CN113850133A - Ship line-crossing detection method and system for ship lock video monitoring - Google Patents
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Abstract
The invention discloses a ship lock video monitoring-oriented ship line-crossing detection method and system, when a ship does not enter a to-be-identified area, collecting multi-frame video monitoring data in a circulating accumulation mode, and establishing and updating a background template by using the collected multi-frame video monitoring data; acquiring a current frame image of a camera, and comparing the current frame image with a background model to find out a foreground target; and judging whether the foreground target is a ship target or not according to the parameters of the connected domain in the image, and judging whether the ship target crosses the line or not according to the preset line-stopping prohibition position in the image. The method has the advantages that the pixel difference between the background template and the current frame image is extremely small through the cyclic updating of the background template, so that the method is suitable for extracting ship targets under various illumination conditions, the targets are classified through the size of the connected domain, and filtering of floating objects, shadows and other interference targets is supported.
Description
Technical Field
The invention relates to the technical field of image detection and identification, in particular to a ship line-crossing detection method and system for ship lock video monitoring.
Background
With the vigorous development of social economy, the inland river traffic flow is increased year by year. As an important node in inland river traffic, the navigation safety and efficiency of a ship lock are key factors for determining the inland river traffic efficiency. The safe opening and closing of the ship lock gate is the basic guarantee of the ship lock operation. Therefore, various ship locks are provided with ship stopping lines in the lock chambers, the area in the ship stopping lines is the range of the gate switch, and if the ship invades the lines, the gate collides with the ship, so that the navigation safety is seriously influenced.
The automatic detection mode aiming at the position of a ship in a ship lock at present can be divided into two types: the ship position detection method based on the radar and the ship position detection method based on the visual sensor. The radar-based detection method adopts AIS radar and laser radar to position the ship. The method has the advantages of wide monitoring range, capability of directly obtaining ship position coordinate data, and low detection precision, and cannot accurately position the position of the front edge of the ship, so that the method cannot solve the high-precision detection task of ship line-crossing detection. The detection method based on the visual sensor uses a camera to obliquely view the position before the line is forbidden to stop, and the arrival position of the front edge of the ship is obtained through an image algorithm, so that whether the ship crosses the line or not is judged. The method can accurately judge the relative position of the ship front edge position and the static line. The detection process of the automatic detection method can be divided into 3 steps: (1) establishing a background template (2), extracting foreground targets (3) and extracting target edges. The method can effectively judge the relative position of the ship-forbidden line under the conditions of good light intensity and less interference targets, but the following defects still exist aiming at the practical use scene of the ship lock:
(1) the situation that the background template changes is not considered. Due to the influences of various factors such as weather change, night illumination change, ship light, shielding and the like, the illumination condition of a camera monitoring area is dynamically changed, a fixed template is adopted to detect a large number of false targets, and the extraction of real targets of ships is seriously influenced.
(2) The object classification is not considered. The general visual angle of the monitoring camera is oblique view water surface, and the floating objects often appear on the water surface. The small-area floater crosses the no-stop line, so that the safety of the ship lock is not influenced greatly, and the alarm is not needed. The ship line-crossing detection method without effective object classification adopts uniform line-crossing alarm for various objects, actually generates a large amount of false alarm alarms, and increases the burden of workers because workers need to manually process the false alarms.
Disclosure of Invention
The invention provides a ship line-crossing detection method and system for ship lock video monitoring, and aims to overcome the technical defects.
In order to achieve the above technical object, a first aspect of the technical solution of the present invention provides a ship line-crossing detection method for ship lock video monitoring, which includes the following steps:
when the ship does not enter the area to be identified, collecting multiframe video monitoring data in a circulating accumulation mode, and establishing and updating a background template by utilizing the collected multiframe video monitoring data;
acquiring a current frame image of a camera, and comparing the current frame image with a background model to find out a foreground target;
and judging whether the foreground target is a ship target or not according to the parameters of the connected domain in the image, and judging whether the ship target crosses the line or not according to the preset line-stopping prohibition position in the image.
The invention provides a ship cross-line detection system for ship lock video monitoring, which comprises the following functional modules:
the background establishing module is used for circularly and cumulatively acquiring multi-frame video monitoring data when the ship does not enter the area to be identified, and establishing and updating a background template by using the acquired multi-frame video monitoring data;
the suspected judgment module is used for acquiring a current frame image of the camera, comparing the current frame image with a background modeling model and finding out a foreground target;
and the target judgment module is used for judging whether the foreground target is a ship target according to the parameters of the connected domain in the image and judging whether the ship target crosses the line according to the preset line forbidden position in the image.
A third aspect of the present invention provides a server, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps of the ship line crossing detection method for ship lock video surveillance.
A fourth aspect of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the ship line crossing detection method for ship lock video monitoring.
Compared with the prior art, the ship line crossing detection method and system for ship lock video monitoring circularly update the background template through the updating strategy of the self-adaptive background template, so that the pixel difference between the background template and the current frame image is extremely small, the method and system are suitable for extracting ship targets under various illumination conditions such as daytime and night, the targets are classified through the size of the connected domain, and filtering of interference targets such as floaters and shadows is supported.
Drawings
Fig. 1 is a block flow diagram of a ship offline detection method for ship lock video monitoring according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of a ship cross-line detection method for ship lock video surveillance according to an embodiment of the present invention;
FIG. 3 is a block flow diagram of a substep of step S1 in FIG. 1;
FIG. 4 is a block flow diagram of a substep of step S3 in FIG. 1;
fig. 5 is a block diagram of a ship offline detection system for ship lock video monitoring according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Based on the above, an embodiment of the present invention provides a ship line-crossing detection method for ship lock video monitoring, as shown in fig. 1 and 2, which includes the following steps:
and S1, when the ship does not enter the area to be identified, collecting multiframe video monitoring data in a circulating accumulation mode, and establishing and updating the background template by utilizing the collected multiframe video monitoring data.
As shown in fig. 3, the step S1 includes the following sub-steps:
s11, before no ship enters the area to be identified, video monitoring data with preset frame numbers are collected in an accumulated mode, and a background template is established and updated by the aid of the collected multi-frame video monitoring data;
s12, judging whether a ship target exists in the current frame in real time, and if the ship target does not exist in the current frame, continuously accumulating and collecting video monitoring data;
and S13, when the frame number of video monitoring data accumulated collection does not reach the preset frame number, the background template is not updated when judging whether the current frame has an effective target, and when the frame number of video monitoring data accumulated collection reaches the preset frame number, the background template is reestablished and updated by using the collected video monitoring data.
The method for establishing the background template comprises the following steps: the method for describing the pixel point change by using the pixel mean value and the pixel variance in the single-pixel multi-frame process describes the change of all the pixel points in the image one by one. Specifically, the method for describing the change of the pixel point by using the pixel mean and the pixel variance in the single-pixel multi-frame process is as follows:
in the above formula, kr，kg，kbThe three channel values of red, green and blue of a single pixel are respectively; n is the number of image frames;
respectively are the average values of red, green and blue channels in the single pixel n frame process;
the average value of the pixels in the single pixel n frame process; skIs the pixel variance; when the image size is x pixels in the horizontal direction and y pixels in the vertical direction, the background modeling parameters of the image are 2 xy.
The background template is established by the method, so that the traditional analog signal camera is relatively good in compatibility, and the problem of false identification caused by inaccurate color restoration of a certain channel can be solved; meanwhile, the pixel difference between the background template and the current frame image is extremely small through the cyclic updating of the background template, so that the problem that the real target extraction of the ship is influenced by various factors such as weather change, night illumination change, the light of the ship, shading and the like can be solved by adopting the background template.
And S2, acquiring the current frame image of the camera, comparing the current frame image with the background modeling, and finding out the foreground target.
Firstly, acquiring a current frame image of a camera, and newly building a masking layout with the same size as an original image; then, the foreground target in the current frame image is judged pixel by pixel, specifically, the method for judging whether a certain pixel point k is the foreground target is as follows:
wherein f iskThe flag quantity of the pixel point k is used, and whether the pixel point k belongs to a foreground target or not can be judged according to the value; krR channel value of K points, KgG channel value at K points, KbB channel value of k point;
mean of pixels, s, in the background modeling parameter for k pointskThe pixel variance values in the parameters are modeled for the k-point background. When f iskWhen the pixel point is larger than 3, the pixel point is considered as a foreground target point; when f iskAnd when the pixel point is less than 3, the pixel point is considered as a background point.
Performing binarization processing on the mask image according to a judgment result, namely setting the gray value of a pixel point with the same coordinate of the mask image to be 255 (white) when a certain pixel point is judged as a foreground object in the original image; when a certain pixel point is judged as the background in the original image, the gray value of the pixel point with the same coordinate of the mask image is set to be 0 (black).
And S3, judging whether the foreground target is a ship target according to the parameters of the connected domain in the image, and judging whether the ship target crosses the line according to the preset line forbidden position in the image.
As shown in fig. 4, the step S3 specifically includes the following sub-steps:
s31, carrying out graphic expansion and graphic corrosion treatment on the mask image;
s32, performing connected domain analysis on the mask diagram by using an 8-connected domain judgment principle;
s33, comparing the area and the length-width ratio of the connected domain with a set threshold value, and judging whether the connected domain is a ship target;
and S34, judging whether the ship target crosses the line according to the preset line-stopping prohibition position in the image.
That is, the mask pattern is first subjected to a graphical expansion and then a graphical etching treatment. In the expansion processing, when the value of a certain pixel point k is 255, all pixel point values in a square range taking the pixel point k as the center and the c pixel as the side length are set as 255; when the value of the pixel point k is 0, no operation is performed. The corrosion treatment is that aiming at a certain pixel point k, when the value of the certain pixel point k is 255, the certain pixel point k is set as 0 if a 0-value point exists in a square range with d pixels as side lengths; if no 0 value point exists, no operation is carried out; and when the value of the pixel point k is 0, not operating. Wherein, the values of c and d are empirical values.
And then performing connected domain analysis by using an 8-connected domain judgment principle. When the value of pixel k is 255, it has other pixel whose value is 255 in 8 pixels (1 pixel above, 1 pixel on the left oblique, 1 pixel on the right oblique, 1 pixel on the left side, 1 pixel on the right side, 1 pixel below on the left oblique, and 1 pixel below on the right oblique), then considers that pixel k and its pixel in the domain face are the same connected domain. And (4) carrying out connected domain analysis on the mask diagram according to the principle, thereby combining the discrete 255-value points into a plurality of connected domains.
And calculating the area and the aspect ratio of the single connected domain j. The connected component area S is the number of pixels with a pixel value of 255 contained in the connected component. The connected domain aspect ratio δ is the connected domain circumscribed rectangle aspect ratio. The aspect ratio δ calculation method is as follows:
wherein xmaxIs the maximum value of x coordinate, x, of all pixels contained in the connected componentmin，ymax，yminThe same is true.
And comparing the area S and the length-width ratio delta of the connected domain with a set threshold value, and judging whether the connected domain is a ship target. When the following conditions are satisfied simultaneously, the connected domain is determined as the ship target.
δi>δset
S>Sset
Judging whether the ith connected domain in the traversal is a ship target, if so, marking the connected domain, and further judging whether the ship target crosses the line; the basis for judging the ship line crossing behavior is that an operator selects a line forbidden position in an image in advance before the whole detection is started, and when pixels in a connected domain corresponding to a ship target appear in pixels corresponding to the preselected line forbidden position, the ship line crossing behavior is judged to occur. When the ship target is judged to cross the line, warning the operator; and if the ship is not found to have the line crossing behavior, judging whether an unprocessed target exists in the Mongolian layout. And if the target does not exist in the Mongolian layout, returning to the step S1, and performing the background template updating operation of the next round again. If the target is not a ship, marking the connected domain and judging whether an unprocessed target exists in the Mongolian picture; and if the target does not exist in the Mongolian layout, returning to the step S1, and performing the background template updating operation of the next round again.
The ship line crossing detection method for ship lock video monitoring is suitable for extracting ship targets under various illumination conditions such as daytime and night by circularly updating the background template through an updating strategy of a self-adaptive background template to enable the pixel difference between the background template and a current frame image to be extremely small, and the targets are classified through the size of a connected domain to support filtering of interference targets such as floaters and shadows.
As shown in fig. 5, an embodiment of the present invention further provides a ship cross-line detection system for ship lock video monitoring, which includes the following functional modules:
the background establishing module 10 is used for circularly and cumulatively acquiring multi-frame video monitoring data when the ship does not enter the area to be identified, and establishing and updating a background template by using the acquired multi-frame video monitoring data;
the suspected judgment module 20 is used for acquiring a current frame image of the camera, comparing the current frame image with a background modeling model and finding out a foreground target;
and the target judgment module 30 is configured to judge whether the foreground target is a ship target according to the parameter of the connected domain in the image, and judge whether the ship target crosses the line according to a preset line-forbidden position in the image.
The execution mode of the ship line crossing detection system for ship lock video monitoring in this embodiment is basically the same as that of the ship line crossing detection method for ship lock video monitoring, and therefore, detailed description thereof is omitted.
The server in this embodiment is a device for providing computing services, and generally refers to a computer with high computing power, which is provided to a plurality of consumers via a network. The server of this embodiment includes: a memory including an executable program stored thereon, a processor, and a system bus, it will be understood by those skilled in the art that the terminal device structure of the present embodiment does not constitute a limitation of the terminal device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
The memory may be used to store software programs and modules, and the processor may execute various functional applications of the terminal and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The memory contains an executable program of the ship line crossing detection method facing ship lock video monitoring, the executable program can be divided into one or more modules/units, the one or more modules/units are stored in the memory and executed by the processor to complete the information acquisition and implementation process, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program in the server. For example, the computer program may be divided into a background creation module 10, a suspected judgment module 20, and a target judgment module 30.
The processor is a control center of the server, connects various parts of the whole terminal equipment by various interfaces and lines, and executes various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, thereby performing overall monitoring of the terminal. Alternatively, the processor may include one or more processing units; preferably, the processor may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The system bus is used to connect functional units in the computer, and can transmit data information, address information and control information, and the types of the functional units can be PCI bus, ISA bus, VESA bus, etc. The system bus is responsible for data and instruction interaction between the processor and the memory. Of course, the system bus may also access other devices such as network interfaces, display devices, etc.
The server at least includes a CPU, a chipset, a memory, a disk system, and the like, and other components are not described herein again.
In the embodiment of the present invention, the executable program executed by the processor included in the terminal specifically includes: a ship line-crossing detection method for ship lock video monitoring comprises the following steps:
when the ship does not enter the area to be identified, collecting multiframe video monitoring data in a circulating accumulation mode, and establishing and updating a background template by utilizing the collected multiframe video monitoring data;
acquiring a current frame image of a camera, and comparing the current frame image with a background model to find out a foreground target;
and judging whether the foreground target is a ship target or not according to the parameters of the connected domain in the image, and judging whether the ship target crosses the line or not according to the preset line-stopping prohibition position in the image.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A ship line-crossing detection method for ship lock video monitoring is characterized by comprising the following steps:
when the ship does not enter the area to be identified, collecting multiframe video monitoring data in a circulating accumulation mode, and establishing and updating a background template by utilizing the collected multiframe video monitoring data;
acquiring a current frame image of a camera, and comparing the current frame image with a background model to find out a foreground target;
and judging whether the foreground target is a ship target or not according to the parameters of the connected domain in the image, and judging whether the ship target crosses the line or not according to the preset line-stopping prohibition position in the image.
2. The ship-lock video monitoring-oriented ship line-crossing detection method according to claim 1, wherein when a ship does not enter an area to be identified, a plurality of frames of video monitoring data are collected in a cyclic accumulation manner, and a background template is established and updated by using the collected plurality of frames of video monitoring data, specifically comprising:
before no ship enters an area to be identified, video monitoring data with preset frame numbers are collected in an accumulated mode, and a background template is established and updated by utilizing the collected multi-frame video monitoring data;
judging whether a ship target exists in the current frame in real time, and if the ship target does not exist in the current frame, continuously accumulating and collecting video monitoring data;
when the frame number of video monitoring data accumulated collection does not reach the preset frame number, the background template is not updated when judging whether the current frame has an effective target, and when the frame number of video monitoring data accumulated collection reaches the preset frame number, the background template is reestablished and updated by using the collected video monitoring data.
3. The ship lock video monitoring-oriented ship line-crossing detection method according to claim 1, wherein the background template is established by the following method: the method for describing the pixel point change by using the pixel mean value and the pixel variance in the single-pixel multi-frame process describes the change of all the pixel points in the image one by one.
4. The ship lock video monitoring-oriented ship line-crossing detection method according to claim 3, wherein the method for describing the pixel point change by using the pixel mean and the pixel variance in the single-pixel multi-frame process is as follows:
in the above formula, kr，kg，kbThe three channel values of red, green and blue of a single pixel are respectively; n is the number of image frames;
respectively are the average values of red, green and blue channels in the single pixel n frame process;
the average value of the pixels in the single pixel n frame process; skIs the pixel variance.
5. The ship line-crossing detection method facing the ship lock video monitoring as claimed in claim 1, wherein the current frame image of the camera is collected and compared with the background modeling to find out the foreground target; the method specifically comprises the following steps:
acquiring a current frame image of a camera, and building a masking layout with the same size as an original image;
and judging the foreground target in the current frame image pixel by pixel, and carrying out binarization processing on the mask image according to the judgment result.
6. The ship lock video monitoring-oriented ship line-crossing detection method according to claim 5, wherein the method for judging whether a certain pixel point k is a foreground target is as follows:
wherein f iskIs the mark quantity of pixel point K, KrR channel value of K points, KgG channel value at K points, KbIs the value of the b-channel at point k,
mean of pixels, s, in the background modeling parameter for k pointskPixel variance values in the background modeling parameters of the k points are obtained;
when f iskWhen the pixel point is larger than 3, the pixel point is considered as a foreground target point; when f iskAnd when the pixel point is less than 3, the pixel point is considered as a background point.
7. The ship lock video monitoring-oriented ship line crossing detection method according to claim 5, wherein the method for judging whether the foreground target is a ship target according to the parameters of the connected domain in the image and judging whether the ship target crosses the line according to the preset line-forbidden position in the image specifically comprises the following steps:
carrying out graphic expansion and then graphic corrosion treatment on the mask image;
performing connected domain analysis on the mask map by using an 8-connected domain judgment principle;
comparing the area and the length-width ratio of the connected domain with a set threshold value, and judging whether the connected domain is a ship target;
and judging whether the ship target crosses the line or not according to the preset line-stopping-forbidding position in the image.
8. A ship line-crossing detection system for ship lock video monitoring is characterized by comprising the following functional modules:
the background establishing module is used for circularly and cumulatively acquiring multi-frame video monitoring data when the ship does not enter the area to be identified, and establishing and updating a background template by using the acquired multi-frame video monitoring data;
the suspected judgment module is used for acquiring a current frame image of the camera, comparing the current frame image with a background modeling model and finding out a foreground target;
and the target judgment module is used for judging whether the foreground target is a ship target according to the parameters of the connected domain in the image and judging whether the ship target crosses the line according to the preset line forbidden position in the image.
9. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the ship-crossing detection method for ship lock video surveillance according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the steps of the ship-crossing detection method for ship-lock video surveillance according to any one of claims 1 to 7.
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| CN117058599A (en) * | 2023-10-12 | 2023-11-14 | 南京苏润科技发展有限公司 | Ship lock operation data processing method and system |
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| CN117058599A (en) * | 2023-10-12 | 2023-11-14 | 南京苏润科技发展有限公司 | Ship lock operation data processing method and system |
| CN117058599B (en) * | 2023-10-12 | 2023-12-15 | 南京苏润科技发展有限公司 | Ship lock operation data processing method and system |
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