update the correspondence of Mean Matrix E then if it is abnormal region point
Point;Otherwise, the value of Mean Matrix E corresponding points is updated to current mean value;
Step 2-10: after having traversed all pixels point, queue will be popped up into the anaglyph of queue earliest.
2. the method according to claim 1 for obtaining abnormal region using parallax information and three-dimensional information, which is characterized in that
Initialize Mean Matrix E's using variance method and averaging method method particularly includes: the point to be initiated to each extracts queue Q
The value of middle corresponding pixel points successively takes the group point of wherein continuous S*R quantity to calculate variance and mean value, if variance is less than setting
Threshold value V, then the mean value put the group is as the mean value of initialization;Otherwise the group point of S*R quantity is randomly selected, and the group is put
Mean value of the mean value as initialization.
3. the method according to claim 1 for obtaining abnormal region using parallax information and three-dimensional information, which is characterized in that
The point in abnormal region is the judgment method of settlement point are as follows: if N > S/W, determines the current point for settlement point, is somebody's turn to do in new images
Point value is set as ident value X1.
4. the method according to claim 1 for obtaining abnormal region using parallax information and three-dimensional information, which is characterized in that
The point in abnormal region is the judgment method of foreign matter point are as follows: if M > S/W, determines that the current point, will be in new images for foreign matter point
The current point value is set as ident value X2.
5. the method according to claim 3 for obtaining abnormal region using parallax information and three-dimensional information, which is characterized in that
Further include step 3-1: passing through step 2, obtained the settlement point of not isolabeling, morphology is carried out to settlement point respectively and opens fortune
It calculates and closed operation, obtained connected region is settling zone.
6. the method according to claim 4 for obtaining abnormal region using parallax information and three-dimensional information, which is characterized in that
Further include step 3-2: passing through step 2, obtained the foreign matter point of not isolabeling, morphology is carried out to foreign matter point respectively and opens fortune
It calculates and closed operation, obtained connected region is foreign matter region.
7. the method according to claim 1 for obtaining abnormal region using parallax information and three-dimensional information, which is characterized in that
Further include step 3-3: passing through step 2, the point in the not abnormal region of isolabeling has been obtained, respectively to the click-through in abnormal region
Row morphology opening operation and closed operation, obtained connected region are abnormal region.
8. the side in abnormal region is obtained using parallax information and three-dimensional information according to any one of claim 5,6,7
Method, which is characterized in that
Further include step 4: exterior contour being extracted to connected region, and calculates the area, perimeter and corresponding boundary rectangle of profile
Aspect ratio features;
It further include step 5:, will if feature obtained in step 4 meets specification set by settling zone or foreign matter region
The zone marker is settling zone or foreign matter region;Otherwise, it is marked as interference region;
Further include step 6: the three-dimensional coordinate information according to obtained in step 1 further determines that abnormal region or settling zone or different
The three-dimensional dimension of object area, and then determine whether to sound an alarm.
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