JP4825349B2 - Passing object counting device and counting method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a passing object counting device and a counting method, and more particularly to a passing object counting device and a counting method for counting passing objects from a stereo image.
[0002]
[Prior art]
Three-dimensional information on the counting line is calculated from the stereo images obtained by the two imaging devices, and a spatio-temporal image is created when they are arranged in the time direction. At the same time, velocity information on the counting line is calculated, and passing objects are counted using a spatiotemporal image when the velocity information is arranged in the time direction.
[0003]
[Problems to be solved by the invention]
The conventional passing object counting apparatus as described above has the following problems. First, the passing object counting device calculates the three-dimensional information of the passing object from the parallax calculated by performing corresponding point detection on two images captured simultaneously by two imaging devices. Next, corresponding point detection is performed using an image captured by one of the two imaging devices and an image captured by the imaging device that is shifted in time, and movement speed information is calculated. For this reason, since the corresponding points must be detected twice from the three images, the amount of calculation is very large.
[0004]
Accordingly, an object of the present invention is to provide a passing object counting device and a counting method capable of reducing the amount of calculation and performing high speed processing.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the passing object counting device according to the first aspect images a passing object 5 passing through a reference line 1 on the plane 2 along the plane 2 as shown in FIG. The first imaging device 11 provided opposite to the first imaging device 11; the first imaging device 11 provided in parallel with the first imaging device 11 and opposed to the plane 2; A second imaging device 12 that captures an image delayed by a predetermined time from an imaging time point of the imaging device 11; a first image of the passing object 5 imaged by the first imaging device 11 and the predetermined time. Compared with the second image of the passing object 5 captured by the second imaging device 12, the position information in the depth direction intersecting the plane 2 of the passing object 5 and the reference line 1 intersect with the plane 2 in parallel. And a comparison operation unit 13 that acquires speed information in the advancing direction. For the same traveling direction, the traveling direction has a positive direction and a negative direction.
[0006]
For example, as shown in FIG. 11, the surface on which the passing object 5 moves is not limited to a horizontal plane, but may be a surface 2 'inclined like a slope or a staircase. However, for example, in the case of FIG. 11A, the position information and the speed information are corrected according to the inclination angle as necessary.
[0007]
The reference line 1 that intersects the traveling direction of the passing object 5 is preferably a line perpendicular to the traveling direction of the passing object 5. The first and second imaging devices are preferably arranged in parallel in a direction parallel to the reference line 1. The depth direction is typically a direction perpendicular to a plane or a vertical direction.
[0008]
With this configuration, the first image of the passing object 5 captured by the first imaging device 11 and the second image of the passing object 5 captured by the second imaging device 12 after being delayed by a predetermined time And a comparison operation unit that acquires position information in the depth direction that intersects the plane 2 of the passing object 5 and velocity information in the traveling direction that intersects the reference line 1 and is parallel to the plane 2. The position information and speed information of the passing object 5 can be obtained from the image and the second image.
[0009]
Further, according to the second aspect , in the passing object counting device 10 according to the first aspect , the comparison calculation unit 13 compares the first image with the second image, so that the first part of the part on the passing object 5 is compared. And a position in the second image may be detected to obtain information including the position information and the speed information.
[0010]
With this configuration, the passing object counting apparatus 10 acquires information including position information and speed information by comparing two images, and thus can efficiently count passing objects from the position information and speed information. The processing speed can be increased.
[0011]
In order to achieve the above object, a passing object counting method according to a third aspect includes, as shown in FIG. 3, for example, a passing object passing a reference line on a plane along a plane. A first imaging step S2 for capturing a first image from a position 1 to acquire a first image; and passing the passing object passing through the reference line for a predetermined time from the first time point. A second imaging step S3 for obtaining a second image by imaging from a second position parallel to the first position and facing the plane at the second time point; And the second image, and the comparison calculation steps S7 and S10 for calculating the depth direction information intersecting the plane of the passing object and the traveling direction velocity intersecting the reference line and parallel to the plane. With.
[0012]
If comprised in this way, the 1st image and the 2nd image will be compared, the information of the depth direction which cross | intersects the plane of a passing object, and the reference line will be crossed (typically perpendicularly crossing), Since the comparison calculation steps S7 and S10 for calculating the speed in the parallel traveling direction are provided, the position information and speed information of the passing object can be obtained.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. In addition, in each figure, the same code | symbol or a similar code | symbol is attached | subjected to the mutually same or equivalent member, and the overlapping description is abbreviate | omitted.
[0014]
FIG. 1 is a schematic perspective view of a passing object counting device 10 (hereinafter referred to as “counting device 10” as appropriate) according to an embodiment of the present invention. In the figure, the passing object 5 moves in the traveling direction on a horizontal passage 2 which is a plane. An orthogonal coordinate system XYZ is taken so that the XY axis is placed in the passage 2, and the passage 2 extends in parallel with the Y axis. Further, a counting line 1 which is a reference line is taken perpendicular to the extending direction of the passage 2, that is, parallel to the X axis. The traveling direction of the passing object 5 is typically parallel to the extending direction of the passage 2, that is, the Y axis. The passing object 5 is a person in the present embodiment. In the present embodiment, the counting line 1 is perpendicular to the extending direction of the passage 2, but it does not have to be particularly perpendicular. If it is not vertical, the parallax and the speed may be corrected by the angle with the X axis. The counting line 1 is a reference line for counting the passing objects 5 that have passed through this line, and may be a virtual line, and does not need to be physically drawn in the path 2.
[0015]
On the other hand, in order to image the passing object 5 passing through the counting line 1 of the passage 2 above the counting line 1 of the passage 2 in the figure in a vertical direction above the counting line 1 of the passage 2 at a height sufficient to pass the person 5 as a passing object. The first imaging device 11 and the second imaging device 12 are installed. The first imaging device 11 and the second imaging device 12 are installed in parallel at an appropriate interval so that they are parallel to the counting line 1 and the optical axis is parallel to the Z axis. The height sufficient for the person 5 to pass here is, for example, about 3000 mm. Further, the appropriate interval is, for example, about 50 mm.
[0016]
An example of the configuration of the passing object counting device 10 will be described with reference to FIG. The counting device 10 includes a first CCD camera 11 as a first imaging device, a second CCD camera 12 as a second imaging device, and a personal computer 13 as a comparison operation unit.
[0017]
The first CCD camera 11 and the second CCD camera 12 are connected to a personal computer 13 so that the personal computer 13 can acquire images captured by the first CCD camera 11 and the second CCD camera 12, respectively. It is configured.
[0018]
The personal computer 13 includes a control unit 14 and controls the counting device 10 as a whole. An imaging device interface 15 is connected to the control unit 14, and the first CCD camera 11 and the second CCD camera 12 are connected to the control unit 14 via the imaging device interface 15 and controlled. Yes.
[0019]
Further, in the control unit 14, an image processing unit 19 that processes an image captured by the CCD camera, a first image captured by the first CCD camera, and a second image captured by the second CCD camera. Corresponding point search unit 20 for obtaining corresponding points from the image, three-dimensional information calculation unit 21 for calculating the height that is the three-dimensional information of the passing object 5, and speed that is the speed information for the passing object 5 to pass the counting line. A velocity information calculation unit 22 and a counting unit 23 that counts the passing object 5 from the calculated three-dimensional information and velocity information are provided. Processing the image means obtaining the first image and the second image from the imaging signals from the first CCD camera 11 and the second CCD camera 12, for example.
[0020]
A storage unit 18 is connected to the control unit 14 and can store data such as images captured by the first CCD camera 11 and the second CCD camera 12 and calculated information.
[0021]
Further, an input device 16 for inputting information for operating the counting device 10 and an output device 17 for outputting a result processed by the counting device 10 are connected to the control unit 14. The input device 16 is, for example, a keyboard or a mouse, and the output device 17 is, for example, a display or a printer. Although the input device 16 and the output device 17 are illustrated as externally attached to the personal computer 13 in this figure, they may be built in.
[0022]
An example of the operation of the counting device 10 as the first embodiment will be described with reference to the flow in FIG. Here, an image captured by the first CCD camera 11 is described as a left image, and an image captured by the second CCD camera is described as a right image. First, the control unit 14 of the personal computer 13 acquires the left image and the right image captured by the first CCD camera 11 and the second CCD camera 12 as a stereo image via the imaging device interface 15 (step 1 (FIG. 1). Middle “S1” (the same applies hereinafter)).
[0023]
The control unit 14 acquires the left image of the t frame, which is the first image captured at a certain time t, by the image processing unit 19 in the control unit 14 from the acquired stereo image (step 2). Further, a right image of the t + Δt frame, which is a second image captured at time t + Δt after Δt has elapsed from time t, is acquired (step 3).
[0024]
Actually, the first CCD camera and the second CCD camera pick up images at each time point simultaneously and in parallel, and the time point t as the first image is shifted by one frame or more as the second image. You may make it employ | adopt the image of t + (DELTA) t. At this time, Δt may be appropriately determined according to the setting conditions of the counting device 10, but it is desirable that Δt be the time from when a certain frame N is imaged until the next frame N + 1 is imaged. That is, a frame shifted by one frame is employed. At this time, when Δt is set to 1/30 seconds, when a person walking at 80 m / min is imaged, the frame N + 1 is an image in which the imaged person moves in the traveling direction of about 4.4 cm compared to the frame N.
[0025]
Next, edge extraction of the left image of t frame is performed (step 4), and it thins (step 5). Then, the corresponding point search of the right image of t + Δt frame is performed using the edge points on the counting line 1 of the left image of t frame (step 6). Edge extraction, thinning, and corresponding point search will be described in detail later with reference to FIG.
[0026]
Three-dimensional information is calculated from the corresponding points obtained by the corresponding point search (step 7). A method of calculating the three-dimensional information from the corresponding points will be described later with reference to FIGS. Here, a non-background portion is defined in advance by background removal, and linear interpolation is performed on the portion to reflect the value at the edge point (step 8). The three-dimensional information obtained in this manner is arranged in the time direction to create a spatiotemporal image including the three-dimensional information of the person 5 (step 9). Here, the linear interpolation is, for example, using the three-dimensional coordinates of one edge point and the edge points adjacent to the edge point to connect the two edge points with a straight line, thereby obtaining the three-dimensional coordinates of the point between the two edge points. It is what you want to do.
[0027]
At the same time, speed information is calculated from the corresponding points (step 10), and linear interpolation is performed in the same manner (step 11). A method for calculating the speed information from the corresponding points will be described later with reference to FIG.
[0028]
Next, it is determined whether T ₁ , which is an elapsed time since the first frame is acquired, has passed a preset time T ₀ (step 13). If T ₁ has not passed the predetermined time T ₀ (N in step 13), the next frame is acquired, and the spatiotemporal images are arranged in the time direction. The determination in step 13 may be made when the acquired number of frames reaches a predetermined number of frames instead of the elapsed time. The predetermined time T ₀ is suitably about 20 seconds, for example, due to the capacity limitation of the storage device, but may be one hour or longer, for example, if not limited by the capacity. Here spatiotemporal image obtained at a predetermined time T ₀ is referred to as the Batch screen.
[0029]
When T ₁ has passed the predetermined time T ₀ , that is, when one lot screen is obtained (Step 13 is Y), a general knee is determined from the maximum height Z _MAX of the person 5 in the lot screen. up height _{Z MIN,} using _{Z TH} that varies by a certain value for example 50 _mm, cut with a plane parallel to the plane 2 through the _{Z TH} (step 14), labeling area of the cut surface (step 15 ). Here, the region refers to a cross section of the person 5 existing on the plane when the three-dimensional information of the person 5 on the spatiotemporal image is cut along the plane passing through the _ZTH . Labeling refers to attaching a number or a code for identifying each region.
[0030]
At this time, the area value on the space image is calculated by weighting the area value on the spatio-temporal image of the area at a speed corresponding to the labeled area (step 16). The reason why the area value is weighted by speed is that, for example, for a person with a high passing speed, the passing speed and the number of passing frames are inversely proportional to each other. Here, since Z _TH is changed from Z _MAX to Z _MIN , for example, even when two persons 5 pass very close to each other, the two persons are distinguished by obtaining a cut surface of the head. be able to.
[0031]
The area value thus obtained is compared with a preset threshold value (step 17). When the area value is larger than the threshold value (step 17 is Y), it is counted that one person 5 has passed ( Step 18). If the area has already been counted, no counting is performed. At this time, the direction of travel of the person 5 who has passed is distinguished by the speed of the area and reflected in the count (step 19). The preset threshold is typically the cross-sectional area value of the maximum portion (for example, the abdomen) of the smallest person among the persons 5 to be counted. It is then determined whether Z _TH is lower than Z _MIN (step 20).
[0032]
When the area value is smaller than the threshold value (step 17 is N), it is determined whether Z _TH is lower than Z _MIN without counting (step 20). When Z _TH is lower than Z _MIN (step 20 is Y), the next lot screen is displayed. If Z _TH is at a position higher than Z _MIN (step 20 is N), Z _TH is changed to the Z _MIN side (low position) by a certain value (step 21), and the process returns to step 14. As a result, a passing object with a small area value is determined not to be a person and is not counted, so that a passing object such as baggage that is not a person is not erroneously counted.
[0033]
With reference to the flow of FIG. 4, an example of an effect | action of the counting apparatus 10 as 2nd Embodiment is demonstrated. First, as in the first embodiment, a stereo image is acquired (step 1), and a left image of t frame and a right image of t + Δt frame are acquired (steps 2 and 3). Next, edge extraction of the left image of the t frame is performed (step 4), thinning is performed (step 5), and the corresponding points of the right image of the t + Δt frame are searched using the edge points on the counting line 1 of the left image of the t frame. (Step 6).
[0034]
Then, three-dimensional information is calculated from the corresponding points obtained by the corresponding point search (step 27). Here, a non-background portion is defined in advance by background removal, and linear interpolation is performed on the portion to reflect the value at the edge point (step 28). At the same time, speed information is calculated (step 29), and linear interpolation is performed in the same manner (step 30). A method for calculating the three-dimensional information and the speed information will be described later with reference to FIGS.
[0035]
Next, the calculated three-dimensional information multiplied by speed information is added in the time direction and the volume value is added (step 31). A method for calculating the volume value will be described later with reference to FIGS. Here, the reason why the three-dimensional information is weighted by multiplying the speed information is that, for example, a person with a high passing speed is inversely proportional to the passing speed and the number of passing frames. .
[0036]
The volume value thus obtained is compared with a preset threshold value (step 32), and if the volume value is larger than the threshold value (step 32 is Y), it is determined that one person 5 has passed and counted. (Step 33). At this time, the speed information calculated above is reflected as the direction of travel of the passing object 5 that has passed (step 34). The preset threshold is typically the minimum volume value of the passing object to be counted.
[0037]
If the volume value is smaller than the threshold value (N in step 32), the passing object is determined not to be a person and is not counted, the next frame is acquired, and the volume value is added. As a result, the shadows of passing objects such as baggage that are not people or passing objects having no volume are not counted erroneously.
[0038]
As described above, according to the second embodiment, the spatio-temporal image of a certain time is created in the first embodiment, but the counting is performed when the volume of the passing object exceeds a certain value. There is no need to create a spatio-temporal image for a fixed time, and the processing speed can be increased.
[0039]
The corresponding point search will be described in more detail with reference to FIG. Here, although a person is expressed by hatching as a passing object in each illustrated frame, this does not indicate a cross section but merely represents a person imaged from above.
[0040]
Here, in order to obtain three-dimensional information and velocity information, corresponding points of two images are obtained. First, the correspondence between the left image of t frame and the right image of t + Δt frame is obtained. At this time, the correspondence relationship is not clearly determined for pixels having no feature in the neighboring region. Therefore, the search is performed according to the following flow.
[0041]
First, edge extraction of the left image of t frame is performed to obtain a thinned image, and corresponding point search is performed only at the edge point. Edge extraction refers to extracting a contour, which is a set of edge points of a target passing object, from an image acquired with shading and specifying the coordinates, for example, with coordinates. Thinning refers to, for example, converting an image obtained by edge extraction into an image in which only the outline of a passing object obtained by edge extraction is indicated by a thin line.
[0042]
In order to perform the corresponding point search, first, a point on the specified outline of the left image of the t frame is selected as an edge point, and a window is set in a neighborhood region including the edge point on the grayscale image. Typically, an edge point on the counting line is selected. An edge point is typically an intersection of the fine line and the count line, and usually there are a plurality of edge points, typically 10 to 20 points. For example, the leftmost point among the plurality of edge points is first selected. The window may be set so that the selected edge point is the center. Then, the window is set to the right image of the t + Δt frame with reference to the set window.
[0043]
For these windows, the correlation between the gray values of the left image of the t frame and the right image of the t + Δt frame is obtained using Equation 1 shown in FIG. Here, I _L (i, j) and I _R (i, j) are the gray values in the windows on the left and right images, respectively, and μ _{L ,} μ _{R ,} σ _{L , and} σ _R are the gray values in the left and right windows, respectively. Mean and variance. C takes a value within a range from −1 to +1. The C value is calculated in each window while moving the window of the right image little by little with respect to the selected edge point of the left image, for example, parallel to the count line and moving in the direction orthogonal to the count line. The window of the right image that gives the maximum value among C obtained in this way is regarded as a local region corresponding to the selected window of the left image.
[0044]
That is, the left and right image windows are correlated as described above, and the right image window corresponding to the window including the edge point selected in the left image (C is maximized) is searched. The center of the window of the right image obtained by this search becomes the edge point of the right image corresponding to the edge point of the left image selected previously.
[0045]
The search for the window is performed, for example, in a direction parallel to the count line (X-axis direction) and a vertical direction (Y-axis direction). For example, when the passing object is a person, the direction parallel to the counting line is regarded as a parallax between the left and right images as will be described later, so the height is calculated to be 1 m to 2 m, for example, with reference to the window of the left image that has already been set. What is necessary is just to search the width | variety of the parallax to be performed. Since the vertical direction is regarded as the movement amount of the person as will be described later, the width of the movement amount that the person is expected to move during the time Δt may be searched with reference to the window of the left image that has already been set. If the value of C is increasing in the direction of search, the value of C is further maximized, and the search is continued in the same search direction until the downward trend is reached. You may make it select the window where the value of C becomes the maximum in the already searched range.
[0046]
If the window search is performed in this way, it is not necessary to correlate the windows of the left and right images of the part that clearly does not need to be searched, so that the amount of calculation can be further reduced. As described above, the corresponding points are searched for all the edge points existing in the left image, and the corresponding edge points of the left and right images are obtained.
[0047]
The calculation of the three-dimensional information and the speed information will be described in more detail with reference to FIG. First, a vector connecting corresponding edge points of the left and right images obtained above is considered, and this is separated into a horizontal component (X-axis direction component) and a vertical component (Y-axis direction component). The horizontal component can be viewed as an amount representing the parallax between the left and right images, and the distance to the target passing object can be calculated using this parallax. On the other hand, the vertical component can be regarded as the amount of movement of the attention point in the direction along the path, and based on this, the speed information of the passing object can be obtained. In this way, the three-dimensional height, which is the three-dimensional information at the edge point, and the speed, which is the velocity information, can be collectively obtained in pairs.
[0048]
Since the speeds obtained for one passing object should normally be equal, it is not necessary to obtain the speeds for all the edge points. For example, the speed of the point closest to the center may be adopted. Alternatively, the speed of each edge point is obtained, and an edge point having a protruding value may be re-searched as a search error, or the point may be rejected. Or you may obtain | require all the speed | velocity | rate of each edge point, calculate those average values, and may employ | adopt as the speed | velocity | rate of the object.
[0049]
Further, the weighting by speed described later may use the speed for each point, or may use the speed of the passing object obtained by the average value in common for each point.
[0050]
Here, the left and right images are images that are shifted in time by Δt. However, if Δt is a sufficiently small value, the left and right images do not have a difference enough to support parallax. Conversely, Δt may be determined as such. That is, the length is sufficient to obtain the speed information without any problem for obtaining the parallax. For example, when the target passing object is a pedestrian, it is set to about 1/60 to 1/10 seconds, particularly 1/40 to 1/20 seconds, and more preferably about 1/30 seconds.
[0051]
Here, with reference to FIG. 7, the calculation method of the height z from the plane as the three-dimensional information of the passing object to be processed will be described. The distance a to the target passing object 5 can be calculated using Expression 2 shown in FIG. Here, w is the distance between the CCD cameras (baseline length), f is the focal length of the CCD camera when the imaging lens of the CCD camera is a single lens, and d is the parallax on the imaging surface of the CCD camera. The focal length here is the focal length of the combination lens when a commonly used combination lens is used. When the distance from the imaging lens of the CCD camera to the counting line 1 is h, the height z of the target passing object 5 is calculated by Equation 3 shown in FIG.
[0052]
With reference to FIG. 8 and FIG. 9, a method of performing counting in the second embodiment using the height and speed of the passing object calculated in each frame by the above-described method will be described. Assume that the height of an object at a certain position x in a certain t frame is z (x, t), and the velocity at the same position and the same frame is v (x, t). According to the corresponding point search described above, z (x, t) corresponds to a value of 0 to 255 corresponding to a height of about 0 to 185 cm, and v (x, t) corresponds to a speed of about −12 to 12 km / h. A value of -5 to 5 is obtained (FIG. 8A).
[0053]
Next, the product zv of the frames is added in the X-axis direction. This sum, that is, Expression 4 shown in FIG. 10, means a value obtained by multiplying the three-dimensional information of a certain frame by the weight of speed (volume passing through a unit time at a certain point in time). Intuitively, it can be viewed as a cross-sectional area in a person's space-time when passing through the counting line, so this value will be referred to as an “area value” (FIG. 8B). Since it is necessary to measure separately according to the direction of the speed later, this addition work is also performed according to the positive / negative sign of v (x, t), that is, the variable to be added as shown in Expression 5 shown in FIG. I'll keep it separate.
[0054]
Next, the area values calculated for each line are added in the time direction (FIG. 9A). This sum, that is, Equation 6 shown in FIG. 10, represents the volume of the person who has passed. This is referred to herein as “volume value” (FIG. 9- (b)). As long as the frame interval is kept constant, the passing speed and the number of passing frames are inversely proportional. Therefore, the volume value calculated from the passing of each person is normalized to some extent by this addition in consideration of the weight of the speed. That is, the true volume value in the three-dimensional space is obtained.
[0055]
A case where the passing object 5 moves on the slope will be described with reference to FIG. For example, when the passing object 5 is moving on an inclined surface 2 ′ such as a staircase or a slope, the plane 2 is a virtual plane 2 perpendicular to the line connecting the reference line 1 and the first and second imaging devices 11 and 12. It is good to do.
[0056]
When the target passing object 5 is a person, it stands in the vertical direction even if it is a slope, so the optical axis of the CCD camera is directed in the vertical direction (FIG. 11A). In this case, the virtual plane 2 is a horizontal plane. In this example, for example, when the angle formed between the inclined surface 2 ′ and the virtual plane 2 is θ, the time of the passing object 5 moving on the inclined surface 2 ′ is obtained in order to obtain the height of the passing object 5 from the virtual plane 2. A value obtained by multiplying the amount of movement of Δt by tan θ may be subtracted from the calculated height of the passing object 5 moving on the slope 2 ′.
[0057]
If the target passing object 5 is, for example, a car, the slope may be used as it is as the plane 2 of the present invention. In this case, the optical axis of the CCD camera is directed in a direction perpendicular to the inclined surface (FIG. 11B).
[0058]
As described above, according to the embodiment of the present invention, the height and speed of a passing object can be obtained by comparing two images, so that the amount of calculation required for counting passing objects compared to the conventional method is reduced. Can be reduced.
[0059]
【The invention's effect】
As described above, according to the present invention, the first image of the passing object imaged by the first imaging device and the second image of the passing object imaged by the second imaging device delayed by a predetermined time And a comparison operation unit that acquires position information in the depth direction that intersects the plane of the passing object and velocity information in the traveling direction that intersects the reference line and is parallel to the plane, the first image and the second It is possible to obtain the passing object position information and the speed information from the image, and to provide a passing object counting apparatus and counting method capable of reducing the amount of calculation and processing at high speed.
[Brief description of the drawings]
FIG. 1 is a schematic perspective block diagram showing an outline of a passing object counting apparatus according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration example of a passing object counting apparatus according to an embodiment of the present invention.
FIG. 3 is a flowchart showing an example of the operation of the passing object counting apparatus according to the first embodiment of the present invention or the passing object counting method according to the embodiment of the present invention.
FIG. 4 is a flowchart showing an example of the operation of a passing object counting device according to a second embodiment of the present invention or a passing object counting method according to an embodiment of the present invention.
FIG. 5 is an image diagram for explaining a processing example when searching for corresponding points between the first image and the second image in the embodiment of the present invention.
6 is an image diagram for explaining a vector connecting corresponding points of the first image and the second image in the case of FIG. 5. FIG.
FIG. 7 is a stylized front view for explaining a method of calculating the height of a passing object from parallax between the first imaging device and the second imaging device in the embodiment of the present invention.
FIG. 8 is a stylized perspective view illustrating a method of performing counting in the embodiment of the present invention.
FIG. 9 is a stylized perspective view for explaining a counting method in the case of FIG. 8;
FIG. 10 is a diagram showing a calculation formula used in the description of the embodiment of the present invention.
FIGS. 11A and 11B are diagrams illustrating a case where counting is performed on a virtual plane (a) and a case where a slope is directly used as a plane of the present invention (b) as an example of a method of counting passing objects moving on an inclined surface.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Count line 2 Path | passage 5 Passing object 10 Passing object counting device 11 1st CCD camera 12 2nd CCD camera 13 Comparison calculating part 14 Control part 15 Interface 16 for imaging devices Input device 17 Output device 18 Memory | storage part

Claims (4)

A first imaging device provided to face the plane, which images a passing object passing through a reference line on the plane along the plane;
The first imaging device is provided in parallel with the first imaging device and opposed to the plane, and images the passing object passing through the reference line with a delay of a predetermined time from the imaging time of the first imaging device. Two imaging devices;
An image processing unit that acquires a second image of the passing object imaged by the second imaging device with a delay of the predetermined time from the first image of the passing object imaged by the first imaging device. When;
A corresponding point search unit for determining corresponding points between the first image and the second image;
A velocity information calculation unit that calculates a velocity in a traveling direction that intersects the reference line of the passing object and is parallel to the plane using the corresponding points ;
A three-dimensional information calculation unit that calculates position information in the depth direction intersecting the plane of the passing object from the amount representing the parallax between the first and second images using the corresponding points ;
A counting unit that counts the passing object using the velocity and the position information ;
Passing object counting device. The counting unit has the cross-sectional area value obtained by cutting the object on the spatio-temporal image created by arranging the position information in the time direction through a plane passing through a certain value of the position information and parallel to the plane. Comparing the weighted value with a preset threshold value, and counting the passing object when the weighted value is larger than the threshold value,
The passing object counting device according to claim 1. The counting unit compares the volume value obtained by multiplying the velocity multiplied by the position information in the time direction with a preset threshold value, and the volume value is larger than the threshold value. Counting the passing objects;
The currency object counting device according to claim 1. A first imaging step of acquiring a first image by imaging a passing object passing through a reference line on the plane along a plane from a first position facing the plane at a first time point;
The passing object passing through the reference line is imaged from a second position parallel to the first position and facing the plane at a second time point after a lapse of a predetermined time from the first time point. And a second imaging step of acquiring a second image;
An image processing step of acquiring the first image and the second image;
A corresponding point search step for obtaining corresponding points between the first image and the second image;
A velocity information calculation step of calculating a velocity in a traveling direction that intersects the reference line of the passing object and is parallel to the plane using the corresponding points ;
A three-dimensional information calculation step of calculating position information in the depth direction intersecting the plane of the passing object from the amount representing the parallax between the first and second images using the corresponding points ;
A counting step of counting the passing object using the velocity and the position information ;
Passing object counting method.

Images