CN107240167A - A kind of drive recorder pedestrian monitoring system - Google Patents
A kind of drive recorder pedestrian monitoring system Download PDFInfo
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- CN107240167A CN107240167A CN201710230018.4A CN201710230018A CN107240167A CN 107240167 A CN107240167 A CN 107240167A CN 201710230018 A CN201710230018 A CN 201710230018A CN 107240167 A CN107240167 A CN 107240167A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/53—Recognition of crowd images, e.g. recognition of crowd congestion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
- H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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Abstract
The present invention relates to a kind of drive recorder pedestrian monitoring system, including acquisition module, the acquisition module includes motion sensing control device, infrared sensor and depth gauge, the motion sensing control device includes RGB cameras, the RGB cameras are used for the color video frequency image generation RGB image of shooting visual angle scope one skilled in the art, depth image of the infrared sensor to obtain pedestrian, the depth image and RGB image that the depth gauge is obtained based on the infrared sensor generate the depth image stream of pedestrian, the present invention can be monitored for pedestrian, in the original writing function of drive recorder, add the monitoring system to pedestrian, the people for touching porcelain tendency can more accurately be differentiated, so as to be prevented in advance.
Description
Technical field
The present invention relates to drive recorder field, more particularly to a kind of drive recorder pedestrian monitoring system.
Background technology
Current Peng Ci parties, suspicion road safety hidden danger such as side of colliding have expedited the emergence of drive recorder market, but current row
Car recorder is main based on image taking, videograph, without purpose.
Such as Chinese invention patent application of Application No. 201610054061.5, discloses a kind of drive recorder, its
Including：Image collection analytic unit, main control chip, information output interface and command receiver；Image collection analytic unit, information
Output interface and command receiver are connected with main control chip；Image collection analytic unit is used to transmit the image information of collection
To main control chip, main control chip is used to handle conversion image information, and information output interface is used to pass the image information after conversion
It is defeated by vehicle mounted guidance；Command receiver is used to receive the command signal that vehicle mounted guidance is sent, and the command signal is transferred into master
Chip is controlled, main control chip produces the corresponding control signal of the command signal, and control signal is used to control drive recorder.Using upper
Drive recorder is stated, video image is included on vehicle mounted guidance screen, the display effect of video can be improved；And in driving
During, human pilot by vehicle mounted guidance with regard to the drive recorder can be operated so that the operation of drive recorder becomes more
Plus conveniently, the problem of which solving easy to operate.
In another example the Chinese invention patent of Application No. 201310576506.2, discloses a kind of drive recorder, it is wrapped
Central processing unit, memory, power supply circuit and camera are included, the memory, power supply circuit and camera are handled with center
Device signal is connected, in addition to acceleration induction device and stepper motor, and the acceleration induction device and stepper motor are and centre
Manage device signal to be connected, the stepper motor is also connected with power supply circuit, and the camera direction is adjustable, the stepper motor it is defeated
Shaft is connected with the direction regulator site of the camera, can provide and meet the good driving shadow of human eye perspective custom, imaging image quality
As information, it is easy to quantify to judge accident conditions, beneficial to ex-post analysis, the problem of solving imaging.
The content of the invention
In order to solve the above problems there is provided a kind of drive recorder pedestrian monitoring system, the present invention can enter for pedestrian
Row monitoring, in the original writing function of drive recorder, adds the monitoring system to pedestrian, can more accurately differentiate and touch
The people of porcelain tendency, so as to be prevented in advance.
Concrete scheme is：A kind of drive recorder pedestrian monitoring system, including acquisition module, processing module,
The acquisition module includes motion sensing control device, infrared sensor and depth gauge, and the motion sensing control device is taken the photograph including RGB
As head, the RGB cameras are used for the color video frequency image generation RGB image of shooting visual angle scope one skilled in the art, the infrared biography
Depth image of the sensor to obtain pedestrian, depth image and the RGB figure that the depth gauge is obtained based on the infrared sensor
As the depth image stream of generation pedestrian；
The processing module includes graphics processing unit and memory cell, and described image processing unit is based on the depth map
Picture stream rebuilds pedestrian's 3-D view and the pedestrian dummy storehouse with being stored in memory cell is contrasted；Described image processing unit bag
Include a feature extraction unit and Characteristic Contrast unit, the feature extraction unit be used to extract the feature in pedestrian's 3-D view and
Contrasted by Characteristic Contrast unit with the model in pedestrian dummy storehouse, the pedestrian dummy storehouse in the memory cell is provided with spy
Storehouse is levied, posture and build of the feature database based on pedestrian dummy are respectively equipped with pose parameter θ and shape parameter β, the pedestrian
Any of which pedestrian dummy in model library is respectively provided with corresponding a pose parameter θ and shape parameter β, and pedestrian dummy appearance
Potential parameter θ and shape parameter β respectively constitute the first collision coefficient α and the second collision coefficient γ and the first collision coefficient α and second
Collision coefficient γ sums constitute a total collision coefficient α γ.
Above-mentioned monitoring system, wherein, in addition to alarm module and power module, the alarm module include display screen and
Voice, the alarm module sends alarm according to the result of contrast；The power module respectively with the acquisition module, place
Manage module and alarm module electrical connection.
Above-mentioned monitoring system, wherein, the step of described image processing unit rebuilds pedestrian's 3-D view is：Using multiframe
Sum-average arithmetic and two-sided filter will obtain the noise remove produced during depth image stream, using the point cloud after denoising as can
Varying model fitting algorithm is inputted；Detailed process is：Assuming that depth image stream point cloud T includes point T (q), wherein, q ∈ [1：Q], Q
Number of vertices, secondly, the shape parameter of pedestrian dummy is β in pedestrian dummy storehouse, and pose parameter is θ, with shape parameter β and
The point that pose parameter θ pedestrian dummy is designated as on M β, θ, M β, θ is denoted as M β, θ (p), wherein p ∈ [1：P], P is pedestrian dummy
Number of vertices, based on the summit M β of pedestrian dummy in summit T (q) in above-mentioned depth image stream and pedestrian dummy storehouse, θ (p) is searched
It is corresponding, pedestrian's 3-D view is then generated by way of Mesh Fitting, so that it is determined that the shape parameter β and appearance of the pedestrian
Potential parameter θ.
Above-mentioned monitoring system, wherein, the shape parameter β includes working as pedestrian's epigastric angle less than 90 degree, its second collision
Coefficient gamma is 0.1-1.5；When 90 degree of pedestrian's epigastric angle, its second collision coefficient γ is 1.6-2.5；When pedestrian's epigastric angle is more than 90
Degree, its second collision coefficient γ is 2.6-3.5.
Above-mentioned monitoring system, wherein, the pose parameter θ is included when pedestrian is walking postures, its first collision coefficient α
For 0.1-1.5；It is posture of trotting as pedestrian, its first collision coefficient α is 1.6-2.5；As pedestrian to run posture, it first is touched
Factor alpha is hit for 2.6-3.5.
Above-mentioned monitoring system, wherein, in the case of different pedestrians, described image processing unit determines the body of the pedestrian
Shape parameter β and pose parameter θ, and corresponding first collision coefficient α and the second collision coefficient γ are generated, by the first collision of generation
The the first collision coefficient α and the second collision coefficient of factor alpha and the second collision coefficient γ respectively with pedestrian dummy in the model library
γ is contrasted, and by the first collision coefficient α and the second collision coefficient γ sums and a certain pedestrian dummy in the model library
Collision coefficient α γ contrasted and according to above-mentioned comparing result determine whether collision risk.
Above-mentioned monitoring system, wherein, in the pedestrian dummy of collection, if the first collision coefficient α and the second collision coefficient
γ is not less than 1.6 and total collision coefficient is not less than 5, then is collision model；If the first collision coefficient α or the second collision coefficient γ are not
Then it is warning model less than 1.6 and total collision coefficient is less than 5；If the first collision coefficient α and the second collision coefficient γ is less than 1.6,
It is then security model.
Above-mentioned monitoring system, wherein, if by being collision model with pedestrian dummy contrast in the model library, it is described
The pedestrian contour is shown as dangerous color and audio alert in the display screen of alarm module, if by with pedestrian's mould in the model library
Type contrast for warning model, then the pedestrian contour is shown as warning color in the display screen of the alarm module, if by with it is described
Pedestrian dummy contrast is security model, then not alarm indication in model library.
Advantages of the present invention：It can be monitored, in the original writing function of drive recorder, add for pedestrian
To the monitoring system of pedestrian, the people for touching porcelain tendency can be more accurately differentiated, so as to be prevented in advance.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, the present invention and its feature, outside
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 provides reference view during pedestrian's walking for the present invention.
Fig. 2 is the reference view in pedestrian dummy storehouse in the present invention.
Fig. 3 is the schematic flow sheet for the reconstruction pedestrian's 3-D view being related in the present invention.
Embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
A kind of drive recorder pedestrian monitoring system that the present invention is provided, including acquisition module, further, acquisition module bag
Motion sensing control device, infrared sensor and depth gauge are included, wherein infrared sensor includes infrared transmitter and infrared remote receiver, body-sensing
Controller includes RGB cameras, and RGB cameras are used for the color video frequency image generation RGB image of shooting visual angle scope one skilled in the art,
Depth image of the infrared sensor to obtain pedestrian, its principle is：Infrared transmitter and infrared remote receiver actively project near red
Outer line spectrum, is irradiated to rough object or penetrates after frosted glass, can form random reflected spot, referred to as speckle, and then
The depth image of pedestrian can be read by infrared camera, further, infrared spectrum is analyzed by depth gauge, creates visual model
Interior human depth's image is enclosed, the depth image and RGB image that depth gauge is obtained based on infrared sensor generate the depth of pedestrian
Image stream, further preferably, the illumination condition regardless of surrounding environment perceive environment by way of black and white spectrum, infrared
Sensor and depth gauge generate depth image stream with the speed of 30 frame per second；Processing module, processing module includes image procossing list
Member and memory cell, graphics processing unit based on depth image stream rebuild pedestrian's 3-D view and with the row that is stored in memory cell
People's model library is contrasted；Also include alarm module and power module, further, alarm module includes display screen and voice, its
Middle alarm module sends alarm according to the result of contrast；Power module respectively with acquisition module, processing module and alarm mould
Block is electrically connected.Shown in reference picture 1, Fig. 2, the color video frequency image that wherein a large amount of RGB cameras of unit records are shot also is deposited
The pedestrian dummy storehouse of various builds is stored up, for example, pedestrian dummy can be static or dynamic.Each pedestrian
Model further comprises multiple dangerous gesture models (issuable a large amount of dangerous posture moulds when i.e. pedestrian walks on road
Type), such as the dangerous gesture model trot, run, because running, this posture easily has influence on traffic safety.
The present invention one is preferably and in non-limiting embodiment, and graphics processing unit includes a feature extraction unit and feature
Comparison unit, wherein feature extraction unit are used to extract the feature in pedestrian's 3-D view and by Characteristic Contrast unit and pedestrian
Model in model library is contrasted, the present invention feature for point a cloud, that is, based on the contrast of point cloud chart picture come judge row
Whether the action of people has danger, further, and the pedestrian dummy storehouse in memory cell is provided with feature database, and wherein feature database is based on
The posture and build of pedestrian dummy are respectively equipped with any of which row in pose parameter θ and shape parameter β, and pedestrian dummy storehouse
People's model is respectively provided with corresponding a pose parameter θ and shape parameter β, and the pose parameter θ and shape parameter β of pedestrian dummy divide
The first collision coefficient α and the second collision coefficient γ are not constituted and the first collision coefficient α and the second collision coefficient γ sums constitute one
Individual total collision coefficient α γ, in the present invention, during drive recorder is recorded, the action to each pedestrian of record is carried out
Distinguish, specifically by the image of collection pedestrian, then carry out the three dimensional point cloud after three-dimensional reconstruction is rebuild, and will
The cloud data of pedestrian dummy in the three dimensional point cloud and model library of reconstruction is contrasted, can to judge whether the pedestrian has
The risk of porcelain can be touched, and be prevented.
The present invention will collection pedestrian image by processing after with pedestrian dummy storehouse pedestrian dummy image carry out pair
Than, can be with to judge whether the action of the pedestrian is dangerous play, if be likely to occur the risk for touching porcelain, and prevented
More accurately differentiating has the people for touching porcelain tendency.
The present invention one is preferably and in non-limiting embodiment, shown in reference picture 3, and it is three-dimensional that graphics processing unit rebuilds pedestrian
The step of image is：Gone using multiframe sum-average arithmetic with two-sided filter by the noise produced during depth image stream is obtained
Remove, inputted the point cloud after denoising as variable model fitting algorithm；Detailed process is：Assuming that depth image stream point cloud T bags
The T containing point (q), wherein, q ∈ [1：Q], Q is number of vertices, secondly, and the shape parameter of pedestrian dummy is β, appearance in pedestrian dummy storehouse
Potential parameter is θ, and the pedestrian dummy with shape parameter β and pose parameter θ is designated as Mβ, θ, Mβ, θOn point be denoted as Mβ, θ (p), wherein p
∈[1：P], P is the number of vertices of pedestrian dummy, based on pedestrian in summit T (q) in above-mentioned depth image stream and pedestrian dummy storehouse
The summit M of modelβ, θ (p)Corresponding point is searched, pedestrian's 3-D view is then generated by way of Mesh Fitting, so that it is determined that should
The shape parameter β and pose parameter θ of pedestrian, that is to say, that the pedestrian image first to collection is handled in the present invention
The cloud data of the pedestrian, is then contrasted the cloud data of pedestrian dummy in obtained cloud data and model library, by
In model library the shape parameter and pose parameter of pedestrian dummy be it is known, so as to obtain the pedestrian shape parameter and
Pose parameter, and then judge whether the pedestrian is likely to occur the wind for touching porcelain according to the shape parameter and pose parameter of the pedestrian
Danger, and prevented.
The present invention one is preferably and in non-limiting embodiment, and shape parameter β includes working as pedestrian's epigastric angle less than 90 degree, is
Asthenic type is also known as asthenic, and its second collision coefficient γ is 0.1-1.5, such as when pedestrian is child, its second collision coefficient
γ is 1.5, and when pedestrian is old man, its second collision coefficient γ is 0.1, when pedestrian is young people, its second collision coefficient
γ is 1；It is that orthotonic type is also known as well-balanced type when 90 degree of pedestrian's epigastric angle, its second collision coefficient γ is 1.6-2.5, similarly basis
Pedestrian's all ages and classes, its second collision coefficient γ is also different；It is that sthenic type is also known as short when pedestrian's epigastric angle is more than 90 degree
Fat, its second collision coefficient γ is 2.6-3.5, similarly according to pedestrian's all ages and classes, and its second collision coefficient γ is also different
's.
The present invention one is preferably and in non-limiting embodiment, and pose parameter θ is included when pedestrian is walking postures, and it first
Collision coefficient α is 0.1-1.5；It is posture of trotting as pedestrian, its first collision coefficient α is 1.6-2.5；When pedestrian is to running style
Gesture, its first collision coefficient α is 2.6-3.5, in addition to when pedestrian is old man or child, its corresponding first collision coefficient
α is differed, and is made a distinction with reference to the principle in above-mentioned.For example, when pedestrian is child, in the case of walking postures, its
First collision coefficient α is 1.5, when pedestrian is old man, and in the case of walking postures, its first collision coefficient α is 0.1, successively
Analogize, then for example：When pedestrian is child, in the case of posture of trotting, its first collision coefficient α is 2.5, when pedestrian is old man
When, in the case of posture of trotting, its first collision coefficient α is 1.6, in the above cases, in the pedestrian dummy of collection,
Be exactly drive recorder collection pedestrian dummy in, if the first collision coefficient α and the second collision coefficient γ is not less than 1.6 and always touching
Coefficient is hit not less than 5, then is collision model；If the first collision coefficient α or the second collision coefficient γ is not less than 1.6 and total collision is
Number is less than 5, then is warning model；If the first collision coefficient α and the second collision coefficient γ is less than 1.6, for security model.
The present invention one is preferably and in non-limiting embodiment, in the case of different pedestrians, and graphics processing unit is determined
The shape parameter β and pose parameter θ of the pedestrian, and corresponding first collision coefficient α and the second collision coefficient γ are generated, it will generate
The first collision coefficient α and second respectively with pedestrian dummy in model library of the first collision coefficient α and the second collision coefficient γ touch
Coefficient gamma is hit to be contrasted, and by the first collision coefficient α and the second collision coefficient γ sums and certain a line in the model library
The collision coefficient α γ of people's model are contrasted and the risk of collision are determined whether according to above-mentioned comparing result, that is to say, that
The shape parameter β and pose parameter θ of the pedestrian determined in the present invention by graphics processing unit, the first collision obtained from
Factor alpha and the second collision coefficient γ, can pedestrian dummies different from model library the first collision coefficient α and second collision system
Number γ is contrasted or contrasted with the first collision coefficient α and the second collision coefficient γ of same pedestrian dummy, including
Several situations below；
(1)：The first collision coefficient α of the pedestrian can be carried out with the first collision coefficient α in A pedestrian dummies in model library
Contrast, so that it is determined that whether the posture of the pedestrian has danger, determination mode is：If the first collision coefficient α is in A pedestrian's mould
Corresponding posture is dangerous posture in type, then judges that the posture has dangerous possibility.
(2)：The first collision coefficient α of the pedestrian can be carried out with the first collision coefficient α in B pedestrian dummies in model library
Contrast, so that it is determined that whether the posture has danger, determination mode is：If the first collision coefficient α is right in B pedestrian dummies
The posture answered is safe posture, then judges that the posture has the possibility of safety.
(3)：The second collision coefficient γ of the pedestrian can enter with the second collision coefficient γ in A pedestrian dummies in model library
Row contrast, so that it is determined that whether the build of the pedestrian has danger, determination mode is：If the second collision coefficient γ is in A rows
Corresponding build is dangerous build in people's model, then judges that pedestrian has dangerous possibility under the build state.
(4)：The second collision coefficient γ of the pedestrian can enter with the second collision coefficient γ in B pedestrian dummies in model library
Row contrast, so that it is determined that whether the build of the pedestrian has danger, determination mode is：If the second collision coefficient γ is in B rows
Corresponding build is safe build in people's model, then judges that pedestrian has the possibility of safety under the build state.
(5)：The the first collision coefficient α and the second collision coefficient γ sums of the pedestrian and A pedestrian dummies or B rows in model library
Total collision coefficient α γ in people's model are contrasted, so that it is determined that whether the build of the pedestrian has danger, one of which side
Formula determination mode is：If the first collision coefficient α and the second collision coefficient γ sums are right in A pedestrian dummies or B pedestrian dummies
The coefficient answered is safety coefficient, that is to say, that corresponding security model, then judges that pedestrian is safe in this case, do not touch
Porcelain risk.
(6)：The the first collision coefficient α and the second collision coefficient γ sums of the pedestrian and A pedestrian dummies or B rows in model library
Total collision coefficient α γ in people's model are contrasted, so that it is determined that whether the build of the pedestrian has danger, it is another to determine
Mode is：If the first collision coefficient α and the second collision coefficient γ sums corresponding system in A pedestrian dummies or B pedestrian dummies
Number is danger coefficient, that is to say, that corresponding collision model, then judges that pedestrian has in this case and touch porcelain risk, it is necessary to keep away
Allow, prevent from touching porcelain.
To sum up several situations, if same pedestrian meets (1) and (3) or meet the situation of (6) simultaneously, had both met first and had touched
Factor alpha and the second collision coefficient γ are hit not less than 1.6 and total collision coefficient is not less than 5 collision model parameter, then is needed to row
The porcelain risk of touching of people is avoided, and the risk for touching porcelain is very high；If meeting one kind in (1) or (3), the first collision coefficient was both met
α or the second collision coefficient γ is not less than 1.6 and total collision coefficient is less than 5 warning model parameter, then needs pre- anti-collision porcelain risk；
It if meeting (2) and (4) simultaneously or meeting the situation of (5), need not be prevented, both meet the first collision coefficient α and second
Collision coefficient γ is less than 1.6 security model parameter, does not touch porcelain risk, it is to be noted that the A rows being related in the present invention
The implication that people's model or B pedestrian dummies are not particularly limited, is only intended to the differentiation to different pedestrian dummies, can refer to model library
Any of pedestrian dummy.
Further preferably, if by being collision model, the display screen of alarm module with pedestrian dummy contrast in model library
In the pedestrian contour be shown as dangerous color and audio alert, can be for example red, if by with pedestrian's mould in the model library
Type contrast is warning model, then the pedestrian contour is shown as warning color in the display screen of alarm module, for example, can be yellow, if
By being security model with pedestrian dummy contrast in the model library, then what not alarm indication, wherein profile display color were realized
Process is：Graphics processing unit extracts the edge of the depth image of correspondence pedestrian, by the edge transition color, then is superimposed to the depth
Spend on the corresponding RGB image of image, be allowed to show that pedestrian contour is respective color, and the action movement of human body can be traced and moves
It is dynamic.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical scheme protection.
Claims (8)
1. a kind of drive recorder pedestrian monitoring system, including acquisition module, processing module, it is characterised in that
The acquisition module includes motion sensing control device, infrared sensor and depth gauge, and the motion sensing control device is imaged including RGB
Head, the RGB cameras are used for the color video frequency image generation RGB image of shooting visual angle scope one skilled in the art, the infrared sensing
Depth image of the device to obtain pedestrian, depth image and RGB image that the depth gauge is obtained based on the infrared sensor
Generate the depth image stream of pedestrian；
The processing module includes graphics processing unit and memory cell, and described image processing unit is based on the depth image stream
Rebuild pedestrian's 3-D view and the pedestrian dummy storehouse with being stored in memory cell is contrasted；Described image processing unit includes one
Feature extraction unit and Characteristic Contrast unit, the feature extraction unit are used to extract the feature in pedestrian's 3-D view and pass through
Characteristic Contrast unit is contrasted with the model in pedestrian dummy storehouse, and the pedestrian dummy storehouse in the memory cell is provided with feature
Storehouse, posture and build of the feature database based on pedestrian dummy are respectively equipped with pose parameter θ and shape parameter β, pedestrian's mould
Any of which pedestrian dummy in type storehouse is respectively provided with corresponding a pose parameter θ and shape parameter β, and pedestrian dummy posture
Parameter θ and shape parameter β respectively constitute the first collision coefficient α and the second collision coefficient γ and the first collision coefficient α and second is touched
Hit coefficient gamma sum and constitute a total collision coefficient α γ.
2. a kind of drive recorder pedestrian monitoring system according to claim 1, it is characterised in that also including alarm module
And power module, the alarm module includes display screen and voice, and the alarm module sends alarm according to the result of contrast and carry
Show；The power module is electrically connected with the acquisition module, processing module and alarm module respectively.
3. a kind of drive recorder pedestrian monitoring system according to claim 2, it is characterised in that described image processing is single
Member rebuild pedestrian's 3-D view the step of be：Using multiframe sum-average arithmetic and two-sided filter by during acquisition depth image stream
The noise remove of generation, is inputted the point cloud after denoising as variable model fitting algorithm；Detailed process is：Assuming that depth image
Flow point cloud T and include point T (q), wherein, q ∈ [1：Q], Q is number of vertices, secondly, the build of pedestrian dummy in pedestrian dummy storehouse
Parameter is β, and pose parameter is θ, and the pedestrian dummy with shape parameter β and pose parameter θ is designated as Mβ, θ, Mβ, θOn point be denoted as
Mβ, θ (p), wherein p ∈ [1：P], P is the number of vertices of pedestrian dummy, based on summit T (q) in above-mentioned depth image stream and pedestrian's mould
The summit M of pedestrian dummy in type storehouseβ, θ (p)Corresponding point is searched, pedestrian's 3-D view is then generated by way of Mesh Fitting,
So that it is determined that the shape parameter β and pose parameter θ of the pedestrian.
4. a kind of drive recorder pedestrian monitoring system according to claim 3, it is characterised in that the shape parameter β
Including being less than 90 degree when pedestrian's epigastric angle, its second collision coefficient γ is 0.1-1.5；When 90 degree of pedestrian's epigastric angle, it second is touched
Coefficient gamma is hit for 1.6-2.5；When pedestrian's epigastric angle is more than 90 degree, its second collision coefficient γ is 2.6-3.5.
5. a kind of drive recorder pedestrian monitoring system according to claim 4, it is characterised in that the pose parameter θ
Including being walking postures as pedestrian, its first collision coefficient α is 0.1-1.5；It is trot posture, its first collision coefficient as pedestrian
α is 1.6-2.5；It is posture of running as pedestrian, its first collision coefficient α is 2.6-3.5.
6. a kind of drive recorder pedestrian monitoring system according to claim 5, it is characterised in that done what is required of social etiquette in different
Under condition, described image processing unit determines the shape parameter β and pose parameter θ of the pedestrian, and generates corresponding first collision system
Number α and the second collision coefficient γ, by the first collision coefficient α and the second collision coefficient γ of generation respectively with being gone in the model library
The the first collision coefficient α and the second collision coefficient γ of people's model are contrasted, and are by the collisions of the first collision coefficient α and second
The collision coefficient α γ of number γ sums and a certain pedestrian dummy in the model library are contrasted and sentenced according to above-mentioned comparing result
Whether break has the risk of collision.
7. a kind of drive recorder pedestrian monitoring system according to claim 6, it is characterised in that in pedestrian's mould of collection
In type, if the first collision coefficient α and the second collision coefficient γ is not less than 1.6 and total collision coefficient is not less than 5, for collision mould
Type；If the first collision coefficient α or the second collision coefficient γ is not less than 1.6 and total collision coefficient is less than 5, for warning model；If
First collision coefficient α and the second collision coefficient γ is less than 1.6, then is security model.
8. a kind of drive recorder pedestrian monitoring system according to claim 6, it is characterised in that if by with the mould
Pedestrian dummy contrast is collision model in type storehouse, then the pedestrian contour is shown as dangerous color simultaneously in the display screen of the alarm module
Audio alert, if by being alerted with pedestrian dummy contrast in the model library in model, the display screen of the alarm module
The pedestrian contour is shown as warning color, if by being security model with pedestrian dummy contrast in the model library, not alarming aobvious
Show.
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