CN105812618A - Motion detection method and motion detection device - Google Patents
Motion detection method and motion detection device Download PDFInfo
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- CN105812618A CN105812618A CN201610156225.5A CN201610156225A CN105812618A CN 105812618 A CN105812618 A CN 105812618A CN 201610156225 A CN201610156225 A CN 201610156225A CN 105812618 A CN105812618 A CN 105812618A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N5/14—Picture signal circuitry for video frequency region
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Abstract
The invention discloses a motion detection method and a motion detection device. Each frame of image is divided into multiple preset segmentation regions; brightness levels to which the segmentation regions belong are determined according to the average brightness value of the segmentation regions; and whether the segmentation regions are motion regions or not is determined by using judgment strategies corresponding to the belonged brightness levels specific to the segmentation regions with different brightness levels according to the brightness levels of the segmentation regions. In this way, an algorithm has different sensitive properties in different brightness environments and has higher adaptability.
Description
Technical field
The present invention relates to digital image processing techniques field, espespecially one method for testing motion and motion detection apparatus.
Background technology
At present, Video Supervision Technique application is more and more extensive, continuous progress along with image processing techniques with video relevant device, people are more and more higher to the intelligent requirements of monitoring device, not only it is satisfied with common passive type monitoring, for specifically monitoring place, such as bank, parking lot, unit gateway, button department etc., it usually needs in detection scene, whether there is moving target.
Generally utilize Gauss distribution that the original image collected is modeled, each pixel of every two field picture of transmission is distinguished foreground and background and then detection moving object by calculating the matching degree of itself and model.But said method algorithm is complicated, computationally intensive, and illumination and disturbance is more sensitive, and adaptability is poor.
Summary of the invention
Embodiments provide a kind of method for testing motion and motion detection apparatus, to provide the method for testing motion that a kind of adaptability is higher.
A kind of method for testing motion that the embodiment of the present invention provides, including:
Receive current frame image, and described current frame image is divided into default multiple cut zone；
For each cut zone in current frame image, determine the gray scale belonging to described cut zone according to the average brightness of described cut zone；
For the cut zone of different gray scales, the determination strategy corresponding with affiliated gray scale is adopted to determine whether described cut zone is moving region.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of different gray scales, it is determined that whether described cut zone is moving region, specifically includes:
Described cut zone is divided into the subregion that some sizes are identical；
Obtain the average brightness of each described subregion, and the average brightness of each described subregion is set up time slip luminance mean value model；
Determine the time slip luminance mean value of described subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in described cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
For the cut zone of different gray scales, determine whether described cut zone is moving region according to the time slip luminance mean value of described subregion each in described cut zone, the luminance frame difference of each described subregion, the average brightness of each described subregion and the determination strategy corresponding with affiliated gray scale.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, determine that the gray scale belonging to described cut zone specifically includes according to the average brightness of described cut zone:
If the average brightness of described cut zone is less than default dark luminance threshold, determine that the gray scale belonging to described cut zone is dark rank；
If the average brightness of described cut zone is more than or equal to described default dark luminance threshold and less than presetting bright luminance threshold, determine that the gray scale belonging to described cut zone is dimming level；
If the average brightness of described cut zone presets bright luminance threshold more than or equal to described, determine that the gray scale belonging to described cut zone is bright level.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of dark rank, it is determined that whether described cut zone is that moving region specifically includes:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion and described cut zone, obtain average brightness and the time slip luminance mean value of the subregion that luminance frame difference is maximum in described cut zone；
According to the testing conditions 1 set and testing conditions 2, when in described testing conditions 1 and described testing conditions 2, any one meets, it is determined that the cut zone of described dark rank is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of dimming level, it is determined that whether described cut zone is that moving region specifically includes:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when testing conditions 2 described in described testing conditions 1 with when in described testing conditions 3, any one meets, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of bright level, it is determined that whether described cut zone is that moving region specifically includes:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when described in described testing conditions 1, testing conditions 2 and described testing conditions 3 are satisfied by, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, the average brightness of each described subregion is set up time slip luminance mean value model according to below equation:
During n=1, Lx_adapt (n)=Lx_ave (n)；
During n > 1,
Wherein, Lx_ave (n) represents the average brightness value of x subregion in n-th frame image, and Lx_adapt (n) represents the time slip luminance mean value of x subregion in n-th frame image, and n is the positive integer more than 7 and less than 11.
Correspondingly, the embodiment of the present invention additionally provides a kind of motion detection apparatus, including:
Segmentation module, is used for reception current frame image, and described current frame image is divided into default multiple cut zone；
Rank judge module, for for each cut zone in current frame image, determining the gray scale belonging to described cut zone according to the average brightness of described cut zone；
Motion detection block, for the cut zone for different gray scales, adopts the determination strategy corresponding with affiliated gray scale to determine whether described cut zone is moving region.
It is preferred that the embodiment of the present invention provide above-mentioned motion detection apparatus in, motion detection block specifically for:
Described cut zone is divided into the subregion that some sizes are identical；
Obtain the average brightness of each described subregion, and the average brightness of each described subregion is set up time slip luminance mean value model；
Determine the time slip luminance mean value of described subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in described cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
For the cut zone of different gray scales, determine whether described cut zone is moving region according to the time slip luminance mean value of described subregion each in described cut zone, the luminance frame difference of each described subregion, the average brightness of each described subregion and the determination strategy corresponding with affiliated gray scale.
It is preferred that the embodiment of the present invention provide above-mentioned motion detection apparatus in, described rank judge module specifically for:
If the average brightness of described cut zone is less than default dark luminance threshold, determine that the gray scale belonging to described cut zone is dark rank；
If the average brightness of described cut zone is more than or equal to described default dark luminance threshold and less than presetting bright luminance threshold, determine that the gray scale belonging to described cut zone is dimming level；
If the average brightness of described cut zone presets bright luminance threshold more than or equal to described, determine that the gray scale belonging to described cut zone is bright level.
It is preferred that in the above-mentioned motion detection apparatus that the embodiment of the present invention provides, for motion detection block described in the cut zone of dark rank specifically for:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion and described cut zone, obtain average brightness and the time slip luminance mean value of the subregion that luminance frame difference is maximum in described cut zone；
According to the testing conditions 1 set and testing conditions 2, when in described testing conditions 1 and described testing conditions 2, any one meets, it is determined that the cut zone of described dark rank is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone.
It is preferred that the embodiment of the present invention provide above-mentioned motion detection apparatus in, for motion detection block described in the cut zone of dimming level specifically for:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when testing conditions 2 described in described testing conditions 1 with when in described testing conditions 3, any one meets, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
It is preferred that the embodiment of the present invention provide above-mentioned motion detection apparatus in, for motion detection block described in the cut zone of bright level specifically for:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when described in described testing conditions 1, testing conditions 2 and described testing conditions 3 are satisfied by, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
It is preferred that in the above-mentioned motion detection apparatus that the embodiment of the present invention provides, the average brightness of described subregion is set up time slip luminance mean value model according to below equation by described motion detection block:
During n=1, Lx_adapt (n)=Lx_ave (n)；
During n > 1,
Wherein, Lx_ave (n) represents the average brightness value of x subregion in n-th frame image, and Lx_adapt (n) represents the time slip luminance mean value of x subregion in n-th frame image, and n is the positive integer more than 7 and less than 11.
The above-mentioned method for testing motion of embodiment of the present invention offer and motion detection apparatus, be divided into default multiple cut zone by each two field picture；Average brightness according to cut zone determines the gray scale belonging to cut zone；Gray scale according to cut zone, cut zone for different gray scales, the determination strategy corresponding with affiliated gray scale is adopted to determine whether cut zone is moving region, it is possible to make algorithm have different sensitive character in different lightness environment, have higher adaptability.
Accompanying drawing explanation
The flow chart of the method for testing motion that Fig. 1 provides for the embodiment of the present invention；
For the cut zone of different gray scales in the method for testing motion that Fig. 2 provides for the embodiment of the present invention, it is determined that whether cut zone is the flow chart of moving region；
The particular flow sheet of the method for testing motion that Fig. 3 provides for the embodiment of the present invention one；
The structural representation of the motion detection apparatus that Fig. 4 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, a kind of method for testing motion provide the embodiment of the present invention and the detailed description of the invention of motion detection apparatus are described in detail.
A kind of method for testing motion that the embodiment of the present invention provides, as it is shown in figure 1, comprise the following steps:
S101, reception current frame image, and current frame image is divided into default multiple cut zone；
S102, for each cut zone in current frame image, determine the gray scale belonging to cut zone according to the average brightness of cut zone；
S103, cut zone for different gray scales, adopt the determination strategy corresponding with affiliated gray scale to determine whether cut zone is moving region.
The above-mentioned method for testing motion that the embodiment of the present invention provides, is divided into default multiple cut zone by each two field picture；Average brightness according to cut zone determines the gray scale belonging to cut zone；Gray scale according to cut zone, cut zone for different gray scales, the determination strategy corresponding with affiliated gray scale is adopted to determine whether cut zone is moving region, it is possible to make algorithm have different sensitive character in different lightness environment, have higher adaptability.
It should be noted that in the above-mentioned method for testing motion that the embodiment of the present invention provides, the average brightness of cut zone refers to after the brightness value summation of all pixels in this cut zone divided by the quantity of the pixel in this cut zone.
In the specific implementation, in the above-mentioned method for testing motion that the embodiment of the present invention provides, step S103 is for the cut zone of different gray scales, it is determined that whether cut zone is moving region, as in figure 2 it is shown, specifically include:
S201, cut zone is divided into the subregion that some sizes are identical；
S202, obtain the average brightness of all subregion, and the average brightness of all subregion is set up time slip luminance mean value model；
S203, determine the time slip luminance mean value of subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
According to the time slip luminance mean value of all subregion in cut zone, the luminance frame difference of all subregion, the average brightness of all subregion and the determination strategy corresponding with affiliated gray scale, S204, cut zone for different gray scales, determine whether cut zone is moving region.
The above-mentioned method for testing motion that the embodiment of the present invention provides, each cut zone is divided into some subregions be analyzed, result is made to more conform to statistical significance to a certain extent, and it is different from prior art and is analyzed bringing much noise to single pixel, and need complicated later stage denoising, therefore realize simplicity, stablize, be more suitable for applying to real-time monitoring scene.Further, the time slip luminance mean value model of foundation algorithm compared with employing Gauss model in prior art is simpler.
It should be noted that in the above-mentioned method for testing motion that the embodiment of the present invention provides, the average brightness of subregion refers to after the brightness value summation of all pixels in this subregion divided by the quantity of the pixel in this subregion.
Further, in the specific implementation, in the above-mentioned detection method that the embodiment of the present invention provides, when the average brightness of subregion a certain in current frame image is set up time slip luminance mean value model, being generally adopted in the average brightness of this subregion in this current frame image and its front N two field picture the average brightness of corresponding subregion sets up.N generally takes the integer more than 7 and less than 11.This is because N value is too big, moving object knows from experience generation motion blur phenomenon, and N value is too little, and algorithm stability can be poor.
In the specific implementation, for all subregion of each two field picture of the 1st frame to nth frame when setting up time slip luminance mean value model, due to N two field picture inadequate before current frame image, the 1st two field picture average brightness of corresponding subregion to current frame image therefore can only be taked to set up.Further, in the specific implementation, owing to the stability of time slip luminance mean value model of all subregion of each two field picture of the 1st frame to nth frame is also poor, generally now the stability of testing result is poor.Therefore, setting up time slip luminance mean value model for all subregion of each two field picture of the 1st frame to nth frame, to be primarily to the time slip luminance mean value model stability making all subregion from N+1 two field picture good, in order to makes motion detection result accurate.
In the specific implementation, in the above-mentioned detection method that the embodiment of the present invention provides, according to below equation, the average brightness of all subregion set up time slip luminance mean value model:
During n=1, Lx_adapt (n)=Lx_ave (n)；
During n > 1,
Wherein, Lx_ave (n) represents the average brightness value of x subregion in n-th frame image, and Lx_adapt (n) represents the time slip luminance mean value of x subregion in n-th frame image, and N is the integer more than 7 and less than 11.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, determine that the gray scale belonging to cut zone specifically includes according to the average brightness of cut zone:
If the average brightness of cut zone is less than default dark luminance threshold, determine that the gray scale belonging to cut zone is dark rank；
If the average brightness of cut zone is more than or equal to default dark luminance threshold and less than presetting bright luminance threshold, determine that the gray scale belonging to cut zone is dimming level；
If the average brightness of cut zone is more than or equal to presetting bright luminance threshold, determine that the gray scale belonging to cut zone is bright level.
In the specific implementation, in the above-mentioned method for testing motion that the embodiment of the present invention provides, preset dark luminance threshold and be taken as less than or equal to 40, preset bright luminance threshold and be taken as more than or equal to 80, certainly in the specific implementation, the bright-dark degree of the brightness according to image divides, and takes and presets bright luminance threshold by default dark luminance threshold and be taken as other value, in this no limit.
Below be only that gray scale is divided into three ranks, i.e. dark rank, dimming level and bright level.In the specific implementation, it is also possible to just gray scale is divided into more rank, for instance four, five etc., in this no limit.Example below illustrates so that gray scale to be divided into dark rank, dimming level and bright level.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of dark rank, it is determined that whether cut zone is that moving region specifically includes:
Luminance frame difference maximum in cut zone is determined according to the luminance frame difference of all subregion in cut zone；
According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion and cut zone, obtain average brightness and the time slip luminance mean value of the subregion that luminance frame difference is maximum in cut zone；
According to the testing conditions 1 set and testing conditions 2, when in testing conditions 1 and testing conditions 2, any one meets, it is determined that the cut zone of dark rank is moving region；
Wherein, testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone.
It should be noted that, in the above-mentioned method for testing motion that the embodiment of the present invention provides, the time slip luminance mean value of subregion and the average brightness of subregion are all the statistics of luminance mean value, and time slip luminance mean value is the statistical significance reflecting average brightness time samples, such that it is able to the relative stable region existed fluctuating centered by time slip luminance mean value is as the confidence interval of average brightness.
Therefore, in the above-mentioned method for testing motion that the embodiment of the present invention provides, it is fluctuate the relative stable region existed centered by the time slip luminance mean value of the subregion that luminance frame difference is maximum in cut zone as confidence interval.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of dimming level, it is determined that whether cut zone is that moving region specifically includes:
Luminance frame difference maximum in cut zone is determined according to the luminance frame difference of all subregion in cut zone；
According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion, the luminance frame difference of all subregion and cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in cut zone and time slip luminance mean value, all subregion luminance frame difference and value and all subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when in testing conditions 1 testing conditions 2 and testing conditions 3, any one meets, it is determined that the cut zone of dimming level is moving region；
Wherein, testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone；Testing conditions 3 be the luminance frame difference of all subregion in cut zone and in value and cut zone the time slip luminance mean value of all subregion and the ratio of value in the second preset range less than 1.
It is preferred that in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the cut zone of bright level, it is determined that whether cut zone is that moving region specifically includes:
Luminance frame difference maximum in cut zone is determined according to the luminance frame difference of all subregion in cut zone；
According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion, the luminance frame difference of all subregion and cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in cut zone and time slip luminance mean value, all subregion luminance frame difference and value and all subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when testing conditions 1 testing conditions 2 and testing conditions 3 are satisfied by, it is determined that the cut zone of dimming level is moving region；
Wherein, testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone；Testing conditions 3 be the luminance frame difference of all subregion in cut zone and in value and cut zone the time slip luminance mean value of all subregion and the ratio of value in the second preset range less than 1.
In the specific implementation, due in bright image, actual object is bigger with the average brightness diversity ratio shade of background, cut zone has the subregion of high-high brightness frame difference need sizable value and just can be judged as object, consider fluctuation and the luminance frame difference of intrinsic brilliance meansigma methods, therefore adopt average brightness to replace fixed threshold can have adaptive capacity to environment more preferably as decision threshold.And due to when the scene having shade or equipment to rock, the cut zone at real motion object place generally has relatively larger luminance frame difference, consider the demand of adaption brightness, the time slip luminance mean value of subregion maximum for the luminance frame difference of certain multiple (desirable 2～5 times) is had more adaptability as threshold value.
Therefore in the above-mentioned method for testing motion that the embodiment of the present invention provides, the testing conditions 1 of setting be in luminance frame difference maximum in cut zone and cut zone the ratio of the time slip luminance mean value of the subregion that luminance frame difference is maximum in the first preset range more than 1.And first preset range be 2～5 effects preferably.
In the specific implementation, owing to the change of the brightness value of each background pixel point of image meets Gauss distribution, therefore the average brightness of subregion also complies with Gauss distribution.Utilize the confidence interval of Gauss distribution as the confidence interval in testing conditions 2, it is possible to effectively to get rid of the interference of noise in dark surrounds, and accurately catch the change of brightness.Further, in the specific implementation, if fiducial interval range takes too little meeting and causes that noise is big, if fiducial interval range takes too big, the sensitivity judged can be low.It is thus preferable to, in the above-mentioned method for testing motion that the embodiment of the present invention provides, the confidence interval in testing conditions 2 is 90%～110%.
Progressive ground, in the specific implementation, the moving object contours in the occasion of dark, the image that equipment is taken in is unintelligible, and image is fuzzyyer.By adding up the luminance frame difference of all subregion of cut zone, the eigenvalue of image change in this region can be obtained so that equipment can be sensitive to the moving object entering this cut zone.And due to all subregion in cut zone luminance frame difference and value reflect the wave characteristic of all subregions in this cut zone, if current cut zone is moving region, then the luminance frame difference of all subregion and be worth relatively former frame and have bigger fluctuation, utilize the time slip luminance mean value of all subregion in the cut zone of preset multiple (multiple taking 2%～5% can effectively shield effect of noise) and value can so that adjudicating and having more adaptability as judgment threshold.
Therefore, preferably, in the above-mentioned method for testing motion that the embodiment of the present invention provides, the luminance frame difference that testing conditions 3 be all subregion in cut zone of setting and in value and cut zone the time slip luminance mean value of all subregion and the ratio of value in the second preset range less than 1.Further, when the second preset range is 2%～5%, effect is preferably.
Exist further, in the above-mentioned method for testing motion that the embodiment of the present invention provides, when the gray scale of cut zone is dark rank, due in cut zone the luminance frame difference of all subregion and value relatively big (namely noise is big), and in cut zone the time slip luminance mean value of all subregion and be worth smaller (namely noise threshold is little), even if therefore cut zone is moving region, the time slip luminance mean value of all subregion with value with the luminance frame difference of all subregion and be worth ratio change relative also smaller, namely signal to noise ratio is relatively low, cause that judgement is poor, when therefore judging the cut zone of dark rank, the determination strategy taked only needs consider testing conditions 1 and testing conditions 2 have at least one meet.When the gray scale of cut zone is dimming level, due to relatively difficult judgement, in order to improve susceptiveness, the determination strategy taked only needs consider testing conditions 1, testing conditions 2 and testing conditions 3 have at least one meet.When the gray scale of cut zone is bright level, owing to judging to be easier, but the difference of the judged result of three kinds of testing conditions may be relatively larger, therefore to reduce susceptiveness, the determination strategy taked needs consider that testing conditions 1, testing conditions 2 and testing conditions 3 are satisfied by.Therefore the above-mentioned method for testing motion that the embodiment of the present invention provides provides different determination strategy for the cut zone of different gray scales so that algorithm has different sensitive character at different gray scales, has higher adaptability.
Below by a specific embodiment, the above-mentioned method for testing motion that the embodiment of the present invention provides is described.
Embodiment one,
As it is shown on figure 3, method for testing motion specifically includes:
S301, reception current frame image, and current frame image is divided into default multiple cut zone；
S302, for each cut zone in current frame image, cut zone is divided into the subregion that some sizes are identical；Obtain the average brightness of all subregion, and the average brightness of all subregion is set up time slip luminance mean value model；Determine the time slip luminance mean value of subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
S303, determine luminance frame difference maximum in cut zone according to the luminance frame difference of all subregion in cut zone；According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion, the luminance frame difference of all subregion and cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in cut zone and time slip luminance mean value, all subregion luminance frame difference and value and all subregion time slip luminance mean value and value；
S304, judge that the average brightness of cut zone is whether less than default dark luminance threshold, if so, then performs step S305, then performs step S306 if not；
S305, determine that gray scale belonging to cut zone is for dark rank, and judge whether testing conditions 1 and testing conditions 2 have any one meet；
If, it is determined that cut zone is moving region；
S306, judge that the average brightness of cut zone is whether less than presetting bright luminance threshold, if so, then performs step S307, then performs step S308 if not；
S307, determine that the gray scale belonging to cut zone is dimming level, and judge whether testing conditions 1, testing conditions 2 and testing conditions 3 have any one meet；
If, it is determined that cut zone is moving region；
S308, determine that the gray scale belonging to cut zone is bright level, and judge whether testing conditions 1, testing conditions 2 and testing conditions 3 are satisfied by；
If, it is determined that cut zone is moving region.
Wherein testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone；Testing conditions 3 be the luminance frame difference of all subregion in cut zone and in value and cut zone the time slip luminance mean value of all subregion and the ratio of value in the second preset range less than 1.
The above-mentioned method for testing motion that the embodiment of the present invention provides, have the advantage that 1, due to for different gray scales provide by one of in testing conditions 1, testing conditions 2 and testing conditions 3 or form determination strategy, make algorithm have different sensitive character in different lightness environment, have higher adaptability.2, this said method has broken away from threshold value setting loaded down with trivial details in existing existing method, improves the practicality of algorithm further.3, said method can also effectively suppress the impact on dynamic inspection result of noise, shade and equipment weak vibrations.4, each cut zone is divided into some subregions and is analyzed by said method, result is made to more conform to statistical significance to a certain extent, and it is different from prior art and is analyzed bringing much noise to single pixel, and need complicated later stage denoising, therefore realize simplicity, stablize, be more suitable for applying to real-time monitoring scene.
It should be noted that, in the above-mentioned method for testing motion that the embodiment of the present invention provides, for the multiple cut zone in a two field picture, can be detect one by one according to the order of regulation, when all cut zone determined in a two field picture detect next frame image after all having detected again, certainly in the specific implementation, it is also possible to the multiple cut zone in same two field picture are detected simultaneously, in this no limit.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of motion detection apparatus, as shown in Figure 4, and including:
Segmentation module 1, is used for reception current frame image, and current frame image is divided into default multiple cut zone；
Rank judge module 2, for for each cut zone in current frame image, determining the gray scale belonging to cut zone according to the average brightness of cut zone；
Motion detection block 3, for the cut zone for different gray scales, adopts the determination strategy corresponding with affiliated gray scale to determine whether cut zone is moving region.
In the specific implementation, the embodiment of the present invention provide above-mentioned motion detection apparatus in, motion detection block specifically for:
Cut zone is divided into the subregion that some sizes are identical；
Obtain the average brightness of all subregion, and the average brightness of all subregion is set up time slip luminance mean value model；
Determine the time slip luminance mean value of subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
For the cut zone of different gray scales, determine whether cut zone is moving region according to the time slip luminance mean value of all subregion in cut zone, the luminance frame difference of all subregion, the average brightness of all subregion and the determination strategy corresponding with affiliated gray scale.
In the specific implementation, the embodiment of the present invention provide above-mentioned motion detection apparatus in, rank judge module specifically for:
If the average brightness of cut zone is less than default dark luminance threshold, determine that the gray scale belonging to cut zone is dark rank；
If the average brightness of cut zone is more than or equal to default dark luminance threshold and less than presetting bright luminance threshold, determine that the gray scale belonging to cut zone is dimming level；
If the average brightness of cut zone is more than or equal to presetting bright luminance threshold, determine that the gray scale belonging to cut zone is bright level.
In the specific implementation, in the above-mentioned motion detection apparatus that the embodiment of the present invention provides, for dark rank cut zone motion detection block specifically for:
Luminance frame difference maximum in cut zone is determined according to the luminance frame difference of all subregion in cut zone；
According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion and cut zone, obtain average brightness and the time slip luminance mean value of the subregion that luminance frame difference is maximum in cut zone；
According to the testing conditions 1 set and testing conditions 2, when in testing conditions 1 and testing conditions 2, any one meets, it is determined that the cut zone of dark rank is moving region；
Wherein, testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone.
In the specific implementation, the embodiment of the present invention provide above-mentioned motion detection apparatus in, for dimming level cut zone motion detection block specifically for:
Luminance frame difference maximum in cut zone is determined according to the luminance frame difference of all subregion in cut zone；
According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion, the luminance frame difference of all subregion and cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in cut zone and time slip luminance mean value, all subregion luminance frame difference and value and all subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when in testing conditions 1 testing conditions 2 and testing conditions 3, any one meets, it is determined that the cut zone of dimming level is moving region；
Wherein, testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone；Testing conditions 3 be the luminance frame difference of all subregion in cut zone and in value and cut zone the time slip luminance mean value of all subregion and the ratio of value in the second preset range less than 1.
In the specific implementation, the embodiment of the present invention provide above-mentioned motion detection apparatus in, for bright level cut zone motion detection block specifically for:
Luminance frame difference maximum in cut zone is determined according to the luminance frame difference of all subregion in cut zone；
According to luminance frame difference maximum in the average brightness of all subregion in cut zone, the time slip luminance mean value of all subregion, the luminance frame difference of all subregion and cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in cut zone and time slip luminance mean value, all subregion luminance frame difference and value and all subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when testing conditions 1 testing conditions 2 and testing conditions 3 are satisfied by, it is determined that the cut zone of dimming level is moving region；
Wherein, testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the cut zone subregion maximum with luminance frame difference in cut zone is in the first preset range more than 1；Testing conditions 2 is in cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in cut zone；Testing conditions 3 be the luminance frame difference of all subregion in cut zone and in value and cut zone the time slip luminance mean value of all subregion and the ratio of value in the second preset range less than 1.
It is preferred that in the above-mentioned motion detection apparatus that the embodiment of the present invention provides, the average brightness of subregion is set up time slip luminance mean value model according to below equation by motion detection block:
During n=1, Lx_adapt (n)=Lx_ave (n)；
During n > 1,
Wherein, Lx_ave (n) represents the average brightness value of x subregion in n-th frame image, and Lx_adapt (n) represents the time slip luminance mean value of x subregion in n-th frame image, and n is the positive integer more than 7 and less than 11.
It is preferred that in the above-mentioned motion detection apparatus that the embodiment of the present invention provides, the first preset range is 2～5, and confidence interval is 90%～110%, and the second preset range is 2%～5%.
In the specific implementation, in the above-mentioned motion detection apparatus that the embodiment of the present invention provides, preset dark luminance threshold and be taken as less than or equal to 40, preset bright luminance threshold and be taken as more than or equal to 80.
A kind of method for testing motion of embodiment of the present invention offer and motion detection apparatus, be divided into default multiple cut zone by each two field picture；Average brightness according to cut zone determines the gray scale belonging to cut zone；Gray scale according to cut zone, cut zone for different gray scales, the determination strategy corresponding with affiliated gray scale is adopted to determine whether cut zone is moving region, it is possible to make algorithm have different sensitive character in different lightness environment, have higher adaptability.
Obviously, the present invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. a method for testing motion, it is characterised in that including:
Receive current frame image, and described current frame image is divided into default multiple cut zone；
For each cut zone in current frame image, determine the gray scale belonging to described cut zone according to the average brightness of described cut zone；
For the cut zone of different gray scales, the determination strategy corresponding with affiliated gray scale is adopted to determine whether described cut zone is moving region.
2. method for testing motion as claimed in claim 1, it is characterised in that for the cut zone of different gray scales, it is determined that whether described cut zone is moving region, specifically includes:
Described cut zone is divided into the subregion that some sizes are identical；
Obtain the average brightness of each described subregion, and the average brightness of each described subregion is set up time slip luminance mean value model；
Determine the time slip luminance mean value of described subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in described cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
For the cut zone of different gray scales, determine whether described cut zone is moving region according to the time slip luminance mean value of described subregion each in described cut zone, the luminance frame difference of each described subregion, the average brightness of each described subregion and the determination strategy corresponding with affiliated gray scale.
3. method for testing motion as claimed in claim 2, it is characterised in that determine that the gray scale belonging to described cut zone specifically includes according to the average brightness of described cut zone:
If the average brightness of described cut zone is less than default dark luminance threshold, determine that the gray scale belonging to described cut zone is dark rank；
If the average brightness of described cut zone is more than or equal to described default dark luminance threshold and less than presetting bright luminance threshold, determine that the gray scale belonging to described cut zone is dimming level；
If the average brightness of described cut zone presets bright luminance threshold more than or equal to described, determine that the gray scale belonging to described cut zone is bright level.
4. method for testing motion as claimed in claim 3, it is characterised in that for the cut zone of dark rank, it is determined that whether described cut zone is that moving region specifically includes:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion and described cut zone, obtain average brightness and the time slip luminance mean value of the subregion that luminance frame difference is maximum in described cut zone；
According to the testing conditions 1 set and testing conditions 2, when in described testing conditions 1 and described testing conditions 2, any one meets, it is determined that the cut zone of described dark rank is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone.
5. method for testing motion as claimed in claim 3, it is characterised in that for the cut zone of dimming level, it is determined that whether described cut zone is that moving region specifically includes:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when testing conditions 2 described in described testing conditions 1 with when in described testing conditions 3, any one meets, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
6. method for testing motion as claimed in claim 3, it is characterised in that for the cut zone of bright level, it is determined that whether described cut zone is that moving region specifically includes:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when described in described testing conditions 1, testing conditions 2 and described testing conditions 3 are satisfied by, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
7. the method for testing motion as described in any one of claim 2-6, it is characterised in that the average brightness of each described subregion is set up time slip luminance mean value model according to below equation:
During n=1, Lx_adapt (n)=Lx_ave (n)；
During n > 1,
Wherein, Lx_ave (n) represents the average brightness value of x subregion in n-th frame image, and Lx_adapt (n) represents the time slip luminance mean value of x subregion in n-th frame image, and n is the positive integer more than 7 and less than 11.
8. a motion detection apparatus, it is characterised in that including:
Segmentation module, is used for reception current frame image, and described current frame image is divided into default multiple cut zone；
Rank judge module, for for each cut zone in current frame image, determining the gray scale belonging to described cut zone according to the average brightness of described cut zone；
Motion detection block, for the cut zone for different gray scales, adopts the determination strategy corresponding with affiliated gray scale to determine whether described cut zone is moving region.
9. motion detection apparatus as claimed in claim 8, it is characterised in that motion detection block specifically for:
Described cut zone is divided into the subregion that some sizes are identical；
Obtain the average brightness of each described subregion, and the average brightness of each described subregion is set up time slip luminance mean value model；
Determine the time slip luminance mean value of described subregion according to the time slip luminance mean value model set up, and calculate the average brightness of all subregion in described cut zone and compare the luminance frame difference of the average brightness of corresponding subregion in previous frame image；
For the cut zone of different gray scales, determine whether described cut zone is moving region according to the time slip luminance mean value of described subregion each in described cut zone, the luminance frame difference of each described subregion, the average brightness of each described subregion and the determination strategy corresponding with affiliated gray scale.
10. motion detection apparatus as claimed in claim 9, it is characterised in that described rank judge module specifically for:
If the average brightness of described cut zone is less than default dark luminance threshold, determine that the gray scale belonging to described cut zone is dark rank；
If the average brightness of described cut zone is more than or equal to described default dark luminance threshold and less than presetting bright luminance threshold, determine that the gray scale belonging to described cut zone is dimming level；
If the average brightness of described cut zone presets bright luminance threshold more than or equal to described, determine that the gray scale belonging to described cut zone is bright level.
11. motion detection apparatus as claimed in claim 10, it is characterised in that for motion detection block described in the cut zone of dark rank specifically for:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion and described cut zone, obtain average brightness and the time slip luminance mean value of the subregion that luminance frame difference is maximum in described cut zone；
According to the testing conditions 1 set and testing conditions 2, when in described testing conditions 1 and described testing conditions 2, any one meets, it is determined that the cut zone of described dark rank is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone.
12. motion detection apparatus as claimed in claim 10, it is characterised in that for motion detection block described in the cut zone of dimming level specifically for:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when in described testing conditions 1, described testing conditions 2 and described testing conditions 3, any one meets, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
13. motion detection apparatus as claimed in claim 10, it is characterised in that for motion detection block described in the cut zone of bright level specifically for:
Luminance frame difference according to described subregion each in described cut zone determines luminance frame difference maximum in described cut zone；
According to luminance frame difference maximum in the average brightness of described subregion each in described cut zone, the time slip luminance mean value of each described subregion, the luminance frame difference of each described subregion and described cut zone, obtain the average brightness of the subregion that luminance frame difference is maximum in described cut zone and time slip luminance mean value, each described subregion luminance frame difference and value and each described subregion time slip luminance mean value and value；
According to the testing conditions 1 set, testing conditions 2 and testing conditions 3, when described in described testing conditions 1, testing conditions 2 and described testing conditions 3 are satisfied by, it is determined that the cut zone of described dimming level is moving region；
Wherein, described testing conditions 1 is that the ratio of the time slip luminance mean value of luminance frame difference maximum in the described cut zone subregion maximum with luminance frame difference in described cut zone is in the first preset range more than 1；Described testing conditions 2 is in described cut zone in the confidence interval of the time slip luminance mean value of the average brightness of the subregion that luminance frame difference the is maximum subregion that luminance frame difference is not maximum in described cut zone；Described testing conditions 3 be in described cut zone the luminance frame difference of each described subregion and in value and described cut zone the time slip luminance mean value of each described subregion and the ratio of value in the second preset range less than 1.
14. the motion detection apparatus as described in any one of right 9-13, it is characterised in that the average brightness of described subregion is set up time slip luminance mean value model according to below equation by described motion detection block:
During n=1, Lx_adapt (n)=Lx_ave (n)；
During n > 1,
Wherein, Lx_ave (n) represents the average brightness value of x subregion in n-th frame image, and Lx_adapt (n) represents the time slip luminance mean value of x subregion in n-th frame image, and n is the positive integer more than 7 and less than 11.
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| CN116578030B (en) * | 2023-05-25 | 2023-11-24 | 广州市番高领航科技有限公司 | Intelligent control method and system for water inflatable unmanned ship |
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