JP4575374B2 - ビデオの時間的な画像シーケンス中の移動オブジェクトを検出する方法 - Google Patents
ビデオの時間的な画像シーケンス中の移動オブジェクトを検出する方法 Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
- G06V10/443—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering
- G06V10/446—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering using Haar-like filters, e.g. using integral image techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
- G06V10/7515—Shifting the patterns to accommodate for positional errors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/774—Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
Description
図2A〜図2Fに示すように、本発明の動的な歩行者検出器は、Viola他によって2002年7月22日付で出願された米国特許出願第10/200,726号「オブジェクト認識システム(Object Recognition System)」(参照により本明細書中に援用する)に記載されるような矩形フィルタ200を用いる。
したがって、図3A〜図3Hに示すように、本発明の特徴は、Viola他の特徴と異なり、結合画像セット121に対して動作する。結合画像セットは、選択画像111に様々な関数102を適用することによって求めることができる。例えば、選択画像セットは、連続する画像ペア(交わらないまたは重複する)を含む。別法として、セットは、所定の期間にわたる9枚おきの画像を含むことができるか、または、3枚組の画像を含むことができる。選択画像111の他の組み合わせおよび時間順も可能である。
複数のスケールでの検出をサポートするために、関数102{上矢印、↓、←、→、R○、s}を検出スケールに関して定義する。これにより、動き速度の測定を確実にスケールに対して不変の方法で行うようにする。スケールに対する不変性は、訓練画像を20×15画素の基本解像度にスケーリングすることによって、訓練中に達成される。スケールに対する検出の不変性は、画像ピラミッドに対して操作を行うことによって達成される。最初に、ItおよびIt+1のピラミッドを計算する。{Δ、U、D、L、R、R○、s}のピラミッド表現は、次のように計算される。
訓練プロセスは、Adaboostを用いて、特徴のサブセットを選択し、分類器を作成する。Adaboostは、効果的な学習アルゴリズム、および一般化された性能に対する強力な制限を提供する。Freund等著「オンライン学習の決定理論的な一般化およびブースティングへの応用(A decision-theoretic generalization of on-line learning and an application to boosting)」(Computational Learning Theory, Eurocolt '95, pages 23-37. Springer-Verlag, 1995)、Schapire等著「票差のブースティング:投票方法の有効性に対する新たな説明(Boosting the margin: A new explanation for the effectiveness of voting methods)」(Proceedings of the Fourteenth International Conference on Machine Learning, 1997)、およびTieu等著「画像の取り出しをブーストする(Boosting image retrieval)」(International Conference on Computer Vision, 2000)を参照願いたい。
本発明は、ビデオシーケンス中の移動オブジェクトを検出する方法を提供する。本方法は、矩形フィルタを用いて、結合画像を走査し、その特徴を求める。特徴を総和して、歩行者のような特定の移動オブジェクトを検出する。
Claims (16)
- ビデオの時間的な画像シーケンス中の移動オブジェクトを検出する方法であって、
時間順に並んだ画像シーケンスから画像を選択することと、
複数の選択画像の差分画像、および前記複数の選択画像の1枚ごとの単一画像を含んで構成される結合画像セットを生成するために、前記差分画像を求めるための関数セットを適用することと、
前記結合画像セット中の前記単一画像の検出ウィンドウについて所望の外観特徴との一致度を求めるための2次元フィルタを走査することで抽出される外観特徴と、前記結合画像セット中の前記差分画像の検出ウィンドウについて動きの大きさあるいは方向を求めるための2次元フィルタを走査することで抽出される動き特徴のそれぞれの特徴を求めるために、前記結合画像セット中の検出ウィンドウについて複数の2次元フィルタを走査してそれぞれの特徴を求めることと、
前記動き特徴および外観特徴を統合した特徴として、求めたそれぞれの特徴を総和して累積スコアを求めることと、
前記累積スコアが所定のしきい値よりも大きい場合に、前記移動オブジェクトを含むものとして前記検出ウィンドウを分類することと
を含むビデオの時間的な画像シーケンス中の移動オブジェクトを検出する方法。 - 前記移動オブジェクトは、歩行者である請求項1に記載の方法。
- 前記選択画像は、隣接する画像ペアである請求項1に記載の方法。
- 前記選択すること、前記適用すること、前記特徴を求めること、前記累積スコアを求めること、および前記分類することは、前記ビデオ全体について繰り返される請求項1に記載の方法。
- 各結合画像を検出ウィンドウセットに分割することと、
前記特徴を求めること、前記累積スコアを求めること、および前記分類することを前記各検出ウィンドウについて繰り返すことと
をさらに含む請求項1に記載の方法。 - 前記外観特徴および前記動き特徴を抽出するためのそれぞれの前記2次元フィルタは、対角線上に配置された複数の矩形フィルタを含んで構成される請求項1に記載の方法。
- 前記複数の矩形フィルタは、関連する前記検出ウィンドウに適合するようなサイズである請求項6に記載の方法。
- 前記差分画像は、シフトした選択画像の差分である請求項1に記載の方法。
- 前記シフトは、線形である請求項10に記載の方法。
- 前記シフトは、回転である請求項10に記載の方法。
- 前記シフトは、スケールを拡大縮小するものである請求項10に記載の方法。
- 前記関数セットにおける前記シフトの量は、前記検出ウィンドウの大きさに応じて定義される請求項1に記載の方法。
- 前記移動オブジェクトの動きの方向を求めることをさらに含む請求項1に記載の方法。
- 前記移動オブジェクトの動きの大きさを求めることをさらに含む請求項1に記載の方法。
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US10/463,800 US7212651B2 (en) | 2003-06-17 | 2003-06-17 | Detecting pedestrians using patterns of motion and appearance in videos |
PCT/JP2004/007866 WO2004114219A1 (en) | 2003-06-17 | 2004-05-31 | Method for detecting a moving object in a temporal sequence of images of a video |
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JP2006527881A JP2006527881A (ja) | 2006-12-07 |
JP4575374B2 true JP4575374B2 (ja) | 2010-11-04 |
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EP (1) | EP1634244B1 (ja) |
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WO (1) | WO2004114219A1 (ja) |
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JP3141004B2 (ja) * | 1998-08-31 | 2001-03-05 | インターナショナル・ビジネス・マシーンズ・コーポレ−ション | 動画中のオブジェクトを分類する方法 |
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JP2003044853A (ja) * | 2001-05-22 | 2003-02-14 | Matsushita Electric Ind Co Ltd | 顔検出装置、顔向き検出装置、部分画像抽出装置及びそれらの方法 |
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US7212651B2 (en) | 2007-05-01 |
WO2004114219A1 (en) | 2004-12-29 |
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