WO2023098362A1 - Système de surveillance et de sécurité de zone cible basé sur un appareil de prise de vues à cent millions de pixels - Google Patents

Système de surveillance et de sécurité de zone cible basé sur un appareil de prise de vues à cent millions de pixels Download PDF

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Publication number
WO2023098362A1
WO2023098362A1 PCT/CN2022/128144 CN2022128144W WO2023098362A1 WO 2023098362 A1 WO2023098362 A1 WO 2023098362A1 CN 2022128144 W CN2022128144 W CN 2022128144W WO 2023098362 A1 WO2023098362 A1 WO 2023098362A1
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light field
voxelization
security
monitoring
camera
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PCT/CN2022/128144
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English (en)
Chinese (zh)
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袁潮
温建伟
邓迪旻
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北京拙河科技有限公司
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Publication of WO2023098362A1 publication Critical patent/WO2023098362A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/557—Depth or shape recovery from multiple images from light fields, e.g. from plenoptic cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/128—Adjusting depth or disparity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the invention belongs to the technical field of high-resolution image recognition and processing, and in particular relates to a target area security and monitoring system based on a billion-level pixel camera.
  • light field cameras based on microlens arrays makes it possible to apply light field technology to ordinary cameras.
  • This type of light field camera records the light field information in space, and then calculates and processes the light field, which can realize functions such as digital focus, depth of field extension, and even aberration correction.
  • light field cameras have great advantages.
  • the images or videos captured are rich in information, and the resolution reaches 100 million levels.
  • High resolution represents high quality and high definition
  • high-definition video images have a wide range of applications in military, medical, monitoring, astronomy, etc.
  • high-definition video images not only greatly enhance the direct observation ability of the naked eye, but also make the subsequent image or video recognition processing results easier to visualize.
  • the Chinese invention patent application with the application number CN201410637958 proposes a light field acquisition control method, which claims that the refocusing point adjustment range of the light field image captured by the light field camera can be adjusted to a certain extent, thereby better satisfying users or Diversified practical application requirements of equipment and other subjects.
  • the imaging resolution exceeds 100 million levels, the amount of data generated also increases dramatically; and when using a light field camera to acquire image data, the light field camera can not only collect image information (planar, two-dimensional image information), but also Similar to lidar, the depth map information corresponding to this picture and the point cloud information corresponding to this depth map are generated by collecting a frame of image; the light field camera can also obtain the spatial information and angle information of the light during imaging at the same time, This increases the dimension of the data accordingly. In the case of simultaneous increase in data dimension and data volume, how to quickly and timely process the monitoring scene data with 100-million-level pixels has become a technical problem that technicians in the field need to deal with urgently.
  • the present invention proposes a target area security and monitoring system based on a megapixel camera.
  • the target area security and monitoring system includes a light field camera array, a light field information storage array, an overlapping light field identification subsystem, a target light field voxelization subsystem, and a security and monitoring processing subsystem.
  • the light field camera array includes a plurality of light field cameras;
  • the light field information storage array is used to store the light field information obtained by the light field camera array for the target area;
  • the overlapping light field identification subsystem is used to identifying overlapping light field information in two sets of different light field information obtained by at least two light field cameras;
  • the target light field voxelization subsystem is configured to perform voxelization processing on the target light field corresponding to the overlapping light field information to obtain multiple voxelization results.
  • the security and monitoring processing subsystem sends a security signal or a monitoring signal based on the plurality of voxelization results
  • the monitoring signal is used to schedule the shooting angle of at least one light field camera in the light field information array
  • the security signal prompts managers that there is an abnormality in the current monitoring area.
  • At least one of the plurality of light field cameras has more than 100 million pixels.
  • the target light field voxelization subsystem is used to perform voxelization processing under multiple viewing angles on the target light field corresponding to the overlapping light field information, and obtain multiple volumes under different viewing angles. primed result.
  • the security and monitoring processing subsystem obtains the voxelization results under the multiple different viewing angles, and judges whether the target objects contained in the voxelization results under the multiple different viewing angles are abnormal;
  • a security signal is sent, and the security signal prompts the manager that there is an abnormality in the current monitoring area.
  • the monitoring signal is generated at the same time, and the monitoring signal is used to schedule the shooting angle of at least one light field camera in the light field information array, and the shooting angle is determined by the first One of the angle of view, the second angle of view or the third angle of view.
  • the first viewing angle is a first viewing angle parallel to the first coordinate axis of the Cartesian coordinate system
  • the second viewing angle is a second viewing angle parallel to the second coordinate axis of the Cartesian coordinate system
  • the first viewing angle is parallel to the second coordinate axis of the Cartesian coordinate system.
  • the triangular viewing angle is a third viewing angle parallel to the third coordinate axis of the Cartesian coordinate system.
  • the light field camera array used in the technical solution of the present invention, includes a first group of light field cameras, a second group of light field cameras and a third group of light field cameras;
  • the first set of light field cameras captures a first angle range
  • the second set of light field cameras captures a second angle range
  • the third light field camera captures a third angle range
  • the first angular range overlaps with the second angular range
  • the second angular range overlaps with the third angular range
  • the first angular range does not overlap with the third angular range.
  • the shooting angles of the first group of light field cameras and the third group of light field cameras are adjustable; the shooting angles of the second group of light field cameras are not adjustable.
  • the technical solution of the present invention can realize multi-angle target area monitoring through only one light field camera array; and, when the light field camera in the target area obtains billion-level pixel data, multi-view voxelization processing is performed, Comprehensive multi-view voxelization processing results to determine whether there is any abnormality, thereby ensuring the accuracy of security and monitoring of the target area with billions of pixels, and avoiding the one-sidedness of single-angle monitoring processing.
  • Fig. 1 is a schematic structural diagram of a target area security and monitoring system based on a megapixel camera according to an embodiment of the present invention
  • Fig. 2 is a structural schematic diagram of the light field camera array used in the target area security and monitoring system based on the megapixel camera described in Fig. 1;
  • Fig. 3 is a schematic diagram of the principle of performing voxelization processing on light field information
  • Fig. 4 is a schematic diagram of voxelization results of multiple different viewing angles used in various embodiments of the present invention.
  • Fig. 5 is a schematic diagram of the effect of the security and monitoring of the target area realized by the present invention
  • Array It is an array of components formed by arranging multiple components together in a certain shape or rule.
  • the light field camera array is an element array formed by arranging multiple light field cameras or multiple light field sensors (lenses) together in a certain shape or rule.
  • Light field similar to the concept of electric field and magnetic field, is used to describe some characteristics of light, which contains information such as light intensity, position, and direction;
  • a light-field camera also known as a plenoptic camera, specifically uses a large number of tiny lenses to capture light from different sources and angles, and each lens is responsible for processing a certain number of pixels. Theoretically, if the number of lenses is large enough, the light captured in the entire light field area can be clearly distinguished.
  • the light field camera can not only collect image information (planar, two-dimensional image information), but also can generate the depth map information corresponding to this picture through a frame of image collected similar to lidar, and the corresponding depth map information of this depth map.
  • Point cloud information the light field camera can also obtain the spatial information and angle information of the light during imaging at the same time, and map the pixels in the two-dimensional image into a multi-dimensional (more than 2-dimensional, such as three-dimensional or four-dimensional) light field according to certain rules for reprojection. Obtain in-focus images of different viewing angles and different phase planes.
  • a point cloud refers to a massive point collection of surface properties of a target.
  • the point cloud obtained according to the principle of laser measurement including three-dimensional coordinates (XYZ) and laser reflection intensity (Intensity).
  • the point cloud obtained according to the principle of photogrammetry, including three-dimensional coordinates (XYZ) and color information (RGB).
  • the point cloud is obtained by combining the principles of laser measurement and photogrammetry, including three-dimensional coordinates (XYZ), laser reflection intensity (Intensity) and color information (RGB).
  • Point Cloud After obtaining the spatial coordinates and depth information of each sampling point on the surface of the object, a collection of points is obtained, which is called "Point Cloud”.
  • the target area security and monitoring system based on megapixel cameras includes:
  • a light field camera array comprising a plurality of light field cameras
  • a light field information storage array the light field information storage array is used to store the light field information acquired by the light field camera array for the target area;
  • An overlapping light field identification subsystem the overlapping light field identification subsystem is used to identify overlapping light field information in two sets of different light field information obtained by at least two light field cameras;
  • a target light field voxelization subsystem configured to perform voxelization processing on the target light field corresponding to the overlapping light field information to obtain multiple voxelization results;
  • a security and monitoring processing subsystem where the security and monitoring processing subsystem sends a security or monitoring signal based on the plurality of voxelization results
  • At least one of the plurality of light field cameras has more than 100 million pixels.
  • the shooting angle of the light field camera included in the light field camera array is adjustable
  • the monitoring signal is used to schedule the shooting angle of at least one light field camera in the light field information array.
  • FIG. 2 Specifically, on the basis of FIG. 1 , refer to FIG. 2 .
  • the light field camera array includes a first group of light field cameras 1, a second group of light field cameras 2 and a third group of light field cameras 3;
  • the first group of light field cameras 1 captures a first angle range
  • the second group of light field cameras 2 captures a second angle range
  • the third light field camera captures a third angle range
  • the first angular range overlaps with the second angular range
  • the second angular range overlaps with the third angular range
  • the first angular range does not overlap with the third angular range.
  • the shooting angles of the first group of light field cameras 1 and the third group of light field cameras 3 can be adjusted;
  • the shooting angles of the second group of light field cameras 2 are not adjustable.
  • each light field camera is composed of multiple lenses.
  • the video pictures taken by each lens are consistent in the vertical direction, and different angles are taken in the horizontal direction.
  • the pictures taken by each camera have a certain overlapping area to ensure that adjacent lenses There are enough features between video frames for splicing and fusion.
  • the shooting angle of the light field camera included in the light field camera array is adjustable
  • the monitoring signal is used to schedule the shooting angle of at least one light field camera in the light field information array.
  • the present invention can realize multi-angle target area monitoring through only one light field camera array.
  • the target area security and monitoring system based on megapixel cameras only includes one light field camera array, and the one light field camera array includes three sets of light field cameras.
  • each lens Since the light field camera array is composed of multiple light field cameras, and each light field camera captures light from different sources and at different angles by a very large number of tiny lenses, each lens is responsible for processing a certain number of pixels. In practical applications, When each light field camera includes enough lenses, the number of pixels of the camera can reach more than 100 million;
  • the light field camera can not only collect image information (planar, two-dimensional image information), but also can generate the depth map information corresponding to this picture through a frame of image collected similar to lidar, and this depth map The corresponding point cloud information; the light field camera can also obtain the spatial information and angle information of the light during imaging at the same time, so its imaging pixels can easily reach 100 million levels, and the amount of data is huge.
  • the imaging resolution of the light field camera array exceeds 100 million.
  • the light field information storage array is a circular storage stack.
  • Using the storage method of the ring stack instead of the queue can avoid the "overflow" phenomenon of the storage space in the case of a large number.
  • the stored data of the full stack can be sent to the overlapping light field recognition subsystem at one time instead of sending it at any time, so as to reduce the pressure of data processing.
  • the overlapping light field identifying subsystem is used to identify overlapping light field information in two sets of different light field information obtained by at least two light field cameras.
  • the target light field voxelization subsystem is configured to perform voxelization processing on the target light field corresponding to the overlapping light field information to obtain multiple voxelization results.
  • Voxelization refers to dividing the three-dimensional space into rasterized units according to the spatial position, and the point cloud is encoded and calculated in a unified manner according to the grid to which it belongs. Generally speaking, voxelization can improve the regularity of point cloud data and improve computing efficiency.
  • Fig. 3 shows a schematic schematic diagram for performing voxelization on point cloud data.
  • Fig. 3 shows that the point cloud scene is described by segmenting voxels in the three directions of x, y, and z, and the segmentation method is finely divided in all three dimensions.
  • the target light field voxelization subsystem is used to perform voxelization processing under multiple viewing angles on the target light field corresponding to the overlapping light field information, and obtain multiple different viewing angles. Voxelization result.
  • the plurality of viewing angles include one of the following: viewing angles parallel to coordinate axes of a Cartesian coordinate system, viewing angles of a cylindrical coordinate system, and viewing angles of a spherical coordinate system.
  • the viewing angle parallel to the coordinate axis of the Cartesian coordinate system includes: the viewing angle parallel to the first coordinate axis of the Cartesian coordinate system, and the viewing angle parallel to the second coordinate axis of the Cartesian coordinate system , the viewing angle parallel to the third axis of the Cartesian coordinate system.
  • the security and monitoring processing subsystem sends a security signal based on the multiple voxelization results, specifically including:
  • the security and monitoring processing subsystem obtains the voxelization results under the multiple different viewing angles, and judges whether the target objects included in the voxelization results under the multiple different viewing angles are abnormal;
  • a security signal is sent, and the security signal prompts the manager that there is an abnormality in the current monitoring area.
  • the security and monitoring processing subsystem sends a security signal based on the multiple voxelization results, specifically including:
  • the security and monitoring processing subsystem obtains a first voxelization result at a first viewing angle parallel to the first coordinate axis of the Cartesian coordinate system, and a voxelization result at a second viewing angle parallel to the second coordinate axis of the Cartesian coordinate system.
  • the depth information of the first voxelization result, the second voxelization result, and the third voxelization result do not match, it is determined that there is an abnormal target object in the target area.
  • the action mode analysis is performed on the planar imaging information at the angle of view (under the third angle of view) where the third voxelization result in the light field imaging information is parallel to the Z-axis of the Cartesian coordinate system, and it is obtained Analysis results of the first action mode;
  • the first action pattern analysis result, the second action pattern analysis result, and the third action pattern analysis result all determine that there is an abnormal movement, and the depth of field data of the z-axis, the depth of field data of the x-axis, and the depth of field data of the y-axis match each other , it is judged that there is an abnormality in the local target monitoring area.
  • the mutual matching here means that the target object in the monitoring area can be restored after the combination of the field depth data of the z axis, the depth of field data of the x axis and the depth of field data of the y axis.
  • the above only takes the Cartesian coordinate system as an example.
  • the perspective of the cylindrical coordinate system and the perspective of the spherical coordinate system can also be used; or divided into bird's-eye perspective and projective perspective.
  • the above-mentioned steps of performing monitoring pattern analysis on the target monitoring area can be performed.
  • the monitoring signal is generated at the same time, and the monitoring signal is used to schedule the shooting angle of at least one light field camera in the light field information array, and the shooting angle is determined by the One of the first perspective, second perspective or third perspective is determined.
  • Fig. 5 shows a schematic diagram of the effect of the security and monitoring of the target area realized by the present invention.
  • the left side is the action mode analysis performed on the planar imaging information under the angle of view (under the first angle of view) where the first voxelization result in the light field imaging information is parallel to the Y-axis of the Cartesian coordinate system, and it is obtained
  • the analysis result of the second action mode is the planar imaging information execution for the second voxelization result in the light field imaging information parallel to the Z-axis of the Cartesian coordinate system (under the second viewing angle).
  • the action mode analysis is the third action mode analysis result obtained.
  • the depth information of the plane imaging information under the angle of view parallel to the Y axis cannot match the depth information of the plane imaging information under the angle of view parallel to the Z axis (under the second angle of view), so the z axis
  • the target object in the monitoring area cannot be restored after combining the depth of field data of the X axis, the depth of field data of the X axis, and the depth of field data of the Y axis, so there is an abnormality.
  • the shooting angle of at least one light field camera in the light field information array it is necessary to schedule the shooting angle of at least one light field camera in the light field information array to be an angle off the Y axis or the Z axis, that is, the shooting angle is clearer in the first viewing angle or the second viewing angle.

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  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
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Abstract

La présente invention concerne un système de sécurité et de surveillance de zone cible basé sur un appareil de prise de vues à cent millions de pixels, appartenant au domaine technique de la reconnaissance et du traitement d'image à haute résolution. Le système comprend : un réseau d'appareil de prise de vues à champ lumineux, qui comprend une pluralité d'appareils de prise de vues à champ lumineux; un réseau de stockage d'informations de champ lumineux, qui est utilisé pour stocker des informations de champ lumineux qui sont acquises par le réseau d'appareils de prise de vues à champ lumineux par rapport à une zone cible; un sous-système de reconnaissance de champ lumineux se chevauchant, qui est utilisé pour reconnaître des informations de champ lumineux se chevauchant dans deux groupes différents d'informations de champ lumineux qui sont obtenues par au moins deux appareils de prise de vues à champ lumineux; un sous-système de voxélisation de champ lumineux cible, qui est utilisé pour exécuter un traitement de voxélisation sur un champ lumineux cible correspondant aux informations de champ lumineux qui se chevauchent, de façon à obtenir une pluralité de résultats de voxélisation; et un sous-système de traitement de sécurité et de surveillance, qui envoie un signal de sécurité ou de surveillance sur la base de la pluralité de résultats de voxélisation, au moins l'un de la pluralité d'appareils de prise de vues à champ lumineux ayant plus de cent millions de pixels. Le système peut réaliser une surveillance intelligente et une reconnaissance de sécurité d'une zone de surveillance de cent millions de pixels sur la base d'un réseau d'appareils de prise de vues à champ lumineux.
PCT/CN2022/128144 2021-12-01 2022-10-28 Système de surveillance et de sécurité de zone cible basé sur un appareil de prise de vues à cent millions de pixels WO2023098362A1 (fr)

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