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    SHADOW DETECTION METHOD AND DEVICE
    3.
    发明申请
    SHADOW DETECTION METHOD AND DEVICE 有权
    阴影检测方法和设备

    公开(公告)号：US20140341464A1

    公开(公告)日：2014-11-20

    申请号：US14276053

    申请日：2014-05-13

    申请人： Shengyin FAN ,  Xin WANG ,  Qian WANG ,  Gang QIAO

    发明人： Shengyin FAN ,  Xin WANG ,  Qian WANG ,  Gang QIAO

    IPC分类号： G06T5/00

    CPC分类号： G06T5/008 ,  G06T7/11 ,  G06T7/194 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/30196 ,  G06T2207/30232

    摘要： Disclosed are a shadow detection method and device. The method includes a step of obtaining a depth/disparity map and color/grayscale image from a two-lens camera or stereo camera; a step of detecting and acquiring plural foreground points; a step of projecting the acquired plural foreground points into a 3-dimensional coordinate system; a step of carrying out, in the 3-dimensional coordinate system, a clustering process with respect to the projected plural foreground points so as to divide the projected plural foreground points into one or more point clouds; a step of calculating density distribution of each of the one or more point clouds by adopting a principal component analysis algorithm so as to obtain one or more principal component values of the corresponding point cloud; and a step of determining, based on the one or more principal component values, whether the corresponding point cloud is a shadow.

    摘要翻译： 公开了一种阴影检测方法和装置。 该方法包括从双镜头相机或立体相机获取深度/视差图和彩色/灰度图像的步骤; 检测并获取多个前景点的步骤; 将所获取的多个前景点投影到三维坐标系中的步骤; 在三维坐标系中执行相对于投影的多个前景点的聚类处理，以将投影的多个前景点划分成一个或多个点云的步骤; 通过采用主成分分析算法计算一个或多个点云中的每一个点的密度分布以便获得对应点云的一个或多个主成分值的步骤; 以及基于所述一个或多个主成分值来确定对应的点云是否是阴影的步骤。

    METHOD AND SYSTEM FOR UPDATING BACKGROUND MODEL BASED ON DEPTH
    4.
    发明申请
    METHOD AND SYSTEM FOR UPDATING BACKGROUND MODEL BASED ON DEPTH 有权
    基于深度更新背景模型的方法和系统

    公开(公告)号：US20150371398A1

    公开(公告)日：2015-12-24

    申请号：US14740641

    申请日：2015-06-16

    申请人： Gang QIAO ,  Xin WANG ,  Shengyin FAN ,  Qian WANG ,  Jiadan ZHU

    发明人： Gang QIAO ,  Xin WANG ,  Shengyin FAN ,  Qian WANG ,  Jiadan ZHU

    IPC分类号： G06T7/00 ,  G06T7/20 ,  H04N13/00 ,  G06T1/00

    CPC分类号： G06T7/194 ,  G06K9/00 ,  G06T7/11 ,  G06T7/174 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20224 ,  H04N13/239

    摘要： A method and a system for updating a background model based on depth are disclosed. The method includes receiving, in response to the occurrence of a predetermined background updating condition, one or more depth images captured after a time when the predetermined background updating condition occurs; obtaining, based on an original background model, foreground images in the one or more captured depth images, which are newly added compared with a depth image at the time when the predetermined background updating condition occurs; for each of foreground pixels in each of the newly added foreground images, comparing a current depth value with a previous depth value before the time when the predetermined background updating condition occurs; and updating, when the current depth value is greater than the previous depth value, the original background model as the updated background model by using the foreground pixel in the newly added foreground image.

    摘要翻译： 公开了一种基于深度更新背景模型的方法和系统。 该方法包括响应于预定的背景更新条件的发生，接收在预定的背景更新条件发生之后捕获的一个或多个深度图像; 基于原始背景模型，获得与所述预定背景更新条件发生时的深度图像相比新添加的所述一个或多个捕获的深度图像中的前景图像; 对于每个新添加的前景图像中的每个前景像素，将当前深度值与预定背景更新条件发生之前的先前深度值进行比较; 并且通过使用新添加的前景图像中的前景像素，将当前深度值大于先前深度值的原始背景模型更新为更新的背景模型。

    METHOD AND DEVICE FOR DETECTING GATHERING OF OBJECTS BASED ON STEREO VISION AS WELL AS NON-TRANSITORY COMPUTER-READABLE MEDIUM
    5.
    发明申请
    METHOD AND DEVICE FOR DETECTING GATHERING OF OBJECTS BASED ON STEREO VISION AS WELL AS NON-TRANSITORY COMPUTER-READABLE MEDIUM 有权
    用于基于立体视觉检测物体的方法和装置，作为非接线计算机可读介质

    公开(公告)号：US20160335491A1

    公开(公告)日：2016-11-17

    申请号：US15151940

    申请日：2016-05-11

    申请人： Qian Wang ,  Shengyin Fan ,  Xin Wang ,  Gang Qiao ,  Jiadan Zhu

    发明人： Qian Wang ,  Shengyin Fan ,  Xin Wang ,  Gang Qiao ,  Jiadan Zhu

    IPC分类号： G06K9/00 ,  G06T7/20 ,  G06T7/00

    CPC分类号： G06K9/00369 ,  G06K9/00778

    摘要： Method, device, and non-transitory computer-readable medium detecting a gathering of objects based on stereo vision are disclosed, and the method comprises steps of obtaining current and prior images and a corresponding depth map; extracting foreground pixels corresponding to detection objects from the current and prior images, and projecting the foreground pixels onto a ground surface to acquire a foreground projection image including foreground projection blocks; conducting, based on image feature differences of the foreground pixels between the current and prior images, projection onto the ground surface to acquire moving foreground projection blocks; utilizing the moving foreground projection blocks to erode the foreground projection blocks to obtain still foreground projection blocks; and determining, based on the still foreground projection blocks, whether the gathering of objects exists.

    摘要翻译： 公开了基于立体视觉检测物体聚集的方法，装置和非暂时计算机可读介质，并且该方法包括获取当前和先前图像以及对应的深度图的步骤; 从当前和先前图像中提取与检测对象相对应的前景像素，并将前景像素投影到地面上以获取包括前景投影块的前景投影图像; 基于当前和先前图像之间的前景像素的图像特征差异进行投影，以投影到地面上以获取移动的前景投影块; 利用移动的前景投影块来侵蚀前景投影块以获得静止的前景投影块; 以及基于所述静止前景投影块来确定是否存在对象的聚集。

    Method and device for detecting gathering of objects based on stereo vision as well as non-transitory computer-readable medium
    7.
    发明授权
    Method and device for detecting gathering of objects based on stereo vision as well as non-transitory computer-readable medium 有权

    公开(公告)号：US09754160B2

    公开(公告)日：2017-09-05

    申请号：US15151940

    申请日：2016-05-11

    申请人： Qian Wang ,  Shengyin Fan ,  Xin Wang ,  Gang Qiao ,  Jiadan Zhu

    发明人： Qian Wang ,  Shengyin Fan ,  Xin Wang ,  Gang Qiao ,  Jiadan Zhu

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00369 ,  G06K9/00778

    摘要： Method, device, and non-transitory computer-readable medium detecting a gathering of objects based on stereo vision are disclosed, and the method comprises steps of obtaining current and prior images and a corresponding depth map; extracting foreground pixels corresponding to detection objects from the current and prior images, and projecting the foreground pixels onto a ground surface to acquire a foreground projection image including foreground projection blocks; conducting, based on image feature differences of the foreground pixels between the current and prior images, projection onto the ground surface to acquire moving foreground projection blocks; utilizing the moving foreground projection blocks to erode the foreground projection blocks to obtain still foreground projection blocks; and determining, based on the still foreground projection blocks, whether the gathering of objects exists.

    Shadow detection method and device
    9.
    发明授权
    Shadow detection method and device 有权
    阴影检测方法和设备

    公开(公告)号：US09142011B2

    公开(公告)日：2015-09-22

    申请号：US14276053

    申请日：2014-05-13

    申请人： Shengyin Fan ,  Xin Wang ,  Qian Wang ,  Gang Qiao

    发明人： Shengyin Fan ,  Xin Wang ,  Qian Wang ,  Gang Qiao

    IPC分类号： G06T5/00 ,  G06T7/00

    CPC分类号： G06T5/008 ,  G06T7/11 ,  G06T7/194 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/30196 ,  G06T2207/30232

    摘要： Disclosed are a shadow detection method and device. The method includes a step of obtaining a depth/disparity map and color/grayscale image from a two-lens camera or stereo camera; a step of detecting and acquiring plural foreground points; a step of projecting the acquired plural foreground points into a 3-dimensional coordinate system; a step of carrying out, in the 3-dimensional coordinate system, a clustering process with respect to the projected plural foreground points so as to divide the projected plural foreground points into one or more point clouds; a step of calculating density distribution of each of the one or more point clouds by adopting a principal component analysis algorithm so as to obtain one or more principal component values of the corresponding point cloud; and a step of determining, based on the one or more principal component values, whether the corresponding point cloud is a shadow.

    摘要翻译： 公开了一种阴影检测方法和装置。 该方法包括从双镜头相机或立体相机获取深度/视差图和彩色/灰度图像的步骤; 检测并获取多个前景点的步骤; 将所获取的多个前景点投影到三维坐标系中的步骤; 在三维坐标系中执行相对于投影的多个前景点的聚类处理，以将投影的多个前景点划分成一个或多个点云的步骤; 通过采用主成分分析算法计算一个或多个点云中的每一个点的密度分布以便获得对应点云的一个或多个主成分值的步骤; 以及基于所述一个或多个主成分值来确定对应的点云是否是阴影的步骤。