CN1929550A - Method and system for detecting moving object - Google Patents
Method and system for detecting moving object Download PDFInfo
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Abstract
This invention discloses one method to test motion, which comprises the following steps: a, computing and getting one frame image series of pixel brightness even values; b, comparing adjacent two frames of image relative brightness even values to judge image motion aim according to results. Through this invention, it solves current technique for situation sport motion aim for accurate judging. This invention discloses one system to test motion aim.
Description
Technical field
The present invention relates to the detection technique field, particularly a kind of method and system that detects moving target.
Background technology
In recent years, along with developing rapidly of detection technique field, increasing occasion is all used motion detection technique, building closed monitor system for example, indoor illegal invasion supervisory control system, intelligent transportation command system, automobile automatic anticollision system etc.With the building closed monitor system is example, and (as the theft suspicioner etc.) then can notify the security personnel by modes such as ring, flicker alarm lamps if motion detection apparatus finds to exist in the current picture moving target.
Whether existing motion detection is subjected to the restriction of hardware store cost, can only carry out some simple processing to the image in the scene, judge accurately existing moving target can not make very in the scene.Consider that present sensor devices transmits data and carries out line by line, more common method is to be that unit obtains image with the frame, average brightness to every row in the image is added up, and compare with the average brightness of former frame corresponding row, if surpass preset threshold, think that then the picture material of this row has greatly changed, if there is the picture material of multirow that bigger variation all takes place, then think to have moving target between the image of the image of present frame and former frame, thereby determine in the scene moving target is arranged.
Fig. 1 is the structured flowchart that the moving object detection device is formed in the prior art.As shown in Figure 1, the moving object detection device comprises in the prior art: row brightness value accumulator module 100, brightness value memory module 101, threshold value comparison module 102 and motor message generation module 103.
Row brightness value accumulator module 100, be connected with threshold value comparison module 102 with brightness value memory module 101, the image that is used for obtaining carries out adding up of delegation or multirow pixel brightness value according to setting in advance, and calculating corresponding row pixel intensity mean value, the average brightness of first two field picture that obtains is sent to brightness value memory module 101 in order, the average brightness of image after first frame that obtains is sent to threshold value comparison module 102 in order, the average brightness that sends can be the form of character string or other bigits, the average brightness that calculates the multirow pixel has several different methods, add up and calculate the average brightness of every capable pixel such as brightness value, will obtain the average brightness of multirow pixel after the average brightness addition of every capable pixel divided by line number every row pixel in the multirow.
Brightness value memory module 101, be connected with threshold value comparison module 102 with row brightness value accumulator module 100, be used to preserve the average brightness that capable brightness value accumulator module 100 sends, after receiving the average brightness that threshold value comparison module 102 sends, replace the average brightness of preserving.
Threshold value comparison module 102, be connected with motor message generation module 103 with row brightness value accumulator module 100, brightness value memory module 101, be used for after receiving the average brightness that capable brightness value accumulator module 100 sends, compare with the average brightness of preserving in the brightness value memory module 101, statistics has the difference of number of how many correspondence positions greater than predefined difference in two groups of average brightness, the data of statistics are sent to motor message generation module 103, and send the average brightness that row brightness value accumulator module 100 sends to brightness value memory module 101.
Motor message generation module 103, be connected with threshold value comparison module 102, be used for compare threshold comparison module 102 and send data and predefined data, if threshold value comparison module 102 sends data greater than predefined data, then determine to have moving target in the image, otherwise determine do not have moving target in the image.
Method to moving object detection has the quite good detecting result in the ordinary course of things at present, but then can meet difficulty to some special circumstances.For example the horizontal motion in the image time, though there is motion to take place, big variation can not take place to moving target in average brightness of each row, can not surpass preset threshold, so above-mentioned detection method just can not be made judgement accurately substantially.
In sum, when detecting moving target, can not make accurate judgement in the prior art for the target of moving in the scene.
Summary of the invention
The invention provides a kind of method and system that detects moving target, in order to solve exist in the prior art when detecting moving target, can not make the problem of accurate judgement for the target of moving in the scene.
The inventive method comprises:
A, row that calculate a two field picture that obtains or the average brightness of multiple row pixel;
B, the average brightness of adjacent two two field picture correspondences is compared, judge whether there is moving target in the image according to comparative result.
This method also further comprises:
A0, judge whether to carry out adding up of delegation or multirow pixel brightness value, if, execution in step A1 then, otherwise execution in step A;
A1, the delegation of calculating a two field picture that obtains or the average brightness of multirow pixel, and execution in step B.
The step of calculating multiple row pixel intensity mean value in steps A comprises:
The brightness value of every row pixel in the multiple row is added up and calculates the average brightness of every row pixel;
The average brightness of described multiple row pixel will be obtained divided by columns after the average brightness addition of every row pixel.
In steps A 0, judging whether to carry out adding up of delegation or multirow pixel brightness value is that basis setting cycle in advance carries out.
A kind of moving object detection device, this device comprises:
Accumulator module is calculated the row of a two field picture that obtains or the average brightness of multiple row pixel, and average brightness is sent to comparison module;
Comparison module is used for the average brightness of adjacent two two field picture correspondences is compared, and judges whether there is moving target in the image according to comparative result.
Accumulator module judges whether to carry out adding up of delegation or multirow brightness value according to the cycle of setting, if, then also be used for,
The image that obtains is carried out adding up of delegation or multirow brightness value, and calculate the corresponding row average brightness, average brightness is sent to comparison module.
Accumulator module comprises the detection side to selection module, row brightness value accumulator module and row brightness value accumulator module,
The detection side is used for according to the cycle of setting to selecting module, and alternately send to row brightness value accumulator module or row brightness value accumulator module and carry out the row or column message that adds up, and with the average brightness deletion of preserving in the brightness value memory module;
Row brightness value accumulator module, be used to receive the detection side to select that module sends be listed as the message that adds up after, one row of the two field picture that calculating is obtained or the average brightness of multiple row pixel, the row pixel intensity mean value of first two field picture that obtains is sent to the brightness value memory module in order, and the row pixel intensity mean value of the image that first frame is obtained later on sends to comparison module in order.
The detection side is to selecting module to comprise:
Handover module was used for according to the cycle of setting, and sent deletion message to removing module, after receiving that message is finished in deletion that removing module sends, alternately sent to row brightness value accumulator module or row brightness value accumulator module and to carry out the row or column message that adds up;
Removing module is used for deleting the average brightness of preserving in the brightness value memory module after receiving the deletion message that handover module sends, and finishes message to handover module transmission deletion.
Row brightness value accumulator module can also comprise:
Acquisition module, be used for according to the detection side to select that module sends be listed as the message that adds up after, obtain the brightness value of row pixel in the image, and send to computing module;
Computing module, after being used to receive the brightness value of the row that acquisition module sends, one row of the two field picture that calculating is obtained or the average brightness of multiple row pixel, the row average brightness of first two field picture is sent to the brightness value memory module in order, and the row average brightness of the image that first frame is later sends to comparison module in order.
Computing module also comprises:
First module is used for the average brightness that brightness value to the every row pixel of multiple row adds up and calculates every row pixel;
Second module is used for and will obtains the average brightness of multiple row pixel after the average brightness addition of every row pixel divided by columns.
The present invention adds up to the brightness value that the image that obtains carries out row or column by the moving object detection device, thereby can accurately judge whether there is moving target in the present image according to the row or column average brightness of adjacent two two field pictures.
Description of drawings
Fig. 1 is the structured flowchart that the moving object detection device is formed in the prior art;
The structured flowchart that Fig. 2 forms for moving object detection device of the present invention;
The structured flowchart that Fig. 3 forms to the selection module for detection side of the present invention;
The structured flowchart that Fig. 4 forms for row brightness value accumulator module of the present invention;
Fig. 5 is for realizing the schematic flow sheet of the inventive method;
Fig. 6 is for realizing the schematic flow sheet of the inventive method embodiment.
Embodiment
At not making accurate decision problem for the target of moving in the scene in the present prior art, the present invention adds up to the brightness value that the image that obtains carries out row or column by the moving object detection device, thereby can accurately judge whether there is moving target in the present image, solved the problems referred to above according to the row or column average brightness of more adjacent two two field pictures.
The structured flowchart that Fig. 2 forms for moving object detection device of the present invention.As shown in Figure 2, moving object detection device of the present invention comprises: accumulator module 20 and comparison module 21.
Accumulator module 20, be connected with comparison module 21, be used for carrying out adding up of row or column according to the cycle judgement of setting, if that goes adds up, adding up then to the capable pixel brightness value of image of the present frame that obtains, and the average brightness of calculating corresponding row pixel, average brightness is sent to comparison module; If what be listed as adds up, then the image to the present frame that obtains carries out adding up of row pixel brightness value, and calculates the average brightness of respective column pixel, and average brightness is sent to comparison module.
Comparison module 21 is connected with accumulator module 20, is used for the average brightness of adjacent two two field picture correspondences is compared, and judges whether there is moving target in the image according to comparative result.
Accumulator module 20 also comprises: the detection side is to selecting module 200, row brightness value accumulator module 201 and row brightness value accumulator module 202.
The detection side is to selecting module 200, be connected with brightness value memory module 202 with row brightness value accumulator module 201, row brightness value accumulator module 202, be used for according to the cycle of setting, alternately send to row brightness value accumulator module 201 and row brightness value accumulator module 202 and to carry out the row or column message that adds up, and with the average brightness deletion of preserving in the brightness value memory module 203.
Row brightness value accumulator module 201, with the detection side to selecting module 200, brightness value memory module 203 is connected with threshold value comparison module 204, be used to receive that the detection side is after going of selection module 200 transmissions added up message, the image that obtains is carried out adding up of delegation or multirow pixel brightness value according to setting in advance, and the average brightness of calculating corresponding row pixel, the average brightness of first two field picture that obtains is sent to brightness value memory module 203 in order, the average brightness of the image that first frame is obtained later on sends to threshold value comparison module 204 in order, and the average brightness of transmission can be the form of character string or other bigits.
Row brightness value accumulator module 202, with the detection side to selecting module 200, brightness value memory module 203 is connected with threshold value comparison module 204, be used to receive the detection side to select that module 200 sends be listed as the message that adds up after, the image that obtains is carried out adding up of row or multiple row pixel brightness value according to setting in advance, and the average brightness of calculating respective column pixel, the average brightness of first two field picture that obtains is sent to brightness value memory module 203 in order, the average brightness of the image that first frame is obtained later on sends to threshold value comparison module 204 in order, the average brightness that sends can be the form of character string or other bigits, the average brightness that calculates the multiple row pixel has several different methods, add up and calculate the average brightness of every row pixel such as brightness value, will obtain the average brightness of multiple row pixel after the average brightness addition of every row pixel divided by columns every row pixel in the multiple row.
Comparison module 21 also comprises: brightness value memory module 203, threshold value comparison module 204 and motor message generation module 205.
Brightness value memory module 203, be connected with threshold value comparison module 204 to selection module 200, row brightness value accumulator module 201, row brightness value accumulator module 202 with the detection side, be used to preserve the average brightness of capable brightness value accumulator module 201 or 202 transmissions of row brightness value accumulator module, after receiving the average brightness that threshold value comparison module 204 sends, replace the average brightness of preserving.
Threshold value comparison module 204, with row brightness value accumulator module 201, row brightness value accumulator module 202, brightness value memory module 203 is connected with motor message generation module 205, be used for after receiving the average brightness that capable brightness value accumulator module 201 or row brightness value accumulator module 202 send, compare with the average brightness of preserving in the brightness value memory module 203, statistics has the difference of number of how many correspondence positions greater than predefined difference in two groups of average brightness, the data of statistics are sent to motor message generation module 205, and send the average brightness of row brightness value accumulator module 201 or 202 transmissions of row brightness value accumulator module to brightness value memory module 203.
Motor message generation module 205, be connected with threshold value comparison module 204, be used for threshold value comparison module 204 transmission data and predefined data are compared, if threshold value comparison module 204 sends data greater than predefined data, then determine to have moving target in the image, otherwise determine not have moving target in the image.
The structured flowchart that Fig. 3 forms to the selection module for detection side of the present invention.As shown in Figure 3, detection side of the present invention is to selecting module 200 to comprise: handover module 2000 and removing module 2001.
Handover module 2000, be connected with removing module 2001 with row brightness value accumulator module 201, row brightness value accumulator module 202, be used for according to the cycle of setting, send deletion message to removing module 2001, after receiving that message is finished in deletion that removing module 2001 sends, alternately send to brightness value accumulator module 201 and to carry out the row or column message that adds up.
Removing module 2001, be connected with handover module 2000 with brightness value memory module 203, be used for after receiving the deletion message that handover module 2000 sends, deleting the average brightness of preserving in the brightness value memory module 203, and finish message to handover module 2000 transmission deletions.
The structured flowchart that Fig. 4 forms for brightness value accumulator module of the present invention.As shown in Figure 4, row brightness value accumulator module 202 of the present invention comprises: acquisition module 2020 and computing module 2021.
Acquisition module 2020 is connected with computing module 2021 to selection module 200 with the detection side, after being used to receive view data,, obtains the brightness value that is listed as in the image, and sends to computing module 2021 to the message that adds up that is listed as of selecting module 200 transmissions according to the detection side.
Computing module 2021, be connected with acquisition module 2020 with brightness value memory module 202, after being used to receive the brightness value of the row that acquisition module 2010 sends, one row of the two field picture that calculating is obtained or the average brightness of multiple row pixel, the row pixel intensity mean value of first two field picture that acquisition module 2020 is sent sends to brightness value memory module 202 in order, and the row pixel intensity mean value of the image that first frame that acquisition module 2020 is sent is later sends to threshold value comparison module 203 in order.
Computing module 2021 also comprises: first module 20210 and second module 20211.
Fig. 5 is for realizing the schematic flow sheet of the inventive method.As shown in Figure 5, the present invention includes the following step:
Understand and realization the present invention for the ease of persons skilled in the art, now lift instantiation, further specify technical scheme of the present invention.
Fig. 6 is for realizing the schematic flow sheet of the inventive method embodiment.As shown in Figure 6, present embodiment comprises the following steps:
Step 600, detection side be to selecting module according to the cycle of setting, and sends to row brightness value accumulator module and go the message that adds up and the character string of preserving in the deletion brightness value memory module.
Step 601, row brightness value accumulator module are received to go and are added up after the message, according to setting in advance the image that obtains carried out adding up of every capable pixel brightness value, and calculate the average brightness of every capable pixel.
Step 602, row brightness value accumulator module send to the brightness value memory module with the form of character string in order with average brightness, and the brightness value memory module is preserved the character string of receiving.
Step 603, row brightness value accumulator module add up to the brightness value that the next frame image that obtains carries out every capable pixel according to setting in advance, and calculate the average brightness of every capable pixel.
Step 604, row brightness value accumulator module send to the threshold value comparison module with the form of character string in order with average brightness.
Step 605, threshold value comparison module are after receiving the character string that capable brightness value accumulator module sends, compare with the character string of preserving in the brightness value memory module, statistics has the difference of number of how many correspondence positions greater than predefined difference in two groups of character strings, the data of statistics are sent to the motor message generation module, and sending the character string that row brightness value accumulator module sends to the brightness value memory module, the brightness value memory module replaces to the character string of receiving with the character string of preserving.
Step 606, motor message generation module compare threshold comparison module send data and predefined data, if the threshold value comparison module sends data greater than predefined data, then determine to have moving target in the image, otherwise determine do not have moving target in the image.
Step 607, detection side judge whether to be listed as the message that adds up to the transmission of row brightness value accumulator module to selecting module according to the cycle of setting, if send, then delete the character string of preserving in the brightness value memory module, and execution in step 608; Otherwise, execution in step 603.
After step 608, row brightness value accumulator module are received and be listed as the message that adds up, according in advance setting the brightness value that the image that obtains carries out every row pixel is added up, and calculate the average brightness of every row pixel.
Step 609, row brightness value accumulator module send to the brightness value memory module with the form of character string in order with average brightness, and the brightness value memory module is preserved the character string of receiving.
Step 610, row brightness value accumulator module add up to the brightness value that the next frame image that obtains carries out every row pixel according to setting in advance, and calculate the average brightness of every row pixel.
Step 611, row brightness value accumulator module send to the threshold value comparison module with the form of character string in order with average brightness.
Step 612, threshold value comparison module are after receiving the character string that row brightness value accumulator module sends, compare with the character string of preserving in the brightness value memory module, statistics has the difference of number of how many correspondence positions greater than predefined difference in two groups of character strings, the data of statistics are sent to, and sending the character string that row brightness value accumulator module sends to the brightness value memory module, the brightness value memory module replaces to the character string of receiving with the character string of preserving.
Step 613, motor message generation module compare threshold comparison module send data and predefined data, if the threshold value comparison module sends data greater than predefined data, then determine to have moving target in the image, otherwise determine do not have moving target in the image.
Step 614, detection side be to selecting module according to the cycle of setting, and judges whether to send to row brightness value accumulator module to go the message that adds up, if send, then deletes the character string of preserving in the brightness value memory module, and execution in step 600; Otherwise, execution in step 610.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1, a kind of method that detects moving target is characterized in that, this method comprises the following steps:
A, row that calculate a two field picture that obtains or the average brightness of multiple row pixel;
B, the average brightness of adjacent two two field picture correspondences is compared, judge whether there is moving target in the image according to comparative result.
2, the method for claim 1 is characterized in that, this method further comprises:
A0, judge whether to carry out adding up of delegation or multirow pixel brightness value, if, execution in step A1 then, otherwise execution in step A;
A1, the delegation of calculating a two field picture that obtains or the average brightness of multirow pixel, and execution in step B.
3, the method for claim 1 is characterized in that, the step of calculating multiple row pixel intensity mean value in steps A comprises:
The brightness value of every row pixel in the multiple row is added up and calculates the average brightness of every row pixel;
The average brightness of described multiple row pixel will be obtained divided by columns after the average brightness addition of every row pixel.
4, method as claimed in claim 2 is characterized in that, judging whether to carry out adding up of delegation or multirow pixel brightness value described in the steps A 0 is that basis setting cycle in advance carries out.
5, a kind of moving object detection device is characterized in that, this device comprises:
Accumulator module is calculated the row of a two field picture that obtains or the average brightness of multiple row pixel, and average brightness is sent to comparison module;
Comparison module is used for the average brightness of adjacent two two field picture correspondences is compared, and judges whether there is moving target in the image according to comparative result.
6, device as claimed in claim 5 is characterized in that, described accumulator module judges whether to carry out adding up of delegation or multirow brightness value according to the cycle of setting, if, then also be used for,
The image that obtains is carried out adding up of delegation or multirow brightness value, and calculate the corresponding row average brightness, average brightness is sent to comparison module.
7, device as claimed in claim 5, accumulator module comprise that the detection side to selecting module, row brightness value accumulator module and row brightness value accumulator module, is characterized in that,
Described detection side is used for according to the cycle of setting to selecting module, and alternately send to row brightness value accumulator module or row brightness value accumulator module and carry out the row or column message that adds up, and with the average brightness deletion of preserving in the brightness value memory module;
Described row brightness value accumulator module, be used to receive the detection side to select that module sends be listed as the message that adds up after, one row of the two field picture that calculating is obtained or the average brightness of multiple row pixel, the row pixel intensity mean value of first two field picture that obtains is sent to the brightness value memory module in order, and the row pixel intensity mean value of the image that first frame is obtained later on sends to comparison module in order.
8, device as claimed in claim 7 is characterized in that, described detection side is to selecting module to comprise:
Handover module was used for according to the cycle of setting, and sent deletion message to removing module, after receiving that message is finished in deletion that removing module sends, alternately sent to row brightness value accumulator module or row brightness value accumulator module and to carry out the row or column message that adds up;
Removing module is used for deleting the average brightness of preserving in the brightness value memory module after receiving the deletion message that handover module sends, and finishes message to handover module transmission deletion.
9, device as claimed in claim 7 is characterized in that, described row brightness value accumulator module comprises:
Acquisition module, be used for according to the detection side to select that module sends be listed as the message that adds up after, obtain the brightness value of row pixel in the image, and send to computing module;
Computing module, after being used to receive the brightness value of the row that acquisition module sends, one row of the two field picture that calculating is obtained or the average brightness of multiple row pixel, the row average brightness of first two field picture is sent to the brightness value memory module in order, and the row average brightness of the image that first frame is later sends to comparison module in order.
10, device as claimed in claim 9 is characterized in that, described computing module also comprises:
First module is used for the average brightness that brightness value to the every row pixel of multiple row adds up and calculates every row pixel;
Second module is used for and will obtains the average brightness of multiple row pixel after the average brightness addition of every row pixel divided by columns.
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| CN 200610139163 CN1929550A (en) | 2006-10-18 | 2006-10-18 | Method and system for detecting moving object |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101286237B (en) * | 2008-05-22 | 2010-04-14 | 重庆大学 | Movement target detection method based on visual sense bionics |
| CN103139595A (en) * | 2011-11-30 | 2013-06-05 | 通用汽车环球科技运作有限责任公司 | Vehicle-based imaging system function diagnosis and validation |
| CN106296752A (en) * | 2016-08-22 | 2017-01-04 | 赖世权 | Monitoring system based on image procossing |
| CN107340062A (en) * | 2016-05-03 | 2017-11-10 | 众智光电科技股份有限公司 | Temperature-sensing device and air-conditioning system |
| CN112752120A (en) * | 2019-10-31 | 2021-05-04 | 深圳市中兴微电子技术有限公司 | Pixel detection method and device, and pixel judgment method and device |
| CN113923373A (en) * | 2021-09-30 | 2022-01-11 | 北京地平线信息技术有限公司 | Image flicker detection method and detection device |
-
2006
- 2006-10-18 CN CN 200610139163 patent/CN1929550A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101286237B (en) * | 2008-05-22 | 2010-04-14 | 重庆大学 | Movement target detection method based on visual sense bionics |
| CN103139595A (en) * | 2011-11-30 | 2013-06-05 | 通用汽车环球科技运作有限责任公司 | Vehicle-based imaging system function diagnosis and validation |
| CN103139595B (en) * | 2011-11-30 | 2016-01-06 | 通用汽车环球科技运作有限责任公司 | Based on functional diagnosis and the checking of the imaging system of vehicle |
| CN107340062A (en) * | 2016-05-03 | 2017-11-10 | 众智光电科技股份有限公司 | Temperature-sensing device and air-conditioning system |
| CN106296752A (en) * | 2016-08-22 | 2017-01-04 | 赖世权 | Monitoring system based on image procossing |
| CN112752120A (en) * | 2019-10-31 | 2021-05-04 | 深圳市中兴微电子技术有限公司 | Pixel detection method and device, and pixel judgment method and device |
| CN113923373A (en) * | 2021-09-30 | 2022-01-11 | 北京地平线信息技术有限公司 | Image flicker detection method and detection device |
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