WO2013053159A1 - 一种车辆跟踪的方法及装置 - Google Patents
一种车辆跟踪的方法及装置 Download PDFInfo
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- WO2013053159A1 WO2013053159A1 PCT/CN2011/081782 CN2011081782W WO2013053159A1 WO 2013053159 A1 WO2013053159 A1 WO 2013053159A1 CN 2011081782 W CN2011081782 W CN 2011081782W WO 2013053159 A1 WO2013053159 A1 WO 2013053159A1
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- target point
- tracked
- license plate
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
Definitions
- the invention relates to the technical field of intelligent traffic monitoring, and in particular to a method and a device for tracking a vehicle. Background technique
- Current vehicle tracking methods include: a license plate based tracking acquisition method and a motion information based tracking acquisition method.
- the tracking method based on the license plate includes: determining geographic location information of the current target point in the video image of the current frame, extracting geographic location information of all the tracked target points in the video image of the previous frame, and obtaining the current target point and all the Tracking the minimum distance among the distances between the upper target points, and when the minimum distance is less than the set value, determining that the current target point is the tracked upper target point corresponding to the minimum distance.
- This method must first locate the geographical location information of the current target point. For vehicles that are not positioned, it is easy to miss the vehicle, and the probability of tracking errors is relatively large.
- the motion information-based tracking acquisition method includes: comparing an image in a virtual line ⁇ in a current frame video image with an image in a virtual line ⁇ in a previous frame video image to obtain a frame difference map, and traversing the frame difference map Whether each pixel is white point, if the number of white points exceeds half of the total number of pixels in the frame difference graph, the state of the virtual line ⁇ is set to 1, otherwise it is set to 0.
- Embodiments of the present invention provide a vehicle tracking method and apparatus for improving the efficiency of an intelligent transportation system.
- An embodiment of the present invention provides a vehicle tracking method, including: Determining a license plate recognized from the detection area of the current frame video image as a current target point; matching the license plate information of the current target point with the license plate information of each target point to be tracked; if the current target point The license plate information is matched with the license plate information of the target point to be tracked, and the current target point is determined as the target point to be tracked, and the tracking list information of the target point to be tracked is updated; otherwise,
- each tracking list information includes: corresponding to a position of the target point to be tracked on each frame of the video image Information and license plate character identification.
- An embodiment of the present invention provides a device for tracking a vehicle, including:
- An identification unit configured to determine, as a current target point, a license plate recognized from a detection area of the current frame video image
- a matching unit configured to match the license plate information of the current target point with the license plate information of each target point to be tracked
- a first tracking unit configured to: when the license plate information of the current target point matches the license plate information of a target point to be tracked, determine that the current target point is the target point to be tracked, and update the target point to be tracked Tracking list information; when the license information of the current punctuation does not match the license plate information of any of the punctuation points to be tracked, determining that the current target point is a new target point to be tracked, and establishing the new target point to be tracked Tracking list information, wherein each tracking list information comprises: location information corresponding to the target point to be tracked on each frame of the video image and a license plate character identifier.
- vehicle tracking is performed by using vehicle license information matching for vehicles in the detection area, so that accurate vehicle tracking can be realized with only a small calculation amount, thereby eliminating the need for a large number of personnel to participate in the vehicle tracking process. , improving the efficiency of intelligent transportation systems.
- FIG. 1 is a flow chart of vehicle tracking in an embodiment of the present invention
- FIG. 2 is a flow chart of vehicle tracking in a non-detection area according to an embodiment of the present invention
- FIG. 3 is a structural diagram of a vehicle tracking device in an embodiment of the present invention. detailed description
- the license plate of each vehicle in the current frame image detection area is identified, and the license plate information of each license plate and the license plate of each target point to be tracked are identified.
- the information is matched, and it is determined according to the matching result whether each of the identified license plates is a target point to be tracked.
- the recognized license plate information of one license plate matches the license plate information of a target point to be tracked, the recognized license plate is the target point to be tracked; when the license plate information of the recognized license plate and all the target points to be tracked When the license plate information does not match, it is determined that the identified license plate is a new target point to be tracked.
- the target point to be tracked For the target point to be tracked that does not appear in the detection area, it is determined whether the target point to be tracked is still in the current frame video image by predicting the track tracking, wherein the target license plate appearing in the predicted area matches the target point to be tracked. When the target license plate is determined as the target point to be tracked, otherwise, the target point to be tracked does not appear in the current frame video image, that is, is not tracked.
- the camera picture information in multiple lanes can be acquired by the camera, and the detection area and the tracking area in the video image are determined according to the situation of the intersection and the position of the camera installation.
- the principle of the detection area setting is that the normal vehicle is in normal condition. At the speed, the number of frames appearing in the detection area is 10 frames or more, and generally 1/4 to 1/3 of the video image is determined as the detection area; the area between the zebra crossing from the upper end of the detection area to the opposite intersection is set to The tracking area does not locate and identify the vehicle in the tracking area, and only predicts the orbit tracking of the vehicle. In this way, the license plate can be accurately identified, the vehicle can be correctly tracked, and time can be saved.
- each target point to be tracked has appeared in the previous video image, that is, the target point to be tracked has appeared in the video image of the previous frame, or appears in the video image of the previous frame. Therefore, the tracking list information of each target point to be tracked is stored, where the tracking list information includes: position information of the target point to be tracked on each frame of the video image, the license plate character identifier; and may also include the video image of each frame. Frame number and storage location information.
- the tracking list information of the target point to be tracked includes: the license plate character identifier: 0012300, appears in The position coordinate on the video image of the 108th frame is (xl, yl), the video image of the 108th frame is stored in the storage unit 8, and the position coordinates appearing on the video image of the 109th frame are (x2, y2), the video of the 109th frame The image is stored in the storage unit 9.
- the vehicle information in the detection area is tracked by using the license plate information matching.
- the target point to be tracked that does not appear in the detection area it is also determined whether the target point to be tracked is Appearing in the tracking area, you also need to use predictive orbit tracking.
- a specific process of a vehicle tracking method provided by an embodiment of the present invention includes:
- Step 101 Identify a license plate from the detection area of the current frame video image, and determine the recognized license plate as the current target point.
- a license plate in the detection area of the current frame video image can be identified by license plate location, character segmentation, and license plate recognition, and the license plate information of the license plate is obtained.
- the license plate information includes: a license plate character identifier, and position information of the license plate on the current frame video image.
- the identified license plate is determined as the current target point, and the license plate information of the current target point is obtained.
- Step 102 Match the license plate information of the current target point with the license plate information of each target point to be tracked, that is, find all the license plate information of the target point to be tracked and the license plate of the current target point among all the target points to be tracked. The information is matched, if yes, go to step 103, otherwise, go to step 104.
- the license plate information includes: a license plate character identifier, and position information of the license plate on the current frame video image. Cause Therefore, here, the matching may be performed according to the location information. If the matching is unsuccessful, the license plate character identifier is used for matching. Or, match directly with the license plate character.
- the M position information is matched first, and then the license plate character identifier is used for matching, so that the calculation amount is small, and the matching comparison process is simple.
- the matching according to the location information specifically includes:
- the license plate information of the target point to be tracked
- the first threshold is the maximum width of the license plate in the image multiplied by a ratio value that is greater than 1, in general, the maximum width is the width of the blue license plate at the bottom of the image.
- the license plate character identifier is used for matching, and the license plate character identifier of the current target point is directly compared with the license plate character identifier of each target point to be tracked, when the number of the same characters is greater than the set number. And determining that the license plate information of the current target point matches the license plate information corresponding to the target point to be tracked, and performing step 103; otherwise, performing step 104.
- the second small distance between the current punctuation and the distance of each target point to be tracked may be compared with the second threshold, and when the second small distance is smaller than the second threshold, the license plate character of the current target point is identified.
- the license plate character identifier of the second target target to be tracked corresponding to the second small distance is compared.
- the license plate information of the current target point and the license plate information of the second target point to be tracked are determined. If the matching is performed, step 103 is performed. In other cases, it is determined that the license plate information of the current target point does not match the license plate information of any one of the target points to be tracked, and step 104 is performed.
- the second threshold is greater than the first threshold and is also related to the maximum width of the license plate in the image.
- Step 103 Determine the current target point as the target point to be tracked that the license plate information matches, and update the tracking list information of the target point to be tracked.
- the license plate information that has been found to be tracked in all the target points to be tracked matches the license plate information of the current target point. Therefore, the current target point is determined as the target point to be tracked with the license plate information matching, and the target to be tracked is updated.
- Point tracking list information That is, the position information of the target point to be tracked on the current frame video image, the frame number of the current frame video image, and the storage location information are added to the tracking list information.
- the updated tracking list information includes: a license plate character identifier: 0012300, which appears on the video image of the 108th frame.
- the position coordinates are (xl, yl), the 108th frame video image is stored in the storage unit 8, and the position coordinates appearing on the 109th frame video image are (x2, y2), and the 109th frame video image is stored in the storage unit 9.
- the position coordinates appearing on the video image of the 110th frame are (x3, y3), and the video image of the 10th frame is stored in the storage unit 10.
- Step 104 Determine the current target point as a new target point to be tracked, and establish a new tracking list information of the target point to be tracked.
- the current target point is determined as a new target point to be tracked, and a new to-be-tracked is established.
- Tracking list information for the target point includes: a license plate character identifier, position information of the new target target point to be tracked on the current frame video image, and frame number and storage location information of the frame video image.
- each license plate identified in the detection area can be positioned, and each license plate is determined to be a target point to be tracked or a new target point to be tracked.
- a target point can be determined to match in the detection area of the current frame video image, and the tracking process ends. If the target point to be tracked does not appear in the detection area of the current frame video image, the tracking area may appear in the target point to be tracked. Therefore, a specified one to be tracked is not detected in the detection area of the current frame video image.
- a subsequent predicted orbit tracking process is also required.
- the target points to be tracked are Vehicle 1, Vehicle 2 and Vehicle 3. Four target points appear in the detection area of the current frame video image.
- the above tracking process it is determined that the four target points are the vehicle 1, the vehicle 2, the vehicle 3, and the vehicle 4, respectively, at this time, since each is to be tracked The target point has been tracked, so the tracking process ends. If the above tracking process is passed, it is determined that the four target points are the vehicle 1, the vehicle 2, the vehicle 4, and the vehicle 5. At this time, since the vehicle 3 is not tracked, the vehicle 3 may appear in the tracking area, and therefore, a subsequent predicted orbit tracking process is required.
- the vehicle tracking process when a specified target point to be tracked is not detected in the detection area of the current frame video image, the vehicle tracking process further includes predicting trajectory tracking.
- the method specifically includes:
- Step 201 Obtain location information of the undetected target point to be tracked in at least three frames of video images from the tracking list information of the target point to be tracked that is not detected.
- Target point in the first three frames The position information in the video image is Al (xl, yl ), A2 ( x2, y2 ), A3 ( x3 , y3 ).
- Step 202 Determine a prediction area in the current frame video image according to the acquired location information.
- the acquired position information is Al ( xl , yl ), A2 ( x2, y2 ), A3 ( x3 , y3 ), respectively calculate the slope of the line Al A2 tmpSlopel and the intercept tmpOffsetl , the slope of the line A1 A3 tmpSlope2 and the cut From tmpOfFset2, the slope of the line A2A3 is tmpSlope3 and the intercept tmpOffset3, then the average slope Slope and the average intercept Offset are obtained.
- the approximate position B ( X, y ) that can appear on the video image.
- the set area centered on B (X, y ) is determined as the prediction area.
- Step 203 Perform template matching on the license plate in the prediction area, and obtain a minimum mean value of the pixel gray difference mean values of each target area obtained in the template matching process.
- the license plate image of the target point to be tracked is used as a template, and the upper left corner of the template and the upper left corner of the prediction area are coincident, and an area corresponding to the template size is used as the current target area, and the template and the gray of the corresponding pixel in the current target area are used.
- the degree value is difference, the absolute value is obtained, and the absolute values corresponding to all the pixels in the current target area are summed, and the sum result is divided by the total number of pixels in the template to obtain the average value of the pixel gray difference of the current target area; then, to the upper left
- the next pixel of the corner point is a coincidence point, and the template matching process is still performed until each pixel in the prediction area is traversed, and the mean value corresponding to each target area is obtained, and the mean value corresponding to each target area is compared, and the minimum mean value of the template matching is obtained.
- Step 204 Compare the minimum mean value of the template matching with the third threshold. When the minimum mean value is less than the third threshold, perform step 205. Otherwise, perform step 206.
- Step 205 Determine a target area corresponding to the minimum mean value as an undetected target point to be tracked, and update the track list information of the undetected target point to be tracked.
- the average value of the pixel gray difference corresponding to each target area is obtained.
- the target area corresponding to the minimum mean value is determined as the true target, that is, the target area is not
- the detected target point to be tracked and the tracking list information of the undetected target point to be tracked is updated.
- the update process includes: adding the location information c ( X, y ) of the target area, and the frame number and storage location information of the current frame video image to the tracking list information.
- Step 206 Perform coarse positioning in the prediction area. If the coarse positioning is successful, go to step 207. Otherwise, the coarse positioning is unsuccessful. Determine that the undetected target point to be tracked does not appear in the video image of the current frame.
- the operator extracts the edge of the binarized image and scans the entire edge binarized image line by line to find the suspected license plate scanning area according to the characteristics of the vertical edge of the license plate: within the specific pixel segment of the current scanning line If the number of pixel jumps reaches a certain value, it is determined that the specific pixel segment is a suspected license plate segment, and after all the line scans are completed, the suspected license plate segments are merged, and specifically, the adjacent rows and the left and right positions are also relatively close. If the suspected license plate segments are merged, a suspected license plate scanning area will be formed.
- the suspected license plate segment A in the first row has the leftmost pixel as the third pixel and the rightmost pixel as the 83rd pixel.
- the second row of the suspected license plate The leftmost pixel in segment B is the second pixel, and the rightmost pixel is the 82nd pixel.
- the leftmost pixel in the suspected license plate segment C in the third row is the third pixel, and the rightmost pixel is the 83rd pixel. It can be considered that the left and right positions of the suspected license plate segments on lines 1-3 are relatively close, and the three suspected license plate segments are combined to obtain a suspected license plate scanning area, and the suspected license plate sweep A first pseudo behavior plate segment region A, the second behave like plate segment B, a third plate section behave like C.
- step 207 determining the coarsely located license plate as an undetected target point to be tracked, and updating the undetected target to be tracked Point tracking list information.
- the suspected license plate scanning area is determined as the rough-positioned license plate, and the position information of the suspected license plate scanning area is acquired, and the position information, and the frame number and storage position information of the current frame video image are added. Go to the tracking list information.
- steps 206 and 207 may not be performed, i.e., only template matching is performed without coarse positioning.
- the vehicle screen information in the multi-lane can be acquired by the camera, and the acquired current frame video image is stored in the image buffer area, and after the vehicle tracking is completed, the vehicle can be captured according to the set condition.
- the current frame video image is acquired by the camera, it is stored in the image buffer area by means of cyclic storage.
- the target is to be tracked from the target. Finding a minimum video image frame number of the target to be tracked in the tracking list information, and determining storage location information corresponding to the minimum video image frame number, and finally, extracting a corresponding video image from the image buffer according to the storage location information, The extracted video image is determined to be a captured image.
- the image buffer area is allocated 100 storage units, each unit stores one frame of video image, and each time the camera acquires one frame of video image, it is cyclically stored in the image buffer area, and is included in the tracking list information of the target to be tracked.
- Store location information When a target to be tracked continuously appears in 10 frames of video images, or when the target to be tracked continuously violates the chapter, the minimum video image frame number is found in the tracking list information of the target to be tracked, and the minimum video image frame number is determined.
- Storage location information For example: The minimum video image frame number is 103 frames, and the storage location information is the third storage. Storage unit.
- the 103rd frame video image is extracted from the 3rd storage unit, and the 103rd frame video image is determined as the captured image.
- the captured lanes are images that have just appeared in the field of view, and the vehicle information is clear and easily identifiable.
- the method includes: an identification unit 100, a matching unit 200, and a first tracking unit 300, where
- the identification unit 100 is configured to determine a license plate recognized from the detection area of the current frame video image as the current target point.
- the matching unit 200 is configured to match the license plate information of the current target point with the license plate information of each target point to be tracked.
- the first tracking unit 300 is configured to: when the license plate information of the current target point matches the license plate information of the target point to be tracked, determine that the current target point is the target point to be tracked, and update the tracking list information of the target point to be tracked; When the license plate information of the target point does not match the license plate information of any target point to be tracked, the current target point is determined as a new target point to be tracked, and a new tracking list information of the target point to be tracked is established, wherein the tracking list information includes : Position information of the target point to be tracked on each frame of video image, license plate character identification, and frame number and storage location information of each frame of video image.
- the matching unit 200 is specifically configured to determine the current target point and each to be tracked according to the position information of the current target point on the current frame video image and the position information of each target point to be tracked on the previous frame video image.
- the matching unit 200 matches the character identification information of the current target point with the character identification information of each target point to be tracked, and directly compares the license plate character identifier of the current target point with the license plate character identifier of each target to be tracked. If the number of the same characters is greater than the set number, it is determined that the license plate information of the current target point matches the license plate information of the target point to be tracked, otherwise the confirmation does not match.
- the matching unit 200 is further configured to: when the second small distance in the distance between the current punctuation and each target point to be tracked is less than a second threshold, and the second character distance corresponding to the second small distance of the current target point When the number of the same characters in the license plate character identifier of the tracking target is greater than the set number, it is determined that the license plate information of the current target point matches the license plate information of the second target point to be tracked; when the current target point and each target point to be tracked If the second small distance in the distance is not less than the second threshold or the license plate character identifier of the current target point and the number of the same characters in the license plate character identifier of the second target to be tracked corresponding to the second small distance are not greater than the set number, determining the current The license plate information of the target point does not match the license plate information of any of the target points to be tracked.
- the vehicle tracking device uses the license plate information matching to track the vehicles in the detection area. For the target point to be tracked that does not appear in the detection area, it is also necessary to determine whether the target point to be tracked appears in the tracking area, that is, it is also required to be used.
- the predicted trajectory is tracked, and therefore, the vehicle tracking device further includes a second tracking unit.
- the second tracking unit is configured to: when the specified target point to be tracked is not detected in the detection area of the current frame video image, obtain the undetected in the tracking list information of the undetected target point to be tracked.
- Position information of the target point to be tracked in at least three frames of video images determining a prediction area in the video image of the current frame according to at least three pieces of position information, performing template matching on the license plate in the prediction area, and obtaining each obtained in the template matching process a minimum mean value of the pixel grayscale difference mean values of the target area, when the minimum mean value is less than the third threshold value, determining the target area corresponding to the minimum mean value as the undetected target point to be tracked, and updating the undetected target point Tracking list information of the target point to be tracked.
- the minimum mean value is greater than or equal to the third threshold, it may be determined that the target point to be tracked is not tracked, or the second tracking unit further uses the coarse positioning for orbit tracking, and therefore, the second tracking unit is further used for the minimum mean value.
- the third threshold is greater than or equal to the third threshold, the license plate of the undetected target point is coarsely located in the prediction area, and when the coarse positioning is successful, determining that the roughly located license plate is the undetected target point to be tracked And update the tracking list information of the undetected target point to be tracked.
- the vehicle tracking device also includes: a capture unit.
- the capturing unit is configured to: when the specified tracking condition meets the set capturing condition, find a minimum video image frame number from the specified tracking list information of the target to be tracked, and determine a minimum video image frame number corresponding to The location information is stored; according to the storage location information, a corresponding video image is extracted from the image buffer, and the extracted video image is determined as a captured image.
- the license plate information matching is used for tracking.
- For the target point to be tracked that does not appear in the detection area it is also determined whether the target point to be tracked appears in the tracking area, that is, it is still needed. Tracking is performed using predicted orbits. In this way, accurate vehicle tracking can be achieved with only a small amount of calculation, thereby eliminating the need for a large number of people to participate in the vehicle tracking process and improving the efficiency of the intelligent transportation system. Moreover, accurate tracking also helps to judge violations.
- the captured vehicles are just the video images that appear, so that the vehicle information is cleaned and easily identifiable.
- embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can be embodied in the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) in which computer usable program code is embodied.
- computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
- the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
- the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
- These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
- the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
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