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。

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.

公开(公告)号：US09727971B2

公开(公告)日：2017-08-08

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： G06K9/00 ,  G06T7/00 ,  G06T7/11 ,  G06T7/174 ,  G06T7/194 ,  H04N13/02

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.

公开(公告)号：US10026012B2

公开(公告)日：2018-07-17

申请号：US15267329

申请日：2016-09-16

申请人： Jiadan Zhu ,  Xin Wang ,  Shengyin Fan ,  Qian Wang ,  Bo Pang

发明人： Jiadan Zhu ,  Xin Wang ,  Shengyin Fan ,  Qian Wang ,  Bo Pang

IPC分类号： G06K9/62 ,  G06K9/46 ,  G06T7/00 ,  G06T7/40

摘要： A method and an apparatus for separating objects are disclosed. The method includes obtaining a depth image including a plurality of objects; obtaining a two-dimensional image including the objects; performing pixel-clustering using depth values of pixels in the depth image and pixel values of pixels in the two-dimensional image to obtain a plurality of sub-regions; performing region-clustering for the sub-regions to obtain a clustering result as an object separation result; and outputting the object separation result.

公开(公告)号：US09984286B2

公开(公告)日：2018-05-29

申请号：US15148391

申请日：2016-05-06

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

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

IPC分类号： G06K9/00 ,  G06K9/62 ,  G06T7/00

CPC分类号： G06K9/00369 ,  G06K9/00778

摘要： A method and an apparatus for detecting persons are disclosed. The method includes initially detecting the persons in a height-top-view; dividing the height-top-view into one or more regions, and estimating crowd density in each region; determining, based on the crowd density, visible regions of the initially detected persons in each of the regions; for each of the initially detected persons, extracting a first gradient feature and a second gradient feature of the person from the height-top-view, and a grayscale image or a color image corresponding to the height-top-view, respectively; for each of the initially detected persons, determining, based on the extracted first gradient feature and second gradient feature, using a previously constructed classifier corresponding to the determined visible region of the person, a confidence level of the initially detected person; and correcting, based on the confidence level, a detection result of the initially detected persons.

公开(公告)号：US10438069B2

公开(公告)日：2019-10-08

申请号：US15059787

申请日：2016-03-03

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

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

IPC分类号： G06K9/46 ,  G06K9/62 ,  G06K9/00

摘要： A method and an apparatus for detecting an abnormal situation are disclosed. The method includes detecting whether a first target exists in an obtained image; recognizing whether the first target holds an object, when the first target exists in the image; obtaining motion information of the object, when the first target holds the object; and determining, based on the motion information of the object, whether the abnormal situation exists.

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。

公开(公告)号：US09881217B2

公开(公告)日：2018-01-30

申请号：US14935627

申请日：2015-11-09

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

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

IPC分类号： H04N7/18 ,  G06K9/00 ,  G06K9/46

CPC分类号： G06K9/00778 ,  G06K9/00369 ,  G06K2009/4666

摘要： A method and an apparatus for detecting an interest degree of a crowd in a target position are disclosed. The interest degree detection method includes projecting a depth image obtained by photographing onto a height-top-view, the depth image including the crowd and the target position; dividing the height-top-view into cells; determining density of the crowd in each cell; determining a moving speed and a moving direction of the crowd in each cell; determining orientation of the crowd in each cell; and determining, based on the density, the moving speed, the moving direction and the orientation of the crowd, the interest degree of the crowd in each cell in the target position. According to this method, the interest degree of the crowd in the target position can be detected accurately, even at a crowded place where it is difficult to detect and track a single person.

公开(公告)号：US10032082B2

公开(公告)日：2018-07-24

申请号：US15143718

申请日：2016-05-02

申请人： Bo Pang ,  Shengyin Fan ,  Xin Wang ,  Qian Wang ,  Gang Wang

发明人： Bo Pang ,  Shengyin Fan ,  Xin Wang ,  Qian Wang ,  Gang Wang

IPC分类号： G06K9/00

摘要： A method and an apparatus for detecting an abnormal situation are disclosed. The method includes recognizing whether a detection target exists in a captured image; generating, based on the captured image, a three-dimensional point cloud of the detection target in the captured image, when the detection target exists; obtaining, based on the generated three-dimensional point cloud, one or more current posture features of the detection target; and determining, based on the current posture features and one or more predetermined posture feature standards, whether the abnormal situation exists, the posture feature standards being previously determined based on one or more common features when the detection target performs a plurality of abnormal actions.

公开(公告)号：US09741130B2

公开(公告)日：2017-08-22

申请号：US14133895

申请日：2013-12-19

申请人： Shengyin Fan ,  Xin Wang

发明人： Shengyin Fan ,  Xin Wang

IPC分类号： G06K9/00 ,  G06T7/20 ,  G06T7/73 ,  G06T7/593 ,  G06T7/11 ,  G06T7/174 ,  G06T7/246 ,  G06T7/277 ,  G06T7/285 ,  G06T7/194

CPC分类号： G06T7/11 ,  G06T7/174 ,  G06T7/194 ,  G06T7/248 ,  G06T7/277 ,  G06T7/285 ,  G06T7/593 ,  G06T7/74 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/30196 ,  G06T2207/30232 ,  G06T2207/30241

摘要： A method and an apparatus for detecting an object are disclosed. The method comprises the steps of obtaining a plurality of depth images of the object; extracting foregrounds; fusing the foregrounds in a unified three-dimensional world coordinate system; calculating an appearance two-dimensional histogram from the fused foreground by the following steps of dividing the foreground into vertical members and getting statistics of the numbers of foreground points in the vertical members so as to obtain the appearance two-dimensional histogram; determining an overlapping region and the number of overlaps based on the placement of stereo cameras; determining a detection parameter relating to a detection position based on the overlapping region and the number of overlaps; and detecting the object by the appearance two-dimensional histogram based on the determined detection parameter.