Object detection along pre-defined trajectory

• US 10,147,195 B2
• Filed: 02/09/2017
• Issued: 12/04/2018
• Est. Priority Date: 02/19/2016
• Status: Active Grant

• Current Assignee: Teledyne FLIR LLC (Teledyne Technologies Incorporated)
• Original Assignee: FLIR Systems, Inc. (Teledyne Technologies Incorporated)
• Inventors: Schulte, Stefan
• Primary Examiner(s): Cunningham, Gregory F
• Application Number:
  US15/429,028
• Publication Number:
  US 20170243360A1
• Time in Patent Office: 663 Days
• Field of Search: 382103
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 10/758 Involving statistics of pixels or of feature values, e.g. histogram matching
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69

Abstract

Systems and methods according to one or more embodiments are provided for detecting an object in a field of view of an imaging device. An object may be detected by an imaging device when the object is present along a trajectory in a target scene. In one example, a system includes a memory component to store a plurality of images of the target scene and a processor. The processor is configured to define the trajectory between two locations within the target scene and extract a subset of pixel values from each of successive images corresponding to the trajectory. The extracted subsets of pixel values are processed to detect an object within the target scene. Additional systems and methods are also provided.

Claims

1. A method comprising:

defining a fixed trajectory comprising a path between two locations within a target scene;

receiving a plurality of images of the target scene successively captured in time;

extracting, from each of the images, a subset of pixels with pixel values corresponding to the fixed trajectory;

comparing the extracted subsets of pixel values from the plurality of images of the target scene;

determining changes in the subsets of pixel values among the plurality of images; and

detecting an object entering the target scene substantially along the fixed trajectory in response to the determined changes.

2. The method of claim 1, further comprising capturing the plurality of images from the target scene by an imaging device, wherein the imaging device comprises a thermal camera and/or a visible light camera.

3. The method of claim 1, wherein:

the images are thermal images;

the detecting the object entering the target scene is performed in response to the determined changes based on an increase in thermal radiation along the fixed trajectory; and

the method further comprises detecting the object exiting the target scene in response to the determined changes based on a decrease in thermal radiation along the fixed trajectory.

4. The method of claim 1, wherein the method further comprises detecting a speed of the object using the determined changes.

5. The method of claim 1, wherein:

the fixed trajectory comprises a plurality of segments; and

the comparing, the determining, and the detecting is performed for each of the segments to detect the object in each of the segments.

6. The method of claim 1, wherein the detected object is a first object, the method further comprising performing a video analytics process on a portion of the images greater than the subset of pixel values to detect a second object in the target scene within the fixed trajectory.

7. The method of claim 6, further comprising generating an alert in response to the detection of the second object.

8. The method of claim 6, wherein the first object is a vehicle and the second object is a human or an animal.

9. A system comprising:

a memory component configured to store a plurality of images of a target scene successively captured in time; and

a processor configured to;

define a fixed trajectory comprising a path between two locations within the target scene,

extract, from each of the images, a subset of pixels with pixel values corresponding to the fixed trajectory,

compare the extracted subsets of pixel values from the plurality of images of the target scene,

determine changes in the subsets of pixel values among the plurality of images, and

detect an object entering the target scene substantially along the fixed trajectory in response to the determined changes.

10. The system of claim 9, further comprising an imaging device configured to capture the plurality of images of the target scene, wherein the imaging device comprises a thermal camera and/or a visible light camera.

11. The system of claim 9, wherein the images are thermal images;

the detection of the object entering the target scene is performed in response to the determined changes based on an increase in thermal radiation along the fixed trajectory; and

the processor is configured to detect the object exiting the target scene in response to the determined changes based on a decrease in thermal radiation along the fixed trajectory.

12. The system of claim 9, wherein the processor is configured to detect a speed of the object using the determined changes.

13. The system of claim 9, wherein:

the fixed trajectory comprises a plurality of segments; and

the processor is configured to perform processing for each of the segments to detect the object in each of the segments.

14. The system of claim 9, wherein:

the detected object is a first object; and

the processor is configured to perform a video analytics process on a portion of the images greater than the subset of pixel values to detect a second object in the target scene within the fixed trajectory.

15. The system of claim 14, wherein the processor is configured to generate an alert in response to the detection of the second object.

16. The system of claim 14, wherein the first object is a vehicle and the second object is a human or an animal.

17. The system of claim 14, wherein the processor is configured by a plurality of instructions stored in the memory.

18. A non-transitory machine-readable medium comprising executable instructions which, when executed by a processor, cause the processor to perform a method comprising:

defining a fixed trajectory comprising a path between two locations within a target scene;

receiving a plurality of images of the target scene successively captured in time;

extracting, from each of the images, a subset of pixels with pixel values corresponding to the fixed trajectory;

comparing the extracted subsets of pixel values from the plurality of images of the target scene;

determining changes in the subsets of pixel values among the plurality of images; and

detecting an object entering the target scene substantially along the fixed trajectory in response to the determined changes.