JPS6388985A - Moving object recognizing circuit - Google Patents

Abstract

PURPOSE:To extract image of moving object above a specified value and recognize the position on the image correctly by removing signals caused by trembling objects such as tremor of tree leaves due to wind, etc., from an outdoor landscape image. CONSTITUTION:One picture signal is inputted to a memory 2 and a moving object extracting and operating circuit 4 to separate and extract contour signals of only moving objects from background image from image signals of a camera 1. On the other hand, image signals are outputted from the memory 2 conforming timing with output signals of a shift register 3, and inputted to the moving object extracting and operating circuit 4 through a shift register 7, and only signals for moving object is extracted to obtain output signals 10. Then, output signals of the memory 2 are inputted to pulse generating circuits 8, 9 for checking tremor signals. Then, output signals 10,11 are inputted to an AND circuit 12 and tremor signals are outputted. When signals 14 are within the pulse width of signals 15, output from an AND circuit 16 is checked by a shift register 13 and the AND circuit 16 as vertical tremor signals.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a moving object recognition circuit that separates and extracts moving objects from a complex static background screen in images obtained by an imaging device such as a television camera. be.

BACKGROUND OF THE INVENTION In recent years, as television cameras have become more widespread, their fields of use are expanding to include, for example, surveillance applications, visual applications for industrial robots, and medical education applications. In most of these applications, images were simply played back and confirmed using the screen, but in recent years, in applications such as FA (factory automation), robots, and remote monitoring, images have been used to determine the imaging angle of the TV camera itself. There are demands for controlling, monitoring specific moving objects, tracking and imaging, etc. Conventionally, there is a method in which a person specifies a moving object on the screen and the object is tracked on the screen.

Problems to be Solved by the Invention However, with a system that recognizes moving objects on the screen and constantly pans and tilts the camera to track the moving objects on the screen, it is difficult to capture images of external scenes due to slight movements caused by wind, etc. During installation, there are cases where the desired moving object cannot be accurately tracked due to isometric micro-movement signals generated as electrical signals, such as micro-movement of the pedestal, etc., and characteristics such as afterimages of the imaging camera.

There is a need for a method to differentiate from such micro-motion signals and recognize the position of objects that move significantly on a television screen, and to automatically and continuously track moving objects with a television camera using this position data.

In particular, a moving object image signal is extracted from a continuously occurring television screen by calculation between two screen signals generated at a certain interval, and the position of the moving object is recognized on the television screen from this extracted signal. If this recognition allows the image of a moving object to be reproduced and tracked in the center of the screen, if the scene captured by the television camera is an outdoor landscape, the shaking of leaves caused by the wind or the like will also be extracted and recognized as a moving object. In many cases, such a fine movement signal is not necessary.

Especially when tracking and imaging large moving objects on the screen.
The slight movement signal acts as a noise signal on the tracking control signal of the television camera.

Furthermore, when performing calculations between two screens, if a minute jitter occurs in one signal in time, even the signal of a stationary portion will not disappear completely and a noise-like residual signal will be extracted.

In view of the above prior art, the present invention provides a moving object recognition circuit that removes microscopic objects such as leaves caused by the wind from moving object recognition.

Means for Solving the Problems The present invention uses a moving object image signal extraction circuit to generate a fine movement prevention pulse signal that covers a reference contour image signal to be compared, and performs an operation between a subsequent contour image signal and the reference contour image signal. The moving object image extraction signal is applied to the moving object image extraction signal, and only the moving object image signal that exceeds the pulse width of the preset fine movement prevention pulse signal is extracted as a true moving object signal, and the fine movement signal is removed.

According to the above-described configuration, the present invention does not output a moving object extraction signal when the pulse phase of the subsequent contour signal changes within the blocking pulse width, so that the center of gravity position of the moving object signal on the screen cannot be calculated. can be done more accurately.

Embodiment FIG. 1 is a configuration diagram of a moving object recognition circuit for explaining an embodiment based on the present invention. In the figure, 1 is a contouring signal of an image captured by a television camera, and 2 is an image signal 1.
3 is a shift register circuit for phase compensation; and 4 is a moving object image signal extraction circuit that calculates the one-screen signal read out from the memory 2 and the subsequent image signal. Reference numeral 5 denotes a circuit for removing a fine movement signal. Particularly in this circuit 5, 6.7 is a shift register for setting a fine movement prevention range in the horizontal direction of the image. 9 is a circuit for generating fine movement prevention pulses in the horizontal and vertical directions, respectively. , 11.15 are output signals of each of the above-mentioned pulse generation circuits, and 10 is a shift register 6.
The output signal of 7 is input to the moving object extraction calculation circuit 4 to extract the contour component of the moving object, 12.16 is an AND circuit, and 13 is a vertical shift register.

Next, the operation of the above configuration will be explained based on FIG.

First, the contour signal of the image extracted from the image signal of the television camera l includes a moving object and a background image included in the field of view of the camera lens. In order to extract the contour signal of only the moving object separately from the background image, first, a one-screen signal inputted at an arbitrary time t is stored in the memory 2. Next, the subsequent screen after 11 seconds is input to the moving object extraction calculation circuit 4 via the registers 3 and 6.

On the other hand, the image signal at the time of "TO" is outputted from the memory 2 in synchronization with the output signal of the shift V register 3, and is inputted to the moving object extraction calculation circuit 4 via the shift register 7.

The moving object extraction calculation circuit 4 takes 10 seconds and 1. The information for one screen per second is compared and only the signal for the moving object is extracted to obtain the output signal 10.

Here, the shift registers 6 and 7 are provided to determine the range of the minute signal removal section.

Next, the output signal of the memory 2 is inputted to the pulse generation circuits 8 and 9 for blocking fine movement signals. The pulse generating circuit 8 is used to block fine movement signals in the horizontal direction of the screen, and the pulse generating circuit 9 is also used to block fine movement signals in the vertical direction.

In this embodiment, one horizontal scanning line has 256 pixels, and the horizontal pulse width is set to 4 to 6 pixels. Further, the vertical pulse width can be set to 4 to 6 scanning lines to sufficiently achieve the purpose.

It should be noted that since the pulse generating circuit 8.9 generates a binary pulsed signal outputted from the memory 2, it can be constituted by, for example, a monostaple multipipelator.

Next, output signals 10 and 11 from the moving object extraction calculation circuit 4 and the pulse generation circuit for blocking a fine movement signal are outputted to the AND circuit 12. For example, if the pulse output signal 10 of one pixel width is within the width of the signal 11 set to the pulse width of four pixels, the output signal 10 will be imaged as a horizontal micro-motion signal and will be blocked as an output signal of the AND circuit 12. It can have functions.

Furthermore, the pulse output signal 10 moves by more than these four pixels, so that the AND circuit 12 outputs an output signal as a moving signal.

Further, in the completely stationary background image portion, the moving object extraction circuit 4 calculates so that the output signal 10 does not exist as a signal. However, if noise is superimposed on the subsequent signal, there is a shift in the image due to slight movement with respect to the previous image of the camera, or there is jitter in one of the signals, it will be output as a slight movement signal.

Furthermore, when tracking a moving object included in an image, micro-movement signals may be generated due to mechanically generated micro-movements when comparing two images, or differences in the rise of contour signals between two images due to afterimages on the image sensor after camera pan-tilt. is output from the AND circuit 12.

Therefore, the output signal 15 is made to have a similar effect in the vertical direction. That is, the shift register 13 which sets the vertical direction fine movement signal blocking pulse width of 7 hours, and the A
If the signal 14 is within the pulse width of the signal 15, the ND circuit 16 treats it as a vertical fine movement signal and blocks the output from the AND circuit 16. Also, the output signal 14
If the phase exceeds the pulse width, the signal is imaged with the signal of the moving object and outputted from the AND circuit 16.

With the above configuration, it is possible to accurately detect a moving object on the screen by eliminating the generation of unnecessary micro-movement signals and position detection errors caused by them.

Regarding the moving object extraction calculation circuit 4, as described in Japanese Patent Application No. 61-90434, for example, as shown in FIG.
2, the detailed explanation will be omitted.

Effects of the Invention As described above, the present invention removes signals caused by microscopic objects such as leaves caused by the wind, etc. from an outdoor landscape image, extracts images of moving objects exceeding a certain value, and correctly recognizes their positions on the image.

Furthermore, unnecessary noise that remains due to minute temporal changes can be removed during calculations between two screens.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a moving object recognition circuit according to an embodiment of the present invention, and FIG. 2 is a circuit diagram of the main parts thereof. 2... Memory, 3... Shift register, 4... Moving object image signal calculation circuit, 5... Fine movement signal blocking circuit section,
6.7.13...Horizontal and vertical shift registers, 8
．． 9...Horizontal and vertical direction fine movement signal blocking pulse generation circuit, 12.16...AND circuit.

Claims (1)

[Claims] a moving object extraction calculation circuit that extracts only image information regarding a moving object from the first image information of the television image and the subsequent second image information; and a preset micro-motion prevention circuit for the output of the moving object extraction calculation circuit. A moving object recognition circuit comprising a moving object image signal extraction circuit that extracts only a moving object image signal exceeding the pulse width of a pulse signal as a true moving object signal and removes a minute movement signal.