WO2011054971A3 - Method and system for detecting the movement of objects - Google Patents

Method and system for detecting the movement of objects Download PDF

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Publication number
WO2011054971A3
WO2011054971A3 PCT/EP2010/067140 EP2010067140W WO2011054971A3 WO 2011054971 A3 WO2011054971 A3 WO 2011054971A3 EP 2010067140 W EP2010067140 W EP 2010067140W WO 2011054971 A3 WO2011054971 A3 WO 2011054971A3
Authority
WO
WIPO (PCT)
Prior art keywords
camera
zone
texture
pixel data
ground plane
Prior art date
Application number
PCT/EP2010/067140
Other languages
French (fr)
Other versions
WO2011054971A2 (en
Inventor
Dorr Niall
Fogarty Graham
Original Assignee
Alpha Vision Design Research Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Alpha Vision Design Research Ltd. filed Critical Alpha Vision Design Research Ltd.
Publication of WO2011054971A2 publication Critical patent/WO2011054971A2/en
Publication of WO2011054971A3 publication Critical patent/WO2011054971A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • 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
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30242—Counting objects in image

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a system and method for detecting the movement of 3D objects, in particular people, in a defined zone using a camera comprising the steps of calibrating the camera to define said zone with respect to a ground plane, such that the zone is set at a desired height relative to the ground plane; capturing a multi-array of 3D range pixel data from a single camera in one single frame in said defined zone; and segmenting the 3D pixel data as volume features for the subsequent purpose of object identification and tracking through multiple captured frames. The invention overcomes the issues highlighted with traditional multi-camera systems in that no matching of points between cameras is required. This negates the effects of occlusion and the requirement of texture in the image. Also planar surfaces with no texture can now be measured with certainty. This is particularly important due the variety of surfaces present under a people counter i.e. carpet, tiles etc.
PCT/EP2010/067140 2009-11-09 2010-11-09 Method and system for detecting the movement of objects WO2011054971A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0919553A GB2475104A (en) 2009-11-09 2009-11-09 Detecting movement of 3D objects using a TOF camera
GB0919553.8 2009-11-09

Publications (2)

Publication Number Publication Date
WO2011054971A2 WO2011054971A2 (en) 2011-05-12
WO2011054971A3 true WO2011054971A3 (en) 2011-06-30

Family

ID=41502062

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/067140 WO2011054971A2 (en) 2009-11-09 2010-11-09 Method and system for detecting the movement of objects

Country Status (2)

Country Link
GB (1) GB2475104A (en)
WO (1) WO2011054971A2 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103839308B (en) * 2012-11-26 2016-12-21 北京百卓网络技术有限公司 Number acquisition methods, Apparatus and system
CN103942773B (en) * 2013-01-21 2017-05-10 浙江大华技术股份有限公司 Method and device for obtaining queuing length through image analysis
CN104376575B (en) * 2013-08-15 2018-02-16 汉王科技股份有限公司 A kind of pedestrian counting method and device based on multi-cam monitoring
AU2015253071A1 (en) * 2014-04-30 2016-11-10 Cubic Corporation Adaptive gate walkway floor display
SE538500C2 (en) 2014-11-26 2016-08-16 Scania Cv Ab Method and system for improving quality of image informationfrom a 3d detection unit for use on a vehicle
SE538501C2 (en) 2014-11-26 2016-08-16 Scania Cv Ab Method and system for improving quality of image informationfrom a 3d detection unit for use on a vehicle
WO2017023202A1 (en) * 2015-07-31 2017-02-09 Vadaro Pte Ltd Time-of-flight monitoring system
CN107767407B (en) * 2016-08-16 2020-09-22 北京万集科技股份有限公司 Road vehicle target extraction system and method based on TOF camera
US10221610B2 (en) 2017-05-15 2019-03-05 Otis Elevator Company Depth sensor for automatic doors
US10386460B2 (en) 2017-05-15 2019-08-20 Otis Elevator Company Self-calibrating sensor for elevator and automatic door systems
EP3496037A1 (en) 2017-12-06 2019-06-12 Koninklijke Philips N.V. Device, system and method for detecting body movement of a patient
US11126863B2 (en) 2018-06-08 2021-09-21 Southwest Airlines Co. Detection system

Citations (5)

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US20030235341A1 (en) * 2002-04-11 2003-12-25 Gokturk Salih Burak Subject segmentation and tracking using 3D sensing technology for video compression in multimedia applications
WO2004023782A2 (en) * 2002-09-05 2004-03-18 Cognex Corporation Stereo door sensor
US20050094879A1 (en) * 2003-10-31 2005-05-05 Michael Harville Method for visual-based recognition of an object
US20050093697A1 (en) * 2003-11-05 2005-05-05 Sanjay Nichani Method and system for enhanced portal security through stereoscopy
WO2008128568A1 (en) * 2007-04-20 2008-10-30 Softkinetic S.A. Volume recognition method and system

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US8009871B2 (en) * 2005-02-08 2011-08-30 Microsoft Corporation Method and system to segment depth images and to detect shapes in three-dimensionally acquired data
US7796780B2 (en) * 2005-06-24 2010-09-14 Objectvideo, Inc. Target detection and tracking from overhead video streams
US7787656B2 (en) * 2007-03-01 2010-08-31 Huper Laboratories Co., Ltd. Method for counting people passing through a gate

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030235341A1 (en) * 2002-04-11 2003-12-25 Gokturk Salih Burak Subject segmentation and tracking using 3D sensing technology for video compression in multimedia applications
WO2004023782A2 (en) * 2002-09-05 2004-03-18 Cognex Corporation Stereo door sensor
US20050094879A1 (en) * 2003-10-31 2005-05-05 Michael Harville Method for visual-based recognition of an object
US20050093697A1 (en) * 2003-11-05 2005-05-05 Sanjay Nichani Method and system for enhanced portal security through stereoscopy
WO2008128568A1 (en) * 2007-04-20 2008-10-30 Softkinetic S.A. Volume recognition method and system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ALLESSANDRO BEVILACQUA ET AL: "People Tracking Using a Time-of-Flight Depth Sensor", IEEE INTERNATIONAL CONFERENCE ON VIDEO AND SIGNAL BASED SURVEILLANCE, 2006. AVSS '06, IEEE, 1 November 2006 (2006-11-01), pages 1 - 5, XP002509695, ISBN: 978-0-7695-2688-1 *

Also Published As

Publication number Publication date
GB2475104A (en) 2011-05-11
WO2011054971A2 (en) 2011-05-12
GB0919553D0 (en) 2009-12-23

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