WO2016112630A1 - 一种影像识别系统及方法 - Google Patents
一种影像识别系统及方法 Download PDFInfo
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- WO2016112630A1 WO2016112630A1 PCT/CN2015/081403 CN2015081403W WO2016112630A1 WO 2016112630 A1 WO2016112630 A1 WO 2016112630A1 CN 2015081403 W CN2015081403 W CN 2015081403W WO 2016112630 A1 WO2016112630 A1 WO 2016112630A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
- G06F18/2411—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on the proximity to a decision surface, e.g. support vector machines
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/172—Classification, e.g. identification
Definitions
- the present invention relates to the field of security, and in particular to an image recognition system and method for a robot system.
- Non-mandatory the user does not need to cooperate with the face collection device, and the face image can be obtained almost in an unconscious state. Such sampling method is not “mandatory”;
- Non-contact Users can obtain facial images without direct contact with the device
- the face recognition system usually includes a camera for capturing a face image, a light source for light compensation, an auxiliary positioning device or a mark for prompting the face collection position.
- a computer for face recognition software (which may be an embedded computer) that processes or displays means for identifying results, such as a reminder light, a door open relay, and a database table that records the results of the recognition.
- the face recognition system used in the security system usually has the following problems that are difficult to use in our scene: 1.
- the posture requirements for face acquisition are very fixed; 2.
- the light source condition is fixed by the compensation light source, which is very sensitive to light; Since the calculation requirements are one-time, the calculation speed is not high.
- an image recognition system which includes:
- the robot has an image acquisition module, and the image acquisition module is driven by an image acquisition drive module to collect images in the field of view of the robot;
- a light source that fills light when the image acquisition module acquires an image
- the face detection module locates the face image appearing in the image according to the image acquired by the image acquisition module
- the face recognition module preprocesses the positioned face image, and then compares with the image feature information of the known identity in a database to determine the identity information and the confidence rate of the current face image.
- the image acquisition module is a high-definition camera, and the high-definition camera has a static image and a video capture capability of at least 30 frames per second;
- the high definition camera is coupled to the robot via a MIPI or USB interface.
- the light source comprises an ambient light source and infrared Light source
- the ambient light source When the ambient light source is filled with light and the image is acquired according to the image acquisition module, if the acquired image cannot meet the recognition requirement, the infrared light source is used to fill the light.
- preprocessing comprises:
- Angle correction processing and light processing (including brightness normalization and polarization correction) of the face image appearing in the image.
- the database comprises a local data storage module and a network server data storage module.
- the robot further has a sounding device connected to the database, and the sounding device emits different types of prompt sounds according to the comparison result of the face recognition module.
- system further comprises a record feedback device for recording and/or feeding back the comparison result of the face recognition module.
- the face recognition module performs an alignment using an SVM algorithm.
- Step S1 collecting an image in a field of view by using an image acquisition module of the robot, and using a light source to fill light while acquiring the image;
- Step S2 performing positioning processing on the face image appearing in the image collected by the image acquisition module by using the face detection module;
- Step S3 using the face recognition module to preprocess the positioned face image, and then comparing with the image feature information of the known identity in a database to determine The identity information and confidence rate of the current face image.
- FIG. 1 is a structural diagram and an operation example of an identity recognition system provided by the present invention.
- the present invention realizes the function of face recognition as a part of the robot vision system, it is necessary to solve the problems encountered by the robot in the application. Including: 1. Faces of various postures appearing anywhere in the robot's field of view; 2. Various lighting conditions, including partial Light or uncompensated light source; 3. Real-time recognition of the face appearing in the robot's field of view requires high response speed, and real-time feedback is required through continuous recognition when the face identity changes.
- an image recognition system including:
- the robot has an image acquisition module, and the image acquisition module is driven by an image acquisition drive module to collect images in the field of view of the robot;
- the light source is filled with light when the image acquisition module collects an image
- the face detection module locates the face image appearing in the image according to the image acquired by the image acquisition module
- the face recognition module preprocesses the positioned face image, and then compares with the image feature information of the known identity in a database to determine the identity information and the confidence rate of the current face image.
- the image acquisition module of the robot is a high-definition camera.
- the high-definition camera should have a static image and a video capture capability of at least 30 frames per second, thereby satisfying high-speed images.
- the demand for collection For example, the object moves too fast in the field of view of the robot, and the present invention can also collect clear images.
- the HD camera is connected to the robot via MIPI or USB interface.
- the robot can also adjust the range and angle of the image capturing module in real time through a motor. For example, when it is detected that someone in the visible range passes, the image capturing module can be driven by the motor.
- the moving object performs real-time tracking shooting, for example, moving in synchronization with moving objects and performing enlarged shooting to improve the sharpness of the captured image.
- the light source described above includes an ambient light source and an infrared light source.
- the ambient light source is the light source of the robot.
- the advantage is that the brightness is uniform.
- the disadvantage is that the brightness is not too high, there is no directionality, and the brightness may be controlled by other high-priority applications, sometimes even turned off, so it cannot satisfy the complete complement.
- the infrared light-emitting device added by the invention is mainly used for image fill light, so the light-emitting power is limitedly controlled by the image recognition system, and can achieve relatively stable fill light in various scenes. For example, when the ambient light source is used to fill light, and the image is collected according to the image acquisition module, if the collected image cannot meet the recognition requirement, the infrared light source is used to fill the light, thereby obtaining a clear image.
- the face detection module is used for positioning, that is, the location of the face is located in the full-view image acquired by the robot, and the position is fixed in the existing security system, usually not This step is required. Then, the face recognition module is used to preprocess the positioned face image, and then compared with the image feature information of the known identity in a database to determine the identity information and the confidence rate of the current face image.
- the face recognition module can perform angle correction processing and light processing on the face image appearing in the image, including brightness normalization and polarization correction.
- the present invention uses the face recognition module to perform angle correction processing on the face image collected and positioned by the face detection module, and the embedded recognition technology also performs image light processing, thereby facilitating comparison and improving the correct rate.
- the database includes a local data storage module and a web server data storage module.
- the local data storage module is a robot-based embedded system, which adopts face recognition technology based on feature matching. Firstly, the feature database of the known identity face image is constructed, and then the same type of feature is extracted from the face image collected in real time. The mathematical distance function is used to compare the feature distance between the current face and the database face, and then the most likely Identity and give a confidence rate.
- the network server data storage module because of more computing resources and more flexible application architecture, we use the face recognition technology based on deep learning model to train the multi-layer neural network model for face recognition through deep learning technology.
- the model will be used to generate facial features in the database, construct the database face categories using the SVM algorithm (Support Vector Machine, support vector machine, is a trainable machine learning method) or other standard classifiers, and then The model features are calculated for the face images acquired in real time, and the identity and confidence rate of the face images are determined by the classifier.
- the embedded feature matching recognition technology supports the recognition of 20-50 people. Within a certain range of light and angle variation, the recognition accuracy of 20 people is over 90%, and the accuracy rate of 50 people is over 80%.
- the recognition technology based on deep learning on the server Supporting the identification of more than 50 people to at least a few hundred people, the recognition accuracy is above 97%.
- the robot further has a sounding device connected to the database, and the sounding device emits different types of prompt sounds according to the comparison result of the face recognition module. For example, if the face recognition module is correct, the sounding device will retrieve the prompt sound corresponding to the current face image in the database, such as "Hello, Mr. Chen.” If the recognition still fails after repeated verification, then the greeting application can still make a general greeting without identity information, such as issuing a simple "hello" through the sound device.
- the present invention can be connected to the access control system, allowing the current person to pass if the recognition is passed, and prohibiting the current person from passing if the identification is not passed.
- the image recognition system provided by the present invention further includes a record feedback device for recording and/or feeding back the comparison result of the face recognition module.
- a record feedback device for recording and/or feeding back the comparison result of the face recognition module.
- the present invention also provides a method for identifying by using the above image recognition system, which specifically includes the following steps:
- Step S1 using an image acquisition module of the robot to collect an image in a field of view, and using a light source to fill light while acquiring the image;
- Step S2 performing a positioning process on the face image appearing in the image collected by the image acquisition module by using the face detection module;
- Step S3 The face recognition module is used to preprocess the positioned face image, and then compared with the image feature information of the known identity in a database to determine the identity information and the confidence rate of the current face image.
- an identification request can be initiated to the image acquisition driver module by means of a robot greeting application.
- the image acquisition driver module accepts the request and transmits the image transmitted by the camera to the face detection module.
- the detection software intercepts and pre-processes the captured face image, and then sends it to the face recognition module, and the face recognition module transmits the recognition result to the result confirmation module, and the system performs the corresponding operation according to the difference of the judgment result. If correct, the result is sent to the greeted application, which uses the vocal device to say hello to the user in the camera image based on the identified identity. If it is wrong, it will re-send the identification request to the image acquisition driver and re-enter the recognition process.
- the main basis for the recognition of the recognition result confirmation module is the confidence rate in the transmission result of the face recognition software.
- the number of times the request is resent when the error is identified in the worst case is controlled by the hello application according to a request timeout period to control whether the module continues to resend the request. If the correct timeout is not obtained after the recognition timeout, the recognition is considered to be a failure, and then the hello application is called. You can still make a general greeting without identity information, such as the simple "hello".
- the present invention can perform recognition when a face recognition is performed without a fixed face pose, and can be recognized based on local or network server data, and improved.
- the accuracy of the identification in addition, through the use of appropriate cameras, computing hardware modules and computing frameworks, the face recognition process can meet the real-time needs.
Abstract
Description
Claims (10)
- 一种影像识别系统,其特征在于,包括:机器人,具有一图像采集模块,通过一影像采集驱动模块驱动该图像采集模块来采集机器人视野范围内的图像;光源,在所述图像采集模块采集图像时进行补光;人脸检测模块,根据所述图像采集模块采集得到的图像,对图像中出现的人脸影像进行定位;人脸识别模块,对定位后的人脸影像进行预处理,之后和一数据库中已知身份的影像特征信息进行比对,以判断出当前人脸影像的身份信息和置信率。
- 如权利要求1所述的影像识别系统,其特征在于,所述图像采集模块为高清摄像头,所述高清摄像头具备静态图像和每秒至少30帧的视频采集能力;所述高清摄像头通过MIPI或USB接口与所述机器人连接。
- 如权利要求1所述的影像识别系统,其特征在于,所述光源包括氛围光光源以及红外光光源;当在氛围光光源进行补光,依据图像采集模块采集图像时,若采集的图像无法满足识别需求,通过所述红外光光源进行补光。
- 如权利要求1所述的影像识别系统,其特征在于,所述预处理包括:对图像中出现的人脸影像进行角度矫正处理和光线处理。
- 如权利要求1所述的影像识别系统,其特征在于,所述数据库包括本地数据存储模块和和网络服务器数据存储模块。
- 如权利要求1所述的影像识别系统,其特征在于,所述机器人还具有一发声装置,连接所述数据库,所述发声装置根据所述人脸识别模块的比对结果来发出不同类型的提示音。
- 如权利要求1所述的影像识别系统,其特征在于,所述系统还包括一记录反馈装置,用于记录和/或反馈所述人脸识别模块的比对结果。
- 如权利要求1所述的影像识别系统,其特征在于,所述人脸识别模块利用SVM算法来进行比对。
- 一种使用权利要求1-8任意一项所述系统的影像识别方法,其特征在于,包括如下步骤:步骤S1:利用所述机器人的图像采集模块来采集视野范围内的图像,并在采集图像的同时,利用一光源进行补光;步骤S2:利用所述人脸检测模块对所述图像采集模块采集得到的图像中出现的人脸影像进行定位处理;步骤S3:利用所述人脸识别模块对对定位后的人脸影像进行预处理,之后和一数据库中已知身份的影像特征信息进行比对,以判断出当前人脸影像的身份信息和置信率。
- 如权利要求9所述的影像识别方法,其特征在于,在步骤S3中,若当前人脸影像的身份信息不符合数据库中已知身份的影像特征信息,继续进行所述步骤S1~步骤S3。
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EP15877546.0A EP3246848A4 (en) | 2015-01-12 | 2015-06-12 | Image recognition system and method |
JP2017537987A JP6538856B2 (ja) | 2015-01-12 | 2015-06-12 | 影像識別システムと方法 |
CA2973393A CA2973393C (en) | 2015-01-12 | 2015-06-12 | A system and a method for image recognition |
NZ734556A NZ734556B2 (en) | 2015-01-12 | 2015-06-12 | Image recognition system and method |
KR1020177022432A KR20170103931A (ko) | 2015-01-12 | 2015-06-12 | 영상식별 시스템 및 식별방법 |
US14/763,715 US9875391B2 (en) | 2015-01-12 | 2015-06-12 | System and a method for image recognition |
SG11201705712RA SG11201705712RA (en) | 2015-01-12 | 2015-06-12 | Image recognition system and method |
ZA2017/05418A ZA201705418B (en) | 2015-01-12 | 2017-08-10 | Image recognition system and method |
AU2017101096A AU2017101096A4 (en) | 2015-01-12 | 2017-08-11 | A system and a method for image recognition |
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CN106250877A (zh) * | 2016-08-19 | 2016-12-21 | 深圳市赛为智能股份有限公司 | 近红外人脸识别方法及装置 |
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CN108513706A (zh) * | 2018-04-12 | 2018-09-07 | 深圳阜时科技有限公司 | 电子设备及其面部识别方法 |
CN109062942A (zh) * | 2018-06-21 | 2018-12-21 | 北京陌上花科技有限公司 | 数据查询方法和装置 |
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CN109977645A (zh) * | 2019-03-18 | 2019-07-05 | 咪付(广西)网络技术有限公司 | 一种身份识别系统 |
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CN111368622A (zh) * | 2019-10-18 | 2020-07-03 | 杭州海康威视系统技术有限公司 | 人员识别方法及装置、存储介质 |
CN111368622B (zh) * | 2019-10-18 | 2024-01-12 | 杭州海康威视系统技术有限公司 | 人员识别方法及装置、存储介质 |
Also Published As
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US20160307027A1 (en) | 2016-10-20 |
JP6538856B2 (ja) | 2019-07-03 |
KR20170103931A (ko) | 2017-09-13 |
TW201629851A (zh) | 2016-08-16 |
NZ734556A (en) | 2020-09-25 |
CN105844202A (zh) | 2016-08-10 |
ZA201705418B (en) | 2019-01-30 |
JP2018501586A (ja) | 2018-01-18 |
US9875391B2 (en) | 2018-01-23 |
SG11201705712RA (en) | 2017-08-30 |
EP3246848A1 (en) | 2017-11-22 |
CA2973393C (en) | 2024-04-02 |
CA2973393A1 (en) | 2016-07-21 |
EP3246848A4 (en) | 2018-09-12 |
HK1222247A1 (zh) | 2017-06-23 |
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