CN112050944B - Gate position determining method and related device - Google Patents
Gate position determining method and related device Download PDFInfo
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- G—PHYSICS
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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Abstract
The embodiment of the invention discloses a gate position determining method and a related device, wherein when a first detection result of a current frame image and a second detection result of a previous frame image are inconsistent, the detection result of presence detection of a mobile human body heat source is indicated to have a change, the change can represent the condition of entering or exiting of the mobile human body heat source, and the situation that the mobile human body heat source enters or exits from a gate position is considered, so that when the detection results of two adjacent frame images are inconsistent, a mode of recording the central pixel point of the mobile human body heat source by using a pixel point set is adopted, the coordinate value when the mobile human body heat source possibly appears at the gate position is recorded, the gate position can be determined by further using the pixel point set, the determination of the gate position is effectively realized, and the accuracy is high.
Description
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to a method and an apparatus for determining a doorway position.
Background
With the rapid development of social economy and the increasing of comprehensive national force, the living standard of people is gradually improved, and the demand for living safety is increased, so that the monitoring of living environment is an important part of living safety.
The infrared thermal imaging device can sense the temperature of objects in the monitored environment range and is also applied to safety monitoring to detect whether human bodies exist or not. Currently, when detecting whether a human body exists using an infrared thermal imaging apparatus, it is generally necessary to extract a gate position in a thermal imaging image to perform human body presence detection based on the gate position, however, there is currently no effective method of determining the gate position.
Disclosure of Invention
The invention mainly aims to provide a method and a related device for determining the position of a doorway, which can effectively determine the position of the doorway in an image frame shot by thermal imaging equipment in the prior art, and have high accuracy.
To achieve the above object, a first aspect of the present invention provides a doorway position determining method, the method comprising:
acquiring a first detection result of a current frame image shot by thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image, wherein pixel values of pixel points in the current frame image and the previous frame image are temperature values, and the first detection result and the second detection result are detection results of whether a moving human body heat source exists or not;
When the first detection result is different from the second detection result, determining a central pixel point according to a heat source pixel point of a mobile human heat source in a first target frame image, adding coordinate values of the central pixel point into a pixel point set, wherein the first target frame image is an image with the mobile human heat source in the current frame image and the previous frame image, the pixel point set is used for storing the central pixel point of the mobile human heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the mobile human heat source;
and determining the gate position in the frame image shot by the thermal imaging equipment according to the pixel point set.
To achieve the above object, a second aspect of the present invention provides a doorway position determining apparatus, the apparatus comprising:
the acquisition module is used for acquiring a first detection result of a current frame image shot by the thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image, wherein pixel values of pixel points in the current frame image and the previous frame image are temperature values, and the first detection result and the second detection result are detection results of whether a mobile human body heat source exists or not;
The adding module is used for determining a central pixel point according to a heat source pixel point of a mobile human heat source in a first target frame image when the first detection result is different from the second detection result, adding coordinate values of the central pixel point into a pixel point set, wherein the first target frame image is an image with the mobile human heat source in the current frame image and the previous frame image, the pixel point set is used for storing the central pixel point of the mobile human heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the mobile human heat source;
and the determining module is used for determining the gate position in the frame image shot by the thermal imaging equipment according to the pixel point set.
To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps in the gate position determination method according to the first aspect.
The embodiment of the invention has the following beneficial effects:
the invention provides a gate position determining method, in the method, when the first detection result of the current frame image and the second detection result of the previous frame image are inconsistent, the detection result of the presence detection of a moving human body heat source is indicated to have a change, and the change can represent the condition of entering or exiting of the moving human body heat source, and the condition that the moving human body heat source enters or exits from a gate position is considered, therefore, the coordinate value when the moving human body heat source possibly appears at the gate position can be recorded by utilizing a mode of recording the central pixel point of the moving human body heat source when the detection results of two adjacent frame images are inconsistent by utilizing a pixel point set, so that the gate position can be determined by utilizing the pixel point set, the determination of the gate position is effectively realized, and the accuracy is high.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a flow chart of a method for determining a door position according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for determining a door position according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating the refinement step of step 203 in the embodiment of FIG. 2 according to the present invention;
FIG. 4 is a flow chart of the refining step of step 101 in the embodiment of FIG. 1 according to the present invention;
fig. 5 is a block diagram of a door position determining apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Because of the need in the art to use the location of the doorway in a thermographic image for human presence detection based on the location of the doorway, there is currently no effective method of determining the location of the doorway.
In order to solve the above problems, the present invention provides a method for determining a gate position and a related device, in which, in the method for determining a gate position, when a detection result of a moving human heat source changes, an entering or exiting action is usually performed by the moving human heat source at the gate position, so that the gate position can be positioned by recording a central pixel point of the moving human heat source when the detection result changes, so as to determine the gate position with higher accuracy.
Referring to fig. 1, a flow chart of a method for determining a door position according to an embodiment of the invention is shown, the method includes:
step 101, acquiring a first detection result of a current frame image shot by thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image;
in an embodiment of the present invention, the above-mentioned method for determining a position of a doorway is implemented by a doorway position determining apparatus, which is a program module stored in a readable storage medium of a computer device, and a processor in the computer device may call and execute the program module of the doorway position determining apparatus to implement the above-mentioned method for determining a position of a doorway.
The door position is generally a position range determined based on a position where the door is installed, and includes a position range formed by a region around the door and having a predetermined range size adjacent to the door, for example, a toilet is generally provided with an in-out door, an inner space of the toilet may be referred to as a fixed space region, a rectangular region extending 0.3 m from a line position formed when the door is closed to the fixed space region may be referred to as an in-door position range, the in-door position range may be referred to as a door position of the toilet, or alternatively, a rectangular region extending 0.2 m from the fixed space region to an outside door position range may be referred to as an outside door position range, and the in-door position range may be referred to as a door position of the toilet, or a position range of the door may be limited as needed in practical application.
In the embodiment of the invention, a thermal imaging device can be arranged in the fixed space region, the thermal imaging device is used for detecting whether a human body exists in the fixed space region, and further, the position of a gate in the fixed space region can be determined first. The thermal imaging device can perform thermal imaging on a fixed area, the thermal imaging device uses an infrared thermal imaging technology, the infrared thermal imaging technology can detect an infrared specific wave band signal of object thermal radiation based on a photoelectric technology, the signal can be converted into an image which can be distinguished by human vision, and a temperature value is further calculated, so that the video segment comprises continuous multi-frame video frame images, and pixel values of pixel points in the video frame images are temperature values. It will be appreciated that by using infrared thermal imaging techniques, so that humans go beyond vision impairment, the temperature profile of the object surface can be seen.
In the embodiment of the invention, the gate position is positioned based on whether the detection results of two adjacent frame images are consistent or not, so that a first detection result of a current frame image shot by the thermal imaging device and a second detection result of a previous frame image of the current frame image are required to be acquired.
It can be understood that the technical solution in the embodiment of the present invention is determined through creative labor, and by analyzing the characteristics of the door opening position, it is determined that the moving human heat source is usually easy to suddenly detect at the door opening position, or the detected moving human heat source disappears (the moving human heat source goes into or goes out of the fixed space area from the door opening position), so that the door opening position can be positioned based on the position of the moving human heat source when the detection result changes, so as to determine the door opening position.
102, when the first detection result is different from the second detection result, determining a center pixel point according to a heat source pixel point of a mobile human heat source in the first target frame image, and adding coordinate values of the center pixel point into a pixel point set; the first target frame image is an image with a moving human body heat source in the current frame image and the detection result in the previous frame image, the pixel point set is used for storing a central pixel point of the moving human body heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the moving human body heat source;
In the embodiment of the invention, after a first detection result of a current frame image and a second detection result of a previous frame image are obtained, whether the two detection results are the same or not is determined, when the first detection result is different from the second detection result, that is, one of the two detection results is a detected moving human body heat source, and the other detection result is a detected moving human body heat source, at this time, a frame image of which the detection result in the current frame image and the previous frame image is the detected moving human body heat source needs to be determined as a first target frame image, a central pixel point is determined according to a heat source pixel point of the detected moving human body heat source in the first target frame image, and coordinate values of the central pixel point are added into a pixel point set.
When the first detection result is different from the second detection result, there are two situations, one is that the first detection result is that a moving human body heat source exists in the current frame image, the second detection result is that a moving human body heat source does not exist in the previous frame image, at this time, it can be determined that the current frame image is the first target frame image, and the moving human body heat source enters the fixed space area from the gate position. The other is that the first detection result is that no moving human body heat source exists in the current frame image, the second detection result is that the moving human body heat source exists in the previous frame image, at this time, the previous frame image can be determined to be the first target frame image, and the moving human body heat source leaves the fixed space area from the gate position of the fixed space area.
The central pixel point is determined based on the heat source pixel point of the mobile human heat source, and the detected mobile human heat source is the mobile human heat source suddenly appearing or suddenly disappearing, so that the position of the mobile human heat source is located at the gate position, and the central pixel point of the mobile human heat source can be calculated, so that the central pixel point can be utilized to represent the position of the mobile human heat source. And further, a pixel point set is provided, and coordinate values of the central pixel point of the heat source of the mobile human body are added into the pixel point set, so that the positioning of the gate position can be realized based on a plurality of central pixel points. Therefore, the pixel point set is used for storing the central pixel point of the heat source of the moving human body when the detection results of the two adjacent frames of images are inconsistent.
And step 103, determining the gate position in the frame image shot by the thermal imaging equipment according to the pixel point set.
Further, a gate position in a frame image captured by the thermal imaging device will be determined using the set of pixel points. It can be understood that if the shooting angle of the thermal imaging device is fixed, the position of the doorway is fixed in all the frame images shot by the thermal imaging device, and if the shooting angle of the thermal imaging device is adjusted, the doorway position needs to be determined again by using the technical scheme in the embodiment of the invention.
In the embodiment of the invention, when the first detection result of the current frame image and the second detection result of the previous frame image are inconsistent, the change of the detection result of the presence detection of the mobile human heat source is indicated, and the change can be used for indicating the condition of entering or exiting of the mobile human heat source, and the situation that the mobile human heat source enters or exits from the gate position is considered, therefore, the coordinate value when the mobile human heat source possibly appears at the gate position can be recorded by recording the central pixel point of the mobile human heat source by utilizing the pixel point set when the detection results of the adjacent two frame images are inconsistent, so that the gate position can be further determined by utilizing the pixel point set, the determination of the gate position is effectively realized, and the accuracy is high.
Referring to fig. 2, referring to the embodiment shown in fig. 1, another flow chart of a method for determining a door position according to an embodiment of the invention is shown, the method includes:
step 201, acquiring a first detection result of a current frame image shot by thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image;
it should be noted that, the step 201 is similar to the description of the step 101 in the embodiment shown in fig. 1, and specific reference may be made to the related content in the step 101 in the embodiment shown in fig. 1, which is not described herein.
Step 202, when the first detection result is different from the second detection result, determining a center pixel point according to a heat source pixel point of a mobile human heat source in the first target frame image, and adding coordinate values of the center pixel point into a pixel point set; the first target frame image is an image with a moving human body heat source in the current frame image and the detection result in the previous frame image, the pixel point set is used for storing a central pixel point of the moving human body heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the moving human body heat source;
it should be noted that, the step 202 is similar to the description of the step 102 in the embodiment shown in fig. 1, and specific reference may be made to the related content in the step 102 in the embodiment shown in fig. 1, which is not described herein.
Step 203, eliminating coordinate values of abnormal center pixels in the pixel point set based on an abnormal detection algorithm of density to obtain a target pixel point set;
in the embodiment of the invention, because noise possibly exists, denoising processing is needed, and the denoising processing mode can be an anomaly detection algorithm based on density, and coordinate values of an anomaly center pixel point in a pixel point set are removed to obtain a target pixel point set. It can be understood that, since the gate position is the passing position, the coordinate values of most of the central pixels in the pixel point set are relatively concentrated and reasonable, the density of the pixels is usually relatively high, while scattered noise points may occur for various reasons and the probability of occurrence is relatively low, so that the density of the central pixels is also relatively low, and therefore, the noise-carrying abnormal central pixels can be removed based on the density abnormality detection algorithm to realize the noise removal process.
Specifically, referring to fig. 3, a flowchart of a refinement step of step 203 in the embodiment of fig. 2 of the present invention includes:
step 301, calculating distances between the target central pixel point and other central pixel points except the target central pixel point in the pixel point set respectively, so as to obtain a first distance set of the target central pixel point, wherein the target central pixel point is any central pixel point in the pixel point set;
in the embodiment of the invention, the heat source density value of each central pixel in the pixel set needs to be determined, so that the target central pixel is taken as an example for explanation, and the heat source density value of each central pixel in the pixel set can be obtained by determining the heat source density value of the target central pixel.
Specifically, the distances between the target central pixel point and other central pixel points except the target central pixel point in the pixel point set can be calculated to obtain a first distance set of the target central pixel point, for example, if the pixel point set includes 10 central pixel points, namely A1 to a10, respectively, and the target central pixel point is A1, the distances between the target central pixel point A1 and the central pixel points A2 to a10 need to be calculated, so that 9 distance values are obtained, and the 9 distance values form the first distance set of the target central pixel point. By the method, the first distance set of each center pixel point in the pixel point set can be obtained effectively.
Step 302, determining a first distance number of distance values smaller than or equal to a preset first distance threshold in a first distance set, and determining the first distance number as a heat source density value of a target center pixel point;
and 303, eliminating the central pixel point of which the heat source density value is smaller than a preset first density threshold value in the pixel point set to obtain a target pixel point set.
For each central pixel point in the pixel point set, determining a first distance number of distance values smaller than or equal to a preset first distance threshold value in a first distance set of each central pixel point, determining the first distance number as a heat source density value of a corresponding central pixel point, for example, if the first distance number is 5 in the first distance set of the central pixel point A1, the heat source density value of the central pixel point A1 can be determined to be 5, and if the first distance number is 2 in the first distance set of the central pixel point A2, the heat source density value of the central pixel point A2 can be determined to be 2. By the method, the heat source density value of each central pixel point in the pixel point set can be obtained.
Further, eliminating the central pixel point with the heat source density value smaller than the preset first density threshold value from the pixel point set to obtain a target pixel point set. It should be noted that, the central pixel point with the heat source density value smaller than the preset first density threshold is an abnormal central pixel point and is also a noise point, and the noise removal purpose can be effectively achieved by eliminating the abnormal central pixel point through the heat source density value.
It will be appreciated that before step 203 or step 301 is performed, it may also be determined whether the number of center pixels included in the set of pixels meets the requirement for determining the gate position, so that there are enough center pixels for determining the gate position, so as to improve the accuracy of determining the gate position.
Specifically, before step 203 or step 301 is performed, the following steps may be performed:
step b1, determining the number of center pixel points contained in a pixel point set;
step b2, if the number is larger than or equal to a preset value, continuing to execute the step of determining the gate position in the frame image shot by the thermal imaging equipment according to the pixel point set;
and b3, if the number is smaller than the preset value, acquiring the next frame image of the current frame image, taking the next frame image as the current frame image, and continuously executing the steps of acquiring a first detection result of the current frame image shot by the thermal imaging equipment and acquiring a second detection result of the previous frame image of the current frame image.
In the embodiment of the present invention, the number of the center pixels included in the pixel point set may be determined, if the number is greater than or equal to the preset value, it indicates that the number of the center pixels in the pixel point set meets the requirement of determining the gate position, and step 103, or step 203 or step 301 may be continuously performed. If the number of the central pixel points in the pixel point set is smaller than the preset value, the fact that the number of the central pixel points in the pixel point set does not meet the requirement of determining the gate position is indicated, the next frame image of the current frame image is obtained, the next frame image is processed as the current frame, step 101 or step 201 is continuously executed until the number of the central pixel points in the pixel point set is larger than the preset value, and the gate position is determined.
And 204, determining a region surrounding the coordinate value of the central pixel point in the target pixel point set as a gate position in the frame image shot by the thermal imaging equipment.
In the embodiment of the invention, after the target pixel point set is obtained, the minimum area surrounding the coordinate value of the central pixel point in the target pixel point set in the frame image shot by the thermal imaging equipment can be determined as the gate position. Wherein the minimum area may be a minimum rectangular area.
In a possible implementation manner, a central pixel point in a target pixel point set may be mapped to a frame image shot by a thermal imaging device to obtain a new image frame, in the new image frame, a two-dimensional standard coordinate system is established, a pixel point C1 corresponding to a minimum value in an x direction in the central pixel point is determined, a pixel point C2 corresponding to a maximum value in the x direction in the central pixel point is determined, a minimum value C3 in a y direction in the central pixel point is determined, a maximum value C4 in the y direction in the central pixel point is determined, a rectangular frame is drawn based on the pixel points C1 to C4, and an area framed by the rectangular frame is the gate position.
In the embodiment of the invention, the first detection result of the current frame image shot by the thermal imaging equipment is obtained, the second detection result of the previous frame of the current frame image is obtained, and when the first detection result is different from the second detection result, the change of the detection result of the heat source of the mobile human body exists between the current frame image and the previous frame image, which usually occurs at the position of the doorway, therefore, when the detection results of the two adjacent frame images are inconsistent, the central pixel point of the heat source of the mobile human body can be added into the pixel point set, so that the processing of denoising and determining the minimum rectangular frame can be performed on the pixel point set to obtain the doorway position, and the aim of determining the position of the doorway based on the pixel point set can be effectively realized.
For a better understanding of the technical solution in the embodiment of the present invention, a method for obtaining a detection result will be described, referring to fig. 4, which is a schematic flow chart of a refinement step of step 101 in the embodiment of fig. 1 of the present invention, specifically including:
step 401, acquiring a thermal imaging video, wherein the thermal imaging video comprises continuous multi-frame images, a second target frame image is the last frame image of the thermal imaging video, and the second target frame image is a current frame image or a previous frame image;
step 402, performing an operation of eliminating the unmoved heat source on the second target frame image by using the thermal imaging video to obtain a first frame image from which the unmoved heat source is eliminated;
step 403, performing a heat source pixel point detection operation of moving a heat source on the first frame image, and determining a heat source pixel point contained in the first frame image;
step 404, determining a detection result of the second target frame image according to the heat source pixel points included in the first frame image.
In the embodiment of the present invention, since the first detection result of the current frame image and the second detection result of the previous frame image need to be obtained, the process of obtaining the detection result is described by taking the second target frame image as an example, where the second target frame image may be the current frame image or the previous frame image, it may be understood that, in the embodiment shown in fig. 4, only the first detection result of the current frame image needs to be determined if the second detection result of the previous frame image has been determined, and in the embodiment shown in fig. 4, the first detection result of the current frame image and the second detection result of the previous frame image need to be determined if the detection results of the previous frame image are not determined.
In an embodiment of the present invention, a thermal imaging video is acquired, where the thermal imaging video includes a plurality of consecutive frames of images, and the second target frame image is a last frame image of the thermal imaging video. And if the first detection result of the current frame image is determined, the second target frame image is the current frame image, and if the second detection result of the previous frame image is determined, the second target frame image is the previous frame image.
It should be noted that, in the embodiment of the present invention, the detection of the heat source of the moving human body needs to use the thermal imaging video, and the principle thereof is as follows: the moving human heat source is moving in the thermal imaging video, the positions of the moving human heat source in different frames are different, the non-moving heat source is in the fixed area, the positions of the non-moving heat source in different frames are the same, the change of pixel values is small, the characteristic can be utilized, and the non-moving heat source (including an interference heat source and a non-moving human heat source) in the second target frame image can be eliminated by processing the pixel values of the pixel points in the same position in different frames of the thermal imaging video, and the rest heat sources can be determined as the moving human heat source, so that the detection of the moving human heat source can be realized.
Further, the step of performing the operation of eliminating the non-moving heat source on the second target frame image by using the thermal imaging video to obtain the first frame image from which the non-moving heat source is eliminated may specifically include the steps of: calculating the average pixel value of a first target pixel point in the thermal imaging video to obtain a second frame image formed by the average pixel value of the first target pixel point, wherein the first target pixel point is any pixel point in the thermal imaging video; and subtracting the pixel value of the pixel point which is the same as the second target pixel point in the second frame image from the pixel value of the second target pixel point in the second target frame image to obtain a first frame image formed by the difference value of the pixel values, wherein the second target pixel point is any pixel point in the second target frame image.
In the embodiment of the invention, since the thermal imaging video is imaged by the thermal imaging device under a fixed shooting angle, the same pixel point in each frame of image in the thermal imaging video represents the same position, any pixel point in the thermal imaging video can be taken as a first target pixel point, and the acquisition process of the first frame of image is described by taking the first target pixel point as an example.
When the thermal imaging video contains 50 frames of images, the pixel value of the 50 frames of images at the position (i, j) can be obtained for the pixel point A (i, j), and the pixel value of the 50 frames of images can be obtained, and the pixel value at the position (i, j) in the second frame of images is obtained by carrying out an averaging operation on the 50 pixel values, wherein i represents a row, j represents a column, i ranges are [1, 32], j ranges are [1, 24], and each pixel value is an average value of the first target pixel point.
After the second frame image is obtained, any pixel point in the second target frame image is taken as a second target pixel point, and the pixel value of the pixel point which is the same as the position of the second target pixel point in the second frame image is subtracted from the pixel value of the second target pixel point in the second target frame image, so that a first frame image formed by the difference value of the pixel values is obtained. For example, if the position of the second target pixel point is (i, j) and the pixel value thereof is a1, the pixel value a2 of the pixel point with the position of (i, j) is found in the second frame image, and the difference value a1 minus a2 is used as the pixel value of the pixel point at the position of (i, j) in the first frame image, so that the pixel value of each pixel point in the first frame image can be obtained effectively.
It can be understood that, firstly, the average value of the pixel values of the same pixel point in different frame images in the thermal imaging video is calculated, so that the average value of the pixel points in the corresponding time range can be obtained based on the thermal imaging video, and for the non-moving heat source, the obtained difference value is relatively large due to the change of the position of the moving heat source after the difference value operation, so that the non-moving heat source and the moving heat source can be effectively distinguished in the obtained second frame image, and further, the pixel value of the pixel point in the second target frame image is subtracted by the pixel value of the same pixel point in the second frame image, so that for the non-moving heat source, the obtained difference value is very small due to the change of the position and the pixel value, and for the moving heat source, the obtained difference value is relatively large due to the change of the position after the difference value operation, so that the non-moving heat source and the moving heat source can be effectively distinguished in such a way that the heat source which can be removed by the difference value obtained by the average value first.
After the first frame image is obtained, a heat source pixel point detection operation of a moving heat source is performed on the first frame image, and the heat source pixel points contained in the first frame image are determined, which can be understood that the heat source contained in the first frame image may be empty (i.e. no moving heat source exists), or a moving human heat source, or a small interfering heat source (such as a kitten, a puppy, etc.), or both the moving human heat source and the small interfering heat source.
In one possible implementation, the heat source pixel point included in the first video frame image may be determined in the following manner:
and detecting the heat source pixel points of the first frame image by utilizing the first frame image and the preset dividing points, and determining the heat source pixel points contained in the first frame image. The dividing point may be set based on specific needs, for example, may include an upper dividing point and a lower dividing point, which are also referred to as 75 dividing point and 25 dividing point, respectively, to calculate a first dividing value of the first frame image at the upper dividing point, and to calculate a second dividing value of the first frame image at the lower dividing point.
And for any pixel point in the first frame image, the pixel value of the pixel point in the first frame image can be recalculated as follows:
Wherein M represents the updated pixel value of the pixel point in the first frame image, D represents the initial pixel value of the pixel point in the first frame image, alpha, beta represent constants related to the quantiles,and->Representing the upper and lower division sites->A first quantile value representing the upper quantile of the first frame image, < >>A second index value representing the first frame image at the lower index point, in one possible implementation, the values of α, β may be 2.5 and 1.5, the values of ∈10>And->Can be 75 and 25 respectively, it is understood that in practical application, the above alpha, beta,/-can be set according to specific needs>And->Is not limited herein.
After the updated first frame image is obtained, a heat source pixel point in the first frame image can be obtained, and the heat source pixel point is a pixel point with a pixel value greater than 0 in the first frame image. It is understood that these pixels are all representative of pixels corresponding to a heat source, and are therefore also referred to as heat source pixels.
Further, after determining the heat source pixel points included in the first frame image, the detection result of the second target frame image is determined according to the heat source pixel points included in the first frame image.
In one possible implementation, the detection result of whether the second target frame image has the moving human body heat source may be determined according to the following steps:
Step e1, determining position coordinate values of each heat source pixel point in the first frame image;
step e2, calculating the distance between the target heat source pixel point and other heat source pixel points except the target heat source pixel point in the first frame image respectively to obtain a second distance set of the target heat source pixel point, wherein the target heat source pixel point is any heat source pixel point in the first frame image;
step e3, determining a second distance number of distance values smaller than or equal to a preset second distance threshold value in the second distance set, and determining the second distance number as a heat source density value of the target heat source pixel point;
step e4, determining the target number of heat source pixel points in the first frame image, wherein the heat source density value of the target number is larger than or equal to a preset second density threshold value;
step e5, when the number of targets is greater than or equal to a preset value, determining that a detection result of the second target frame image is that a mobile human body heat source exists;
and e6, when the number of targets is smaller than a preset value, determining that the detection result of the second target frame image is that the heat source of the moving human body does not exist.
In the embodiment of the invention, after the updated first frame image is obtained, whether a human body heat source exists in the second target frame image is determined by using the heat source pixel points contained in the first frame image.
In one possible implementation, the first frame of image may be first de-noised, i.e., to remove some interference from small mobile heat sources, e.g., puppies, kittens, etc. Specifically, the position coordinate value of each heat source pixel point in the first frame image can be determined, taking any one heat source pixel point in the first frame image as a target heat source pixel point as an example, calculating the distances between the target heat source pixel point and other heat source pixel points except the target heat source pixel point in the first frame image respectively, and obtaining a second distance set of the target heat source pixel points; determining a second distance number of distance values smaller than or equal to a preset second distance threshold value in a distance set of target heat source pixel points of the first frame image, and determining the second distance number as a heat source density value of the target heat source pixel points; determining heat source pixel points with the heat source density value larger than or equal to a preset density threshold value in the first frame image, taking the heat source pixel points with the heat source density value larger than or equal to the preset density threshold value as the heat source pixel points of the mobile human heat source, and further determining the target number of the heat source pixel points of the mobile human heat source.
In the embodiment of the invention, when the number of the targets is greater than or equal to a preset value, the existence of the mobile human body heat source is indicated, so that the existence of the mobile human body heat source in the target frame image can be determined; when the target number is smaller than the preset value, the fact that the moving human body heat source does not exist is indicated, and therefore it can be determined that the moving human body heat source does not exist in the second target frame image. Preferably, the preset value may be 1, that is, when the number of heat source pixels having a heat source density value greater than or equal to the preset density threshold is 1, it may indicate that a moving human heat source exists, and thus, as long as greater than or equal to 1, it may indicate that a moving human heat source exists.
In the embodiment of the invention, whether the mobile human body heat source exists in the second target frame image is determined by utilizing the thermal imaging video, so that the mobile human body heat source can be detected based on the characteristics of the mobile human body heat source in the thermal imaging video, and the accuracy of detecting the mobile human body heat source is effectively realized.
Referring to fig. 5, a schematic structural diagram of a door position determining apparatus according to an embodiment of the invention includes:
the acquiring module 501 is configured to acquire a first detection result of a current frame image captured by the thermal imaging device, and acquire a second detection result of a previous frame image of the current frame image, where pixel values of pixel points in the current frame image and the previous frame image are temperature values, and the first detection result and the second detection result are detection results of whether a moving human heat source exists;
the adding module 502 is configured to determine a center pixel according to a heat source pixel of a moving human heat source in a first target frame image when the first detection result is different from the second detection result, add coordinate values of the center pixel to a pixel set, where the first target frame image is an image in which the moving human heat source exists in the current frame image and a previous frame image, the pixel set is configured to store the center pixel of the moving human heat source when the detection results of two adjacent frame images are inconsistent, and the center pixel is configured to represent a position of the moving human heat source;
A determining module 503, configured to determine a gate position in a frame image captured by the thermal imaging device according to the pixel point set.
It will be appreciated that, in the embodiment of the present invention, the content of each module in the embodiment shown in fig. 5 is similar to that described in the embodiment shown in fig. 1 to 4, and specific reference may be made to the content in the embodiment shown in fig. 1 to 4, which is not repeated here.
In the embodiment of the invention, when the first detection result of the current frame image and the second detection result of the previous frame image are inconsistent, the detection result of the presence detection of the mobile human heat source is indicated to have a change, and the change can indicate the condition of entering or exiting of the mobile human heat source, and the situation that the mobile human heat source enters or exits from the gate position is considered, so that the coordinate value when the mobile human heat source possibly appears at the gate position can be recorded by recording the central pixel point of the mobile human heat source in a mode of utilizing the pixel point set to record the detection result of the adjacent two frames of images when the detection result of the pixel point set is inconsistent, the gate position can be further determined by utilizing the pixel point set, the determination of the gate position is effectively realized, and the accuracy is high.
In one embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
Acquiring a first detection result of a current frame image shot by thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image, wherein pixel values of pixel points in the current frame image and the previous frame image are temperature values, and the first detection result and the second detection result are detection results of whether a moving human body heat source exists or not;
when the first detection result is different from the second detection result, determining a central pixel point according to a heat source pixel point of a mobile human heat source in a first target frame image, adding coordinate values of the central pixel point into a pixel point set, wherein the first target frame image is an image with the mobile human heat source in the current frame image and the previous frame image, the pixel point set is used for storing the central pixel point of the mobile human heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the mobile human heat source;
and determining the gate position in the frame image shot by the thermal imaging equipment according to the pixel point set.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. A method of determining a doorway position, the method comprising:
acquiring a first detection result of a current frame image shot by thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image, wherein pixel values of pixel points in the current frame image and the previous frame image are temperature values, and the first detection result and the second detection result are detection results of whether a moving human body heat source exists or not;
When the first detection result is different from the second detection result, determining a central pixel point according to a heat source pixel point of a mobile human heat source in a first target frame image, adding coordinate values of the central pixel point into a pixel point set, wherein the first target frame image is an image with the mobile human heat source in the current frame image and the previous frame image, the pixel point set is used for storing the central pixel point of the mobile human heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the mobile human heat source;
determining a gate position in a frame image shot by the thermal imaging equipment according to the pixel point set;
the method for obtaining the first detection result of the current frame image shot by the thermal imaging device and the second detection result of the previous frame image of the current frame image comprises the following steps:
acquiring a thermal imaging video, wherein the thermal imaging video comprises continuous multi-frame images, a second target frame image is the last frame image of the thermal imaging video, and the second target frame image is the current frame image or the previous frame image;
Performing an elimination operation of an unmovable heat source on the second target frame image by using the thermal imaging video to obtain a first frame image from which the unmovable heat source is eliminated;
performing heat source pixel point detection operation of a mobile heat source on the first frame image, and determining heat source pixel points contained in the first frame image;
and determining a detection result of the second target frame image according to the heat source pixel points contained in the first frame image.
2. The method of claim 1, wherein determining a doorway position in a frame image captured by the thermal imaging device from the set of pixels comprises:
removing coordinate values of abnormal center pixel points in the pixel point set based on an abnormal detection algorithm of the density to obtain a target pixel point set;
and in the frame image shot by the thermal imaging equipment, determining the minimum area surrounding the coordinate value of the central pixel point in the target pixel point set as the gate position.
3. The method according to claim 2, wherein the density-based anomaly detection algorithm eliminates coordinate values of an anomaly center pixel point in the pixel point set to obtain a target pixel point set, and includes:
Calculating distances between a target central pixel point and other central pixel points except the target central pixel point in the pixel point set respectively to obtain a first distance set of the target central pixel point, wherein the target central pixel point is any central pixel point in the pixel point set;
determining a first distance number of distance values smaller than or equal to a preset first distance threshold value in the first distance set, and determining the first distance number as a heat source density value of the target center pixel point;
and eliminating the central pixel point of which the heat source density value is smaller than a preset first density threshold value from the pixel point set to obtain a target pixel point set.
4. The method of claim 1, wherein determining a doorway position in a frame image captured by the thermal imaging device from the set of pixels further comprises:
determining the number of center pixel points contained in the pixel point set;
if the number is greater than or equal to a preset value, continuing to execute the step of determining the gate position in the frame image shot by the thermal imaging equipment according to the pixel point set;
and if the number is smaller than the preset value, acquiring a next frame image of the current frame image, taking the next frame image as the current frame image, and continuously executing the steps of acquiring a first detection result of the current frame image shot by the thermal imaging equipment and acquiring a second detection result of the previous frame image of the current frame image.
5. The method of claim 1, wherein performing the operation of removing the unmoved heat source from the second target frame image using the thermal imaging video to obtain the first frame image from which the unmoved heat source has been removed, comprises:
calculating an average pixel value of a first target pixel point in the thermal imaging video to obtain a second frame image formed by the average pixel value of the first target pixel point, wherein the first target pixel point is any pixel point in the thermal imaging video;
and subtracting the pixel value of a second target pixel point in the second target frame image from the pixel value of the pixel point with the same position as the second target pixel point in the second frame image to obtain a first frame image formed by the difference value of the pixel values, wherein the second target pixel point is any pixel point in the second target frame image.
6. The method according to claim 1, wherein the determining whether the second target frame image has a detection result of a moving human body heat source according to the heat source pixel points included in the first frame image includes:
determining position coordinate values of each heat source pixel point in the first frame image;
Calculating distances between a target heat source pixel point and other heat source pixel points except the target heat source pixel point in the first frame image respectively to obtain a second distance set of the target heat source pixel point, wherein the target heat source pixel point is any heat source pixel point in the first frame image;
determining a second distance number of distance values smaller than or equal to a preset second distance threshold value in the second distance set, and determining the second distance number as a heat source density value of the target heat source pixel point;
determining the target number of heat source pixel points in the first frame image, wherein the heat source density value of the target number is larger than or equal to a preset second density threshold value;
when the target number is greater than or equal to a preset value, determining that a detection result of the second target frame image is that a mobile human body heat source exists;
and when the target number is smaller than the preset value, determining that the detection result of the second target frame image is that no moving human body heat source exists.
7. A doorway position determination apparatus, the apparatus comprising:
the acquisition module is used for acquiring a first detection result of a current frame image shot by the thermal imaging equipment and acquiring a second detection result of a previous frame image of the current frame image, wherein pixel values of pixel points in the current frame image and the previous frame image are temperature values, and the first detection result and the second detection result are detection results of whether a mobile human body heat source exists or not;
The adding module is used for determining a central pixel point according to a heat source pixel point of a mobile human heat source in a first target frame image when the first detection result is different from the second detection result, adding coordinate values of the central pixel point into a pixel point set, wherein the first target frame image is an image with the mobile human heat source in the current frame image and the previous frame image, the pixel point set is used for storing the central pixel point of the mobile human heat source when the detection results of two adjacent frame images are inconsistent, and the central pixel point is used for representing the position of the mobile human heat source;
a determining module, configured to determine a gate position in a frame image captured by the thermal imaging device according to the pixel point set;
the acquisition module is specifically configured to: acquiring a thermal imaging video, wherein the thermal imaging video comprises continuous multi-frame images, a second target frame image is the last frame image of the thermal imaging video, and the second target frame image is the current frame image or the previous frame image; performing an elimination operation of an unmovable heat source on the second target frame image by using the thermal imaging video to obtain a first frame image from which the unmovable heat source is eliminated; performing heat source pixel point detection operation of a mobile heat source on the first frame image, and determining heat source pixel points contained in the first frame image; and determining a detection result of the second target frame image according to the heat source pixel points contained in the first frame image.
8. The apparatus of claim 7, wherein the determining module is specifically configured to:
removing coordinate values of abnormal center pixel points in the pixel point set based on an abnormal detection algorithm of the density to obtain a target pixel point set;
and in the frame image shot by the thermal imaging equipment, determining the minimum area surrounding the coordinate value of the central pixel point in the target pixel point set as the gate position.
9. A computer readable storage medium storing a computer program, which when executed by a processor causes the processor to perform the steps of the method according to any one of claims 1 to 6.
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