JP2017016356A5 - - Google Patents

Description

In order to achieve the object of the present invention, for example, an image processing apparatus of the present invention comprises the following arrangement. That is,
Acquisition means for acquiring a group of continuously captured frame images from each of a plurality of imaging units having overlapping fields of view;
Tracking means for tracking an object on the frame image group;
Generating means for generating a candidate for the three-dimensional position of the object at the time of interest based on the position of the object on the frame image and the positional relationship between the plurality of imaging units;
Association means for associating a candidate for a three-dimensional position at the time of interest with a candidate for a three-dimensional position of the object at a past time prior to the time of interest;
And local corresponding probability indicating the likelihood of the candidate of the three-dimensional position before Symbol focused time corresponding to the object, the integrated response probability indicating the likelihood of a candidate of the three-dimensional position in the past time corresponding to the object, on the basis Calculating means for obtaining an integrated correspondence accuracy indicating a probability that a candidate for a three-dimensional position at the time of interest corresponds to the object;
A determining means for determine a constant three-dimensional position of the object in the time of interest based on the integrated response accuracy,
Is provided.

Claims (19)

Acquisition means for acquiring a group of continuously captured frame images from each of a plurality of imaging units having overlapping fields of view;
Tracking means for tracking an object on the frame image group;
Generating means for generating a candidate for the three-dimensional position of the object at the time of interest based on the position of the object on the frame image and the positional relationship between the plurality of imaging units;
Association means for associating a candidate for a three-dimensional position at the time of interest with a candidate for a three-dimensional position of the object at a past time prior to the time of interest;
And local corresponding probability indicating the likelihood of the candidate of the three-dimensional position before Symbol focused time corresponding to the object, the integrated response probability indicating the likelihood of a candidate of the three-dimensional position in the past time corresponding to the object, on the basis Calculating means for obtaining an integrated correspondence accuracy indicating a probability that a candidate for a three-dimensional position at the time of interest corresponds to the object;
A determining means for determine a constant three-dimensional position of the object in the time of interest based on the integrated response accuracy,
An image processing apparatus comprising: It said determination means,
Wherein for each candidate of the three-dimensional position in the time of interest, acquires the accumulated corresponding likelihood of being recorded in correspondence with the object being tracked on a frame image group,
Seeking Shin Yoriyukido candidate of the three-dimensional position in accordance with the accumulated corresponding likelihood of being the acquired for each of the plurality of frame images group,
Wherein the determining the three-dimensional position of the object in the time of interest on the basis of the reliability, the image processing apparatus according to claim 1.   The determination unit selects an object having the highest integration correspondence accuracy from one or more objects being tracked on the frame image group, and the selected object is used as the integration correspondence accuracy for the frame image group. The image processing apparatus according to claim 2, wherein the accumulative correspondence accuracy recorded corresponding to is selected. The calculating means, the integration if the corresponding probability is less than a predetermined value, and wherein the inhibiting recording of the integrated response accuracy, the image processing apparatus according to claim 2 or 3. Said determining means, said accumulated as more before relaxin Yoriyukido a large number of corresponding accuracy is acquired the frame image group increases, and obtains the signal Yoriyukido of the three-dimensional position candidates The image processing apparatus according to claim 4. Said correlating means has a front Symbol of the three-dimensional position at the target time candidates, the candidate of the three-dimensional position in the past time, by merging a tertiary in the candidate and the last time the three-dimensional position in the time of interest 6. The image processing apparatus according to claim 2, wherein the original position candidate is associated with the original position candidate. The determination means, as the more before relaxin Yoriyukido increases have been merged with the three-dimensional position of the candidates generated in older time, and characterized by determining the signal Yoriyukido candidate of the three-dimensional position The image processing apparatus according to claim 6.   The association means includes a distance between the candidate for the three-dimensional position at the time of interest and the candidate for the three-dimensional position at the past time, the attribute of the object corresponding to the candidate for the three-dimensional position at the time of interest, and the past Merging the 3D position candidate at the time of interest and the 3D position candidate at the past time based on at least one of the difference from the attribute of the object corresponding to the 3D position candidate at the time The image processing apparatus according to claim 6, wherein:   When the association unit merges two or more three-dimensional position candidates at the past time determined to correspond to different objects, information indicating that the two or more three-dimensional positions correspond to the same object. The image processing apparatus according to claim 6, wherein recording is performed.   The associating means deletes the three-dimensional position candidates generated at a past time that have not been determined to correspond to the object for a predetermined period or longer and have not been merged with the three-dimensional position candidates for a predetermined period or longer. The image processing apparatus according to claim 6, wherein the image processing apparatus is an image processing apparatus. The determination means includes
A candidate for the highest three-dimensional position before relaxin Yoriyukido, objects corresponding to the candidate of the three-dimensional position selects a candidate of the three-dimensional position occurs more than a predetermined number, of the object in the time of interest A selection process for determining that it corresponds to a three-dimensional position;
The candidate of the selected three-dimensional position, a removal process removing the object corresponding to the candidate of the three-dimensional position, from put that Target in the selection process,
The image processing apparatus according to claim 2, wherein the image processing apparatus is repeated. Said calculating means, characterized by determining said local corresponding probability based on distance between the position of said object corresponding to the candidate of the three-dimensional position in the time of interest on the frame image in the time of interest The image processing apparatus according to any one of claims 1 to 11.   13. The calculation unit according to claim 1, wherein the calculation unit obtains the local correspondence accuracy based on a difference between an attribute of an object corresponding to a candidate for a three-dimensional position at the time of interest and the attribute of the object. The image processing apparatus according to any one of the above. The object corresponding to the candidate for the three-dimensional position is an object on each frame image referred to when generating the candidate for the three-dimensional position, and the cumulative correspondence accuracy corresponding to the candidate for the three-dimensional position is a predetermined value or more. The image processing according to any one of claims 8 to 13 , wherein the image processing is an object selected for each frame image as an object having the highest integration correspondence accuracy. apparatus. Based on the position on each frame image of the object corresponding to the three-dimensional position candidate determined to correspond to the three-dimensional position of the object at the time of interest, and the positional relationship between the plurality of imaging units, and further comprising means for determining the three-dimensional position of an object, an image processing apparatus according to any one of claims 1 to 14. The image processing apparatus according to claim 15 , further comprising means for updating a candidate for a three-dimensional position at the time of interest with a three-dimensional position of the object determined to correspond. The cumulative response accuracy, the object indicated by the candidate of the three-dimensional position, characterized in that it is an indicator of the potential is the same as the object being the tracking any one of claims 1 to 16 An image processing apparatus according to 1. An image processing method performed by an image processing apparatus,
An acquisition step of acquiring a group of continuously captured frame images from each of a plurality of imaging units having overlapping fields of view;
A tracking step of tracking an object on the frame image group;
Generating a candidate for the three-dimensional position of the object at the time of interest based on the position of the object on the frame image and the positional relationship between the plurality of imaging units;
An association step of associating a candidate for a three-dimensional position at the time of interest with a candidate for a three-dimensional position of the object at a past time prior to the time of interest;
And local corresponding probability indicating the likelihood of the candidate of the three-dimensional position before Symbol focused time corresponding to the object, the integrated response probability indicating the likelihood of a candidate of the three-dimensional position in the past time corresponding to the object, on the basis Calculating a cumulative correspondence accuracy indicating a probability that a candidate for a three-dimensional position at the time of interest corresponds to the object;
A determination step of determining a three-dimensional position of the object at the time of interest based on the cumulative correspondence accuracy;
An image processing method comprising:   A program for causing a computer to function as each unit of the image processing apparatus according to any one of claims 1 to 17.