HUMAN DETECTION WITH IMAGING SENSORS
First Claim
1. A method of detecting a human being from objects in a field of view, the method comprising:
- (a) capturing an image in the field of view with an infrared camera;
(b) capturing the image in the field of view with another device;
(c) determining first areas of the image that fall within a temperature range, the range being indicative of thermal emission characteristics of the human being based on output from the infrared camera;
(d) determining second areas of the image that correspond to characteristics of the human being based on output from the other device;
(e) subtracting the second areas of the image from the first areas of the image to define third common areas; and
(f) determining that the third common areas include a human being.
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Accused Products
Abstract
A method and apparatus for determining human beings from terrain or man-made obstacles is provided. A long-wave infrared camera along with additional devices such as a color camera, two cameras in stereo configuration, and/or a LADAR scanner are used such that the physical scene captured in one image is the same from all of the devices. The images may be processed such that areas of interest representing characteristics of human beings are labeled likely human. The processing may include determining the physical size, range, and relative locations of the objects found in the images. The system, method and apparatus may be used in unmanned vehicles or autonomous machines, as a driving aid to a manned vehicle or system, or as part of a security system.
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Citations
20 Claims
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1. A method of detecting a human being from objects in a field of view, the method comprising:
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(a) capturing an image in the field of view with an infrared camera; (b) capturing the image in the field of view with another device; (c) determining first areas of the image that fall within a temperature range, the range being indicative of thermal emission characteristics of the human being based on output from the infrared camera; (d) determining second areas of the image that correspond to characteristics of the human being based on output from the other device; (e) subtracting the second areas of the image from the first areas of the image to define third common areas; and (f) determining that the third common areas include a human being. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus for detecting a human being from a field of vision, the apparatus comprising:
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(a) an infrared camera; (b) a stereo camera; and (c) a control node for processing data from the same field of vision simultaneously recorded by both the infrared camera and the stereo camera for detecting the human being. - View Dependent Claims (13, 14, 15, 16)
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17. A method of detecting a human being in a field of vision, the method comprising:
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(a) capturing a first image in the field of view with a long-wave infrared camera; (b) capturing a second image in the field of view with another device; (c) overlaying the second image onto the first image to define a common area; (d) determining if the surface area of the common area are indicative of the human being. - View Dependent Claims (18, 19, 20)
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Specification