WO2017099541A8 - 다수 스테레오 카메라를 이용한 피사체 공간이동 추적 시스템 - Google Patents

다수 스테레오 카메라를 이용한 피사체 공간이동 추적 시스템 Download PDF

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WO2017099541A8
WO2017099541A8 PCT/KR2016/014491 KR2016014491W WO2017099541A8 WO 2017099541 A8 WO2017099541 A8 WO 2017099541A8 KR 2016014491 W KR2016014491 W KR 2016014491W WO 2017099541 A8 WO2017099541 A8 WO 2017099541A8
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subject
stereo cameras
ptz camera
image capturing
regions
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PCT/KR2016/014491
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English (en)
French (fr)
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WO2017099541A1 (ko
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이종훈
황인규
김도윤
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공간정보기술 주식회사
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Priority to JP2017533380A priority Critical patent/JP2018502504A/ja
Priority to US15/323,274 priority patent/US20180278919A1/en
Priority to CN201680001935.9A priority patent/CN107113403A/zh
Publication of WO2017099541A1 publication Critical patent/WO2017099541A1/ko
Publication of WO2017099541A8 publication Critical patent/WO2017099541A8/ko

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/254—Analysis of motion involving subtraction of images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/285—Analysis of motion using a sequence of stereo image pairs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/128—Adjusting depth or disparity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/366—Image reproducers using viewer tracking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G06V20/625—License plates
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

본 발명은 피사체의 움직임을 추적하는 스테레오 카메라에 관한 것으로, 복수 개로 구성되는 스테레오 카메라와, 상기 복수의 스테레오 카메라 각각의 촬영 영역에 따라 생성된 깊이지도를 정합하는 공간데이터 합성부와, 스테레오 카메라의 촬영 영역에 피사체가 존재 여부를 판단하는 피사체 감지부와, 패닝(Panning) 및 틸팅(Tilting)을 수행하여 촬영 방향이 피사체를 향하도록 이동하고 피사체를 중심으로 주밍(Zooming)을 수행하는 PTZ카메라와, 상기 PTZ카메라를 구동하는 구동 제어부로 구성되며, 상기 구동 제어부는 상기 스테레오 카메라의 촬영 범위 중 어느 한점의 위치를 상기 PTZ카메라의 각도와 매칭하여 초기값을 설정하고 피사체가 감지되면 피사체의 중심 좌표를 기초로 이동에 필요한 팬 각과 틸트 각 및 피사체와의 거리에 따라 산출된 줌 레벨에 맞춰 상기 PTZ카메라를 구동하는 제1 방식과, 3차원 공간에 대한 촬영 구역을 설정하고 설정된 각각의 구역으로 촬영 방향이 향하도록 상기 PTZ카메라의 구동값을 수동으로 프리세팅(pre-setting)한 후 피사체가 감지된 구역에 대한 프리세팅 값을 호출하여 상기 PTZ카메라를 구동하는 제2 방식을 사용하는 다수 스테레오 카메라를 이용한 피사체 공간이동 추적 시스템을 제시한다.
PCT/KR2016/014491 2015-12-09 2016-12-09 다수 스테레오 카메라를 이용한 피사체 공간이동 추적 시스템 WO2017099541A1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017533380A JP2018502504A (ja) 2015-12-09 2016-12-09 複数のステレオカメラを用いた被写体空間移動追跡システム
US15/323,274 US20180278919A1 (en) 2015-12-09 2016-12-09 System for tracking subject moving within space using stereo cameras
CN201680001935.9A CN107113403A (zh) 2015-12-09 2016-12-09 利用多个立体摄像头的拍摄对象空间移动跟踪系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0174874 2015-12-09
KR1020150174874A KR101619838B1 (ko) 2015-12-09 2015-12-09 다수 스테레오 카메라를 이용한 피사체 공간이동 추적 시스템

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WO2017099541A1 WO2017099541A1 (ko) 2017-06-15
WO2017099541A8 true WO2017099541A8 (ko) 2017-07-27

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US (1) US20180278919A1 (ko)
JP (1) JP2018502504A (ko)
KR (1) KR101619838B1 (ko)
CN (1) CN107113403A (ko)
WO (1) WO2017099541A1 (ko)

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Publication number Publication date
WO2017099541A1 (ko) 2017-06-15
US20180278919A1 (en) 2018-09-27
KR101619838B1 (ko) 2016-05-13
CN107113403A (zh) 2017-08-29
JP2018502504A (ja) 2018-01-25

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