EP1407421A1 - Reconnaissance du changement de position d'un occupant d'un vehicule dans une sequence video - Google Patents

Reconnaissance du changement de position d'un occupant d'un vehicule dans une sequence video

Info

Publication number
EP1407421A1
EP1407421A1 EP02754334A EP02754334A EP1407421A1 EP 1407421 A1 EP1407421 A1 EP 1407421A1 EP 02754334 A EP02754334 A EP 02754334A EP 02754334 A EP02754334 A EP 02754334A EP 1407421 A1 EP1407421 A1 EP 1407421A1
Authority
EP
European Patent Office
Prior art keywords
person
area
image recording
image
monitored
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.)
Ceased
Application number
EP02754334A
Other languages
German (de)
English (en)
Inventor
Christoph Stiller
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1407421A1 publication Critical patent/EP1407421A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods

Definitions

  • the predeterminable area is monitored with an image recording device, the recorded images are processed by an evaluation device, and when a person is recognized in the predeterminable area, at least one significant characteristic of the person is determined, the further evaluation for this at least one significant feature is limited and an event signal is generated in the event of a relative change in position of this at least one significant feature, it is advantageously possible to recognize the position of specific body parts of a person, such as in particular the head / chest area of the person, at a repetition rate which is the rate of a image recording or evaluation, which is usual up to now, far exceeds. In this way, in particular, the dynamic behavior of a person in the area to be monitored is optimally taken into account when the actual position is recognized.
  • a significant reduction in data can be achieved during the evaluation, so that the available computing capacity can be used for a higher repetition rate.
  • the object is further achieved by a device having the features mentioned in claim 10.
  • the device comprises an image recording device for detecting a predeterminable area and an evaluation device for processing the recorded images, the evaluation device having means by means of which at least one significant characteristic of a recognized person can be determined (ascertainable) and means are provided by means of which one relative change in position of the at least one significant feature is recognizable and signalable, the actual position of a person within the predeterminable range can be detected reliably and quickly in a simple manner.
  • the object is achieved by use with the features mentioned in claim 16. Because the device and / or the method is used to control at least one safety device of a motor vehicle, the functions of the safety device can be individually adapted to the type and / or the current actual position of a vehicle occupant, in particular one on the Passenger seated person, adjust. In particular, an increase in the safety of particularly vulnerable groups of passengers, such as, for example, small children and / or persons of small height, is achieved. Furthermore, a situation-adapted control of the at least one safety device is also possible for people with a larger body size.
  • Fig. 1 shows schematically a motor vehicle
  • Fig. 3 exemplary significant characteristics of a person.
  • the motor vehicle 10 has at least one vehicle seat 12 on which a person 14 sits. In the following explanation, it is assumed that it is a passenger of the motor vehicle 10.
  • the invention is also readily transferable to a driver of motor vehicle 10 and / or to a person seated on a rear seat bench (not shown), provided that the safety devices explained below are provided there.
  • Active person safety devices for example a steering 16 and / or a braking device and passive safety devices, for example an airbag 18, belt tensioners, not shown, or the like are assigned to the respective person 14.
  • the active and / or passive safety devices can be controlled by a control device 20.
  • An image recording device 22 is assigned to the vehicle seats 12, by means of which a fixed, predeterminable area 24 can be monitored.
  • each vehicle seat 12 can be assigned its own image recording device 22 with its own assigned predeterminable region 24, or a common image recording device 22 is assigned to a plurality of vehicle seats 12.
  • the image recording device 22 is, for example, a CMOS stereo camera.
  • An illumination device 26 for illuminating the area 24 is optionally assigned to the image recording device 22.
  • the lighting device 26 can work in the infrared range, for example.
  • the image recording device 22 is connected to an evaluation device 28, which in turn is connected to the control device 20.
  • an instantaneous image of the area 24 to be monitored is recorded by means of the image recording device 22 (step 32).
  • the signals corresponding to the actual image in the area 24 from the image recording device 22 are fed to the evaluation device 28. Images from image recording device 22, for example read out at intervals of a few 10 ms.
  • the evaluation device 28 comprises at least one processor for evaluating the signals supplied by the image recording device 22. Processors that can be used are, for example, multitasking-capable processors or non-multitasking-capable processors.
  • the person 14 can be detected from the image signals converted into the three-dimensional shape, for example on the basis of typical brightness patterns or on the basis of typical shape configurations (head shape, head shape in relation to the upper body shape or the like).
  • a classification can be based on the appearance of the person in categories relevant to the respective application. Categories for controlling the airbag 18 can be, for example: the person is a small child in a rearward-facing child seat, the person is a 3 year old child, the person is a 6 year old child, the person is a short adult, the person is a tall adult or the like.
  • the further evaluation of the recording is started by the transfer 40 (step 40 ').
  • At least one significant characteristic of the person 14 is determined from the image of the person 14 present in the area 24 at that moment.
  • These significant features of a person 14 can, for example, as shown in FIG. 3, lie in the area of a head 42 and be defined by the position of the eyes 44 and / or the nose 46 and / or the mouth 48.
  • the image recording device 22 is controlled via the evaluation device 28 in such a way that only at least one image area of the entire image is further detected and evaluated.
  • This image area is identified in FIG. 3, for example, by the reference symbol 50, within which the significant features 44, 46 and 48 are located. If necessary, the monitored image area can be further reduced to one of the significant features 44, 46 or 48.
  • These further monitored image areas can be blocks with the size of 8 x 8 pixels, for example.
  • a prediction of the current actual position is made in a step 52 (FIG. 2) from the position of relevant body parts of the person 14 of the past.
  • a step 52 FIG. 2
  • an area around the last determined position is used.
  • the position is determined linearly from previously determined positions. If p (k) and p (k - 1) designate the positions of a relevant image area 50 determined in the last point in time t (k) and at the penultimate point in time t (k - 1), then the current prediction is then calculated
  • p (k + 1) p (k) + [p (k) -p (k-1)] * [t (k + 1) -t (k)] / [t (k) -t (k- 1)].
  • the image area 50 is recorded further by the image recording device 22 and the further evaluation is carried out only in this image area 50 (step 54).
  • a decision 58 then checks whether the at least one significant characteristic of the person 14 and thus the person 14 is still in the area 24 and which current actual position the person 14 occupies. If the person 14 is no longer in the area 24 or a certain limit value, for example a minimum distance from the airbag 18, is exceeded, an event signal 60 is triggered, which can be fed to the control unit 20 via the evaluation device 28.
  • the control unit 20 can then either prevent the airbag 18 from being triggered or, for example, only trigger a partial deployment of the airbag 18 (in the event of a crash). From the explanation it is readily apparent that after a basic recognition of a person 14 in the area 24 and subsequent restriction of the monitoring to at least one image area 50 and thus at least one significant feature of the person 14, a much higher repetition rate of the evaluation is possible, so that even dynamic processes, for example rapid changes in position of the person 14, due to delays in the event of a crash of the motor vehicle 10 quickly recognized and the control of the airbag 18 can be adapted to this.
  • a further increase in the repetition rate of the evaluation can be achieved by recognizing at decision 58 that the person 14 is still in the area 24 or that the distance to the airbag 18 is not less than the minimum, the process of detecting and / or classifying the person 14 at least is briefly hidden (step 62).
  • the computing resources available for the detection or classification can be used to increase the repetition rate.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Air Bags (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention concerne un procédé et un dispositif pour reconnaître la position réelle d'une personne se trouvant à l'intérieur d'une zone qui peut être prédéfinie, afin d'améliorer la fiabilité, notamment dans le cadre de situations dynamiques. A cette fin, la zone pouvant être prédéfinie (24) est surveillée à l'aide d'un système d'enregistrement d'image (22), les images enregistrées sont traitées par un système d'analyse (28) et lorsqu'une personne (14) est reconnue dans la zone surveillée, au moins une caractéristique importante (44, 46, 48) de la personne (14) est déterminée, l'analyse ultérieure est alors limitée à cette caractéristique importante (44, 46, 48), puis, en cas de changement de position relatif de cette même caractéristique importante (44, 46, 48) au-delà d'un minimum pouvant être prédéfini, un signal d'événement (60) est produit.
EP02754334A 2001-07-10 2002-07-09 Reconnaissance du changement de position d'un occupant d'un vehicule dans une sequence video Ceased EP1407421A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10133386A DE10133386A1 (de) 2001-07-10 2001-07-10 Verfahren und Vorrichtung zum Erkennen einer Ist-Position einer Person innerhalb eines vorgebbaren Bereiches und Verwendung des Verfahrens und/oder der Vorrichtung
DE10133386 2001-07-10
PCT/DE2002/002500 WO2003007244A1 (fr) 2001-07-10 2002-07-09 Reconnaissance du changement de position d'un occupant d'un vehicule dans une sequence video

Publications (1)

Publication Number Publication Date
EP1407421A1 true EP1407421A1 (fr) 2004-04-14

Family

ID=7691212

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02754334A Ceased EP1407421A1 (fr) 2001-07-10 2002-07-09 Reconnaissance du changement de position d'un occupant d'un vehicule dans une sequence video

Country Status (5)

Country Link
US (1) US20040249567A1 (fr)
EP (1) EP1407421A1 (fr)
JP (1) JP2004534343A (fr)
DE (1) DE10133386A1 (fr)
WO (1) WO2003007244A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005025963A1 (de) * 2005-05-23 2006-12-14 Conti Temic Microelectronic Gmbh Verfahren zur Erfassung von Objekten auf dem Sitz eines Fahrzeugs
US8228382B2 (en) * 2005-11-05 2012-07-24 Ram Pattikonda System and method for counting people
DE102007010186A1 (de) 2007-03-02 2008-09-04 Robert Bosch Gmbh Vorrichtung, Verfahren und Computerprogramm zur bildgestützten Verfolgung von Überwachungsobjekten
US8154398B2 (en) * 2007-10-23 2012-04-10 La Crosse Technology Remote location monitoring
DE102010044449B4 (de) * 2009-12-31 2014-05-08 Volkswagen Ag Erkennen des Grades der Fahrfähigkeit des Fahrers eines Kraftfahrzeugs
IL246387A (en) * 2016-06-22 2017-05-29 Pointgrab Ltd METHOD AND SYSTEM FOR DETERMINING A BODY POSITION OF PRESENT

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US6553296B2 (en) * 1995-06-07 2003-04-22 Automotive Technologies International, Inc. Vehicular occupant detection arrangements
US6270116B1 (en) * 1992-05-05 2001-08-07 Automotive Technologies International, Inc. Apparatus for evaluating occupancy of a seat
US5016282A (en) * 1988-07-14 1991-05-14 Atr Communication Systems Research Laboratories Eye tracking image pickup apparatus for separating noise from feature portions
US5943295A (en) * 1997-02-06 1999-08-24 Automotive Technologies International Inc. Method for identifying the presence and orientation of an object in a vehicle
DE4414216C1 (de) * 1994-04-23 1995-04-06 Daimler Benz Ag Fremdnutzungsschutzeinrichtung für ein Kraftfahrzeug mit Personalisierung der Fahrberechtigung
JP3279913B2 (ja) * 1996-03-18 2002-04-30 株式会社東芝 人物認証装置、特徴点抽出装置及び特徴点抽出方法
US5983147A (en) * 1997-02-06 1999-11-09 Sandia Corporation Video occupant detection and classification
US6005958A (en) * 1997-04-23 1999-12-21 Automotive Systems Laboratory, Inc. Occupant type and position detection system
JPH11142520A (ja) * 1997-11-06 1999-05-28 Omron Corp 測距装置の軸調整方法及び軸ずれ検出方法並びに測距装置
JP2001058552A (ja) * 1999-08-04 2001-03-06 Takata Corp 車両衝突被害軽減システム
AU2001259763A1 (en) * 2000-05-10 2001-11-20 Michael W. Wallace Vehicle occupant classification system and method

Non-Patent Citations (2)

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Title
AGGARWAL J K ET AL: "Articulated and elastic non-rigid motion: a review", MOTION OF NON-RIGID AND ARTICULATED OBJECTS, 1994., PROCEEDINGS OF THE 1994 IEEE WORKSHOP ON AUSTIN, TX, USA 11-12 NOV. 1994, LOS ALAMITOS, CA, USA,IEEE COMPUT. SOC, 11 November 1994 (1994-11-11), pages 2 - 14, XP010100232, ISBN: 978-0-8186-6435-9, DOI: 10.1109/MNRAO.1994.346261 *
OLIVER N ET AL: "LAFTER: lips and face real time tracker", COMPUTER VISION AND PATTERN RECOGNITION, 1997. PROCEEDINGS., 1997 IEEE COMPUTER SOCIETY CONFERENCE ON SAN JUAN, PUERTO RICO 17-19 JUNE 1997, LOS ALAMITOS, CA, USA,IEEE COMPUT. SOC, US, 17 June 1997 (1997-06-17), pages 123 - 129, XP010237512, ISBN: 978-0-8186-7822-6, DOI: 10.1109/CVPR.1997.609309 *

Also Published As

Publication number Publication date
WO2003007244A1 (fr) 2003-01-23
JP2004534343A (ja) 2004-11-11
US20040249567A1 (en) 2004-12-09
DE10133386A1 (de) 2003-01-23

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