WO2022009301A1 - Dispositif de traitement d'image, procédé de traitement d'image et programme - Google Patents

Dispositif de traitement d'image, procédé de traitement d'image et programme Download PDF

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Publication number
WO2022009301A1
WO2022009301A1 PCT/JP2020/026534 JP2020026534W WO2022009301A1 WO 2022009301 A1 WO2022009301 A1 WO 2022009301A1 JP 2020026534 W JP2020026534 W JP 2020026534W WO 2022009301 A1 WO2022009301 A1 WO 2022009301A1
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Prior art keywords
query
person
image
posture
search
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PCT/JP2020/026534
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English (en)
Japanese (ja)
Inventor
雅冬 潘
登 吉田
諒 川合
健全 劉
祥治 西村
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日本電気株式会社
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Priority to JP2022534527A priority Critical patent/JP7416252B2/ja
Priority to PCT/JP2020/026534 priority patent/WO2022009301A1/fr
Publication of WO2022009301A1 publication Critical patent/WO2022009301A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/53—Querying

Definitions

  • the present invention relates to an image processing device, an image processing method, and a program.
  • Patent Documents 1 and 2 are known.
  • Patent Document 1 discloses a technique for searching the posture of a similar person based on key joints such as the head and limbs of the person included in the depth image.
  • Patent Document 2 discloses a technique for searching for a similar image by using posture information such as tilt added to the image, although it is not related to the posture of the person.
  • Patent Document 3 discloses a technique of acquiring posture information of a search target composed of a plurality of feature points from an image and searching for an image including a posture similar to the posture specified by the posture information.
  • Non-Patent Document 1 is known as a technique related to the estimation of the skeleton of a person.
  • Patent Documents 1 and 3 are techniques for searching for an image including a person in a predetermined state, but since the conditions that can be specified as a search query are limited, the searchable targets are also limited. That is, the techniques of Patent Documents 1 and 3 have room for improvement in the input method.
  • Patent Document 2 is not a technique for searching an image including a person in a predetermined state.
  • An object of the present invention is to expand the range of searchable objects in a system for searching an image including a person in a predetermined state.
  • a first query acquisition means for acquiring a first query that specifies the posture of each of a plurality of people
  • a second query acquisition means for acquiring a second query that specifies at least one of a physical distance and a temporal distance between a plurality of persons taking the specified postures.
  • a search means for executing an image search based on the first query and the second query, and An image processing device comprising the above is provided.
  • the computer Get the first query that specifies the posture of each of the multiple people Obtain a second query that specifies at least one of the physical distance and the temporal distance between the plurality of people who take the specified posture.
  • An image processing method for executing an image search based on the first query and the second query is provided.
  • a first query acquisition means for acquiring a first query that specifies the posture of each of a plurality of people
  • a second query acquisition means for acquiring a second query that specifies at least one of a physical distance and a temporal distance between a plurality of persons taking the specified postures.
  • a search means for performing an image search based on the first query and the second query.
  • a program is provided that functions as.
  • the range of searchable objects can be expanded.
  • FIG. 1 It is a block diagram which shows the outline of the image processing apparatus which concerns on embodiment. It is a block diagram which shows the structure of the image processing apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the image processing method which concerns on Embodiment 1. It is a flowchart which shows the classification method which concerns on Embodiment 1. It is a flowchart which shows the search method which concerns on Embodiment 1.
  • FIG. It is a figure which shows the human body model which concerns on Embodiment 1. It is a figure which shows the detection example of the skeleton structure which concerns on Embodiment 1.
  • FIG. 1 It is a block diagram which shows the outline of the image processing apparatus which concerns on embodiment. It is a block diagram which shows the structure of the image processing apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the image processing method which concerns on Embodi
  • FIG. It is a figure which shows the detection example of the skeleton structure which concerns on Embodiment 1.
  • FIG. It is a figure which shows the detection example of the skeleton structure which concerns on Embodiment 1.
  • FIG. It is a graph which shows the specific example of the classification method which concerns on Embodiment 1.
  • FIG. It is a figure for demonstrating the search method which concerns on Embodiment 1.
  • the inventors examined a method of using a skeleton estimation technique such as Non-Patent Document 1 in order to recognize the state of a person desired by a user from an image on demand.
  • a related skeleton estimation technique such as OpenPose disclosed in Non-Patent Document 1
  • the skeleton of a person is estimated by learning image data with various patterns correctly answered.
  • the skeletal structure estimated by a skeletal estimation technique is composed of "key points” which are characteristic points of joints and the like and “bones (bone links)" which indicate links between key points. .. Therefore, in the following embodiments, the skeletal structure will be described using the terms “key point” and “bone”, but unless otherwise specified, the "key point” corresponds to the “joint” of a person, and " “Bone” corresponds to the "bone” of a person.
  • FIG. 1 shows an outline of the image processing apparatus 10 according to the embodiment.
  • the image processing device 10 includes a skeleton detection unit 11, a feature amount calculation unit 12, and a recognition unit 13.
  • the skeleton detection unit 11 detects a two-dimensional skeleton structure (hereinafter, may be simply referred to as “skeleton structure”) of a plurality of persons based on a two-dimensional image acquired from a camera or the like.
  • the feature amount calculation unit 12 calculates the feature amount of the plurality of two-dimensional skeleton structures detected by the skeleton detection unit 11.
  • the recognition unit 13 performs a recognition process for the states of a plurality of persons based on the similarity of the plurality of feature amounts calculated by the feature amount calculation unit 12.
  • the recognition process is a classification process of a person's state, a search process, or the like.
  • the two-dimensional skeleton structure of the person is detected from the two-dimensional image, and the recognition process such as classification and search of the state of the person is performed based on the feature amount calculated from the two-dimensional skeleton structure. ..
  • FIG. 2 shows the configuration of the image processing apparatus 100 according to the present embodiment.
  • the image processing device 100 constitutes an image processing system 1 together with a camera 200 and a storage means (database (DB) 110).
  • the image processing system 1 including the image processing device 100 is a system for classifying and searching states such as posture and behavior of a person based on the skeleton structure of the person estimated from the image.
  • the camera 200 is an image pickup unit such as a surveillance camera that generates a two-dimensional image.
  • the camera 200 is installed at a predetermined location and captures a person or the like in the imaging region from the installation location.
  • the camera 200 is directly connected by wire or wirelessly so that the captured image (video) can be output to the image processing device 100, or is connected via an arbitrary communication network or the like.
  • the camera 200 may be provided inside the image processing device 100.
  • the database 110 is a database that stores information (data), processing results, and the like necessary for processing of the image processing apparatus 100.
  • the database 110 includes an image acquired by the image acquisition unit 101, a detection result of the skeletal structure detection unit 102, data for machine learning, a feature amount calculated by the feature amount calculation unit 103, a classification result of the classification unit 104, and a search unit 105. The search results etc. of are memorized.
  • the database 110 is directly connected to the image processing device 100 by wire or wirelessly so that data can be input and output as needed, or is connected via an arbitrary communication network or the like.
  • the database 110 may be provided inside the image processing device 100 as a non-volatile memory such as a flash memory, a hard disk device, or the like.
  • the image processing apparatus 100 includes an image acquisition unit 101, a skeleton structure detection unit 102, a feature amount calculation unit 103, a classification unit 104, a search unit 105, an input unit 106, a display unit 107, and a first query.
  • the acquisition unit 109 and the second query acquisition unit 111 are provided.
  • the configuration of each part (block) is an example, and may be composed of other parts as long as the method (operation) described later is possible.
  • the image processing device 100 is realized by, for example, a computer device such as a personal computer or a server that executes a program, but it may be realized by one device or by a plurality of devices on a network. good.
  • the input unit 106, the display unit 107, and the like may be used as an external device.
  • both the classification unit 104 and the search unit 105 may be provided, or only one of them may be provided.
  • Both or one of the classification unit 104 and the search unit 105 is the recognition unit 13 that performs the recognition processing of the state of the person.
  • the search unit 105, the first query acquisition unit 109, and the second query acquisition unit 111 are functional units that execute the search process, and correspond to the recognition unit 13 in FIG.
  • the image processing device 100 executes data storage processing, classification processing, and search processing in this order. As will be described below, the image processing apparatus 100 does not have to execute the classification process.
  • the data storage process acquires an image to be analyzed (hereinafter referred to as "image to be analyzed”), detects a two-dimensional skeletal structure of a person from each of a plurality of images to be analyzed, and features the detected two-dimensional skeletal structure. This is a process of calculating the amount, associating the calculated feature amount with each analysis target image, and storing the calculated feature amount in the database 110.
  • image to be analyzed an image to be analyzed
  • This is a process of calculating the amount, associating the calculated feature amount with each analysis target image, and storing the calculated feature amount in the database 110.
  • the image acquisition unit 101 acquires the image to be analyzed.
  • acquisition means “acquisition of data stored in another device or storage medium by the own device” based on user input or program instruction (active acquisition). ) ”, For example, requesting or inquiring about another device to receive it, accessing and reading another device or storage medium, etc., and based on user input or program instructions,“ own device To input data output from other devices (passive acquisition) ", for example, to receive data to be delivered (or transmitted, push notification, etc.), and in the received data or information. Generate new data by selecting from and acquiring, and editing data (text conversion, data sorting, partial data extraction, file format change, etc.), and the new data is generated. Includes at least one of "getting”.
  • the image acquisition unit 101 acquires a two-dimensional image including a person captured by the camera 200 during a predetermined monitoring period as an analysis target image.
  • the image acquisition unit 101 may acquire a moving image. In this case, each of the plurality of frame images constituting the moving image becomes the analysis target image.
  • the image acquisition unit 101 may acquire a still image generated irregularly or at a time interval larger than the frame rate of the moving image as an analysis target image.
  • the image acquisition unit 101 may acquire a two-dimensional image including a person stored in a storage means such as a database 110 as an analysis target image.
  • the skeleton structure detection unit 102 detects the two-dimensional skeleton structure of a person from each of the acquired images to be analyzed.
  • the skeleton structure detection unit 102 can detect the skeleton structure of all the persons recognized in the analysis target image.
  • the skeleton structure detection unit 102 detects the skeleton structure of a person based on the characteristics such as the joints of the person to be recognized by using the skeleton estimation technique using machine learning.
  • the skeleton structure detection unit 102 uses, for example, a skeleton estimation technique such as OpenPose of Non-Patent Document 1 to extract key points that are characteristic points of joints and the like.
  • the feature amount calculation unit 103 calculates the feature amount of the detected two-dimensional skeletal structure, associates the calculated feature amount with the analysis target image in which the two-dimensional skeletal structure is detected, and stores it in the database 110. ..
  • the feature amount of the skeletal structure indicates the characteristics of the skeleton of the person, and is an element for classifying or searching the state of the person based on the skeleton of the person. Usually, this feature quantity includes a plurality of parameters (for example, classification elements described later).
  • the feature amount may be an entire feature amount of the skeletal structure, a partial feature amount of the skeletal structure, or a plurality of feature amounts such as each part of the skeletal structure.
  • the feature amount may be calculated by any method such as machine learning or normalization, and the minimum value or the maximum value may be obtained as the normalization.
  • the feature amount is a feature amount obtained by machine learning the skeletal structure, a size on an image of the skeletal structure from the head to the foot, and the like.
  • the size of the skeleton structure is the vertical height and area of the skeleton region including the skeleton structure on the image.
  • the vertical direction (height direction or vertical direction) is a vertical direction (Y-axis direction) in the image, and is, for example, a direction perpendicular to the ground (reference plane).
  • the left-right direction (horizontal direction) is a left-right direction (X-axis direction) in the image, and is, for example, a direction parallel to the ground.
  • a feature amount having robustness for the classification and search processing it is preferable to use a feature amount having robustness for the classification and search processing.
  • a robust feature amount may be used for the orientation or body shape of the person. It depends on the orientation and body shape of the person by learning the skeleton of a person who is facing in various directions with the same posture and the skeleton of a person with various body shapes in the same posture, and by extracting the characteristics of the skeleton only in the vertical direction. It is possible to obtain a feature amount that does not.
  • the classification process is based on the data stored in the database 110 in the data storage process (data in which the image to be analyzed is associated with the feature amount of the two-dimensional skeletal structure detected from each image to be analyzed).
  • This is a process of collectively classifying (grouping) a plurality of two-dimensional skeletal structures detected from the above by those having similar features.
  • the analysis target image and the two-dimensional skeleton structure detected from each analysis target image are associated with each other. Therefore, the classification of a plurality of two-dimensional skeletal structures by the classification process also becomes the classification of a plurality of images to be analyzed.
  • the classification process a plurality of images to be analyzed are grouped together with images containing similar two-dimensional skeletal structures.
  • the configuration of the functional unit related to the classification process will be described.
  • the classification unit 104 classifies (clusters) a plurality of skeletal structures stored in the database 110 based on the similarity of the feature amounts of the skeletal structures. It can be said that the classification unit 104 classifies the states of a plurality of persons based on the feature amount of the skeletal structure as the process of recognizing the state of the person. Similarity is the distance between features of the skeletal structure.
  • the classification unit 104 may be classified according to the similarity of the features of the whole skeleton structure, or may be classified according to the similarity of the features of a part of the skeleton structure, and the first part of the skeleton structure (for example, for example). It may be classified according to the similarity of the features of both hands) and the second part (for example, both feet).
  • the posture of the person may be classified based on the feature amount of the skeletal structure of the person in each image, or the behavior of the person based on the change in the feature amount of the skeletal structure of the person in a plurality of consecutive images in time series. May be classified. That is, the classification unit 104 can classify the state of the person including the posture and behavior of the person based on the feature amount of the skeletal structure. For example, the classification unit 104 targets a plurality of skeletal structures in a plurality of images captured during a predetermined monitoring period. The classification unit 104 obtains the degree of similarity between the features to be classified, and classifies the skeletal structures having a high degree of similarity into the same cluster (group with similar postures). As with the search, the user may be able to specify the classification conditions. The classification unit 104 can store the classification result of the skeletal structure in the database 110 and display it on the display unit 107.
  • the search process is based on the data stored in the database 110 in the data storage process (data in which the image to be analyzed is associated with the feature amount of the two-dimensional skeletal structure detected from each image to be analyzed). It is a process of searching for a predetermined scene from the inside.
  • a predetermined scene is specified by the posture of each of the plurality of persons, the time distance of the timing at which each of the plurality of persons takes a designated posture, the physical distance of the plurality of persons, and the like.
  • the configuration of the functional unit related to the search process will be described.
  • the first query acquisition unit 109 acquires the first query in which the postures of each of the plurality of persons are specified.
  • the postures of the plurality of persons may be the same posture or different postures. Further, the plurality of persons may be two persons or three or more persons. The posture of each of the plurality of persons is specified by user input.
  • First query acquisition example 1 In this example, the first query acquisition unit 109 displays a plurality of options (postures of a person) prepared in advance toward the user. Then, the first query acquisition unit 109 acquires the posture selected by the user from the options as the first query. The first query acquisition unit 109 can accept the selection corresponding to each of the plurality of persons.
  • multiple options may be presented with keywords such as “sitting with crossed legs”, “seiza”, and “lying on the back”.
  • a plurality of options may be presented with an image showing each of the plurality of postures.
  • the image showing the posture may be an image of a model of a two-dimensional skeleton structure as shown in FIG. 7, or an image including a person and a model of the two-dimensional skeleton structure as shown in FIG.
  • the image may include a person and do not include a model of a two-dimensional skeleton structure.
  • the first query acquisition unit 109 displays an image of a model having a two-dimensional skeleton structure as shown in FIG. 7. Then, the first query acquisition unit 109 accepts an input for changing the posture of the model and a user input for determining the changed posture as the first query.
  • the change of the posture of the model is realized by, for example, an input for moving the position of each of a plurality of key points.
  • the first query acquisition unit 109 acquires the first query in cooperation with the image acquisition unit 101, the skeleton structure detection unit 102, and the feature amount calculation unit 103.
  • the image acquisition unit 101 acquires a query image.
  • the skeleton structure detection unit 102 detects the two-dimensional skeleton structure of the person included in the query image.
  • the feature amount calculation unit 103 calculates the feature amount of the detected two-dimensional skeleton structure.
  • the first query acquisition unit 109 acquires the feature amount of the two-dimensional skeleton structure calculated from the query image as the first query.
  • the image acquisition unit 101 can acquire a query image by, for example, any of the following acquisition examples.
  • the image acquisition unit 101 acquires a query image prepared by the user and input to the image processing device 100.
  • FIG. 42 shows an example of a UI (user interface) screen used in the search.
  • An input field for keywords and a display field for search results are shown.
  • the image selected by the user from the images displayed as the search result is the query image.
  • the keywords are assumed to be related to the state (posture, behavior, etc.) of the person, such as "sitting" and "standing". Keyword input can be realized using a well-known GUI such as a text box, a dropdown, or a check box.
  • an image prepared in advance for use as a query image (hereinafter, “image for query”) and a keyword (a word indicating the state of a person included in each image).
  • image for query a query image
  • keyword a word indicating the state of a person included in each image.
  • the information associated with may be registered in the database 110.
  • the image acquisition unit 101 searches for a query image associated with the input keyword from the information, and acquires a part or all of the query image included in the search result as a query image. You may.
  • information associated with a part of the image to be analyzed and a keyword may be registered in the database 110.
  • the image acquisition unit 101 may search the analysis target image associated with the input keyword from the information and acquire a part or all of the analysis target image included in the search result as a query image. good.
  • the image acquisition unit 101 may send the input keyword to a search engine that searches for images related to the keyword, and acquire the search result from the search engine. Then, the image acquisition unit 101 may acquire a part or all of the images included in the search result as a query image.
  • the acquired query image may include one person or a plurality of persons.
  • the first query acquisition unit 109 selects at least one person from the plurality of persons included in the query image based on the user input. Then, the feature amount of the two-dimensional skeleton structure of the selected person is acquired as the first query.
  • the first query acquisition unit 109 can realize the selection by, for example, one of the following two methods.
  • the first query acquisition unit 109 freely accepts user input for designating a part of the image. Then, the first query acquisition unit 109 selects a person detected in the designated partial area.
  • Person detected in a specified partial area is a person whose body is completely contained in the specified partial area, or at least a part of the body is included in the specified partial area. Is a person who is
  • the first query acquisition unit 109 causes the display unit 107 to display the query image P, and accepts user input that specifies at least a part of the query image P.
  • the first query acquisition unit 109 may accept user input for designating a partial area by user input surrounding a partial area with a frame W. The position and size of the frame W in the image can be freely specified by the user.
  • the first query acquisition unit 109 selects a person detected in the designated part of the area.
  • the process of detecting a person for the entire query image is executed before accepting the user input for selecting the person. Then, as shown in FIG. 45, the first query acquisition unit 109 displays a processed image in which the person detected in the query image is identifiable as a selectable person on the query image. The person surrounded by the frame Y is a selectable person. Then, the first query acquisition unit 109 accepts a user input for selecting at least one of the selectable persons.
  • a process of detecting a person and a process of determining a person to be displayed as a selectable person will be described.
  • the first query acquisition unit 109 executes a process of detecting a person for the entire query image (the entire area in the image) based on the process of detecting a well-known person. Then, the first query acquisition unit 109 sets all the detected persons as selectable persons. In addition, the first query acquisition unit 109 may select a person whose area occupied in the image (meaning the size of the person in the image) is equal to or larger than the reference value among the detected persons as a selectable person. .. For a person whose area occupied in the image is smaller than a predetermined level, it becomes difficult to detect the two-dimensional skeleton structure and calculate the feature amount. If such a posture of a person is used as a query for a search, it becomes difficult to obtain a desired search result. Therefore, such a person may be excluded from the selectable persons.
  • the skeleton structure detection unit 102 executes a process of detecting the two-dimensional skeleton structure of a person for the entire query image (the entire area in the image). Then, the first query acquisition unit 109 sets a person whose detection result of the two-dimensional skeleton structure by the skeleton structure detection unit 102 satisfies a predetermined condition as a selectable person.
  • a person who meets a predetermined condition is calculated based on at least one of "a person whose number of extracted key points is equal to or more than a reference value" or "the number of extracted key points and the reliability of each of the extracted key points".
  • the detailed algorithm for calculating the evaluation value is not particularly limited, but it is designed to satisfy the following contents. -The larger the number of extracted key points, the higher the evaluation value. -The higher the reliability of the extracted key points, the higher the evaluation value. -The larger the person in the image, the higher the evaluation value.
  • each evaluation value may be displayed in association with each of the selectably displayed persons. Further, in the search result of the query image as shown in FIG. 42, each evaluation value may be displayed in association with each of the plurality of query images included in the search result.
  • the statistical values maximum value, minimum value, average value, mode value, median value, etc.
  • the second query acquisition unit 111 acquires the second query in which at least one of the physical distance and the temporal distance between the plurality of persons taking the posture specified in the first query is specified. ..
  • the second query acquisition unit 111 is the physical distance and time between the two persons. Gets a second query that specifies at least one of the target distances. It is not always necessary to specify the physical distance and the time distance corresponding to all the pairs, and the physical distance and the time distance may be specified only for some pairs.
  • the "physical distance” is the physical distance between the first person who takes the posture specified by the first query and the second person who takes the posture specified by the first query.
  • the physical distance may be expressed as an actual distance using a unit such as "m (meter)” or as a distance in each image in terms of the number of pixels.
  • part of the person's body is used as the basis for calculating the physical distance between people.
  • the physical distance between the heads, the physical distance between the feet, and the like may be used.
  • the shortest physical distance between the region in the image in which the body of the first person exists and the region in the image in which the body of the second person exists is defined as the physical distance between the two. May be good.
  • the example here is just an example, and the physical distance between people may be calculated by another method.
  • the physical distance between a plurality of persons taking the posture specified in the first query is specified as, for example, "X1 or more”, “X2 or less”, “X3 or more and X4 or less", and the like.
  • the "time distance” is the time difference between the timing when the first person who takes the posture specified by the first query appears and the timing when the second person who takes the posture specified by the first query appears. Is. In the second query, the temporal distance may be expressed in units such as "seconds" or in the number of frames.
  • the temporal distance between a plurality of persons taking the posture specified in the first query is specified as, for example, "Y1 or more”, “Y2 or less”, “Y3 or more and Y4 or less", and the like.
  • “0 (zero)” may be specified for the time distance.
  • a condition is specified that a plurality of people taking the posture specified in the first query appear in the same image at the same time.
  • the second query acquisition unit 111 displays a plurality of options (physical distance and temporal distance) prepared in advance toward the user. Then, the second query acquisition unit 111 acquires the physical distance or the temporal distance selected by the user from the options as the second query.
  • the second query acquisition unit 111 accepts a user input that specifies a physical distance or a temporal distance numerically. Then, the second query acquisition unit 111 acquires the numerical value input by the user as the second query.
  • the second query acquisition unit 111 calculates at least one of the physical distance and the temporal distance between the two parties included in the query image acquired by the image acquisition unit 101, and the calculated value and its value.
  • the numerical range including the periphery is acquired as the second query. An example will be described below.
  • the second query acquisition unit 111 calculates the physical distance P between the selected two parties, and sets a numerical range (P- ⁇ or more, P + ⁇ or less) including the calculated value P and its surroundings. Determined as the physical distance between the two in the second query.
  • the image acquisition unit 101 may acquire a moving image as a query image. Then, a person is selected from each of the two different frame images in the moving image by user input, and the posture (feature amount of the two-dimensional skeleton structure) of each of the selected two people is acquired as the first query.
  • the posture feature amount of the two-dimensional skeleton structure
  • the second query acquisition unit 111 calculates the temporal distance Q between the two frame images selected by the two persons, and the numerical range (Q- ⁇ ) including the calculated value Q and its surroundings. As described above, Q + ⁇ or less) is determined as the time distance between the two parties in the second query.
  • the second query acquisition unit 111 calculates the physical distance between the two frame images selected by the two persons and the frame images sandwiched between the two persons. Then, the second query acquisition unit 111 calculates the statistical value R (maximum value, minimum value, mean value, mode value, median value, etc.) of the calculated value, and a numerical range including the calculated value R and its surroundings. (R- ⁇ or more, R + ⁇ or less) is the physical between the two in the second query.
  • the search unit 105 executes an image search based on the first query and the second query. For example, the search unit 105 can search for a scene that satisfies all of the following conditions from a moving image composed of a plurality of analysis target images (frame images).
  • first person who takes the first posture specified by the first query and a second person who takes the second posture specified by the first query appear.
  • the time difference between the first timing in which the first person takes the first posture and the second timing in which the second person takes the second posture is a condition of the time distance specified by the second query.
  • the physical distance between the first person and the second person in at least part of the time zone between the first timing and the second timing is the physical distance specified in the second query. Meet the distance conditions.
  • FIG. 47 shows an example of the searched scene.
  • the posture of the first person A included in the analysis target image F1 is designated as the first posture
  • the posture of the second person B included in the analysis target image F2 is the first. It was designated as the posture of 2.
  • the time difference T between these two frame images satisfies the condition of the time distance specified by the second query.
  • the physical distance L between the first person A and the second person B is the second query. Satisfy the conditions of the physical distance specified in.
  • a well-known technique eg, object tracking technique, person recognition using appearance features, etc.
  • the search unit 105 can search for still images that satisfy all of the following conditions from among a plurality of analysis target images (still images).
  • FIG. 46 shows an example of the searched scene.
  • the posture of the first person A included in the analysis target image F3 is designated as the first posture
  • the posture of the second person B included in the analysis target image F3 is the first. It was designated as the posture of 2.
  • the physical distance L between the first person A and the second person B calculated from the analysis target image F3 satisfies the condition of the physical distance specified by the second query.
  • the search unit 105 has, for example, a skeleton having a high degree of similarity to the feature amount of the two-dimensional skeleton structure specified in the first query (query state) from among a plurality of skeleton structures stored in the database 110 in the data storage process. By searching the structure, it is possible to search for a person who takes the posture specified by the first query.
  • the search unit 105 searches for a skeleton structure having a high degree of similarity to the feature amount of the search query by collating the feature amount of the search query with the feature amount of the skeleton structure detected from each of the plurality of analysis target images. You may. In the case of this configuration, the above-mentioned classification process becomes unnecessary. However, since the collation target is all of the plurality of analysis target images, the processing load of the computer in collation becomes large.
  • the search unit 105 determines a representative of the feature amount of the two-dimensional skeletal structure for each group obtained by the classification process by an arbitrary means, and collates the representative with the feature amount of the above search query to obtain a search query. You may search for a skeletal structure having a high degree of similarity to the feature amount. In the case of this configuration, since the number of collation targets is reduced, the processing load of the computer in collation is reduced.
  • the image to be analyzed and the two-dimensional skeleton structure detected from each image to be analyzed are associated with each other. Therefore, by the above-mentioned "process of searching for a predetermined skeleton structure from a plurality of two-dimensional skeleton structures detected from the image to be analyzed", the predetermined skeleton structure (the skeleton structure having a high degree of similarity to the feature amount of the search query). ) Can be searched for the image to be analyzed. That is, it is possible to search the analysis target image including the person who takes the posture specified in the first query from the analysis target images.
  • the degree of similarity is the distance between the features of the skeletal structure.
  • the search unit 105 may search by the similarity of the features of the whole skeleton structure, or may search by the similarity of the features of a part of the skeleton structure, and may search by the similarity of the first part of the skeleton structure (for example,). You may search by the similarity of the features of both hands) and the second part (for example, both feet).
  • the posture of the person may be searched based on the feature amount of the skeletal structure of the person in each image, or the behavior of the person may be searched based on the change of the feature amount of the skeletal structure of the person in a plurality of consecutive images in time series. You may search for.
  • the search unit 105 can search the state of the person including the posture and behavior of the person based on the feature amount of the skeletal structure. For example, the search unit 105 searches for feature quantities of a plurality of skeletal structures in a plurality of analysis target images captured during a predetermined monitoring period.
  • the estimation method is not limited thereto.
  • the search unit 105 calculates the height t in the image of the reference person or a person located around the person. Here, for example, it is represented by the number of pixels.
  • the search unit 105 calculates the physical distance d in the image from the reference person to the person located in the surroundings. Here, d is expressed in the same unit as t (for example, the number of pixels).
  • the search unit 105 calculates d / t and multiplies this value by a preset reference height to calculate the physical distance between the reference person and the person located around the reference person.
  • the search unit 105 may change the reference height according to this attribute.
  • the search unit 105 When calculating the physical distance, the search unit 105 preferably performs a process of correcting this distortion.
  • the search unit 105 can perform distortion correction processing according to the position of a person in the image.
  • image distortion is due, for example, to the optical system of the camera 200 (eg, a lens) and the vertical orientation of the camera 200 (eg, an angle with respect to a horizontal plane). Therefore, the content of the strain correction process according to the position of the person in the image is set according to the optical system (for example, the lens) of the camera 200 and the vertical orientation of the camera 200.
  • the input unit 106 is an input interface for acquiring information input from a user who operates the image processing device 100.
  • the user is a monitor who monitors a person in a suspicious state from an image of a surveillance camera.
  • the input unit 106 is, for example, a GUI (Graphical User Interface), and information according to a user's operation is input from an input device such as a keyboard, a mouse, a touch panel, a microphone, and a physical button.
  • GUI Graphic User Interface
  • the display unit 107 is a display unit that displays the result of the operation (processing) of the image processing device 100, and is, for example, a display device such as a liquid crystal display or an organic EL (ElectroLuminescence) display.
  • the display unit 107 displays the classification result of the classification unit 104, the search result of the search unit 105, and the like.
  • Each functional unit of the image processing device 100 is stored in a storage unit (from the stage of shipping the device in advance) such as a CPU (Central Processing Unit) of an arbitrary computer, a memory, a program loaded in the memory, and a hard disk for storing the program. It can store programs downloaded from storage media such as CDs (Compact Discs) and servers on the Internet), and can be realized by any combination of hardware and software centered on the network connection interface. Will be done. And, it is understood by those skilled in the art that there are various variations in the method of realizing the device and the device.
  • FIG. 41 is a block diagram illustrating a hardware configuration of the image processing device 100.
  • the image processing device 100 includes a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A.
  • the peripheral circuit 4A includes various modules.
  • the image processing device 100 does not have to have the peripheral circuit 4A.
  • the image processing device 100 may be composed of a plurality of physically and / or logically separated devices, or may be composed of one physically and / or logically integrated device. When the image processing device 100 is composed of a plurality of physically and / or logically separated devices, each of the plurality of devices can be provided with the above hardware configuration.
  • the bus 5A is a data transmission path for the processor 1A, the memory 2A, the peripheral circuit 4A, and the input / output interface 3A to transmit and receive data to each other.
  • the processor 1A is, for example, an arithmetic processing unit such as a CPU or a GPU (Graphics Processing Unit).
  • the memory 2A is, for example, a memory such as a RAM (RandomAccessMemory) or a ROM (ReadOnlyMemory).
  • the input / output interface 3A includes an interface for acquiring information from an input device, an external device, an external server, an external sensor, a camera, etc., an interface for outputting information to an output device, an external device, an external server, etc. ..
  • the input device is, for example, a keyboard, a mouse, a microphone, a physical button, a touch panel, or the like.
  • the output device is, for example, a display, a speaker, a printer, a mailer, or the like.
  • the processor 1A can issue a command to each module and perform a calculation based on the calculation result thereof.
  • FIG. 3 to 5 show the processing flow of the image processing apparatus 100 according to the present embodiment.
  • FIG. 3 shows a flow from image acquisition to search processing in the image processing apparatus 100
  • FIG. 4 shows a flow of classification processing (S104) in FIG. 3
  • FIG. 5 shows a flow of search processing (S105) in FIG. It shows the flow.
  • the image acquisition unit 101 acquires a plurality of analysis target images (S101). Subsequently, the skeleton structure detection unit 102 detects the two-dimensional skeleton structure of the person from each of the acquired plurality of analysis target images (S102).
  • FIG. 6 shows an example of detecting a skeletal structure. As shown in FIG. 6, the analysis target image may include a plurality of people. In this case, the skeleton structure detection unit 102 detects the skeleton structure for each person included in the analysis target image.
  • FIG. 7 shows the skeleton structure of the human body model 300 detected at this time
  • FIGS. 8 to 10 show an example of detecting the skeleton structure.
  • the skeleton structure detection unit 102 detects the skeleton structure of the human body model (two-dimensional skeleton model) 300 as shown in FIG. 7 from the two-dimensional image by using a skeleton estimation technique such as OpenPose.
  • the human body model 300 is a two-dimensional model composed of key points such as joints of a person and bones connecting the key points.
  • the skeleton structure detection unit 102 extracts feature points that can be key points from an image, and detects each key point of a person by referring to information obtained by machine learning the image of the key points.
  • the key points of the person are head A1, neck A2, right shoulder A31, left shoulder A32, right elbow A41, left elbow A42, right hand A51, left hand A52, right hip A61, left hip A62, and right knee A71.
  • Left knee A72, right foot A81, left foot A82 are detected.
  • Bone B31 and B32 connecting the elbow A41 and the left elbow A42, respectively, connecting the right elbow A41 and the left elbow A42 to the right hand A51 and the left hand A52, respectively, and connecting the neck A2 to the right waist A61 and the left waist A62, respectively.
  • the skeleton structure detection unit 102 stores the detected skeleton structure of the person in the database 110.
  • FIG. 8 is an example of detecting a person in an upright position.
  • a standing person is imaged from the front, and bones B1, bone B51 and bone B52, bones B61 and bone B62, bones B71 and bone B72 viewed from the front are detected without overlapping, and the right foot is detected.
  • Bone B61 and Bone B71 are slightly bent more than Bone B62 and Bone B72 of the left foot.
  • FIG. 9 is an example of detecting a person in a crouched state.
  • a crouching person is imaged from the right side, bone B1, bone B51 and bone B52, bone B61 and bone B62, bone B71 and bone B72, respectively, viewed from the right side, and bone B61 on the right foot.
  • the bone B71 and the bone B62 and the bone B72 of the left foot are greatly bent and overlapped.
  • FIG. 10 is an example of detecting a sleeping person.
  • a sleeping person is imaged from diagonally left front, and bone B1, bone B51 and bone B52, bone B61 and bone B62, bone B71 and bone B72 viewed from diagonally left front are detected, respectively, and the right foot.
  • the bones B61 and B71 of the left foot and the bones B62 and B72 of the left foot are bent and overlapped.
  • the feature amount calculation unit 103 calculates the feature amount of the detected skeletal structure (S103). For example, when the height or area of the skeleton region is used as the feature amount, the feature amount calculation unit 103 extracts a region including the skeleton structure and obtains the height (number of pixels) or area (pixel area) of the region. The height and area of the skeletal region can be obtained from the coordinates of the end of the extracted skeleton region and the coordinates of the key points at the ends. The feature amount calculation unit 103 stores the obtained feature amount of the skeletal structure in the database 110. The feature amount of this skeletal structure is also used as information indicating the state of a person.
  • the skeletal region including all the bones is extracted from the skeletal structure of the standing person.
  • the upper end of the skeletal region is the key point A1 of the head
  • the lower end of the skeletal region is the key point A82 of the left foot
  • the left end of the skeletal region is the key point A41 of the right elbow
  • the right end of the skeletal region is the key point A52 of the left hand. .. Therefore, the height of the skeleton region is obtained from the difference between the Y coordinates of the key point A1 and the key point A82.
  • the width of the skeleton region is obtained from the difference between the X coordinates of the key point A41 and the key point A52, and the area is obtained from the height and width of the skeleton region.
  • the skeletal region including all bones is extracted from the skeletal structure of a crouched person.
  • the upper end of the skeletal region is the key point A1 of the head
  • the lower end of the skeletal region is the key point A81 of the right foot
  • the left end of the skeletal region is the key point A61 of the right hip
  • the right end of the skeletal region is the key point A51 of the right hand. .. Therefore, the height of the skeleton region is obtained from the difference between the Y coordinates of the key point A1 and the key point A81.
  • the width of the skeleton region is obtained from the difference between the X coordinates of the key point A61 and the key point A51, and the area is obtained from the height and width of the skeleton region.
  • a skeletal region including all bones is extracted from the skeletal structure of a sleeping person.
  • the upper end of the skeleton region is the key point A32 of the left shoulder
  • the lower end of the skeleton region is the key point A52 of the left hand
  • the left end of the skeleton region is the key point A51 of the right hand
  • the right end of the skeleton region is the key point A82 of the left foot. Therefore, the height of the skeleton region is obtained from the difference between the Y coordinates of the key point A32 and the key point A52.
  • the width of the skeleton region is obtained from the difference between the X coordinates of the key point A51 and the key point A82, and the area is obtained from the height and width of the skeleton region.
  • the classification unit 104 performs a classification process (S104).
  • the classification unit 104 calculates the similarity of the calculated feature amount of the skeletal structure (S111), and classifies the skeletal structure based on the calculated feature amount (S112). ..
  • the classification unit 104 obtains the similarity of the feature quantities between all the skeletal structures stored in the database 110 to be classified, and classifies (clusters) the skeletal structures (postures) having the highest similarity into the same cluster. .. Further, the similarity between the classified clusters is obtained and classified, and the classification is repeated until a predetermined number of clusters are obtained.
  • FIG. 11 shows an image of the classification result of the feature amount of the skeletal structure.
  • FIG. 11 is an image of cluster analysis using a two-dimensional classification element, and the two classification elements are, for example, the height of the skeletal region and the area of the skeletal region.
  • the feature quantities of the plurality of skeletal structures are classified into three clusters C1 to C3.
  • the clusters C1 to C3 correspond to each posture such as a standing posture, a sitting posture, and a sleeping posture, and the skeletal structure (person) is classified for each similar posture.
  • various classification methods can be used by classifying based on the feature amount of the skeletal structure of a person.
  • the classification method may be set in advance or may be arbitrarily set by the user. Further, the classification may be performed by the same method as the search method described later. That is, it may be classified according to the same classification conditions as the search conditions.
  • the classification unit 104 classifies by the following classification method. Any classification method may be used, or an arbitrarily selected classification method may be combined.
  • the feature quantities may be stacked in the time series direction and classified based on the cumulative value. Further, it may be classified based on the change (change amount) of the feature amount of the skeletal structure in a plurality of continuous images.
  • ⁇ Classification method 3> Classification ignoring the left and right of the skeletal structure Classify the skeletal structures whose right and left sides are opposite to each other as the same skeletal structure.
  • the classification unit 104 displays the classification result of the skeletal structure (S113).
  • the classification unit 104 acquires images of necessary skeleton structures and people from the database 110, and displays the skeleton structure and people on the display unit 107 for each posture (cluster) similar as a classification result.
  • FIG. 12 shows a display example when the postures are classified into three. For example, as shown in FIG. 12, the posture regions WA1 to WA3 for each posture are displayed in the display window W1, and the skeletal structure and the person (image) of the posture corresponding to each of the posture regions WA1 to WA3 are displayed.
  • the posture area WA1 is, for example, a display area of a standing posture, and displays a skeletal structure and a person similar to a standing posture classified into cluster C1.
  • the posture area WA2 is, for example, a sitting posture display area, and displays a skeletal structure and a person similar to the sitting posture classified into cluster C2.
  • the posture area WA3 is, for example, a display area of a sleeping posture, and displays a skeletal structure and a person similar to the sleeping posture classified into cluster C2.
  • the image processing apparatus 100 performs a search process (S105).
  • the image processing device 100 accepts the input of the search condition (S121).
  • the image processing device 100 displays a UI screen as shown in FIG. 17, and accepts input of a first query and a second query from the UI screen.
  • the illustrated UI screen accepts the input of the first query in the posture designation item.
  • the posture of each of a plurality of persons can be specified.
  • "select from choices”, "input query image”, and "use skeleton model” can be selected. These methods correspond to the first query acquisition examples 1 to 3 described above.
  • the first query acquisition unit 109 acquires the first query by the selected method.
  • the illustrated UI screen accepts the input of the second query in the items of physical distance and temporal distance.
  • “select from choices”, “numerical input”, and “input query image” can be selected. These methods correspond to the above-mentioned second query acquisition examples 1 to 3.
  • the second query acquisition unit 111 acquires the second query by the selected method.
  • the search unit 105 executes an image search based on the first query and the second query (S122).
  • the search unit 105 searches for a skeleton structure having a high degree of similarity in feature quantities from the skeleton structures stored in the database 110 to be searched, using the skeleton structure specified in the first query as a search query.
  • the search result is used to search for a scene that satisfies the condition of the second query.
  • the search unit 105 has a feature amount of the skeleton structure of the search query and a feature amount of the skeleton structure of the search target (detected from the image to be analyzed). The degree of similarity with the feature amount of the skeleton structure) is calculated, and the skeleton structure whose calculated degree of similarity is higher than a predetermined threshold is extracted.
  • the feature amount of the skeleton structure of the search query the feature amount calculated in advance may be used, or the feature amount obtained at the time of search may be used.
  • search method can be used by searching based on the feature amount of the skeletal structure of the person.
  • the search method may be set in advance or may be arbitrarily set by the user.
  • the search unit 105 searches by the following search method. Either search method may be used, or an arbitrarily selected search method may be combined.
  • a plurality of search methods search conditions may be combined and searched by a logical expression (for example, AND (logical product), OR (logical sum), NOT (negation)).
  • search condition may be searched as "(posture in which the right hand is raised) AND (posture in which the left foot is raised)".
  • ⁇ Search method 1> Search by only the feature amount in the height direction By searching using only the feature amount in the height direction of the person, the influence of the lateral change of the person can be suppressed, and the change of the direction of the person and the body shape of the person can be suppressed. On the other hand, the robustness is improved. For example, as in the skeletal structures 501 to 503 of FIG. 13, even if the orientation and body shape of the person are different, the feature amount in the height direction does not change significantly. Therefore, in the skeletal structures 501 to 503, it can be determined that the postures are the same at the time of searching (at the time of classification).
  • ⁇ Search method 2> When a part of the body of a person is hidden in the partial search image, the search is performed using only the information of the recognizable part. For example, as in the skeletal structures 511 and 512 of FIG. 14, even if the key point of the left foot cannot be detected due to the hiding of the left foot, the feature amount of other detected key points can be used for the search. Therefore, in the skeletal structures 511 and 512, it can be determined that the postures are the same at the time of searching (at the time of classification). That is, it is possible to perform classification and search using the features of some key points instead of all the key points. In the examples of the skeletal structures 521 and 522 of FIG.
  • the feature quantities of the key points of the upper body (A1, A2, A31, A32, A41, A42, A51, A52) are used as the search query. Therefore, it can be determined that the posture is the same. Further, the portion (feature point) to be searched may be weighted and searched, or the threshold value for determining the similarity may be changed. When a part of the body is hidden, the hidden part may be ignored and the search may be performed, or the hidden part may be added to the search. By searching including hidden parts, it is possible to search for postures in which the same part is hidden.
  • ⁇ Search method 3> Search ignoring the left and right of the skeletal structure Search for the skeletal structure with the opposite right and left sides of the person as the same skeletal structure.
  • the posture in which the right hand is raised and the posture in which the left hand is raised can be searched (classified) as the same posture.
  • the skeletal structure 531 and the skeletal structure 532 have different positions of the right hand key point A51, the right elbow key point A41, the left hand key point A52, and the left elbow key point A42, but other key points. The position of is the same.
  • ⁇ Search method 4> Search by features in the vertical and horizontal directions After searching only with the features in the vertical direction (Y-axis direction) of the person, the obtained results are further obtained using the features in the horizontal direction (X-axis direction) of the person. Search.
  • Search by multiple images in chronological order Search is performed based on the feature quantity of the skeletal structure in a plurality of images consecutive in chronological order.
  • the feature quantities may be stacked in the time series direction and searched based on the cumulative value.
  • the search may be performed based on the change (change amount) of the feature amount of the skeletal structure in a plurality of consecutive images.
  • the search unit 105 displays the search result of the skeletal structure (S123).
  • the search unit 105 displays still images included in the search results, thumbnail images of scenes, and the like on the display unit 107.
  • the present embodiment it is possible to detect the skeletal structure of a person from a two-dimensional image and perform classification and search based on the feature amount of the detected skeletal structure. As a result, it is possible to classify by similar postures having a high degree of similarity, and it is possible to search for similar postures having a high degree of similarity with a search query (search key).
  • search key search key
  • the posture of the person in the image can be grasped without the user specifying the posture or the like. Since the user can specify the posture of the search query from the classification results, the desired posture can be searched even if the user does not know the posture to be searched in detail in advance. For example, since it is possible to perform classification and search on the condition of the whole or part of the skeleton structure of a person, flexible classification and search is possible.
  • the postures of each of the plurality of persons are specified, the physical distance between the persons who take those postures, the time distance of the timing when each of the plurality of persons takes the designated postures, and the like. You can specify and perform an image search. Therefore, it is possible to efficiently search for a desired scene.
  • a predetermined posture appears with a time lag, such as one person throwing an object and another person receiving the object.
  • a time lag such as one person throwing an object and another person receiving the object.
  • "throwing posture”, “receiving thing”, “time difference between these two postures”, “physical distance between two people taking those two postures”, etc. should be set appropriately. Therefore, the desired scene can be efficiently searched.
  • FIG. 18 shows the configuration of the image processing apparatus 100 according to the present embodiment.
  • the image processing apparatus 100 further includes a height calculation unit 108 in addition to the configuration of the first embodiment.
  • the feature amount calculation unit 103 and the height calculation unit 108 may be combined into one processing unit.
  • the height calculation unit (height estimation unit) 108 calculates the height (called the number of height pixels) of a person in a two-dimensional image when standing up based on the two-dimensional skeleton structure detected by the skeleton structure detection unit 102 (referred to as the number of height pixels). presume. It can also be said that the number of height pixels is the height of the person in the two-dimensional image (the length of the whole body of the person in the two-dimensional image space). The height calculation unit 108 obtains the number of height pixels (number of pixels) from the length (length on the two-dimensional image space) of each bone of the detected skeleton structure.
  • specific examples 1 to 3 are used as a method for obtaining the number of height pixels.
  • any of the methods of Specific Examples 1 to 3 may be used, or a plurality of arbitrarily selected methods may be used in combination.
  • the number of height pixels is obtained by totaling the lengths of the bones from the head to the foot among the bones of the skeletal structure. If the skeleton structure detection unit 102 (skeleton estimation technique) does not output the crown and feet, it can be corrected by multiplying by a constant if necessary.
  • the number of height pixels is calculated using a human body model showing the relationship between the length of each bone and the length of the whole body (height in the two-dimensional image space).
  • the number of height pixels is calculated by fitting (fitting) a three-dimensional human body model to a two-dimensional skeleton structure.
  • the feature amount calculation unit 103 of the present embodiment is a normalization unit that normalizes the skeletal structure (skeleton information) of a person based on the calculated number of height pixels of the person.
  • the feature amount calculation unit 103 stores the feature amount (normalized value) of the normalized skeletal structure in the database 110.
  • the feature amount calculation unit 103 normalizes the height of each key point (feature point) included in the skeleton structure on the image by the number of height pixels.
  • the height direction is the vertical direction (Y-axis direction) in the two-dimensional coordinate (XY coordinate) space of the image. In this case, the height of the key point can be obtained from the value (number of pixels) of the Y coordinate of the key point.
  • the height direction may be the direction of the vertical axis perpendicular to the ground (reference plane) in the three-dimensional coordinate space in the real world, and the direction of the vertical projection axis projected onto the two-dimensional coordinate space (vertical projection direction).
  • the height of the key point is the vertical projection axis obtained by projecting the axis perpendicular to the ground in the real world onto the two-dimensional coordinate space based on the camera parameters, and the value along this vertical projection axis (number of pixels). ) Can be obtained.
  • the camera parameters are image imaging parameters, and for example, the camera parameters are the posture, position, imaging angle, focal length, and the like of the camera 200.
  • the camera 200 can take an image of an object whose length and position are known in advance, and obtain camera parameters from the image. Distortion occurs at both ends of the captured image, and the vertical direction of the real world may not match the vertical direction of the image. On the other hand, by using the parameters of the camera that took the image, you can see how much the vertical direction in the real world is tilted in the image. Therefore, by normalizing the value of the key points along the vertical projection axis projected in the image based on the camera parameters by height, it is possible to feature the key points in consideration of the deviation between the real world and the image. can.
  • the left-right direction is the left-right direction (X-axis direction) in the two-dimensional coordinate (XY coordinates) space of the image, or the direction parallel to the ground in the three-dimensional coordinate space in the real world. Is the direction projected onto the two-dimensional coordinate space.
  • 19 to 23 show the processing flow of the image processing apparatus 100 according to the present embodiment.
  • 19 shows a flow from image acquisition to search processing in the image processing apparatus 100
  • FIGS. 20 to 22 show the flow of specific examples 1 to 3 of the height pixel number calculation process (S201) of FIG. 23 shows the flow of the normalization process (S202) of FIG.
  • the height pixel number calculation process (S201) and the normalization process (S202) are performed as the feature amount calculation process (S103) in the first embodiment. Others are the same as those in the first embodiment.
  • the image processing apparatus 100 performs height pixel number calculation processing based on the detected skeleton structure (S201) following image acquisition (S101) and skeleton structure detection (S102).
  • the height of the skeleton structure of the person standing upright in the image is the height pixel number (h)
  • the height of each key point of the skeleton structure in the state of the person in the image is the key point. Let it be the height (yi).
  • specific examples 1 to 3 of the height pixel number calculation process will be described.
  • the number of height pixels is obtained using the length of the bone from the head to the foot.
  • the height calculation unit 108 acquires the length of each bone (S211) and totals the lengths of the acquired bones (S212).
  • the height calculation unit 108 acquires the length of the bone on the two-dimensional image of the foot from the head of the person, and obtains the number of height pixels. That is, from the image in which the skeletal structure is detected, among the bones of FIG. 24, bone B1 (length L1), bone B51 (length L21), bone B61 (length L31) and bone B71 (length L41), or , Bone B1 (length L1), bone B52 (length L22), bone B62 (length L32), and bone B72 (length L42) are acquired. The length of each bone can be obtained from the coordinates of each key point in the two-dimensional image.
  • the longer value is taken as the number of height pixels. That is, each bone has the longest length in the image when it is imaged from the front, and it is displayed short when it is tilted in the depth direction with respect to the camera. Therefore, it is more likely that the longer bone is imaged from the front, which is considered to be closer to the true value. Therefore, it is preferable to select the longer value.
  • bone B1, bone B51 and bone B52, bone B61 and bone B62, bone B71 and bone B72 are detected without overlapping.
  • the total of these bones, L1 + L21 + L31 + L41 and L1 + L22 + L32 + L42, is obtained, and for example, the value obtained by multiplying L1 + L22 + L32 + L42 on the left foot side where the detected bone length is long by a correction constant is taken as the height pixel number.
  • bone B1, bone B51 and bone B52, bone B61 and bone B62, bone B71 and bone B72 are detected, respectively, and the right foot bone B61 and bone B71 and the left foot bone B62 and bone B72 overlap each other. ..
  • the total of these bones, L1 + L21 + L31 + L41 and L1 + L22 + L32 + L42, is obtained, and for example, the value obtained by multiplying L1 + L21 + L31 + L41 on the right foot side where the detected bone length is long by a correction constant is taken as the height pixel number.
  • bone B1, bone B51 and bone B52, bone B61 and bone B62, bone B71 and bone B72 are detected, respectively, and the right foot bone B61 and bone B71 and the left foot bone B62 and bone B72 overlap each other. ..
  • the total of these bones, L1 + L21 + L31 + L41 and L1 + L22 + L32 + L42, is obtained, and for example, the value obtained by multiplying L1 + L22 + L32 + L42 on the left foot side where the detected bone length is long by a correction constant is taken as the height pixel number.
  • the height can be calculated by summing the lengths of the bones from the head to the feet, so the number of height pixels can be calculated by a simple method.
  • the number of height pixels can be accurately calculated even when the entire person is not always shown in the image, such as when crouching down. Can be estimated.
  • the number of height pixels is obtained using a two-dimensional skeleton model showing the relationship between the length of the bone included in the two-dimensional skeleton structure and the length of the whole body of the person in the two-dimensional image space.
  • FIG. 28 is a human body model (two-dimensional skeleton model) 301 showing the relationship between the length of each bone in the two-dimensional image space and the length of the whole body in the two-dimensional image space used in the second embodiment.
  • the relationship between the length of each bone of an average person and the length of the whole body is associated with each bone of the human body model 301.
  • the length of the bone B1 of the head is the length of the whole body ⁇ 0.2 (20%)
  • the length of the bone B41 of the right hand is the length of the whole body ⁇ 0.15 (15%)
  • the length of the right foot is the length of the whole body ⁇ 0.25 (25%).
  • the average whole body length can be obtained from the length of each bone.
  • a human body model may be prepared for each attribute of the person such as age, gender, and nationality. As a result, the length (height) of the whole body can be appropriately obtained according to the attributes of the person.
  • the height calculation unit 108 acquires the length of each bone (S221).
  • the height calculation unit 108 acquires the lengths (lengths in the two-dimensional image space) of all the bones in the detected skeletal structure.
  • FIG. 29 is an example in which a person in a crouched state is imaged from diagonally right behind and the skeletal structure is detected. In this example, since the face and left side of the person are not shown, the bones of the head, the left arm, and the bones of the left hand cannot be detected. Therefore, the lengths of the detected bones B21, B22, B31, B41, B51, B52, B61, B62, B71, and B72 are acquired.
  • the height calculation unit 108 calculates the number of height pixels from the length of each bone based on the human body model (S222).
  • the height calculation unit 108 refers to the human body model 301 showing the relationship between each bone and the length of the whole body as shown in FIG. 28, and obtains the number of height pixels from the length of each bone. For example, since the length of the bone B41 on the right hand is the length of the whole body ⁇ 0.15, the number of height pixels based on the bone B41 is obtained from the length of the bone B41 / 0.15. Further, since the length of the bone B71 of the right foot is the length of the whole body ⁇ 0.25, the number of height pixels based on the bone B71 is obtained from the length of the bone B71 / 0.25.
  • the human body model referred to at this time is, for example, a human body model of an average person, but a human body model may be selected according to the attributes of the person such as age, gender, and nationality. For example, when a person's face is shown in the captured image, the attribute of the person is identified based on the face, and the human body model corresponding to the identified attribute is referred to. It is possible to recognize a person's attributes from the facial features of the image by referring to the information obtained by machine learning the face for each attribute. Further, when the attribute of the person cannot be identified from the image, the human body model of the average person may be used.
  • the number of height pixels calculated from the length of the bone may be corrected by the camera parameter. For example, when the camera is taken at a high position and looking down at a person, the horizontal length of the shoulder-width bones, etc. is not affected by the depression angle of the camera in the two-dimensional skeletal structure, but the vertical length of the neck-waist bones, etc. The length decreases as the depression angle of the camera increases. Then, the number of height pixels calculated from the horizontal length of the shoulder-width bones and the like tends to be larger than the actual number.
  • the height calculation unit 108 calculates the optimum value of the number of height pixels as shown in FIG. 21 (S223).
  • the height calculation unit 108 calculates the optimum value of the number of height pixels from the number of height pixels obtained for each bone. For example, as shown in FIG. 30, a histogram of the number of height pixels obtained for each bone is generated, and a large number of height pixels is selected from the histogram. That is, the number of height pixels longer than the others is selected from the plurality of height pixels obtained based on the plurality of bones. For example, the upper 30% is set as a valid value, and in FIG. 30, the number of height pixels by bones B71, B61, and B51 is selected.
  • the average number of selected height pixels may be obtained as the optimum value, or the largest number of height pixels may be used as the optimum value. Since the height is calculated from the length of the bone in the 2D image, the length of the bone is taken from the front when the bone is not made from the front, that is, when the bone is tilted in the depth direction when viewed from the camera. It will be shorter than the case. Then, a value having a large number of height pixels is more likely to be captured from the front than a value having a small number of height pixels, and is a more plausible value. Therefore, a larger value is set as the optimum value.
  • the number of height pixels is calculated based on the detected bones of the skeleton structure using a human body model showing the relationship between the bones in the two-dimensional image space and the length of the whole body, so that all the skeletons from the head to the feet are obtained. Even if is not obtained, the number of height pixels can be obtained from some bones. In particular, the number of height pixels can be estimated accurately by adopting a larger value among the values obtained from a plurality of bones.
  • the height calculation unit 108 first calculates the camera parameters based on the image captured by the camera 200 (S231).
  • the height calculation unit 108 extracts an object whose length is known in advance from a plurality of images captured by the camera 200, and obtains a camera parameter from the size (number of pixels) of the extracted object.
  • the camera parameters may be obtained in advance, and the obtained camera parameters may be acquired as needed.
  • the height calculation unit 108 adjusts the arrangement and height of the three-dimensional human body model (S232).
  • the height calculation unit 108 prepares a three-dimensional human body model for calculating the number of height pixels for the detected two-dimensional skeleton structure, and arranges the three-dimensional human body model in the same two-dimensional image based on the camera parameters.
  • the "relative positional relationship between the camera and the person in the real world" is specified from the camera parameters and the two-dimensional skeleton structure. For example, assuming that the position of the camera is the coordinates (0, 0, 0), the coordinates (x, y, z) of the position where the person is standing (or sitting) are specified. Then, by assuming an image in which a three-dimensional human body model is placed at the same position (x, y, z) as the specified person and captured, the two-dimensional skeleton structure and the three-dimensional human body model are superimposed.
  • FIG. 31 is an example in which a crouching person is imaged diagonally from the front left and the two-dimensional skeleton structure 401 is detected.
  • the two-dimensional skeleton structure 401 has two-dimensional coordinate information. It is preferable that all bones are detected, but some bones may not be detected.
  • a three-dimensional human body model 402 as shown in FIG. 32 is prepared.
  • the three-dimensional human body model (three-dimensional skeleton model) 402 has three-dimensional coordinate information and is a model of a skeleton having the same shape as the two-dimensional skeleton structure 401.
  • the prepared three-dimensional human body model 402 is arranged and superimposed on the detected two-dimensional skeleton structure 401.
  • the height of the three-dimensional human body model 402 is adjusted so as to match the two-dimensional skeleton structure 401.
  • the three-dimensional human body model 402 prepared at this time may be a model in a state close to the posture of the two-dimensional skeleton structure 401 as shown in FIG. 33, or may be a model in an upright state.
  • a 3D human body model 402 of the estimated posture may be generated by using a technique of estimating the posture of the 3D space from the 2D image using machine learning. By learning the information of the joints in the 2D image and the joints in the 3D space, the 3D posture can be estimated from the 2D image.
  • the height calculation unit 108 fits the three-dimensional human body model into the two-dimensional skeletal structure as shown in FIG. 22 (S233). As shown in FIG. 34, the height calculation unit 108 superimposes the three-dimensional human body model 402 on the two-dimensional skeletal structure 401 so that the postures of the three-dimensional human body model 402 and the two-dimensional skeletal structure 401 match. Transform the dimensional human body model 402. That is, the height, body orientation, and joint angle of the three-dimensional human body model 402 are adjusted and optimized so that there is no difference from the two-dimensional skeletal structure 401.
  • the joints of the three-dimensional human body model 402 are rotated within the range of movement of the person, the entire three-dimensional human body model 402 is rotated, and the overall size is adjusted.
  • the fitting of the three-dimensional human body model and the two-dimensional skeletal structure is performed in the two-dimensional space (two-dimensional coordinates). That is, the 3D human body model is mapped to the 2D space, and the 3D human body model is converted into a 2D skeletal structure in consideration of how the deformed 3D human body model changes in the 2D space (image). Optimize.
  • the height calculation unit 108 calculates the number of height pixels of the fitted three-dimensional human body model as shown in FIG. 22 (S234). As shown in FIG. 35, the height calculation unit 108 obtains the number of height pixels of the three-dimensional human body model 402 in that state when the difference between the three-dimensional human body model 402 and the two-dimensional skeleton structure 401 disappears and the postures match. With the optimized 3D human body model 402 upright, the length of the whole body in 2D space is obtained based on the camera parameters. For example, the height pixel number is calculated from the bone length (number of pixels) from the head to the foot when the three-dimensional human body model 402 is upright. Similar to the first embodiment, the lengths of the bones from the head to the foot of the three-dimensional human body model 402 may be totaled.
  • the image processing apparatus 100 performs a normalization process (S202) following the height pixel number calculation process.
  • the feature amount calculation unit 103 calculates the key point height (S241).
  • the feature amount calculation unit 103 calculates the key point height (number of pixels) of all the key points included in the detected skeleton structure.
  • the key point height is the length (number of pixels) in the height direction from the lowest end of the skeleton structure (for example, the key point of any foot) to the key point.
  • the height of the key point is obtained from the Y coordinate of the key point in the image.
  • the key point height may be obtained from the length in the direction along the vertical projection axis based on the camera parameters.
  • the height (y) of the key point A2 of the neck is a value obtained by subtracting the Y coordinate of the key point A81 of the right foot or the Y coordinate of the key point A82 of the left foot from the Y coordinate of the key point A2.
  • the reference point is a reference point for expressing the relative height of the key point.
  • the reference point may be preset or may be selectable by the user.
  • the reference point is preferably at the center of the skeletal structure or higher than the center (upper in the vertical direction of the image), and for example, the coordinates of the key point of the neck are used as the reference point.
  • the coordinates of the head and other key points, not limited to the neck, may be used as the reference point.
  • any coordinate for example, the center coordinate of the skeleton structure may be used as a reference point.
  • the feature amount calculation unit 103 normalizes the key point height (yi) by the number of height pixels (S243).
  • the feature amount calculation unit 103 normalizes each key point by using the key point height, the reference point, and the number of height pixels of each key point. Specifically, the feature amount calculation unit 103 normalizes the relative height of the key point with respect to the reference point by the number of height pixels.
  • the feature amount (normalized value) is obtained by using the following equation (1) with the Y coordinate of the reference point (key point of the neck) as (yc).
  • (yi) and (yc) are converted into values in the direction along the vertical projection axis.
  • the coordinates (x0, y0), (x1, y1), ... (X17, y17) of the 18 points of each key point are set to the following using the above equation (1). It is converted into an 18-dimensional feature amount as in.
  • FIG. 36 shows an example of the feature amount of each key point obtained by the feature amount calculation unit 103.
  • the feature amount of the key point A2 is 0.0
  • the feature amount of the key point A31 on the right shoulder and the key point A32 on the left shoulder at the same height as the neck are also. It is 0.0.
  • the feature amount of the key point A1 of the head higher than the neck is -0.2.
  • the feature amount of the right hand key point A51 and the left hand key point A52 lower than the neck is 0.4, and the feature amount of the right foot key point A81 and the left foot key point A82 is 0.9.
  • the feature amount of the key point A52 of the left hand is ⁇ 0.4.
  • the feature amount (normalized value) of the present embodiment shows the characteristics of the skeleton structure (key point) in the height direction (Y direction), and affects the change of the skeleton structure in the lateral direction (X direction). Do not receive.
  • the skeleton structure of a person is detected from the two-dimensional image, and the number of height pixels (height when standing upright on the two-dimensional image space) obtained from the detected skeleton structure is used. Normalize each key point in the skeletal structure. By using this normalized feature amount, it is possible to improve the robustness when classification, search, or the like is performed. That is, since the feature amount of the present embodiment is not affected by the lateral change of the person as described above, it is highly robust to the change of the direction of the person and the body shape of the person.
  • a first query acquisition means for acquiring a first query that specifies the posture of each of a plurality of people
  • a second query acquisition means for acquiring a second query that specifies at least one of a physical distance and a temporal distance between a plurality of persons taking the specified postures.
  • a search means for executing an image search based on the first query and the second query, and Image processing device with. 2.
  • the second query acquisition means describes in any one of 1 to 3 for acquiring a value selected by the user from a plurality of options prepared in advance or a numerical value input by the user as the second query.
  • the search means is From the moving image A first person in the first posture specified in the first query and a second person in the second posture specified in the first query appear. The time difference between the first timing in which the first person takes the first posture and the second timing in which the second person takes the second posture is the time specified in the second query. Satisfy the conditions of target distance and The physical distance between the first person and the second person is specified in the second query in at least a portion of the time zone between the first timing and the second timing.
  • the image processing apparatus according to any one of 1 to 5, which searches for a scene satisfying the condition of the physical distance. 7.
  • the search means is From multiple still images A first person in the first posture specified in the first query and a second person in the second posture specified in the first query appear.
  • Image processing device 8.
  • the image processing apparatus according to any one of 1 to 7, wherein the postures of the plurality of persons specified in the first query are the same posture or different postures. 9.
  • the computer Get the first query that specifies the posture of each of the multiple people Obtain a second query that specifies at least one of the physical distance and the temporal distance between the plurality of people who take the specified posture.
  • An image processing method for executing an image search based on the first query and the second query. 10.
  • a first query acquisition means for acquiring a first query that specifies the posture of each of a plurality of people
  • a second query acquisition means for acquiring a second query that specifies at least one of a physical distance and a temporal distance between a plurality of persons taking the specified postures.
  • a search means for performing an image search based on the first query and the second query.
  • a program that functions as.
  • Image processing system 10 Image processing device 11 Skeleton detection unit 12 Feature amount calculation unit 13 Recognition unit 100 Image processing device 101 Image acquisition unit 102 Skeleton structure detection unit 103 Feature amount calculation unit 104 Classification unit 105 Search unit 106 Input unit 107 Display unit 108 Height calculation unit 109 First query acquisition unit 110 Database 111 Second query acquisition unit 200 Camera 300, 301 Human body model 401 Two-dimensional skeleton structure 402 Three-dimensional human body model

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Abstract

La présente invention concerne un dispositif de traitement d'image (100) ayant : une première unité d'acquisition d'interrogation (109) pour acquérir une première interrogation dans laquelle l'attitude de chaque personne parmi une pluralité de personnes est désignée ; une seconde unité d'acquisition d'interrogation (111) pour acquérir une seconde interrogation dans laquelle la distance physique et/ou la distance temporelle entre la pluralité de personnes affichant l'attitude désignée sont désignées ; et une unité de recherche (105) pour exécuter une recherche d'image sur la base des première et seconde interrogations.
PCT/JP2020/026534 2020-07-07 2020-07-07 Dispositif de traitement d'image, procédé de traitement d'image et programme WO2022009301A1 (fr)

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WO2023152973A1 (fr) * 2022-02-14 2023-08-17 日本電気株式会社 Dispositif de traitement d'image, procédé de traitement d'image et programme
WO2023152841A1 (fr) * 2022-02-09 2023-08-17 日本電気株式会社 Système de traitement d'image, procédé de traitement d'image et support non transitoire lisible par ordinateur
WO2023175945A1 (fr) * 2022-03-18 2023-09-21 日本電気株式会社 Dispositif d'évaluation d'action, procédé d'évaluation d'action et support non transitoire lisible par ordinateur

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JP2019091138A (ja) * 2017-11-13 2019-06-13 株式会社日立製作所 画像検索装置、画像検索方法、及び、それに用いる設定画面

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019091138A (ja) * 2017-11-13 2019-06-13 株式会社日立製作所 画像検索装置、画像検索方法、及び、それに用いる設定画面

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023152841A1 (fr) * 2022-02-09 2023-08-17 日本電気株式会社 Système de traitement d'image, procédé de traitement d'image et support non transitoire lisible par ordinateur
WO2023152973A1 (fr) * 2022-02-14 2023-08-17 日本電気株式会社 Dispositif de traitement d'image, procédé de traitement d'image et programme
WO2023175945A1 (fr) * 2022-03-18 2023-09-21 日本電気株式会社 Dispositif d'évaluation d'action, procédé d'évaluation d'action et support non transitoire lisible par ordinateur

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