KR20180119344A - Region monitoring apparatus and method for monitoring region thereby - Google Patents

Abstract

According to an embodiment of the present invention, disclosed is a region monitoring method which comprises the steps of: acquiring detection information in a first region detected by a radar; acquiring an image in a second region photographed by a camera; acquiring a coordinate transformation between a reference coordinate of the radar and a reference coordinates of the camera by using coordinate information of a preset position in the first region and coordinate information of a preset position in the second region; and extracting tracking information on a predetermined object from the detection information, and displaying an identification mark corresponding to the tracking information on a predetermined object of the image in the second region.

Description

TECHNICAL FIELD [0001] The present invention relates to a region monitoring apparatus and a region monitoring method using the region monitoring apparatus.

Field of the Invention The present invention relates to the field of field monitoring. More particularly, the present invention relates to a method and apparatus for monitoring an object such as a vehicle located in an area.

As the number of private vehicles increases, the incidence of traffic accidents also increases. When a traffic accident occurs on a road, etc., it is necessary to take a quick action, so a system for precisely monitoring whether an accident has occurred in a road area or the like is needed.

As a method for monitoring the occurrence of an accident, it is possible to detect the occurrence of an accident by detecting the speed of the vehicle through a radar. However, from the information detected by the radar, it can not be precisely recognized where the accident occurred, and there is an inaccuracy in determining whether or not an accident has occurred based on only the vehicle speed information or the acceleration information. That is, even if it is not an actual accident, it is recognized as an accident, and when a police or a firefighter is dispatched, unnecessary expenses are incurred accordingly.

Therefore, there is a need to more quickly and accurately monitor whether or not an accident has occurred in a certain area such as a road.

The area monitoring apparatus and the area monitoring method according to an embodiment of the present invention aim at more accurately monitoring objects located in an area.

In addition, the area monitoring apparatus and the area monitoring method according to an embodiment of the present invention are intended to accurately monitor whether or not an accident has occurred on the road, thereby reducing casualty damage and preventing waste of money due to unnecessary dispatch .

According to an embodiment of the present invention,

Obtaining detection information of a first area detected by a radar; Obtaining an image of a second region photographed by a camera; Acquiring coordinate transformation between the reference coordinates of the radar and the reference coordinates of the camera using the coordinate information of the predetermined position in the first area and the coordinate information of the predetermined position in the second area; And extracting tracking information on a predetermined object from the detection information and displaying an identification mark corresponding to the tracking information on the image predetermined object.

Each of the predetermined positions in the first area and the predetermined area in the second area may include at least four.

The step of obtaining the coordinate transformation may include applying each of the coordinate information pairs of at least four preset positions in the first area and at least four predetermined positions in the second area to the following equation However,

[Mathematical Expression]

Where x and y are coordinate information of a predetermined position in the first area, x and y are coordinate information of a predetermined position in the second area, and h ₁₁ to h ₃₃ are coordinate information of a predetermined position in the second area, The matrix elements of the coordinate transformation can be represented.

Wherein the tracking information includes at least one of position information, velocity information, acceleration information, and deceleration information of the predetermined object, wherein the step of displaying the identification mark includes comparing the tracking information with a preset reference value, And displaying the identification mark of the shape and / or color corresponding to the identification mark on the image.

According to another aspect of the present invention,

A communication unit for acquiring detection information of a first area detected by a radar and acquiring an image of a second area photographed by the camera; A controller for obtaining a coordinate transformation between the reference coordinates of the radar and the reference coordinates of the camera using the coordinate information of the predetermined region in the first region and the coordinate information of the predetermined region in the second region; And an image processing unit for extracting tracking information on a predetermined object from the detection information and displaying an identification mark corresponding to the tracking information on a predetermined object of the image of the second area.

The area monitoring apparatus and the area monitoring method according to an embodiment of the present invention can more accurately monitor an object located in a certain area.

In addition, the area monitoring apparatus and the area monitoring method according to an embodiment of the present invention can accurately monitor whether or not an accident has occurred on the road, thereby reducing personal injury.

In addition, the area monitoring apparatus and the area monitoring method according to an embodiment of the present invention aim to prevent cost wasted due to unnecessary dispatch due to erroneous judgment.

In addition, the area monitoring apparatus and the area monitoring method according to an embodiment of the present invention can map accident information to the operator by mapping information obtained from the radar to a camera image in a simple manner.

However, the area monitoring apparatus and the area monitoring method according to an embodiment of the present invention are not limited to the above-mentioned effects. It will be understood by those of ordinary skill in the art to which the present invention pertains.

1 is an exemplary diagram showing a region monitoring apparatus, a radar, and a camera according to an embodiment of the present invention.
2 is a flowchart illustrating a method of monitoring a region according to an embodiment of the present invention.
3 (a) is a view showing a first area monitored by a radar, and Fig. 3 (b) is a view showing a second area taken by a camera.
Fig. 4 (a) is an exemplary diagram showing detection information obtained by a radar, and Fig. 4 (b) is an exemplary diagram showing a camera image in which an identification mark is displayed.
5 is a block diagram of an area monitoring apparatus according to an embodiment of the present invention.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood, however, that the intention is not to limit the invention to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In addition, numerals (e.g., first, second, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another.

Also, in this specification, when an element is referred to as being "connected" or "connected" with another element, the element may be directly connected or directly connected to the other element, It should be understood that, unless an opposite description is present, it may be connected or connected via another element in the middle.

In the present specification, a component represented by 'unit', 'module', or the like refers to a case where two or more components are combined into one component, or one component is divided into two or more ≪ / RTI > In addition, each of the components to be described below may additionally perform some or all of the functions of the other components in addition to the main functions of the component itself, and some of the main functions And may be performed entirely by components.

Hereinafter, exemplary embodiments according to the technical idea of the present invention will be described with reference to the drawings.

Fig. 1 is an exemplary diagram showing a region monitoring apparatus 100, a radar 10, and cameras 20a and 20b according to an embodiment of the present invention.

1, a radar 10 and cameras 20a and 20b are provided for monitoring and photographing an area such as a road and the area monitoring apparatus 100 is connected to the radar 10 and the cameras 20a and 20b Based on the information transmitted, the operator can be informed whether an accident has occurred.

In one embodiment of the present invention, the area monitoring apparatus 100 may be implemented as a general-purpose computer and may include a communication function, an image processing function, and a display function.

The radar 10 monitors the first area 15 and the radar 10 transmits a radar signal to the object 30 located in the first area 15 and transmits the radar signal reflected from the object 30, Lt; / RTI > The radar 10 can measure at least one of the coordinate, velocity, acceleration, and deceleration of the object 30 as tracking information for the object 30 using the transmission / reception time difference of the signal.

Each of the first camera 20a and the second camera 20b photographs the second area 25a and 25b and the second area 25a and 25b may be the same as the first area 15, It may be overlapped with at least the first region 15, although not completely the same.

The cameras 20a and 20b transmit the photographed images to the area monitoring apparatus 100 with respect to the second areas 25a and 25b.

In one embodiment of the present invention, the area monitoring apparatus 100 can inform the operator whether an accident has occurred on the road or the like by using the detection information received from the radar 10 and the image received from the cameras 20a and 20b And the operation of the area monitoring apparatus 100 will be described in detail below.

2 is a flowchart illustrating a method of monitoring a region according to an embodiment of the present invention.

In step S210, the area monitoring apparatus 100 receives detection information of the first area 15 detected by the radar 10 from the radar 10 or other external server. The detection information may include tracking information for an object located in the first area 15, and the tracking information may include at least one of coordinate information, velocity information, acceleration information, and deceleration information of the object.

In step S220, the area monitoring apparatus 100 transmits the image of the second area 25 photographed by the camera 20 (any one of the cameras 20a and 20b shown in FIG. 1) to the camera 20 ) Or other external server.

In step S230, the area monitoring apparatus 100 uses the first coordinate information of the predetermined area in the first area 15 and the second coordinate information of the predetermined area in the second area to calculate the reference coordinates of the radar 10 And obtains the coordinate transformation between the reference coordinates of the camera 20.

At least one position in the first area 15 and the second area 25 can be preset by the operator or the area monitoring apparatus 100 in advance. The predetermined position in the first region 15 and the predetermined position in the second region 25 may include the same point.

The first coordinate information means coordinate information measured with reference to the reference coordinates of the radar 10 and the second coordinate information means coordinate information measured with reference to the reference coordinates of the camera 20, The predetermined position in the area 15 and the predetermined position in the second area are actually the same point but the reference coordinates of the radar 10 and the reference point of the camera 20 are different from each other, The information also has to be different.

3 (a) and 3 (b), positions in the first area 15, that is, A1, B1, C1 and D1 are set, A2 and B2 and C2 and D2 are set in the second region 25 of the first region 25 and A1 and A2 are the same point with respect to each other, and B1 and B2, C1 and C2, and D1 and D2, In the case of the same point, the first coordinate information and the second coordinate information for these pair of positions become different from each other.

The area monitoring apparatus 100 uses the first coordinate information and the second coordinate information as coordinate information pairs to perform coordinate conversion between the reference coordinates 17 of the radar 10 and the reference coordinates 27 of the camera 20 ) Can be calculated.

The coordinate transformation H can be expressed by the following equation (1).

[Equation 1]

Where x and y are first coordinate information of a predetermined position in the first area 15 and x and y are coordinates of a predetermined position in the second area 25, The second coordinate information and h ₁₁ to h ₃₃ represent matrix elements of the coordinate transformation (H).

The above equation (1) can be transformed into the following equations (2) to (4).

&Quot; (2) "

&Quot; (3) "

&Quot; (4) "

Equation (4) is obtained by transforming the matrix elements (h11 to h33) of the coordinate transformation (H) into a column matrix after solving Equation (3).

Since the matrix element h33 of the column matrix h of the matrix elements h11 to h33 in Equation (4) is normalized to 1, only eight matrix elements are calculated. Therefore, in order to calculate eight matrix elements, at least four A pair of coordinate information (i.e., four pieces of first coordinate information and four pieces of second coordinate information corresponding thereto) are required.

Substituting the four pairs of information into Equation (4), Equation (5) can be expressed as Equation (5).

&Quot; (5) "

X1, Y1, x1 and y1 in the above equation (5) are the same as the first coordinates (X1, Y1, X1, (For example, the points B1 and B2 in FIG. 3) in the first area 15 and the second area 25, and the second coordinate information X2, Y2, The coordinate information and the second coordinate information, X3, Y3, X3, and Y3, are the same as the positions (for example, positions C1 and C2 in FIG. 3) in the first area 15 and the second area 25 1 coordinate information and the second coordinate information X4, Y4, x4 and y4 are set to the same positions (for example, the D1 point and the D2 point in FIG. 3) in the first area 15 and the second area 25 The first coordinate information and the second coordinate information.

When the coordinate transformation H is changed to the column matrix h, the column matrix h can be calculated by performing A singular value decomposition (SVD).

If A is singular value decomposed, it can be expressed by the following Equation (6).

&Quot; (6) "

After the singular value decomposition, the last column matrix of the V matrix of Equation (6) can be determined as a column matrix (h). Once the column matrix h is derived, the region monitoring apparatus 100 can determine the coordinate transformation H through the column matrix h.

Referring again to FIG. 2, in step S240, the area monitoring apparatus 100 extracts tracking information on a predetermined object from the detection information of the radar 10, and outputs, to a predetermined object in the image of the camera 20, An identification mark is displayed.

The area monitoring apparatus 100 may display a camera image displaying an identification mark so that the operator can accurately inform the operator of the occurrence of the accident and the location of the accident.

Fig. 4 (a) is an exemplary diagram showing detection information obtained by the radar 10, and Fig. 4 (b) is an exemplary diagram showing a camera image in which an identification mark is displayed.

Referring to FIG. 4A, the detection information 410 may include tracking information 412a, 412b, 412c, and 412d of the objects located in the first area 15. In FIG. 4A, the tracking information is shown by the identification marks 412a, 412b, 412c, and 412d, which is only one example. It can also be provided in non-text form.

The area monitoring apparatus 100 extracts the coordinate information of each object from the tracking information 412a, 412b, 412c and 412d shown in FIG. 4A, applies it to the coordinate transformation H, And extracts the coordinate information of each object.

4 (b), the area monitoring apparatus 100 displays the identification marks 434a, 434b, and 434c corresponding to the tracking information 412a, 412b, 412c, and 412d in the image 430 Can be displayed on the objects 432a, 432b, and 432c.

For example, the area monitoring apparatus 100 compares a predetermined reference value with measured values (for example, at least one of speed, acceleration, and deceleration) obtained from the tracking information 412a, 412b, 412c and 412d , An identification mark having a shape and / or color matching the comparison result can be displayed on the image 430. [ Specifically, when the deceleration exceeds the first reference value, the identification mark of the first shape and / or the first color is displayed on the corresponding object, and when the deceleration is below the first reference value and exceeds the second reference value The identification mark of the second shape and / or the second color is displayed on the corresponding object, and when the deceleration is the second reference value or less, the identification mark of the third shape and / or the third color is displayed on the corresponding object Can be displayed.

The area monitoring apparatus 100 displays the image 430 on which the identification marks 434a, 434b and 434c are displayed so that the operator can know whether an accident has occurred through the identification marks 434a, 434b and 434c, It is possible to know where an accident has occurred or an actual accident has occurred through the image 430 to be actually photographed.

5 is a block diagram of an area monitoring apparatus 100 according to an embodiment of the present invention.

5, the area monitoring apparatus 100 may include a communication unit 610, a control unit 630, an image processing unit 650, and a display 670. The communication unit 610, the control unit 630, and the image processing unit 650 may be implemented by at least one processor and may operate according to programs stored in a memory (not shown).

The communication unit 610 receives detection information of the first area 15 detected by the radar 10 from the radar 10 or other external server and transmits the image of the second area photographed by the camera 20 to the camera 10. [ (20) or other external server.

The control unit 630 controls the reference coordinates of the radar 10 and the reference coordinates of the camera 20 using the first coordinate information of the predetermined position in the first area 15 and the second coordinate information of the predetermined position in the second area, Coordinate transformation between coordinates is obtained. The method of obtaining the coordinate transformation has been described above, and a detailed description thereof will be omitted.

The image processing unit 650 extracts tracking information on a predetermined object from the detected information and displays an identification mark corresponding to the tracking information on a predetermined object of the image of the second area.

The display 670 displays an image displaying an identification mark.

According to an embodiment, when the area monitoring apparatus 100 is predicted that an accident has occurred from the detection information detected by the radar 10 (for example, when the deceleration of the object exceeds the reference value) 670) or an alarm may be generated through the speaker to alert the operator.

Meanwhile, the embodiments of the present invention described above can be written in a program that can be executed in a computer, and the created program can be stored in a medium.

The medium may include, but is not limited to, storage media such as magnetic storage media (e.g., ROM, floppy disks, hard disks, etc.), optical reading media (e.g., CD ROMs,

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: Area monitoring device
10: Radar
20, 20a, 20b; camera
30, 432a, 432b, 432c: object
610:
630:
650:
670: Display

Claims (5)

Obtaining detection information of a first area detected by a radar;
Obtaining an image of a second region photographed by a camera;
Acquiring coordinate transformation between the reference coordinates of the radar and the reference coordinates of the camera using the coordinate information of the predetermined position in the first area and the coordinate information of the predetermined position in the second area; And
Extracting tracking information on a predetermined object from the detection information, and displaying an identification mark corresponding to the tracking information on the image predetermined object.
The method according to claim 1,
Wherein the predetermined area in the first area and the predetermined area in the second area each include at least four areas.
3. The method of claim 2,
Wherein obtaining the coordinate transformation comprises:
Obtaining coordinate transformation by applying each of coordinate information pairs of at least four preset positions in the first area and at least four predetermined positions in the second area to the following equation,
[Mathematical Expression]

Where x and y are coordinate information of a predetermined position in the first area, x and y are coordinate information of a predetermined position in the second area, and h ₁₁ to h ₃₃ are coordinate information of a predetermined position in the second area, And a matrix element of the coordinate transformation.
The method according to claim 1,
Wherein the tracking information includes at least one of position information, velocity information, acceleration information, and deceleration information of the predetermined object,
Wherein the step of displaying the identification mark comprises:
Comparing the tracking information with a predetermined reference value, and displaying the identification mark of the shape and / or color corresponding to the comparison result on the image.
A communication unit for acquiring detection information of a first area detected by the radar and acquiring an image of a second area photographed by the camera;
A controller for obtaining a coordinate transformation between the reference coordinates of the radar and the reference coordinates of the camera using the coordinate information of the predetermined region in the first region and the coordinate information of the predetermined region in the second region; And
And an image processing unit for extracting tracking information on a predetermined object from the detection information and displaying an identification mark corresponding to the tracking information on a predetermined object of the image of the second area.

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