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Method and system for categorization of a scene

  • US 10,127,458 B2
  • Filed: 12/21/2015
  • Issued: 11/13/2018
  • Est. Priority Date: 01/07/2015
  • Status: Active Grant
First Claim
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1. A computer-implemented method for classifying a type of a moving object within a scene, the moving object being one of a plurality of different types of predetermined objects, the method comprising:

  • receiving an image stream comprising a plurality of images, each of the plurality of images being a captured representation of the scene and comprising depth information as to content within the scene, wherein the content of the scene comprises at least one physical foreground object and a physical background;

    processing the plurality of images to produce an equal plurality of depth maps of the scene;

    forming height maps for each of the plurality of images based on a predetermined model of the background and the corresponding depth map;

    extracting the at least one physical foreground object from each of the plurality of images based on the corresponding height map;

    determining, for each of the plurality of images, a relative position of the at least one physical foreground object within the scene based on the height maps;

    determining a first probability level for the type of object within each of the images by matching the extracted physical foreground object with a predetermined set of different object types, wherein each of the predetermined set of different object types are defined to have at least a length, a height and a width being within a predetermined range;

    determining a second probability level for the type of the object by determining a difference in the relative position for the object in at least two images of the plurality of images, converting the difference in relative position to a relative speed for the object, and matching the relative speed with speed profiles for the predetermined set of different object types; and

    defining the type of the foreground object based on a combination of the first and the second probability level.

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