EP0847030A2 - Verfahren und Vorrichtung zum automatischen Detektieren und Zählen von, durch eine Öffnung, passierenden Körpern - Google Patents

Verfahren und Vorrichtung zum automatischen Detektieren und Zählen von, durch eine Öffnung, passierenden Körpern Download PDF

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Publication number
EP0847030A2
EP0847030A2 EP97121056A EP97121056A EP0847030A2 EP 0847030 A2 EP0847030 A2 EP 0847030A2 EP 97121056 A EP97121056 A EP 97121056A EP 97121056 A EP97121056 A EP 97121056A EP 0847030 A2 EP0847030 A2 EP 0847030A2
Authority
EP
European Patent Office
Prior art keywords
gap
altimetric
passing
map
processing unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97121056A
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English (en)
French (fr)
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EP0847030A3 (de
Inventor
Massimo Boninsegna
Antonio Virdia
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Istituto Trentino di Cultura
Advaxia Biologics SRL
Original Assignee
Istituto Trentino di Cultura
Advent SRL
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Application filed by Istituto Trentino di Cultura, Advent SRL filed Critical Istituto Trentino di Cultura
Publication of EP0847030A2 publication Critical patent/EP0847030A2/de
Publication of EP0847030A3 publication Critical patent/EP0847030A3/de
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit

Definitions

  • the present invention concerns a method for automatically detecting and counting bodies passing through a gap.
  • the term gap is to be understood as an imaginary surface, or a linear projection thereof, separating two adjacent areas. It can be a physical gap such as a doorway or gateway, or a logical gap such as a virtual flat surface perpendicular to the floor and walls of a passage which can be visualised, for example, by means of a line along an imaginary communication plane, which may be a floor or a step or ramp, or a rotary mat or conveyor belt, and in general, anything which can support a flow of bodies in one or more directions in both senses of movement.
  • the detection of bodies passing through a gap has various uses. It is particularly applicable when the access of people or things to specific areas must be controlled. For example, in the case of people, it may be necessary to control their access to public transport means, such as the underground, or to public buildings or areas such as stadia or meeting places, or into shops or various public places.
  • public transport means such as the underground, or to public buildings or areas such as stadia or meeting places, or into shops or various public places.
  • One practical application may be, for example, to count the number of passengers getting on or off an urban service bus at each stop in order continuously to check the total number of passengers on the bus. In this way it is possible to avoid exceeding the maximum capacity of the bus, for example, by preventing further passengers getting on a bus which is already full.
  • auxiliary procedures may be activated when the maximum capacity is reached, such as informing a service centre which can put additional buses in service to meet the public demand. Further subsidiary activities may result from the knowledge of the passenger data, such as statistical analyses based on the flow of passengers, or the derivation of information on possible deception by the passengers.
  • optical transmission and/or reflection barriers for example, using light or infra-red radiation, or physical barriers such as turnstiles, pressure-sensitive platforms, or movement detectors based on microwaves, passive infrared radiation or ultrasound.
  • all the known systems have a number of limitations which make them unable to discriminate between objects and people, between objects and people that are very close together, or between objects and people moving in opposite directions or not perpendicular to the imaginary line of the gap.
  • the known systems use sensors which may easily be tricked by objects or people moving at a steady speed.
  • An object of the invention is to provide a method for automatically detecting and counting bodies passing through a gap, which is simple and reliable and which enables the contemporaneous discrimination between their direction and sense of movement in order to check the flow into or out of at least one of the areas adjacent the gap.
  • the method according to the invention enables bodies of different shapes to be discriminated between with a high degree of reliability, and the selection of solely a particular type of body for counting, for example, people only.
  • the quantity of information that can be obtained by the method of the invention which is significantly more than that which can be derived by the known techniques, enables more reliable and robust counting to be effected, overcoming the limitations which usually affect known systems, and thus providing greater adaptability to different working conditions and, therefore, greater generality of application.
  • altimetric map is to be understood as any representation of the altimetric, or elevational, distortions caused by the presence of a body.
  • One such map is obtained from the altimetric analysis of the body itself utilising known automatic methods which enable characteristics of the shape of the body to be described in a form which is easily comparable with similar maps of other bodies. If this analysis is conducted in correspondence with a gap, it is possible to distinguish between the bodies passing through it and, in the present case, to count just those which satisfy predetermined shape characteristics.
  • Typically, in order to distinguish a person from other, differently-shaped bodies one starts with the assumption that a person has a head on top of a generally cylindrical trunk, conferring a characteristic altimetric profile thereon.
  • a data processing system can be programmed in a known way to conduct an altimetric analysis of bodies with the aim of recognising the characteristic shape of people or other kinds of objects under consideration. Programming may be by means of conventional algorithmic approaches, the altimetric characteristics of the bodies to be recognised then being programmed into the processing system, or by means of statistical learning techniques like, for example, neural networks.
  • a data processing system can be developed that is capable of evaluating the space-time evolution of the position of the bodies under consideration in order to deduce the dynamics of their movements, in particular, the direction and sense thereof.
  • a model of altimetric map of a body stored in the processing unit and utilisable for comparison with other altimetric maps obtained for bodies passing through the gap may be of the static type and thus formed on the basis of a single altimetric map referring to one moment in the traversal of the gap by a body, or it may be of the dynamic type and thus formed on the basis of a plurality of altimetric maps relating to a single body, each corresponding to a different moment in gap traversal.
  • a further subject of the invention is a device for automatically detecting and counting bodies passing through a gap, characterised in that it comprises:
  • the reference numeral 1 generally indicates a device for automatically detecting and counting bodies passing through a gap.
  • the device 1 is intended for obtaining the altimetric map of a body B which passes close to it, in this particular case below it, following to the composition of its stereoscopic image.
  • the device 1 includes a pair of television cameras 3, conveniently of the low-resolution type, spaced from each other and preferably on the vertical of the gap to be checked.
  • This gap is defined by an imaginary surface which is, for example, flat and vertical, capable of being traversed by moving bodies B, and defined at the base by a threshold line A which constitutes the projection on the ground of the imaginary surface.
  • Each television camera 3 takes an elementary image 4a, 4b at a specific moment, as shown in Figures 2a and 2b respectively.
  • the two elementary images 4a and 4b obtained simultaneously by the two television cameras 3 are processed by a processing unit 5 which combines them to derive a single stereoscopic image 4, shown schematically in Figure 3 by a group of contour lines forming an altimetric map of the body B.
  • the processing carried out by the unit 5 is such as to obtain a real world correspondence between the projections of the points of each elementary image to enable information relating to the disparity, namely, the distance between different positions of a single point on the two corresponding elementary images 4a and 4b, to be deduced.
  • the models of altimetric maps already stored in the processing unit for the purpose of comparison may be based on a single moment in the traversal of the gap by the body B, thus being of the static type, and/or they may each be constituted by a plurality of altimetric maps of a single body corresponding to different moments in the traversal of the gap and may therefore be of the dynamic type.
  • a device 7 according to the invention uses the so-called "structured light” technique which utilises particular characteristics of light to obtain information relating to the geometry of a scene.
  • the device 7 includes a single television camera 4 and a monochromatic light source 9 constituted, for example, by a solid state laser with an associated optic, which projects a plane of light coincident with the imaginary surface defining the gap.
  • a monochromatic light source 9 constituted, for example, by a solid state laser with an associated optic, which projects a plane of light coincident with the imaginary surface defining the gap.
  • the television camera 4 is preferably positioned with its optical axis incident on the plane of light emitted by the source 9 and so that the entirety of the gap to be checked is covered to enable the detection of all parts of the scene illuminated by the intersection with the plane of light.
  • the instantaneous two-dimensional image L of part of the contour of a body B (see Figure 8) transversing the surface constituting the gap, and defined by the plane of light, is composed of a plurality of points, each of which identifies a line of view in the three-dimensional space, which line extends from the respective point in the space to its projection on the image plane passing through the focus of the television camera 4.
  • the three-dimensional position of each point on the luminous line L may then be obtained from a calculation of the position of the intersection of the line of view with the plane of light, the position of the plane of light being known as it is defined by the position of the source 9, and eventually determinable by direct measurement, as is the spatial position of the television camera 4 and its focal axis.
  • the television camera 4 may, to advantage, be provided with an optical filter set to the frequency of the monochromatic light source.
  • the altimetric map obtained for each body B passing through the gap may be coded as illustrated in Figure 6 by means of a band which represents the various zones of its profile at different heights given by various shades of grey.
  • Each instantaneous altimetric map, and/or its evolution over time during the traversal of the gap can then be compared with static or dynamic models of altimetric maps of other bodies, that is, based on a single altimetric map or on a plurality of altimetric maps relating to successive moments, similarly coded and already stored in the processing unit 5 in order to recognise those of the bodies B passing through the gap that are to be counted. In this way it is possible, for example, to discriminate between people and luggage passing through the doorway of a transport means. It is also possible to recognise the contemporaneous presence of several people in the same scene.
  • the movement of the body through the gap can be reconstructed to enable the direction and sense of its movement to be deduced with the consequent evaluation of whether it is entering or exiting one of the areas adjacent the gap and the activation of a counting procedure provided by the system.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Image Analysis (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP97121056A 1996-12-04 1997-12-01 Verfahren und Vorrichtung zum automatischen Detektieren und Zählen von, durch eine Öffnung, passierenden Körpern Withdrawn EP0847030A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO960984 IT1289712B1 (it) 1996-12-04 1996-12-04 Procedimento e dispositivo per la rilevazione ed il conteggio automatico di corpi che attraversano un varco
ITTO960984 1996-12-04

Publications (2)

Publication Number Publication Date
EP0847030A2 true EP0847030A2 (de) 1998-06-10
EP0847030A3 EP0847030A3 (de) 1999-12-01

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Country Status (2)

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EP (1) EP0847030A3 (de)
IT (1) IT1289712B1 (de)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2800895A1 (fr) * 1999-11-09 2001-05-11 Renault Vehicules Ind Systeme et procede de comptage de passagers pour bus
EP1306815A1 (de) * 2001-10-25 2003-05-02 SkiData AG Zugangskontrolleinrichtung
WO2003088157A1 (en) * 2002-04-08 2003-10-23 Newton Security Inc. Tailgating and reverse entry detection, alarm, recording and prevention using machine vision
US7397929B2 (en) 2002-09-05 2008-07-08 Cognex Technology And Investment Corporation Method and apparatus for monitoring a passageway using 3D images
US7400744B2 (en) 2002-09-05 2008-07-15 Cognex Technology And Investment Corporation Stereo door sensor
US7623674B2 (en) 2003-11-05 2009-11-24 Cognex Technology And Investment Corporation Method and system for enhanced portal security through stereoscopy
US7680323B1 (en) 2000-04-29 2010-03-16 Cognex Corporation Method and apparatus for three-dimensional object segmentation
US7692684B2 (en) 2004-09-27 2010-04-06 Point Grey Research Inc. People counting systems and methods
WO2010130964A1 (fr) * 2009-05-14 2010-11-18 INRETS - Institut National de Recherche sur les Transports et leur Sécurité Systeme de comptage de personnes
US7920718B2 (en) 2002-09-05 2011-04-05 Cognex Corporation Multi-zone passageway monitoring system and method
US8111904B2 (en) 2005-10-07 2012-02-07 Cognex Technology And Investment Corp. Methods and apparatus for practical 3D vision system
US8126260B2 (en) 2007-05-29 2012-02-28 Cognex Corporation System and method for locating a three-dimensional object using machine vision
US8326084B1 (en) 2003-11-05 2012-12-04 Cognex Technology And Investment Corporation System and method of auto-exposure control for image acquisition hardware using three dimensional information

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0317026A1 (de) * 1987-11-17 1989-05-24 Heineken Technical Services B.V. Verfahren zum Zählen von Artikeln, die auf einem Förderband zufällig verteilt sind
EP0561071A2 (de) * 1992-03-20 1993-09-22 Quadrix Corporation System zum Erkennen von Personen und Gegenständen
DE4411448A1 (de) * 1994-03-31 1995-10-05 Sick Optik Elektronik Erwin Verfahren und Vorrichtung zur Kontrolle eines vorgegebenen Überwachungsbereichs
DE19516662A1 (de) * 1995-05-05 1996-11-14 Fraunhofer Ges Forschung Identifizierung dreidimensionaler Objekte, insbesondere Personen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0317026A1 (de) * 1987-11-17 1989-05-24 Heineken Technical Services B.V. Verfahren zum Zählen von Artikeln, die auf einem Förderband zufällig verteilt sind
EP0561071A2 (de) * 1992-03-20 1993-09-22 Quadrix Corporation System zum Erkennen von Personen und Gegenständen
DE4411448A1 (de) * 1994-03-31 1995-10-05 Sick Optik Elektronik Erwin Verfahren und Vorrichtung zur Kontrolle eines vorgegebenen Überwachungsbereichs
DE19516662A1 (de) * 1995-05-05 1996-11-14 Fraunhofer Ges Forschung Identifizierung dreidimensionaler Objekte, insbesondere Personen

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
MECOCCI A ET AL: "IMAGE SEQUENCE ANALYSIS FOR COUNTING IN REAL TIME PEOPLE GETTING INAND OUT OF A BUS" , SIGNAL PROCESSING EUROPEAN JOURNAL DEVOTED TO THE METHODS AND APPLICATIONS OF SIGNAL PROCESSING, VOL. 35, NR. 2, PAGE(S) 105 - 116 XP000435716 ISSN: 0165-1684 *
NAKAMURA J ET AL: "ALGORITHM FOR COUNTING THE NUMBER OF PERSONS USING IR IMAGE PROCESSING" , PROCEEDINGS OF THE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE, ADVANCED TECHNOLOGIES IN I & M HAMAMATSU, MAY 10 - 12, 1994, VOL. VOL. 1, NR. CONF. 10, PAGE(S) 220 - 223 , INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS XP000507293ISBN: 0-7803-1881-1 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2800895A1 (fr) * 1999-11-09 2001-05-11 Renault Vehicules Ind Systeme et procede de comptage de passagers pour bus
EP1100050A1 (de) * 1999-11-09 2001-05-16 Renault V.I. System und Verfahren zum Zählen von Passagieren in Bussen
US7680323B1 (en) 2000-04-29 2010-03-16 Cognex Corporation Method and apparatus for three-dimensional object segmentation
EP1306815A1 (de) * 2001-10-25 2003-05-02 SkiData AG Zugangskontrolleinrichtung
US7382895B2 (en) 2002-04-08 2008-06-03 Newton Security, Inc. Tailgating and reverse entry detection, alarm, recording and prevention using machine vision
WO2003088157A1 (en) * 2002-04-08 2003-10-23 Newton Security Inc. Tailgating and reverse entry detection, alarm, recording and prevention using machine vision
US7397929B2 (en) 2002-09-05 2008-07-08 Cognex Technology And Investment Corporation Method and apparatus for monitoring a passageway using 3D images
US7400744B2 (en) 2002-09-05 2008-07-15 Cognex Technology And Investment Corporation Stereo door sensor
US7920718B2 (en) 2002-09-05 2011-04-05 Cognex Corporation Multi-zone passageway monitoring system and method
US7623674B2 (en) 2003-11-05 2009-11-24 Cognex Technology And Investment Corporation Method and system for enhanced portal security through stereoscopy
US8326084B1 (en) 2003-11-05 2012-12-04 Cognex Technology And Investment Corporation System and method of auto-exposure control for image acquisition hardware using three dimensional information
US7692684B2 (en) 2004-09-27 2010-04-06 Point Grey Research Inc. People counting systems and methods
US8111904B2 (en) 2005-10-07 2012-02-07 Cognex Technology And Investment Corp. Methods and apparatus for practical 3D vision system
US8126260B2 (en) 2007-05-29 2012-02-28 Cognex Corporation System and method for locating a three-dimensional object using machine vision
WO2010130964A1 (fr) * 2009-05-14 2010-11-18 INRETS - Institut National de Recherche sur les Transports et leur Sécurité Systeme de comptage de personnes
FR2945652A1 (fr) * 2009-05-14 2010-11-19 Inrets Inst Nat De Rech Sur Le Systeme de comptage de personnes.

Also Published As

Publication number Publication date
IT1289712B1 (it) 1998-10-16
EP0847030A3 (de) 1999-12-01
ITTO960984A1 (it) 1998-06-04

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