CN1320513C - Image procesisng device, image processing method and vehicle monitoring system - Google Patents
Image procesisng device, image processing method and vehicle monitoring system Download PDFInfo
- Publication number
- CN1320513C CN1320513C CNB031550096A CN03155009A CN1320513C CN 1320513 C CN1320513 C CN 1320513C CN B031550096 A CNB031550096 A CN B031550096A CN 03155009 A CN03155009 A CN 03155009A CN 1320513 C CN1320513 C CN 1320513C
- Authority
- CN
- China
- Prior art keywords
- image
- vehicle
- highway
- image processing
- processing equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Closed-Circuit Television Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
To provide an image processing apparatus and method therefor, and vehicle supervision system, enabling easy tracing of a vehicle. An image processing apparatus 5 acquires converted images which are analog-to-digital converted from video signals obtained by a plurality of supervisory cameras 2 installed along the vehicle movement direction of a road 10. Thereafter, the image processing apparatus 5 sets division areas with regard to the deformed images, and obtains divided images based on predetermined sampling points. The image processing apparatus 5 synthesizes these divided images so that the road 10 becomes continued, and obtains a synthesized image. Vehicles are detected based on the synthesized image. Thereafter, vehicle trace processing is performed, and after a vehicle image and background image is corrected, an image data output from the image processing apparatus 5 is displayed on a monitor 61. (C)2004,JPO.
Description
Background of invention
Invention field
The present invention relates to image processing equipment, image processing method and the vehicle monitoring system that is used for traffic monitoring.
Related background art
A kind of image processing equipment that is used for automatic detection vehicle, this equipment is by providing camera and based on the signal carries out image processing from camera for each imaging region, the region that need monitor on highway or the common road is divided into several imaging regions.In this equipment, each imaging region is carried out the detection of vehicle, and transmit ID and vehicle image, to be used on some imaging regions, following the tracks of a certain vehicle.
Use the said equipment on some imaging regions, to follow the tracks of vehicle and remain very difficult.With reference to Figure 10, at time t
1Position P
1The vehicle 100 at place is t in the time
2In time, moves into place and puts P
2At time t
1The time, the image of store car 100, and ought the time reach t
2The time, detection vehicle 100.By carrying out template matches between the image of having stored at the image and the vehicle 100 of institute's detection vehicle 100, determine that vehicle 100 has moved to position P
2Image processing equipment is exactly to follow the tracks of vehicle by this way.
When vehicle 100 has moved to position P
3The time, equipment is as moving to position P at vehicle 100
2The template matches of Shi Jinhang is equally carried out template matches.Yet at position P
3, vehicle 100 is positioned on the position of passing the first and second imaging region 300a and 300b, even thus when using template matches, is difficult to also determine whether the vehicle of being surveyed conforms to vehicle 100.So even send an ID to the second imaging region 300b relevant processing, image processing equipment also is difficult to described ID is assigned to vehicle 100, thereby has caused reducing the accuracy of vehicle tracking.
Summary of the invention
In view of above-mentioned consideration, an object of the present invention is to improve the accuracy of vehicle tracking.
On the one hand, the present invention relates to be used to handle the image processing equipment of vision signal, wherein said vision signal is used to obtain some imaging devices of highway map picture from what place along highway.This image processing equipment comprises: draw-out device, be used for the sample area abstract image in each image of representing with vision signal, and limit sample area so that the direct of travel of vehicle is divided highway in the highway; Synthesizer arrangement is used to synthesize the image that is extracted is represented continuous highway with generation composograph; And sniffer, be used for detection vehicle on composograph.
Detection vehicle on synthetic image, so that the image of highway is become continuously, this synthetic image is to produce by the synthetic image that comes from different imaging devices.Therefore, will survey vehicle on the highway with complete image.Composograph is not included in the slit between the image that comes from different imaging devices, even and the boundary of vehicle between the imaging region of described imaging device, also can on synthetic image, show whole vehicle.Therefore, detection vehicle accurately on composograph, and improved the accuracy of following the tracks of vehicle based on synthetic image.
Draw-out device can limit a plurality of sampled points in each sample area, with the pixel data of the described image that obtains at sampled point to be represented by vision signal, and uses the pixel data that is obtained, and produces the image of the plan view from above of expression sample area.When the vehicle direct of travel along highway synthesizes the image that is extracted, can on the image that is synthesized, demonstrate continuous highway.Composograph of plan view from above so can be used for producing the output image of the plan view from above of expression highway and vehicle.Because the observer can be easy to learn the situation of highway by the output image of plan view from above, thereby it is very favourable.
Synthesizer arrangement can synthesize the image that is extracted, thereby composograph is represented along the vertical direction of composograph or the continuous highway of horizontal direction extension.It can make the easier situation of learning highway from the output image that produces based on composograph of observer.
Image processing equipment can further comprise: storer is used to store the vehicle image of the image that is complementary with the vehicle that detects on composograph; Coalignment is used to determine whether have coupling between vehicle image that is detected and the image of being stored; Tracking means is used for surveying the position that is detected vehicle on composograph when coalignment is determined to have coupling; And be used for the image of being stored being pasted device on the background image of the continuous highway of expression in the position of surveying by tracking means.
In this case, the image processing equipment utilization produces an image representing continuous highway with the corresponding vehicle image of storing of the vehicle that detects in the current position.Therefore, the vehicle image of being stored is displayed on the position according to the motion campaign of vehicle.Thus, the observer can be easy to come via the image that is produced the motion of monitoring vehicle.
Image processing equipment further comprises video output and is used for producing in video output place the signal generator of vision signal.Vision signal can be represented the image by the sticker generation.In this case, image processing equipment can send vision signal to display device, to show the image of expression vehicle movement.
When coalignment was determined not have coupling, storer can be stored the image of the vehicle that is detected.In this case, the image of the vehicle that newly detects by sniffer of memory stores.Therefore, vehicle come use the region that imaging device monitors before, do not need to obtain the image of vehicle.
Image processing equipment can further comprise means for correcting, is used for being used for highly revising according to it image of the vehicle that detects when coalignment is determined not have coupling.Storer can be stored the image revised to be used for images match.Sticker is pasted the image of being stored of modification on background image.In this case, even imaging device is to dip down tiltedly to obtain the image of vehicle, also can draw out normal vehicle image.
Background image can be the composograph that has therefrom cut off the image of institute's detection vehicle.Image processing equipment may further include means for correcting, is used for revising background image according to the correction to the vehicle image that detects.In this case, image processing equipment can produce the normal picture that comprises highway and institute's detection vehicle.
Background image can be the image that expression does not have the continuous highway that vehicle advances thereon.In this case, do not need according to background image is revised in the correction of vehicle image.
Aforesaid each device and signal generator can be circuit.Can also can be used as signal generator with processor as all or some said apparatus.
On the other hand, the present invention relates to a kind of vehicle monitoring system, comprise a plurality of along the imaging device and the above-mentioned image processing equipment of highway placement to obtain the highway map picture.This system may further include the display device that is used for display image, and wherein this image is represented by the vision signal from image processing equipment.Because the advantage of image processing equipment, the observer can use the motion of monitoring vehicle exactly of this system.
Can provide two or more imaging devices to obtain the image of highway for each sample area.In this case, can obtain two or more images with different angles in each sample area.Can improve the accuracy of vehicle detection thus.
In yet another aspect, the present invention relates to a kind of image processing method, be used to handle from a plurality of and place vision signal with the imaging device that obtains the highway map picture along highway.Described method comprises: abstract image from the sample area of each image of being represented by vision signal limits sample area so that the direction that vehicle is advanced in the highway is divided highway; The synthetic image that is extracted is to produce the composograph of the continuous highway of expression; And on composograph detection vehicle.
The further scope of application of the present invention will become clearer by following given detailed description.But should be appreciated that, because the variations and modifications that make within the spirit and scope of the present invention to be made by this detailed description become more obvious to those skilled in the art, so given detailed description and particular examples only is to illustrate for example when explanation the preferred embodiments of the present invention.
Brief description of the drawings
Fig. 1 shows the vehicle monitoring system structure according to the embodiment of the invention;
Fig. 2 shows the process flow diagram of Flame Image Process in the image processing equipment shown in Fig. 1;
Fig. 3 shows the example through the image of A/D conversion;
Fig. 4 shows the example of sample area;
Fig. 5 shows the layout of described sample area;
Fig. 6 shows a plurality of sampled points that are arranged in the sample area;
Fig. 7 shows the example that is synthesized in the horizontal from the composograph of the image of described employing region extraction;
Fig. 8 shows the part composograph that forms without the vehicle treatment for correcting;
Fig. 9 shows the part composograph that forms through the vehicle treatment for correcting; And
Figure 10 shows the example that vehicle tracking is handled.
Detailed description of preferred embodiment
Come to describe in further detail the preferred embodiments of the present invention below with reference to the accompanying drawings.For the ease of understanding, used identical label to indicate identical or equivalence element publicly-owned in the accompanying drawing in possible place, and do not repeated overlapping description.
Fig. 1 shows the structure according to the vehicle monitoring system of described embodiment.As shown in Figure 1, vehicle monitoring system for example is used to monitor the traffic of highway 10, and can be used to survey the traffic abnormity in passage 1.
Vehicle monitoring system has some monitoring cameras 2.Monitoring camera 2 is the analog imaging equipment of placing along highway 10 on the vehicle direct of travel of highway 10.Camera obtains highway 10 and is traveling in the image of the vehicle on the highway 10 11 in the passage 1.With camera 2 with predetermined being disposed in the passage 1, so that can obtain the image of highway 10 continuously.For example, the interval between the camera 2 is approximately 150-200 rice.
For example, monitoring camera 2 is set in the top of passage 1, so that obtain to the downward-sloping angle in the place ahead or last rear the image of vehicle 11 from it.There is no need all cameras 2 all are placed on the top of passage 1.For example, a camera 2 in porch, highway 10 monitoring area can be placed on the top of passage 1, and another camera 2 is placed on the side wall of passage 1.
Each camera 2 links to each other with divider 3.Divider 3 is arranged near the facility of building the passage 14, and receives the image that obtained by camera 2 and they are sent to image processing equipment 5.
A/D converter for example can be a video a/d converter.A/D converter is the circuit that is used for the analog video signal that comes from camera 2 is converted to digital video signal.A/D converter is connected in video frame memory to send digital video signal to it.
Video frame memory is a kind of storer that can store some view data.Each is one group of pixel by the view data of representing from the vision signal of A/D converter, and for the coordinate points on X-axis and Y-axis, described pixel has density value and chrominance signal separately.For example, the density of pixel is 8 bits, 256 looks.Video frame memory links to each other with processor.
Processor is the circuit that is used for the view data that is stored in video frame memory is carried out Flame Image Process.The processor processing view data is to produce the image that will use supervisory system to monitor by the observer.Processor links to each other with interface, sends to control center 6 with the image that will be produced.
This interface is the video output terminals of image processing equipment 5.This interface connect control center 6 with the image data transmission that will produce by processor to the center 6.
In vehicle monitoring system, can also optionally provide a chassis-height sensor.In this embodiment, chassis-height sensor 7 is placed in the passage 1.Sensor 7 is the equipment that is used for the height of measuring vehicle 11, and places the top of highway 10.For example, can be with sonac as chassis-height sensor 7.Sonac is surveyed the ultrasound wave by vehicle 11 reflections, so that detect the tip position of vehicle 11 from the last direction vehicle 11 emission ultrasound waves of vehicle 11.
Chassis-height sensor 7 is arranged on the porch in the monitored zone of highway 10.If the zone of monitoring at need does not have the crossing, in the porch of monitoring area a chassis-height sensor only need be set so.
Use two imaging cameras to carry out the sensor that stereo-picture is handled, laser range finder or radio distance-measuring set also can be used as sensor 7.And, the sensor except the excusing from death sensor, if it also can measure the height of the vehicle 11 of advancing on highway 10, it also can be used as sensor 7 so.
The operating process of vehicle monitoring system and image processing equipment 5 will be described now.As shown in Figure 1, obtain highway 10 and the image of the vehicle 11 of advancing thereon, and the vision signal that will come from each monitoring camera 2 sends to divider 3 by monitoring camera 2.Whenever suitable the time, divider 3 will send to image processing equipment 5 from the vision signal of camera 2.By the height of chassis-height sensor 7 measuring vehicle 11, and will represent that the detectable signal of measuring height sends to image processing equipment 5.Equipment 5 utilizes vision signal and height detecting signal to come carries out image processing.
With reference to figure 2, the image processing process that is undertaken by equipment 5 will be described now.Fig. 2 shows the process flow diagram of image processing process.Processing procedure shown in Figure 2 is carried out by processor in the equipment 5.Repeatedly the carries out image processing process is to follow the tracks of vehicle 11.
Step S1 place in Fig. 2, each vision signal that sends to equipment 5 is carried out the A/D conversion by A/D converter.By A/D conversion, the analog image of analog video signal is converted to digital picture.With switched image data storage in video frame memory.As shown in Figure 3, switched image is when the image when highway 10 is overlooked in the position of camera 2.About switched image 20, be last rear from vehicle, downwards with an angle tilt obtain the figure of the vehicle 11a-11c that is traveling on the highway 10.
After the A/D conversion, processing procedure moves on to the step S2 place among Fig. 2, here carries out to extract and handles.In the reason process, in the image of A/D conversion, limit sample area and the image of extraction in each sample area from the image of changing through A/D herein at each.Limit sample area, so that divide highway 10 along the vehicle direct of travel.As shown in Figure 4, each sample area 30 is extended along highway 10 with predetermined length, with the part around highway 10.As shown in Figure 5, mutual not crossover is provided with sample area 30 along the vehicle direct of travel.As selection, sample area 30 also can overlap each other.In this case, the part of the crossover between the sample area can cut off in the subsequent processes of Flame Image Process.
Produce the image that has extracted by obtaining pixel data in predetermined sample point, wherein said sampled point is arranged in the sample area 30.Fig. 6 has schematically illustrated the sampled point in sample area 30.As shown in Figure 6, sampled point 31 is arranged at regular intervals not only along the vehicle direct of travel but also along in the grid that extends across the direction of highway 10.Because sampled point 31 is set by this way, therefore can only easily set up the plan view from above of highway 10 and vehicle 11a-11c by the pixel data of resetting the sampled point 31 in the coordinate system, in this coordinate system, the direction that vehicle is advanced is vertical with direction across highway.
From extract the image in the sample area through the image of A/D conversion after, processing procedure is transferred to the step S3 place among Fig. 2, carries out synthetic the processing here.In the reason process, the image that is extracted that will produce in step S2 synthesizes herein, makes highway 10 be represented as along the vehicle direct of travel in the image that is synthesized and extends continuously.Institute's abstract image also can so come to synthesize, and promptly the image of the highway in composograph 10 extends on the horizontal or vertical direction of composograph.Fig. 7 illustrates an example of composograph, and wherein the image of highway 10 extends in the horizontal direction.
Image by the synthetic sample area 30 that is extracted along the vehicle direct of travel forms composograph 40.Composograph is such image, and promptly the pixel data of the image that is extracted that obtains from different vision signals is set to the pixel data same coordinate system.Preferably by the image that each extracted being stored in the data that produce composograph in the storer.Because sample area 30 do not overlap each other in the present embodiment, therefore can be easy to carry out the synthetic of institute's abstract image and needn't consider crossover part between the sample area 30.
As shown in Figure 7, composograph 40 shows the plan view from above of highway 10 and vehicle 11.In order to obtain composograph 40, not only need the sample area 30 shown in the composite diagram 4, and need each sample area 30 be converted to the zone of watching from the top by calculating.Yet, in this embodiment, because sampled point 31 is provided with as shown in Figure 6, so transfer process is together carried out with the extraction processing procedure.Therefore independent conversion process is unwanted.
After synthetic the processing, processing procedure moves on to the step S4 place among Fig. 2, here, uses composograph 40 to carry out vehicle detection and handles.This processing procedure for example can be carried out by well-known background rollback (background subtraction) method, and this method for example is that composograph 40 is compared with the background image in the storer that is stored in image processing equipment 5 in advance.This background image shows the image that does not have vehicle highway 10 thereon.
Described then processing procedure moves on to step S5, determines that here handling the vehicle that is detected by vehicle detection is vehicle that newly detects or the vehicle that has detected.Processor in equipment 5 is compared the image of the vehicle 11 that detected with the vehicle image that is stored in storer that is used for images match.With will describe in detail after a while the same, in this embodiment, the vehicle image that will be used for images match at step S7 place is stored in storer.Processor determine the image of the vehicle that detects and the image stored between whether have coupling.If processor is determined to have coupling, that is to say that one in the image of the vehicle that detects and the image of storage is complementary, the vehicle 11 that detects so just is not the new vehicle of surveying, and processing procedure moves on to step S8.On the contrary,, that is to say that any one in the image of the vehicle that is detected and the image of being stored is not complementary if processor is determined not have coupling, the vehicle 11 that is detected so is the vehicles that newly detect, and processing procedure moves on to step S6.
Unless in the region of being monitored the crossing is arranged, otherwise will near the inlet of the monitored region on the composograph, newly detect vehicle 11.Therefore, newly enter the vehicle 11 of monitoring region can be only based on being detected from the data of the camera 2 that is placed on the porch.On the contrary, if the crossing is arranged at guarded region, so vehicle 11 can be only based on newly being detected from the data of the camera 2 that is placed on porch or crossing.
In step S6, carry out the vehicle treatment for correcting, to revise the image that newly detects vehicle 11 according to the height of vehicle.If do not carry out trimming process, vehicle 11 will show as shown in Figure 8 so.Compare with vehicle 11a away from the vehicle 11b of camera 2 and 11c, trend towards having distortion greatly near camera 2.Particularly, the distortion such as the such vehicle 11c with very big height of truck is fairly obvious.
Here it is in step S6 carries out the reason of vehicle treatment for correcting.According to carrying out treatment for correcting by the height of chassis-height sensor 7 measured vehicle 11.When the measuring height of vehicle 11 increased, trimming process reduced bigger amount with the height of the image of vehicle 11.By carrying out trimming process by this way, the amending image of the vehicle 11a-11c shown in Fig. 8 is for as shown in Figure 9.
After correction, processing procedure moves on to step S7, and here, vehicle image of having proofreaied and correct and the original vehicle image before the correction of step S6 are stored in the storer.Specifically, the image of the vehicle 11a-11c of distortion is stored from wherein having removed as shown in Figure 9, and the image of the vehicle 11a-11c before removing the distortion shown in Fig. 8 also is stored.The same as described in detail later, the image of having proofreaied and correct is used for producing the output image that sends to control center 6.On the contrary, as mentioned above, described original image is used to compare with the image of detecting vehicle in step S4 images match process.
Then, processing procedure moves on to step S8, here carries out to follow the tracks of and handles.In following the tracks of processing procedure, the position with detection vehicle 11 of the matching image that before is stored in the storer is detected on composograph 40.On the contrary, with regard to just image being stored into regard to the vehicle that has detected 11 in the storer among the rapid S7 of previous step, after it moves and detect their image once more in next step S4, will in next step S8, survey their position.
Processing procedure moves on to step S9, here carries out to paste and handles.Herein in the reason process, will paste with the correcting image of having stored that the vehicle 11 that has detected is complementary on the background image in position that step S8 is surveyed.In this mode, the correcting image of vehicle 11 shows the current position of vehicle 11.。In this embodiment, background image is a composograph of therefrom having deleted the image that is detected vehicle.As for the vehicle of just having stored image at the rapid S7 of previous step place, at next step S9, the vehicle image of having proofreaied and correct will be adhered to the position that these vehicles moved on the background image.
Processing procedure moves on to step S10, carries out background correction here and handles.Herein in the reason process, according to the calibration modifications background image of the vehicle image in step S6.For example, in Fig. 9 in the situation of vehicle 11c, on background image, be modified in the background parts in the zone 50 of the image that has vehicle 11c before the trimming process.Here it is correcting background image not why, the background image factitious reason that becomes iff proofreading and correct vehicle image.
Thus, produced output image data by above-mentioned processing procedure.Output image is sent to control center 6 from processor through described interface as outputting video signal, and shows in monitor 61.A series of processing procedures in the execution graph 2 repeatedly in predetermined interval.Make image processing equipment 5 can follow the tracks of the vehicle 11 on the highway 10 like this and produce the output image of expression vehicle movement.
The advantage of present embodiment will be described now.As mentioned above, vehicle 11 will be surveyed on complete composograph 40, and wherein on composograph 40, the image of highway 10 is continuous on the vehicle direct of travel.Composograph 40 is seamless, and the problem of surveying with the seam interfere with vehicles between this image that prevents to be obtained by different cameras 2 11.Equally, even the intersection of vehicle 11 between the imaging region of camera 2, the complete image of vehicle 11 also can be presented on the composograph 40.So on composograph 40, detection vehicle 11 accurately, and improved the accuracy of following the trail of vehicle 11 with this.
Because composograph 40 is plan view from above of highway 10, thereby the observer can be easy to know the traffic of highway 10.
Because the image of the vehicle of having proofreaied and correct 11 stored, the continuous demonstration on diverse location along with moving of vehicle 11 is not so the image of the vehicle 11 that is obtained by camera 2 need be corrected when each detection vehicle 11.Simplified Flame Image Process like this and made image processing equipment 5 can produce output image fast.
Mispairing before and after vehicle image is proofreaied and correct between the background image can be overcome by the background correction process at step S10.Thus, can prevent that the output image that shows is unnatural on monitor 61.
Sampled point in the sample area 30 31 is arranged on along in the grid of vehicle direct of travel and the direction of crossing highway 10.Because the conversion of image is carried out together in company with abstract image from sample area 30, so do not need independent conversion process and simplified image processing process with this.
Because therefore the qualification sample area 30 of crossover, if need not consider the crossover part, can not be easy to the synthetic image that extracts from sample area 30 so.The further like this image processing process of having simplified.
Based on the foregoing description, the present invention has been described clearly; Yet the present invention is not limited to the foregoing description.For example, when in vehicle detection is handled, successfully not detecting vehicle, vehicle image on composograph can be used as a background image part and handles, and not may be displayed on the output image according to its this vehicle image of highly proofreading and correct, motions perhaps vectorial based on vehicle movement in the past and other vehicles before and after this vehicle can be estimated the position of vehicle, and the correcting image that this vehicle can have been stored pastes position estimated on the background image then.Two or more monitoring cameras 2 can be provided for each sample area of highway 10.In this case, the image of highway 10 can be obtained by different angles by camera 2 in each zone, therefore can detect the kart that may be hidden in the full-sized car back.Thereby, can improve the accuracy of detection vehicle.
In the above-described embodiments, having pasted the background image of the vehicle image of being stored in step S9, is the composograph of therefrom having removed the image of institute's detection vehicle.Yet the background image that uses in paste handling can be that expression does not have advance thereon image of vehicle, just, is used for the template image of background backing method.In this case, do not need to come the correcting background image according to the correction of vehicle image.Simplified Flame Image Process like this and made image processing equipment 5 can produce output image fast.
In the above-described embodiments, used simulation monitoring camera 2 and in image processing equipment 5, provide A/D converter.As selection, monitoring camera can be a digital video camera.In this case, do not need, and this equipment is directly handled the vision signal that comes from monitoring camera for image processing equipment provides A/D converter.
By so describing the present invention, it is conspicuous that embodiments of the invention can be changed in many aspects.This variation does not think to have broken away from the spirit and scope of the invention, and all such modifications that it will be apparent to those skilled in the art that, all is intended to be included in the scope of claim subsequently.
Claims (14)
1, a kind of image processing equipment is used to handle the vision signal of obtaining a plurality of imaging devices of highway map picture from being used for of placing along highway, and described image processing equipment comprises:
Draw-out device is used for from the sample area abstract image of each image of being represented by vision signal, limits sample area, so that divide highway along the direct of travel of vehicle in the highway;
Synthesizer is used to synthesize the image that is extracted is represented continuous highway with generation composograph; And
Sniffer is used for detection vehicle on composograph.
2, image processing equipment according to claim 1 is characterized in that:
This imaging device be analog machine and
Wherein, described image processing equipment further comprises the A/D converter that is connected between imaging device and the draw-out device, described A/D converter is converted to digital video signal to the analog video signal from imaging device, and described digital video signal is sent to draw-out device.
3, image processing equipment according to claim 1 and 2, it is characterized in that, draw-out device limits sampled point in each sample area, obtaining pixel data, and use the pixel data that is obtained to generate image as the plan view from above of the sample area of institute's abstract image at the image of representing by vision signal of sample point.
4, image processing equipment according to claim 1 is characterised in that the synthetic image that has extracted of described synthesizer so that make composograph represent the continuous highway that extends along the vertical direction or the horizontal direction of composograph.
5, image processing equipment according to claim 1 is characterised in that further to comprise:
Storer is used to store the vehicle image that the image of the vehicle that is used for and detects mates on composograph;
Coalignment, be used to determine the image of the vehicle that detects and the image stored between whether have coupling;
Tracking means is used for surveying the position of the vehicle that detects on composograph when coalignment is determined to have coupling; And
Be used in the position of detecting by tracking means, the image of being stored pasted the device on the background image that shows continuous highway.
6, image processing equipment according to claim 5 further comprises:
Video output terminals; With
Signal generator is used for producing vision signal at video output terminals, and described vision signal is represented the image by the sticker generation.
7, image processing equipment according to claim 5 is characterized in that, when coalignment is determined not have coupling, and the image of the vehicle that memory stores detects.
8, image processing equipment according to claim 7 further comprises means for correcting, when coalignment is determined not have coupling, is used for revising according to the height of the vehicle that detects the image of the vehicle that detects,
Wherein, memory stores is used for the image of having revised of images match, and
Wherein, sticker is pasted the image of being stored of modification on background image.
9, image processing equipment according to claim 8 is characterized in that, background image is a composograph of therefrom having removed the image of institute's detection vehicle, and
Image processing equipment further comprises the correction that is used for according to the image of the vehicle that detects, revises the means for correcting of background image.
10, image processing equipment according to claim 8 is characterized in that, background image is the image that expression does not have the continuous highway that vehicle advances thereon.
11, a kind of vehicle monitoring system comprises:
The a plurality of imaging devices that are used for obtaining the highway map picture along the highway placement; And
Image processing equipment according to claim 1.
12, a kind of vehicle monitoring system comprises:
The a plurality of imaging devices that are used for obtaining the highway map picture along the highway placement;
Image processing equipment according to claim 6; With
Be used to show display by the image of representing from the vision signal of image processing equipment.
13, according to claim 11 or 12 described vehicle monitoring systems, be characterised in that, for each sample area provides two or more imaging devices to obtain the image of highway.
14, a kind ofly be used to handle the image processing method of vision signal that obtains a plurality of imaging devices of highway map picture from being used for of placing along highway, described image processing method comprises:
Abstract image from the sample area of each image of being represented by vision signal limits sample area, so that divide highway along the direct of travel of vehicle in the highway;
The synthetic image that is extracted is to generate the composograph that shows continuous highway; And
Detection vehicle on composograph.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP211244/02 | 2002-07-19 | ||
| JP2002211244A JP3788400B2 (en) | 2002-07-19 | 2002-07-19 | Image processing apparatus, image processing method, and vehicle monitoring system |
| JP211244/2002 | 2002-07-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1489120A CN1489120A (en) | 2004-04-14 |
| CN1320513C true CN1320513C (en) | 2007-06-06 |
Family
ID=31934535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031550096A Expired - Fee Related CN1320513C (en) | 2002-07-19 | 2003-07-18 | Image procesisng device, image processing method and vehicle monitoring system |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP3788400B2 (en) |
| CN (1) | CN1320513C (en) |
| HK (1) | HK1060582A1 (en) |
| SG (1) | SG110061A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005125208A1 (en) | 2004-06-15 | 2005-12-29 | Matsushita Electric Industrial Co., Ltd. | Monitor and vehicle periphery monitor |
| CN101261681B (en) * | 2008-03-31 | 2011-07-20 | 北京中星微电子有限公司 | Road image extraction method and device in intelligent video monitoring |
| JP5187139B2 (en) | 2008-10-30 | 2013-04-24 | セイコーエプソン株式会社 | Image processing apparatus and program |
| US8495601B2 (en) | 2010-06-09 | 2013-07-23 | Lear Corporation | Shared memory architecture |
| CN102322800B (en) * | 2011-05-31 | 2013-04-03 | 南京信息工程大学 | Detecting method for maximal transverse oscillating quantity of combination vehicle based on machine vision and GPS (Global Positioning System) |
| CN103029621B (en) * | 2011-09-30 | 2016-04-06 | 株式会社理光 | Detect the method and apparatus of front vehicles |
| US8760513B2 (en) * | 2011-09-30 | 2014-06-24 | Siemens Industry, Inc. | Methods and system for stabilizing live video in the presence of long-term image drift |
| CN104584092B (en) * | 2012-08-31 | 2018-04-03 | 富士通株式会社 | Image processing apparatus and image processing method |
| CN103096043B (en) * | 2013-02-21 | 2015-08-05 | 安徽大学 | Mine safety monitoring method based on parallel video splicing technology |
| CN103473931B (en) * | 2013-07-08 | 2015-09-09 | 姜廷顺 | The system and method for quick confirmation road traffic accident escape vehicle identity |
| KR101665961B1 (en) * | 2016-04-08 | 2016-10-14 | 렉스젠(주) | Apparatus for providing image of vehicle and method thereof |
| CN111275983B (en) * | 2020-02-14 | 2022-11-01 | 阿波罗智联(北京)科技有限公司 | Vehicle tracking method, device, electronic equipment and computer-readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994028377A1 (en) * | 1993-05-28 | 1994-12-08 | Saab-Scania Combitech Aktiebolag | A method and a device for the registration of the movement of a vehicle |
| CN1144328A (en) * | 1995-05-18 | 1997-03-05 | 欧姆龙公司 | Object observing method and device |
| CN1351317A (en) * | 2000-10-27 | 2002-05-29 | 新鼎***股份有限公司 | Image detecting system and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2231753A (en) * | 1989-05-05 | 1990-11-21 | Golden River Ltd | Traffic incident monitoring with vido cameras |
| NL9300671A (en) * | 1993-04-20 | 1994-11-16 | Gatsometer Bv | Method and device for electronically recording an event, for example a traffic violation. |
| FR2781744B1 (en) * | 1998-07-30 | 2002-11-29 | Alstom Technology | ANTI-COLLISION SYSTEM FOR LEVELING |
-
2002
- 2002-07-19 JP JP2002211244A patent/JP3788400B2/en not_active Expired - Fee Related
-
2003
- 2003-07-18 SG SG200304023A patent/SG110061A1/en unknown
- 2003-07-18 CN CNB031550096A patent/CN1320513C/en not_active Expired - Fee Related
-
2004
- 2004-05-21 HK HK04103614A patent/HK1060582A1/en not_active IP Right Cessation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994028377A1 (en) * | 1993-05-28 | 1994-12-08 | Saab-Scania Combitech Aktiebolag | A method and a device for the registration of the movement of a vehicle |
| CN1144328A (en) * | 1995-05-18 | 1997-03-05 | 欧姆龙公司 | Object observing method and device |
| CN1351317A (en) * | 2000-10-27 | 2002-05-29 | 新鼎***股份有限公司 | Image detecting system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3788400B2 (en) | 2006-06-21 |
| CN1489120A (en) | 2004-04-14 |
| HK1060582A1 (en) | 2004-08-13 |
| SG110061A1 (en) | 2005-04-28 |
| JP2004056497A (en) | 2004-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3967972A1 (en) | Positioning method, apparatus, and device, and computer-readable storage medium | |
| CN1320513C (en) | Image procesisng device, image processing method and vehicle monitoring system | |
| JP4367475B2 (en) | Moving object recognition apparatus, moving object recognition method, and computer program | |
| CN110084895B (en) | Method and equipment for marking point cloud data | |
| CN102737236B (en) | Method for automatically acquiring vehicle training sample based on multi-modal sensor data | |
| CN101617197B (en) | Feature identification apparatus, measurement apparatus and measuring method | |
| CN102646343B (en) | Vehicle detection apparatus | |
| JP2007249103A (en) | Road image creation system, road image creation method, and road image compositing device | |
| CN1731450A (en) | Monitoring apparatus and method of displaying bird's-eye view image | |
| CN1503203A (en) | Image processing system using ratable surveillance camera | |
| CN105335955A (en) | Object detection method and object detection apparatus | |
| US20210073539A1 (en) | Port area monitoring method and system and central control system | |
| JP6552448B2 (en) | Vehicle position detection device, vehicle position detection method, and computer program for vehicle position detection | |
| KR101573576B1 (en) | Image processing method of around view monitoring system | |
| KR20220027739A (en) | Object detection method and apparatus, computer system, and readable storage medium | |
| WO2023138537A1 (en) | Image processing method and apparatus, terminal device and storage medium | |
| CN116978010A (en) | Image labeling method and device, storage medium and electronic equipment | |
| JP2009188635A (en) | Vehicle peripheral image processor and vehicle peripheral condition presenting method | |
| US20220207897A1 (en) | Systems and methods for automatic labeling of objects in 3d point clouds | |
| JP2015194373A (en) | Vehicle location detection device, vehicle location detection method, vehicle location detection computer program and vehicle location detection system | |
| CN112765302A (en) | Method and device for processing position information and computer readable medium | |
| CN111693043B (en) | Map data processing method and apparatus | |
| CN110852278B (en) | Ground identification line recognition method, ground identification line recognition equipment and computer-readable storage medium | |
| CN113469045A (en) | Unmanned card-collecting visual positioning method and system, electronic equipment and storage medium | |
| JP2004212658A (en) | System and method for image display and image processor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1060582 Country of ref document: HK |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070606 Termination date: 20170718 |