CN114495072A

CN114495072A - Occupant state detection method and apparatus, electronic device, and storage medium

Info

Publication number: CN114495072A
Application number: CN202210112957.XA
Authority: CN
Inventors: 陈筱; 范亦卿; 陶莹; 许亮
Original assignee: Shanghai Sensetime Lingang Intelligent Technology Co Ltd
Current assignee: Shanghai Sensetime Lingang Intelligent Technology Co Ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-05-13

Abstract

The invention relates to a passenger state detection method and device, electronic equipment and a storage medium. And matching body feature points of each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the positions of the body feature points in the target three-dimensional space. And detecting the state of the corresponding passenger according to the three-dimensional characteristic information of the at least one body characteristic point. The embodiment of the disclosure can acquire the scene inside the vehicle through a plurality of image acquisition devices, and solves the problem that a blind area exists in the scene acquired by a single image acquisition device. Meanwhile, the movement condition of the passenger in the vehicle is determined through the three-dimensional characteristic information of a plurality of scenes in the vehicle, so that the passenger state is detected.

Description

Occupant state detection method and apparatus, electronic device, and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for detecting a state of a passenger, an electronic device, and a storage medium.

Background

Nowadays, with the continuous progress of vehicle intellectualization, in order to meet various requirements of a driver or other passengers on safety, comfort, entertainment and the like, a plurality of automobile terminal manufacturers introduce intelligent cabin devices such as a DMS (digital distribution system), an OMS (operation management system) and the like to detect the state of passengers. Because the problem such as shelter exists in the great, car seat etc. of cabin inner space, car cabin equipment has the problem of detecting the blind area at present. Meanwhile, the state detection is carried out on the two-dimensional image acquired by the intelligent vehicle cabin equipment based on the related technology, and the detection in the depth direction is difficult.

Disclosure of Invention

The disclosure provides a passenger state detection method and device, electronic equipment and a storage medium, and aims to accurately detect a scene in a vehicle.

According to a first aspect of the present disclosure, there is provided an occupant state detection method including:

acquiring at least one two-dimensional scene image group, wherein each two-dimensional scene image group comprises at least two-dimensional scene images, and each two-dimensional scene image group is acquired by at least two image acquisition devices in a vehicle at the same time;

determining a target three-dimensional space inside the vehicle;

matching body feature points of each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the body feature points, wherein the three-dimensional feature information is used for representing the positions of the body feature points of passengers in the vehicle in the target three-dimensional space;

and detecting the state of the corresponding passenger according to the three-dimensional characteristic information of at least one body characteristic point.

In a possible implementation manner, the performing, according to the target three-dimensional space, body feature point matching on each two-dimensional scene image group to obtain three-dimensional feature information of the body feature points includes:

extracting body feature points in each two-dimensional scene image in the two-dimensional scene image group;

based on the extracted body feature points, performing body feature point matching on at least two-dimensional scene images in each two-dimensional scene image group to obtain at least one body feature point group;

determining three-dimensional feature points corresponding to each body feature point group in the target three-dimensional space;

and obtaining three-dimensional characteristic information corresponding to the body characteristic points according to each three-dimensional characteristic point at the same moment.

In one possible implementation, the determining three-dimensional feature points of each of the body feature point groups corresponding to the target three-dimensional space includes:

for each feature point group, determining external parameters of an image acquisition device for acquiring a two-dimensional scene image corresponding to each body feature point;

determining a mapping line in the target three-dimensional space according to the external parameters of the image acquisition device corresponding to each body feature point and the position in the two-dimensional scene image;

and determining the intersection point of the mapping lines of at least two body feature points in each body feature point group as a three-dimensional feature point.

In one possible implementation, the detecting the state of the corresponding occupant according to the three-dimensional feature information of at least one of the body feature points includes:

determining the three-dimensional action of the passenger according to the three-dimensional characteristic information corresponding to at least one body characteristic point;

and performing state detection on at least one passenger according to the three-dimensional action.

detecting dynamic actions of corresponding passengers according to three-dimensional feature information of the at least one body feature point in a preset time period, wherein the three-dimensional feature information is respectively determined by a plurality of time-series continuous two-dimensional scene image groups; determining a state of the occupant based on the dynamic action.

In one possible implementation, the state detection includes at least one of gesture detection and fatigue detection.

for a first two-dimensional scene image and a second two-dimensional scene image in each two-dimensional scene image group, responding to the fact that a target body feature point in the first two-dimensional scene image does not have a matched body feature point in the second two-dimensional scene image, and determining three-dimensional feature information of the target body feature point according to feature information of the target body feature point in the first two-dimensional scene image.

In one possible implementation manner, the determining, according to the feature information of the target body feature point in the first two-dimensional scene image, three-dimensional feature information of the target body feature point includes:

and estimating the three-dimensional characteristic information of the target body characteristic point according to the characteristic information of the target body characteristic point in the first two-dimensional scene image and the three-dimensional characteristic information of the adjacent body characteristic point of the target body characteristic point.

In a possible implementation, the at least two image capturing devices are mounted at the inside rear view mirror position and the rear row illumination lamp position, respectively, or the at least two image capturing devices are both disposed at the inside rear view mirror position of the vehicle.

According to a second aspect of the present disclosure, there is provided an occupant state detection apparatus including:

the system comprises an image acquisition module, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring at least one two-dimensional scene image group, each two-dimensional scene image group comprises at least two-dimensional scene images, and each two-dimensional scene image group is acquired by at least two image acquisition devices in a vehicle at the same time;

a space determination module to determine a target three-dimensional space inside the vehicle;

the information determining module is used for matching body feature points of each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the body feature points, and the three-dimensional feature information is used for representing the positions of the body feature points of passengers in the vehicle in the target three-dimensional space;

and the state detection module is used for detecting the state of the corresponding passenger according to the three-dimensional characteristic information of at least one body characteristic point. In one possible implementation, the information determining module includes:

the feature point extraction submodule is used for extracting body feature points in each two-dimensional scene image in the two-dimensional scene image group;

the feature point group determining submodule is used for carrying out body feature point matching on at least two-dimensional scene images in each two-dimensional scene image group based on the extracted body feature points to obtain at least one body feature point group;

the three-dimensional point determining submodule is used for determining the three-dimensional characteristic points of each body characteristic point group corresponding to the target three-dimensional space;

and the first characteristic information determining submodule is used for obtaining the three-dimensional characteristic information corresponding to the body characteristic point according to each three-dimensional characteristic point at the same moment.

In one possible implementation, the three-dimensional point determination sub-module includes:

the parameter determining unit is used for determining external parameters of an image acquisition device for acquiring two-dimensional scene images corresponding to each body characteristic point for each characteristic point group;

the mapping line determining unit is used for determining the mapping line in the target three-dimensional space according to the external parameters of the image acquisition device corresponding to each body characteristic point and the position in the two-dimensional scene image;

and the three-dimensional point determining unit is used for determining the intersection point of the mapping lines of at least two body characteristic points in each body characteristic point group as a three-dimensional characteristic point.

In one possible implementation, the state detection module includes:

the action detection submodule is used for determining the three-dimensional action of the passenger according to the three-dimensional characteristic information corresponding to at least one body characteristic point;

and the state detection submodule is used for carrying out state detection on at least one passenger according to the three-dimensional action.

In one possible implementation, the state detection module includes:

the dynamic action detection submodule is used for detecting the dynamic action of a corresponding passenger according to the three-dimensional characteristic information of the at least one body characteristic point in a preset time period, which is respectively determined by a plurality of time-sequence continuous two-dimensional scene image groups;

a state determination submodule for determining a state of the occupant based on the dynamic action.

In one possible implementation manner, the information determining module includes:

and the second characteristic information determining sub-module is used for responding to the first two-dimensional scene image and the second two-dimensional scene image in each two-dimensional scene image group that the target body characteristic point in the first two-dimensional scene image does not have a matched body characteristic point in the second two-dimensional scene image, and determining the three-dimensional characteristic information of the target body characteristic point according to the characteristic information of the target body characteristic point in the first two-dimensional scene image.

In a possible implementation manner, the second feature information determining sub-module includes:

and the characteristic information determining unit is used for estimating the three-dimensional characteristic information of the target body characteristic point according to the characteristic information of the target body characteristic point in the first two-dimensional scene image and the three-dimensional characteristic information of the adjacent body characteristic point of the target body characteristic point.

In a possible implementation, the at least two image capturing devices are installed at an inside rear view mirror position and a rear lighting position, respectively, or the at least two image capturing devices are both disposed at an inside rear view mirror position of the vehicle.

According to a third aspect of the present disclosure, there is provided an electronic device comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

The embodiment of the disclosure can collect the scene inside the vehicle through a plurality of image collecting devices, and solves the problem that a blind area exists in the scene collected by a single image collecting device when the space inside the vehicle is large or a sheltering object exists. Meanwhile, the change of the passenger characteristic points in the three-dimensional space is determined through the three-dimensional characteristic information of the scenes in the vehicles, and then the movement condition of the passengers in the vehicles is obtained, so that the passenger state is accurately detected.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 illustrates a flow chart of an occupant status detection method according to an embodiment of the present disclosure;

FIG. 2 illustrates a schematic diagram of a process for determining three-dimensional feature information in accordance with an embodiment of the present disclosure;

FIG. 3 shows a schematic view of an occupant condition detection apparatus according to an embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of an electronic device in accordance with an embodiment of the disclosure;

fig. 5 shows a schematic diagram of another electronic device according to an embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

In the embodiment of the present disclosure, the occupant state detection method may be executed by any electronic device such as a terminal device or a server. The terminal device may be any fixed or mobile terminal such as a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, and a wearable device. The server may be a single server or a server cluster composed of a plurality of servers. The electronic device may implement the occupant status detection method of the disclosed embodiments by way of the processor invoking computer readable instructions stored in the memory.

Fig. 1 shows a flow chart of an occupant status detection method according to an embodiment of the present disclosure. As shown in fig. 1, the occupant state detection method of the embodiment of the present disclosure may include the following steps S10-S40.

And step S10, acquiring at least one two-dimensional scene image group.

In one possible implementation, at least one two-dimensional scene image group with a corresponding time instant is acquired by an electronic device. Each two-dimensional scene image group is acquired by at least two image acquisition devices in the vehicle at the same time, and each two-dimensional scene image group comprises at least two-dimensional scene images. That is, each two-dimensional scene image group includes two-dimensional scene images obtained by at least two image capturing devices capturing the scene in the vehicle at the same time. Alternatively, the two-dimensional scene image group may be determined by directly controlling, by the electronic device, the two-dimensional scene images obtained by simultaneously capturing the scene in the vehicle by the at least two image capturing devices. Or, the two-dimensional scene images obtained by simultaneously acquiring the scene in the vehicle by controlling the at least two image acquisition devices through other electronic equipment are determined and then sent to the electronic equipment executing the passenger state detection method in the embodiment of the disclosure.

Optionally, the image capturing device for capturing images according to the embodiment of the present disclosure may be any image capturing device capable of capturing a scene in a vehicle. For example, at least two image acquisition devices can be directly connected to the in-vehicle control device. Or at least two image acquisition devices included in a passenger monitoring System (OMS) or a Driver Monitoring System (DMS) are provided in the vehicle. The image acquisition device can be selected according to application scenes. For example, in a vehicle including both a passenger monitoring system and a driver monitoring system, when the driver state in the vehicle needs to be detected, the image capturing device in the passenger monitoring system or the driver monitoring system may be selected to capture a two-dimensional scene image group. When the states of other passengers in the vehicle need to be detected, an image acquisition device in the passenger monitoring system is selected to acquire a two-dimensional scene image group.

The single two-dimensional scene image has fewer features and is difficult to detect due to the fact that the passenger is far away from the image acquisition device, and the problem that the passenger is shielded by an article and is difficult to detect the state is also caused. Further, at least two image capturing devices may be employed for two-dimensional scene image capturing. Alternatively, the position of each image capturing device may be arbitrarily set, at least two image capturing devices may be installed at the inside rear view mirror position and the rear row illumination lamp position, respectively, or at least two image capturing devices may be both provided at the inside rear view mirror position of the vehicle. Including two image acquisition devices in the car and all install when interior mirror position, two image acquisition devices can simulate two mesh cameras.

And step S20, determining a target three-dimensional space in the vehicle.

In one possible implementation, the electronic device determines a target three-dimensional space. The target three-dimensional space is constructed by taking a vehicle as a reference and changes along with the posture change of the vehicle. The determination mode of the target three-dimensional space can reduce the situation that the relative movement of the passenger in the vehicle along with the vehicle is mistakenly recognized as the active movement of the passenger, and accurately detect the state of the passenger in the vehicle. Alternatively, the target three-dimensional space may be determined from a three-dimensional coordinate system of a gyroscope built in the vehicle. For example, a gyroscope three-dimensional coordinate system built in the vehicle is directly determined as a coordinate system of the target three-dimensional space.

And step S30, matching body feature points of each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the body feature points.

In a possible implementation manner, after determining at least one two-dimensional scene image group and a target three-dimensional space, the electronic device may perform body feature point matching on each two-dimensional scene image group according to the target three-dimensional space to obtain corresponding three-dimensional feature information. The three-dimensional characteristic information is used for representing the positions of body characteristic points of passengers in the vehicle in a target three-dimensional space at the moment of acquiring the two-dimensional scene image group. That is to say, the electronic device may perform feature point matching on each two-dimensional scene image group, and project the matched body feature points to the target three-dimensional space to obtain corresponding position information, so as to obtain three-dimensional feature information according to a plurality of position information. Alternatively, the occupants in the vehicle may be humans and/or pets such as cats and dogs.

Optionally, when determining the three-dimensional feature information of each two-dimensional scene image group, feature point matching needs to be performed on two-dimensional scene images in the two-dimensional scene image group first. Namely, the process of determining the three-dimensional feature information may include: and extracting the body characteristic points of the passengers in each two-dimensional scene image in the two-dimensional scene image group. And matching body feature points of at least two-dimensional scene images in each two-dimensional scene image group based on the extracted body feature points to obtain at least one body feature point group. And determining the three-dimensional characteristic points corresponding to each body characteristic point group in the target three-dimensional space. And obtaining the three-dimensional characteristic information of the body characteristic points according to each three-dimensional characteristic point at the same moment.

Further, the body feature points of the passengers in the two-dimensional scene image can be extracted through a feature point extraction model obtained through pre-training, namely, the two-dimensional scene image is input into the feature point extraction model, and the body feature points of the passengers are detected and output through the feature point extraction model. The body characteristic point is a point at any position of the body of the passenger. When the occupant is a human, the body feature points may include at least one of facial feature points, hand feature points, and body feature points of the occupant in the vehicle. When the occupant is an animal, the body feature points may include at least one of hair feature points, facial feature points, and tail feature points of the pet. And performing feature point matching on body feature points extracted from a plurality of two-dimensional scene images in the same two-dimensional scene image group. The process of matching the feature points can be realized by any feature point matching algorithm, for example, descriptors of body feature points in each two-dimensional scene image are obtained, the similarity between each descriptor of body feature points and each descriptor of body feature points in other two-dimensional scene images is calculated, and the body feature point with the highest similarity is determined as the matched body feature point. After feature point matching is carried out on the current two-dimensional scene image group, a body feature point group is determined according to each body feature point and body feature points matched with the body feature points in other two-dimensional scene images, and three-dimensional feature information corresponding to the current two-dimensional scene image group is further determined according to the body feature point group. Optionally, the plurality of body feature points in each body feature point group represent imaging results of the same position of the occupant in different two-dimensional scene images.

In a possible implementation manner, after obtaining a plurality of body feature point groups corresponding to each two-dimensional scene image group, the electronic device may determine a three-dimensional feature point of each body feature point group in the target three-dimensional space, and determine corresponding three-dimensional feature information according to the plurality of three-dimensional feature points. The three-dimensional feature points of each body feature point group in the target three-dimensional space can be determined based on epipolar geometry, namely the three-dimensional feature points are determined according to the postures of the image acquisition devices of the two-dimensional scene images where each feature point in the body feature point group is located in the target three-dimensional space. For example, for each of the body feature point groups, an external parameter of an image capturing device capturing an image of the two-dimensional scene in which each body feature point corresponds may be determined. And determining a mapping line in a target three-dimensional space according to the external parameters of the image acquisition device corresponding to each body characteristic point and the position in the two-dimensional scene image. And finally, determining the intersection point of the mapping lines of at least two body feature points in each body feature point group as a three-dimensional feature point.

Optionally, the external parameters of the image acquisition device are the posture in the target three-dimensional space, including the three-dimensional offset amount and the three-dimensional rotation amount. And for each body characteristic point in the body characteristic point group, determining external parameters according to the posture of the image acquisition device in the target three-dimensional space when the two-dimensional scene image where the body characteristic point is located is acquired. And determining a mapping line in a target three-dimensional space according to a connecting line of the position of the image acquisition device in the target space and the body characteristic point in the two-dimensional scene image. The plane of the two-dimensional scene image in the target three-dimensional space is perpendicular to the central optical axis of the image acquisition device, and the distance between the two-dimensional scene image and the imaging origin of the image acquisition device can be determined according to the focal length of the image acquisition device. The mapping line of each body feature point represents the possible positions of the passenger features corresponding to the body feature point in the target three-dimensional space. Since at least two body feature points in the same body feature point group represent different imaging results of the same occupant feature in different two-dimensional scene images, the three-dimensional feature point can be determined according to the intersection point of the mapping lines of at least two body feature points in one body feature point group.

Fig. 2 shows a schematic diagram of a process of determining three-dimensional feature information according to an embodiment of the present disclosure. As shown in fig. 2, after determining the target three-dimensional space 20, the electronic device determines the position and the posture of the image capturing device 21 and the image capturing device 22 in the target three-dimensional space 20. Further, in the two-dimensional scene image 23 and the two-dimensional scene image 24 respectively acquired by the image acquisition device 21 and the image acquisition device 22 at the same time, the body feature point 25 and the body feature point 26 having a matching relationship are determined. And determining a mapping line 27 of the body characteristic point 25 according to the position of the image acquisition device 21 in the target three-dimensional space 20 and the position of the body characteristic point 25 in the target three-dimensional space 20, and determining a mapping line 28 of the body characteristic point 26 according to the position of the image acquisition device 22 in the target three-dimensional space 20 and the position of the body characteristic point 26 in the target three-dimensional space 20. Finally, the intersection point of the mapping line 27 and the mapping line 28 in the target three-dimensional space 20 is determined as a three-dimensional feature point 29 corresponding to the body feature point 25 and the body feature point 26. Further, three-dimensional feature information is determined from three-dimensional feature points corresponding to a plurality of feature point groups in the two-dimensional scene image 23 and the two-dimensional scene image 24.

In a possible implementation manner, after obtaining the body feature points of at least two-dimensional scene images in each two-dimensional scene image group, the electronic device may directly project each feature point to a target three-dimensional space according to the position of the body feature point in each two-dimensional scene image and the internal parameters and the external parameters of the image acquisition device when each two-dimensional scene image is acquired, obtain three-dimensional feature points, and obtain three-dimensional feature point information corresponding to the current two-dimensional scene image group according to the plurality of three-dimensional feature points. The internal parameters of the image acquisition device comprise a predetermined focal length, an imaging origin and a distortion coefficient.

When the images are collected by at least two image collecting devices, because the image collecting area of each image collecting device is different, each image collecting device can collect the blind areas of other image collecting devices. Therefore, when the three-dimensional feature point information is determined, the blind area of the other two-dimensional scene image can be supplemented by each two-dimensional scene image in the two-dimensional scene image group. Alternatively, the blind area supplementing process may be implemented in combination with geometric constraint relationships of body parts, for example, when the left eye in one two-dimensional scene image is occluded, the three-dimensional position of the left-eye feature point may be estimated according to the three-dimensional positions of the adjacent unoccluded feature points, such as the right-eye feature point position, the nose feature point position, the cheek feature point position, and the like, and the positions of the unoccluded left-eye feature points in other two-dimensional scene images in the same two-dimensional scene image.

Optionally, in a case that each two-dimensional scene image group includes two-dimensional scene images, for the first two-dimensional scene image and the second two-dimensional scene image in each two-dimensional scene image group, in response to that the target body feature point in the first two-dimensional scene image does not have a matching body feature point in the second two-dimensional scene image, the three-dimensional feature information of the target body feature point is determined according to the feature information of the target body feature point in the first two-dimensional scene image. The feature information of the target body feature point characterizes the position feature of the target body feature point in the first two-dimensional scene image, and may include, for example, the position of the target body feature point in the first two-dimensional scene image and the distance to the adjacent body feature point. The process of determining the three-dimensional feature information according to the feature information may be to estimate the three-dimensional feature information of the target body feature point according to the feature information of the target body feature point in the first two-dimensional scene image and the three-dimensional feature information of the neighboring body feature points of the target body feature point.

Furthermore, each piece of three-dimensional characteristic information corresponds to a two-dimensional scene image group and represents the position of the whole passenger or the head, the hand and other local areas in the vehicle at the time of acquiring the corresponding two-dimensional scene image group. The three-dimensional characteristic information sequenced according to time represents the motion situation of the whole or local area of the passenger in the vehicle.

And step S40, detecting the state of the corresponding passenger according to the three-dimensional characteristic information of at least one body characteristic point.

In a possible implementation manner, after at least one piece of three-dimensional characteristic information is determined, the movement condition of the passenger in the vehicle along with the change of time is determined according to the time corresponding to each piece of three-dimensional characteristic information, and the state detection of the passenger in the vehicle is further carried out. Wherein the three-dimensional action of the occupant can be determined according to the at least one three-dimensional characteristic information. And detecting the state of at least one passenger according to the three-dimensional action. Optionally, the state detection may include at least one of gesture detection and fatigue detection.

Further, the electronic device may detect a dynamic motion of the corresponding occupant based on three-dimensional feature information of at least one body feature point within a predetermined time period, which is respectively determined by a plurality of time-series consecutive two-dimensional scene image groups. The state of the occupant is then determined based on the dynamic action. Optionally, the state detection process may be implemented by a trained state detection model, that is, three-dimensional feature information of at least one body feature point determined by a plurality of two-dimensional scene image groups with continuous time sequences is input into the state detection model, and a corresponding dynamic motion of an occupant in the vehicle is output. The state of the occupant is then determined based on the dynamic action. For example, the occupant state corresponding to the dynamic motion in which the number of times of nodding is greater than the threshold number of times may be set as the fatigue state, and the occupant state corresponding to the dynamic motion in which the hand of the occupant swings up and down may be set as the control window height.

According to the passenger state detection method based on the embodiment of the disclosure, the internal scene of the vehicle can be collected through the plurality of image collecting devices, and the problem that a blind area exists in the scene collected by a single image collecting device when the internal space of the vehicle is large or a shelter exists is solved. Meanwhile, the change of the characteristic points of the passengers in the three-dimensional space is determined through the three-dimensional characteristic information of the scenes in the vehicles, so that the movement condition of the passengers in the vehicles is obtained, the states of the passengers are accurately detected, and the passenger riding experience is further improved according to the conditions of the passengers, wherein the requirements of the passengers are met.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.

In addition, the present disclosure also provides an occupant state detection device, an electronic apparatus, a computer-readable storage medium, and a program, which can be used to implement any occupant state detection method provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the method section are not repeated.

Fig. 3 shows a schematic diagram of an occupant state detection apparatus according to an embodiment of the present disclosure. As illustrated in fig. 3, the occupant state detection apparatus of the embodiment of the present disclosure may include an image acquisition module 30, a space determination module 31, an information determination module 32, and a state detection module 33.

The image acquisition module 30 is configured to acquire at least one two-dimensional scene image group, where each two-dimensional scene image group includes at least two-dimensional scene images, and each two-dimensional scene image group is acquired by at least two image acquisition devices in a vehicle at the same time;

a space determination module 31 for determining a target three-dimensional space inside the vehicle;

the information determining module 32 is configured to perform body feature point matching on each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the body feature points, where the three-dimensional feature information is used to represent positions of body feature points of occupants in the vehicle in the target three-dimensional space;

and the state detection module 33 is configured to detect a state of the corresponding occupant according to the three-dimensional feature information of at least one of the body feature points. In one possible implementation, the information determining module 32 includes:

In one possible implementation, the state detection module 33 includes:

In one possible implementation, the information determining module 32 includes:

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a volatile or non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

The disclosed embodiments also provide a computer program product comprising computer readable code or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, the processor in the electronic device performs the above method.

The electronic device may be provided as a terminal, server, or other form of device.

Fig. 4 shows a schematic diagram of an electronic device 800 according to an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 4, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communications component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

Fig. 5 shows a schematic diagram of another electronic device 1900 according to an embodiment of the disclosure. For example, the electronic device 1900 may be provided as a server. Referring to fig. 5, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as the Microsoft Server operating system (Windows Server), stored in the memory 1932^TM) Apple Inc. of the present application based on the graphic user interface operating System (Mac OS X)^TM) Multi-user, multi-process computer operating system (Unix)^TM) Free and open native code Unix-like operating System (Linux)^TM) Open native code Unix-like operating System (FreeBSD)^TM) Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, and for brevity, will not be described again herein.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

If the technical scheme of the application relates to personal information, a product applying the technical scheme of the application clearly informs personal information processing rules before processing the personal information, and obtains personal independent consent. If the technical scheme of the application relates to sensitive personal information, a product applying the technical scheme of the application obtains individual consent before processing the sensitive personal information, and simultaneously meets the requirement of 'express consent'. For example, at a personal information collection device such as a camera, a clear and significant identifier is set to inform that the personal information collection range is entered, the personal information is collected, and if the person voluntarily enters the collection range, the person is regarded as agreeing to collect the personal information; or on the device for processing the personal information, under the condition of informing the personal information processing rule by using obvious identification/information, obtaining personal authorization by modes of popping window information or asking a person to upload personal information of the person by himself, and the like; the personal information processing rule may include information such as a personal information processor, a personal information processing purpose, a processing method, and a type of personal information to be processed.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An occupant state detection method comprising:

determining a target three-dimensional space inside the vehicle;

2. The method according to claim 1, wherein the performing body feature point matching on each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the body feature points comprises:

3. The method of claim 2, wherein the determining the three-dimensional feature points of each of the body feature point groups corresponding to the target three-dimensional space comprises:

4. The method according to any one of claims 1-3, wherein the detecting a state of the corresponding occupant from the three-dimensional feature information of at least one of the body feature points comprises:

5. The method according to claim 4, wherein the detecting the state of the corresponding occupant from the three-dimensional feature information of at least one of the body feature points comprises:

6. The method of claim 4 or 5, wherein the state detection comprises at least one of gesture detection and fatigue detection.

7. The method according to any one of claims 1 to 6, wherein the performing body feature point matching on each two-dimensional scene image group according to the target three-dimensional space to obtain three-dimensional feature information of the body feature points comprises:

8. The method of claim 7, wherein the determining three-dimensional feature information of a target body feature point in the first two-dimensional scene image according to the feature information of the target body feature point comprises:

9. The method according to any one of claims 1-6, wherein the at least two image capturing devices are mounted at an interior rear view mirror position and a rear row light position, respectively, or the at least two image capturing devices are both arranged at an interior rear view mirror position of the vehicle.

10. An occupant condition detection apparatus comprising:

and the state detection module is used for detecting the state of the corresponding passenger according to the three-dimensional characteristic information of the at least one body characteristic point.

11. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 9.

12. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 9.