JP7282186B2 - 状況認識監視 - Google Patents
状況認識監視 Download PDFInfo
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- JP7282186B2 JP7282186B2 JP2021546697A JP2021546697A JP7282186B2 JP 7282186 B2 JP7282186 B2 JP 7282186B2 JP 2021546697 A JP2021546697 A JP 2021546697A JP 2021546697 A JP2021546697 A JP 2021546697A JP 7282186 B2 JP7282186 B2 JP 7282186B2
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Description
Claims (15)
- 環境内の状況認識監視を行うシステムであって、
a)前記環境内の物体の画像を取得するように構成された複数の撮像装置であって、当該複数の撮像装置の少なくともいくつかが少なくとも部分的に重なり合う視野を有するように前記環境内に配置されている複数の撮像装置の各々から複数の取得画像を含む画像ストリームを受信し、
b)異なる画像ストリーム内の重複画像であって、重なり合う視野を有する撮像装置により取得された画像である重複画像を識別し、
c)前記重複画像を解析して前記環境内の物体の位置を判定し、
d)時間経過に伴う前記物体の位置の変化を解析して前記環境内の物体の移動を判定し、
e)少なくとも1つの物体について物体の種類を表す物体属性を判定し、
f)i)前記物体属性に応じて1つ以上の状況認識ルールを選択し、
ii)前記物体の移動を前記選択された状況認識ルールと比較する
ことによって、前記物体属性を少なくとも部分的に用いて前記物体の移動を状況認識ルールと比較し、
g)前記比較の結果を用いて状況認識事象を識別する
ように構成された1つ以上の処理装置を含む、システム。 - 前記重複画像が、ほぼ同時に取得された同期重複画像であり、
前記1つ以上の処理装置が、
a)i)前記撮像装置により生成された取得時刻、
ii)各画像に関連付けられた受信時刻であって、前記1つ以上の処理装置が受信した時刻を示す受信時刻、及び
iii)前記画像の画像コンテンツの比較
のうちの少なくとも1つを用いて、取得された各画像の取得時刻を判定し、
b)前記取得時刻を用いて同期画像を識別する、
ように構成されている、請求項1に記載のシステム。 - 前記1つ以上の処理装置が、
a)各画像ストリームからの画像を解析して、物体を含む画像である物体画像を識別し、
b)前記撮像装置の位置合わせに少なくとも部分的に基づいて、同一物体を含む物体画像として重複画像を識別する
ように構成されている、請求項1または2に記載のシステム。 - 前記1つ以上の処理装置が、
a)画像ストリームからの多数の画像を解析して静止画像領域を識別し、
b)非静止画像領域を含む画像として物体画像を識別する
ように構成されている、請求項1~3のいずれか1項に記載のシステム。 - 前記1つ以上の処理装置が、
a)画像ストリーム内の画像間での画像領域の外観の変化の程度を判定し、
b)i)前記変化の程度を分類閾値と比較し、
ii)前記比較の結果に基づいて前記画像領域を分類し、
iii)前記画像領域の分類に基づいて物体を識別することによって、
前記変化の程度に少なくとも部分的に基づいて物体を識別する
ように構成されている、請求項1~4のいずれか1項に記載のシステム。 - 前記1つ以上の処理装置が、
a)視体積交差技術、
b)前記画像内のフィデューシャルマーキングの検出、及び
c)複数の三角形分割された画像内のフィデューシャルマーキングの検出、
のうち少なくとも1つを用いて物体の位置を判定するように構成されている、請求項1~5のいずれか1項に記載のシステム。 - 前記1つ以上の処理装置が、
a)重複画像内の対応画像であって、前記環境内の容積の画像である対応画像の領域を識別し、
b)前記対応画像領域を解析して前記容積内の物体を識別する
ように構成されている、請求項1~6のいずれか1項に記載のシステム。 - 前記1つ以上の処理装置が、
a)対応画像領域に関連付けられた物体スコアであって前記対応画像領域内の物体の検出に関連付けられた確実度を表す物体スコアを計算し、
b)前記物体スコアを用いて物体を識別する
ように構成されている、請求項7に記載のシステム。 - 前記1つ以上の処理装置が、
a)i)画像領域分類、
ii)画像領域分類の寿命、
iii)画像領域分類の過去の変化、
iv)視覚的効果の存在又は可能性、
v)画像ストリーム内の画像間の画像領域の外観の変化の程度、
vi)画像領域に関連するカメラジオメトリ、
vii)画像の取得時刻、及び
viii)画質
の少なくとも1つを用いて前記対応画像領域の各々に対して画像領域スコアを生成し、
b)i)前記画像領域スコアを用いて物体スコアを計算することと、
ii)前記対応画像領域を解析して各々の対応画像領域の前記画像領域スコアに応じて前記容積内の物体を識別することと、
iii)各々の対応画像領域の前記画像領域スコアを重み付けとして用いて視体積交差技術を実行することと
のうち少なくとも1つを実行する
ように構成されている、請求項7または8に記載のシステム。 - 前記1つ以上の処理装置が、較正データに従い前記画像を解釈するように構成されており、
前記較正データが、
a)各撮像装置の撮像特性を表す内因的較正データ、及び
b)前記環境内における前記撮像装置の相対位置を表す外因的較正データ
のうち少なくとも1つを含んでおり、
前記1つ以上の処理装置が、
i)撮像装置を用いて異なる位置から取得された規定パターンの画像を受信して、前記画像を解析して前記撮像装置の画像取得特性を表す較正データを生成すること、および、
ii)前記環境内の目標の取得画像を受信して、前記取得画像を解析して異なる撮像装置により取得された同一目標を表す画像を識別し、識別された画像を解析して前記撮像装置の相対位置及び向きを表す較正データを生成すること、
の少なくとも1つにより、較正処理の実行中に較正データを生成するように構成されている、請求項1~9のいずれか1項に記載のシステム。 - i)前記物体属性が、
(1)移動パターンを解析すること、
(2)画像認識を用いること、
(3)機械可読符号化データを用いること、
の少なくとも1つによって判定され、ここで、機械可読符号化データを用いる場合には、物体が、物体属性を表す機械可読符号化データに関連付けられており、
(a)前記機械可読符号化データが可視データであり、前記1つ以上の処理装置が前記画像を解析して前記機械可読符号化データを検出するように構成されている、および/または、
(b)前記機械可読符号化データが前記物体に関連付けられたタグにコード化されていて、前記1つ以上の処理装置がタグ読取器から前記機械可読符号化データを表す信号を受信するように構成されている、
請求項1~10のいずれか1項に記載のシステム。 - 前記1つ以上の処理装置が、
a)物体の移動を用いて予想される物体の移動を判定し、
b)前記予想される物体の移動を前記状況認識ルールと比較する
ように構成されており、前記状況認識ルールが、
i)許可された物体の移動経路、
ii)許可された物体の移動、
iii)異なる物体に許可された接近限度、
iv)物体に許可されたゾーン、及び
v)物体に禁止されたゾーン
のうち少なくとも1つを表し、
前記1つ以上の処理装置が、
c)i)物体の移動が前記物体に対して規定されている許可された物体の移動経路から逸脱している、
ii)物体の移動が前記物体に許可された物体の移動から逸脱している、
iii)2つの物体が前記物体に許可された接近限度内にある、
iv)2つの物体が前記物体に許可された接近限度に近づいている、
v)2つの物体が前記物体に許可された接近限度にあることが予想される、
vi)2つの物体の予想される移動経路が交差している、
vii)物体が前記物体に許可されたゾーンの外側にある、
viii)物体が前記物体に許可されたゾーンから退出している、
ix)物体が前記物体に禁止されたゾーンの内側にある、及び
x)物体が前記物体に禁止されたゾーンに進入している、
のうち少なくとも1つが真ならば状況認識事象を識別するように構成されている、請求項1~11のいずれか1項に記載のシステム。 - 前記1つ以上の処理装置が
a)環境モデルを生成するように構成され、前記環境モデルが、
i)前記環境、
ii)前記環境内における撮像装置の位置、
iii)物体の現在位置、
iv)物体の移動、
v)予想される物体の位置、及び
vi)予想される物体の移動、
のうち少なくとも1つを表し、
前記1つ以上の処理装置が、
b)前記環境モデルのグラフ表現を生成するように構成されている、
請求項1~12のいずれか1項に記載のシステム。 - 状況認識事象の識別に応答して、前記1つ以上の処理装置が、
a)前記状況認識事象の徴候を記録すること、
b)前記状況認識事象を示す通知を生成すること、
c)出力装置に前記状況認識事象を示す出力を生成させること、
d)警報を起動すること、及び
e)物体の動作を制御させること
のうち少なくとも1つを実行するように構成されている、請求項1~13のいずれか1項に記載のシステム。 - 環境内の状況認識監視方法であって、1つ以上の処理装置において、
a)前記環境内の物体の画像を取得するように構成された複数の撮像装置であって、当該複数の撮像装置の少なくともいくつかが少なくとも部分的に重なり合う視野を有するように前記環境内に配置された複数の撮像装置の各々から複数の取得画像を含む画像ストリームを受信するステップ、
b)異なる画像ストリーム内の重複画像であって、重なり合う視野を有する撮像装置により取得された画像である重複画像を識別するステップ、
c)前記重複画像を解析して前記環境内の物体の位置を判定するステップ、
d)時間経過に伴う前記物体の位置の変化を解析して前記環境内の物体の移動を判定するステップ、
e)少なくとも1つの物体について物体の種類を表す物体属性を判定するステップ、
f)i)前記物体属性に応じて1つ以上の状況認識ルールを選択し、
ii)前記物体の移動を前記選択された状況認識ルールと比較する
ことによって、前記物体属性を少なくとも部分的に用いて前記物体の移動を状況認識ルールと比較するステップ、及び
g)前記比較の結果を用いて状況認識事象を識別するステップ
を含む、方法。
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