CN102054167A - All-weather multipath channel pedestrian flow monitoring system based on wireless infrared monitoring - Google Patents
All-weather multipath channel pedestrian flow monitoring system based on wireless infrared monitoring Download PDFInfo
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Abstract
The invention discloses an all-weather multipath channel pedestrian flow monitoring system based on wireless infrared monitoring. The system comprises a video acquisition terminal, wherein the video acquisition terminal comprises active infrared monitoring cameras and video acquisition modules both installed at the inlets of various pedestrian flow monitoring channels, a codebook background module, an image preprocessing module and a wireless transmission module; and the system further comprises: a central server terminal for receiving acquired pedestrian flow data and performing projection, tracking and counting, wherein the central server terminal comprises a wireless reception module, a new pedestrian flow detection module and a pedestrian flow tracking and counting module. The invention provides an all-weather multipath channel pedestrian flow monitoring system based on wireless infrared monitoring, with excellent self-adaptive ability and outstanding reliability.
Description
Technical field
The present invention relates to the monitoring technique of computer vision field, especially a kind of round-the-clock multiplexer channel flow of the people monitoring system.
Background technology
Along with society is constantly progressive, the range of application of video monitoring system more and more widely.In the supermarket, the place, gateway of public places such as subway, harbour and station is equipped with watch-dog usually.By these watch-dogs, managerial personnel can understand the safe operation situation of grasping guarded region in real time.But along with the increase of passage flow of the people, the supvr many times needs to be grasped the flow of the people information of respective channel in the certain hour section.Need mainly contain following several method at present with regard to this:
First kind, by the mode of manually checking.This mode needs to consume for a long time human resources on the one hand; On the other hand, As time goes on the fatigue aggravation of checking personnel, the effect of manually checking is variation gradually, and the data reliability of checking that causes finally obtaining is had a greatly reduced quality.
Second kind, the foot-operated approach sensor of machinery.This mode carries out installing on the ground, passway of people flow rate statistical mechanical foot pedals at needs, the pedestrian who passes through tramples these pedals, by wanting that with pedal the sensor that is connected is delivered to end for process to the information of trampling, transform and add up the purpose that reaches people flow rate statistical then by trample information processing and flow of the people at the information processing end.This mode is handled the situation of arranging that the accuracy meeting depends critically upon pedal.In addition, when turnover stream of people skewness, the accumulation precision of this kind method can further reduce.
The third adopts the infrared induction mode.This kind mode is installed infrared transmitting device (as infrared diode) and infrared signal and is responded to receiving trap (as photodiode) in the both sides of entrance and exit of the passage, block situation by the infrared signal that runs through logical passage, analyzes the pedestrian and passes through situation.This mode obtains statistical information more accurately on class when a pedestrian passes in and out.But, situation such as block for the stream of people, serious omission situation can appear.
The 4th kind, based on the technology of video monitoring.Based on the patent of people flow rate statistical aspect of computer vision, also existing people proposes.But there are various popularization restrictions in existing these methods based on computer vision at present.Such as, by carrying out the detection of the number of people based on Haar feature Adaboost method, train corresponding sorter respectively though propose to decorate (as Westerner, scarf etc.), become cascade classifier to carry out the detection of the different-shape passage number of people with these classifiers combination then at different color developments, different hair style, different head.But actual stream of people's headwear is very strange, train corresponding sorter reality hardly respectively.
Summary of the invention
The adaptive ability that has the flow of the people monitoring method is poor in order to overcome, the deficiency of poor reliability, the invention provides a kind of have good adaptive ability, the good round-the-clock multiplexer channel flow of the people monitoring system based on the Radio infrared monitoring of reliability.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of round-the-clock multiplexer channel flow of the people monitoring system based on the Radio infrared monitoring, comprise the video acquisition terminal, described video acquisition terminal comprises the infrared monitoring camera that is installed in each stream of people's monitor channel mouth place and in order to gather the video acquisition module of video image, described monitoring camera adopts the active infra-red monitoring camera, described video acquisition terminal also comprises: code book background module, carrying out a yard element in order to each pixel in the image that video is obtained builds, if present frame correspondence position pixel color gray scale drops in the plain effective tolerance of existing sign indicating number, judge the corresponding background area of current pixel point; If the current color value does not drop in the plain scope of existing any one yard, it is plain then to set up the fluctuate sign indicating number on border of new containing; All pixels in the whole monitoring image of present frame are carried out same evaluation process, realize cutting apart and extracting of motion pedestrian, obtain target area image; The image pretreatment module is in order to carry out denoising to target area image; Wireless transmitter module sends by wireless network in order to the stream of people is gathered video data;
Described multiplexer channel flow of the people monitoring system also comprises: in order to reception stream of people image data, and carry out the central server end that projection, tracking and counting are handled; Described central server end comprises:
Wireless receiving module is gathered video data in order to the stream of people who receives each video acquisition terminal;
Newly advance stream of people's detection module, realize newly carrying out regional detection and the location of the person among the stream of people in order to employing in the method that view field carries out projection, pedestrian's person is carried out the colouring information projection on two-dimensional directional, realize the initial alignment of effective number of people by two-dimentional extreme value detection and cross bearing;
The stream of people follows the tracks of and counting module, in order to detected each the pedestrian's target in the current channel end monitoring range, set up the Kalman tracker of a correspondence, rely on the Kalman prediction to realize corresponding pedestrian's band of position prediction, adopt the incidence matrix method to carry out pedestrian's object matching location then in the Kalman estimation range, the renewal of measured value of state is carried out in the position of adopting the incidence matrix Matching Location to obtain to the Kalman of correspondence; In tracing area, set the outer projection zone of the direction of entering and the inner projection zone of the direction of going out, when this target enters from the inner projection zone, and system gos out and person-time adds up 1 time during from outer projection's zone disappearance monitoring range; In like manner, when this target enters from the outer projection zone, and system enters and person-time adds up 1 time during from inner projection zone disappearance monitoring range; And gather the flow of the people information of each stream of people's monitor channel mouth.
As preferred a kind of scheme: the described stream of people follow the tracks of and counting module in, the incidence matrix method comprises following match condition:
(a) occur new target in the incidence matrix: this target is for newly entering the target of monitoring range, for this target is set up corresponding target following initial information, the body position information that adopts this target to try to achieve in view field is carried out the initialization of the trace information of Kalman and incidence matrix, and is this pedestrian's initial position with this information;
(b) target is complementary before and after in the incidence matrix: suppose that pedestrian i is respectively Hi, Wi and Pi in the corresponding height of the Position Tracking district of former frame frame S, width and center, by the corresponding new tracking frame S ' in Kalman prediction and incidence matrix coupling back highly, width and center be respectively Hi ', Wi ' and Pi ', then the overlapping area of S and S ' is every other and S has of maximum of the faying surface of overlapping relation; And according to this moment S ' information carry out the renewal of corresponding target Kalman and incidence matrix trace information;
(c) certain target disappears in the incidence matrix: do not mate target when matching when frame target before in the incidence matrix certain at present frame, this disappearance target is asked for its path vector information according to the location coordinate information and the initial position message of its former frame.
Further again, in described image pretreatment module, adopt the open and close computing in the morphology to carry out denoising.
Technical conceive of the present invention is: comprise video acquisition terminal and central information processing server based on the embedded-type ARM platform on system architecture.At the embedded video monitor terminal, carry out the real-time video collection of respective channel and the preliminary pre-service of video; Central server end in system carries out gathering of corresponding video stream of people quantitative statistics and the whole flows of the people of all passages to what each road video acquisition terminal was sent through pretreated monitor video.Adopt wireless network such as WiFi to realize connecting and communicating by letter between terminal and the central server.
Beneficial effect of the present invention mainly shows:
(1) at the wireless video acquisition terminal of each passway, adopt the active infra-red monitoring camera to carry out obtaining of monitor video, avoided system that the dependence and the light variation of luminous ray are disturbed, satisfied the round-the-clock application demand of system.
(2) a whole set of method system is divided into based on parts such as the passage video acquisition terminal of embedded-type ARM platform and information processing centre servers, has realized that the parallel stream of people of distributed multi-channel adds up synchronously.
(3) adopt the code book background modeling method, realized adaptive ability like this, got rid of the interference of the non-effective pedestrian's target that enters the monitoring process range the monitoring change of background.
(4) near the inner and outer boundary in camera head monitor zone, divided inner projection district and outer projection district respectively, adopt two-dimensional projection's method to realize the detection and the location positioning of pedestrian's upper body.
(5) adopt Kalman and incidence matrix way of combining to realize pedestrian's Continuous Tracking, because Kalman has very strong status information prediction and feedback capability.Therefore, avoided but the object matching of the practical incidence matrix in village is leaked generation with situation in the omission of high-speed moving object.
Description of drawings
Fig. 1 is based on the Organization Chart of the round-the-clock multiplexer channel flow of the people monitoring system of Radio infrared monitoring.
Fig. 2 is the structure synoptic diagram of background code book.
Fig. 3 is that the monitoring pedestrian of view field locatees synoptic diagram.
Fig. 4 is that the stream of people detects the tracking synoptic diagram.
Fig. 5 is based on the round-the-clock multiplexer channel people flow rate statistical processing flow chart of Radio infrared monitoring.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 5, a kind of round-the-clock multiplexer channel flow of the people monitoring system based on the Radio infrared monitoring comprises infrared video acquisition terminal 1 and the central information server end 2 based on the embedded-type ARM platform, at the embedded video monitor terminal, carry out the real-time video collection of respective channel and the preliminary pre-service of video; Central server end in system carries out gathering of corresponding video stream of people quantitative statistics and the whole flows of the people of all passages to what each road video acquisition terminal was sent through pretreated monitor video.Adopt wireless network 3 such as WiFi to realize connecting and communicating by letter between video acquisition terminal 1 and the central server end 2.
Video acquisition terminal: based on above system architecture, at each stream of people's monitor channel mouth place, adopt the active infra-red monitoring camera angle that the center is overlooked above passage that is connected in the embedded-type ARM processing platform to carry out the collection and the pre-service of round-the-clock infrared video.Disturb in order to get rid of the conversion of monitoring background, adopt code book background evaluation method to realize the foundation of monitoring scene and periodically update in the video acquisition terminal.In background evaluation, just can judge each pixel of frame of video and be in background area or pedestrian zone, thus reach the motion pedestrian cut apart detection, on this basis, adopt morphology open and close computing and histogram equalization etc. to realize the pre-service of images.Carry out the pre-service of video acquisition, code book background modeling and prospect pedestrian image in the video acquisition terminal, detailed process is as follows.
(1) code book background modeling
After collecting monitor video, adopt code book (codebook) method to realize the periodicity scene modeling of surveyed area.Each pixel is carried out a yard element and is built in the image that video is obtained, if present frame correspondence position pixel color gray scale drops in the plain effective tolerance of existing sign indicating number, the corresponding background area of current pixel point is described then; If the current color value does not drop in the plain scope of existing any one yard, it is plain then to set up the fluctuate sign indicating number on border (being called tolerance) of new containing; Same reason is carried out same evaluation process to all pixels in the current frame image, has just realized the background evaluation of guarded region.The structure of background code book is illustrated in fig. 2 shown below.Periodically carry out the renewal of code book then, realization has the interpolation of newly advancing background and the rejecting of out-of-date invalid background information.In the code book background evaluation, we know which pixel belongs to background, and which pixel belongs to the motion detection target, so just also cut apart detection with regard to the target that has realized similar image difference fraction.
(2) image pre-service
Cut apart by periodic effectively context update of code book and motion target detection, we have obtained the stream of people's moving target in the monitoring range.But be subjected to interference of noise etc., target area information is also not all very bright and clear and complete, and therefore, needs adopt the preprocess methods such as open and close computing in the morphology to realize cutting apart of the noise removing of motion target area, adhesion target.
Central server end: at the system centre server end, the center processing processing server is gathered video from the video acquisition terminal reception that is distributed on each passage through the pretreated stream of people by wireless networks such as WiFi, and being respectively the video subsequent treatment subprocess that each acquisition terminal is set up a correspondence, these subprocesss carry out counting processing of projection, tracking and flow of the people etc. to the passage stream of people video that counterpart terminal separately transmits respectively.At last, the people stream counting value that the server parent process is tried to achieve by comprehensive each subprocess is upgraded overall stream of people's statistical value, has so just realized the stream of people's quantitative statistics based on the multiplexer channel of Radio infrared monitoring.Each video stream of people of server end handles subprocess and realizes each counterpart wireless terminal passage stream of people's statistics by newly advancing steps such as stream of people's projection detection, existing pedestrian's object matching tracking and flow of the people counting respectively, and concrete steps are as follows.
(1) newly advancing the stream of people detects
The pedestrian of new admission passage terminal camera monitoring visual field, the situation that may exist health to block, this also is based on computer vision technique and realizes the difficult point of effectively accurate stream of people's statistics and break through emphasis.At present existing difficult point based on computer vision methods stream of people statistics.At present, the patent and the method for existing stream of people's statistics aspect based on computer vision are still undesirable to the statistical treatment of blocking the stream of people, all exist variety of issue.At these problems, we realize newly carrying out regional detection and the location of the person among the stream of people in the method that view field carries out projection at employing, are illustrated in fig. 3 shown below.Pedestrian's person is carried out the colouring information projection on two-dimensional directional, detect and cross bearing realizes effective number of people initial alignment of (comprise and being blocked) by two-dimentional extreme value, for follow-up Kalman and incidence matrix stream of people tracking provide the tracking of newly advancing target initial information.
(2) stream of people follows the tracks of and counting
To detected each the pedestrian's target in the current channel end monitoring range, set up the Kalman tracker of a correspondence, rely on the Kalman prediction to realize corresponding pedestrian's band of position prediction, adopt the incidence matrix method in the Kalman estimation range, to carry out pedestrian's object matching location then.Then, the renewal of measured value of state is carried out in the position of adopting the incidence matrix Matching Location to obtain to the Kalman of correspondence.Circulate successively, just realized the Continuous Tracking of monitoring pedestrian target.When adopting incidence matrix to carry out pedestrian's target following, following several match condition is arranged:
(a). occur new target in the incidence matrix: this target is described for newly entering the target of monitoring range, target is not also set up corresponding Kalman wave filter and information record.Therefore, set up corresponding target following initial information for this target.The body position information that adopts this target to try to achieve in view field is carried out the initialization of the trace information of Kalman and incidence matrix, and is this pedestrian's initial position with this information.
(b). target is complementary before and after in the incidence matrix: suppose that pedestrian i is (shown in Figure 2 at the Position Tracking district of former frame frame, being designated as S here) height, width and center are respectively Hi, Wi and Pi accordingly, by the corresponding new tracking frame (being designated as S ') in Kalman prediction and incidence matrix coupling back highly, width and center be respectively Hi ', Wi ' and Pi ', then the overlapping area of S and S ' is every other and S has of maximum of the faying surface of overlapping relation.And according to this moment S ' information carry out the renewal of corresponding target Kalman and incidence matrix trace information.
(c). certain target disappears in the incidence matrix: do not mate target when matching when frame target before in the incidence matrix certain at present frame, illustrate that this target disappears at present frame.At this moment, this disappearance target is asked for its path vector information according to the location coordinate information and the initial position message of its former frame.And then when this target enters from the inner projection zone, and system gos out and person-time adds up 1 time during from outer projection's zone disappearance monitoring range; In like manner, when this target enters from the outer projection zone, and system enters and person-time adds up 1 time during from inner projection zone disappearance monitoring range.
Server end is respectively handled subprocess people counterpart monitor terminal video stream of people detection statistics and is illustrated in fig. 4 shown below.
After video acquisition by above Radio infrared monitor terminal and the counterpart subprocess stream of people of pre-service and the central server end statistics, just obtained the turnover people stream information of each passage, on above basis, the stream of people of central server end handles the statistical value of parent process by each subprocess of tabulate statistics, has just obtained the turnover people stream information of whole passages of total system current time.Round-the-clock multiplexer channel people flow rate statistical method treatment scheme based on the Radio infrared monitoring is illustrated in fig. 5 shown below.
Claims (4)
1. round-the-clock multiplexer channel flow of the people monitoring system based on Radio infrared monitoring, comprise the infrared video acquisition terminal, described video acquisition terminal comprises the infrared monitoring camera that is installed in each stream of people's monitor channel mouth place and in order to gather the video acquisition module of video image, it is characterized in that: described monitoring camera adopts the active infra-red monitoring camera, and described video acquisition terminal also comprises:
Code book background module is carried out a yard element in order to each pixel in the infrared image that video is obtained and is built, if present frame correspondence position pixel color gray scale drops in the plain effective tolerance of existing sign indicating number, judges the corresponding background area of current pixel point; If the current color value does not drop in the plain scope of existing any one yard, it is plain then to set up the fluctuate sign indicating number on border of new containing; All pixels in the whole monitoring image of present frame are carried out same evaluation process, realize cutting apart and extracting of motion pedestrian, obtain target area image;
The image pretreatment module is in order to carry out denoising to target area image;
Wireless transmitter module sends by wireless network in order to the stream of people is gathered video data;
Described multiplexer channel flow of the people monitoring system also comprises: in order to reception stream of people image data, and carry out the central server end that projection, tracking and counting are handled; Described central server end comprises:
Wireless receiving module is gathered video data in order to the stream of people who receives each video acquisition terminal;
Newly advance stream of people's detection module, realize newly carrying out regional detection and the location of the person among the stream of people in order to employing in the method that view field carries out projection, pedestrian's person is carried out the colouring information projection on two-dimensional directional, realize the initial alignment of effective number of people by two-dimentional extreme value detection and cross bearing;
The stream of people follows the tracks of and counting module, in order to detected each the pedestrian's target in the current channel end monitoring range, set up the Kalman tracker of a correspondence, rely on the Kalman prediction to realize corresponding pedestrian's band of position prediction, adopt the incidence matrix method to carry out pedestrian's object matching location then in the Kalman estimation range, the renewal of measured value of state is carried out in the position of adopting the incidence matrix Matching Location to obtain to the Kalman of correspondence; In tracing area, set the outer projection zone of the direction of entering and the inner projection zone of the direction of going out, when this target enters from the inner projection zone, and system gos out and person-time adds up 1 time during from outer projection's zone disappearance monitoring range; In like manner, when this target enters from the outer projection zone, and system enters and person-time adds up 1 time during from inner projection zone disappearance monitoring range; And gather the flow of the people information of each stream of people's monitor channel mouth.
2. the round-the-clock multiplexer channel flow of the people monitoring system based on the Radio infrared monitoring as claimed in claim 1 is characterized in that: in described stream of people's tracking and counting module, the incidence matrix method comprises following match condition:
(a) occur new target in the incidence matrix: this target is for newly entering the target of monitoring range, for this target is set up corresponding target following initial information, the body position information that adopts this target to try to achieve in view field is carried out the initialization of the trace information of Kalman and incidence matrix, and is this pedestrian's initial position with this information;
(b) target is complementary before and after in the incidence matrix: suppose that pedestrian i is respectively Hi, Wi and Pi in the corresponding height of the Position Tracking district of former frame frame S, width and center, by the corresponding new tracking frame S ' in Kalman prediction and incidence matrix coupling back highly, width and center be respectively Hi ', Wi ' and Pi ', then the overlapping area of S and S ' is every other and S has of maximum of the faying surface of overlapping relation; And according to this moment S ' information carry out the renewal of corresponding target Kalman and incidence matrix trace information.
3.(c) certain target disappears in the incidence matrix: do not mate target when matching when frame target before in the incidence matrix certain at present frame, this disappearance target is asked for its path vector information according to the location coordinate information and the initial position message of its former frame.
4. the round-the-clock multiplexer channel flow of the people monitoring system based on the Radio infrared monitoring as claimed in claim 1 or 2 is characterized in that: in described image pretreatment module, adopt the open and close computing in the morphology to carry out denoising.
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