MOVING OBJECT DETECTION APPARATUS AND MOVING OBJECT DETECTION METHOD

• US 20110091073A1
• Filed: 12/22/2010
• Published: 04/21/2011
• Est. Priority Date: 07/31/2009
• Status: Active Grant

• Current Assignee: Sovereign Peak Ventures, LLC (Dominion Harbor Enterprises, LLC)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: Iwasaki, Masahiro, Nobori, Kunio
• Granted Patent: US 8,300,892 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 7/215 Motion-based segmentation
• CPC Class Codes: G06T 7/292 Multi-camera tracking

Abstract

To provide a moving object detection apparatus which accurately performs region extraction, regardless of the pose or size of a moving object. The moving object detection apparatus includes: an image receiving unit receiving the video sequence; a motion analysis unit calculating movement trajectories based on motions of the image; a segmentation unit performing segmentation so as to divide the movement trajectories into subsets, and setting a part of the movement trajectories as common points shared by the subsets; a distance calculation unit calculating a distance representing a similarity between a pair of movement trajectories, for each of the subsets; a geodesic distance calculation unit transforming the calculated distance into a geodesic distance; an approximate geodesic distance calculation unit calculating an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common points; and a region extraction unit performing clustering on the calculated approximate geodesic distance.

Claims

1. A moving object detection apparatus which detects a moving object in a video sequence by extracting a region corresponding to a whole or a part of an image of the moving object, said moving object detection apparatus comprising:

an image receiving unit configured to receive a set of images included in the video sequence;

a motion analysis unit configured to calculate movement trajectories, each of the movement trajectories being calculated by;

detecting a motion of the image between a pair of images included in the set of images, for each pair of blocks included in the pair of images, each block having one or more pixels; and

concatenating motions detected from all pairs of images included in the set of images;

a segmentation unit configured to perform segmentation so that the movement trajectories are divided into subsets, and to set a part of the movement trajectories as a common point shared by the subsets;

a distance calculation unit configured to calculate a distance representing a similarity between a pair of movement trajectories, for each of the subsets;

a geodesic distance calculation unit configured to transform the distance calculated by said distance calculation unit into a geodesic distance;

an approximate geodesic distance calculation unit configured to calculate an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common point, among the geodesic distances obtained by said geodesic distance calculation unit; and

a region extraction unit configured to extract at least one region from the video sequence, by performing clustering using the calculated approximate geodesic distance so that blocks having similar movement trajectories are classified into one region.

2. The moving object detection apparatus according to claim 1,

wherein said image receiving unit is configured to receive sets of images corresponding to video sequences captured by cameras, respectively,

said motion analysis unit is configured to calculate the movement trajectories for each of the video sequences,

said segmentation unit is configured to hold the movement trajectories calculated for each of the video sequences as one subset, and

said region extraction unit is configured to extract at least one region from the video sequences by performing the clustering.

3. The moving object detection apparatus according to claim 1,

wherein said segmentation unit is configured to perform the segmentation, so as to divide the movement trajectories into the subsets on the image in a position space of the blocks corresponding to the movement trajectories.

4. The moving object detection apparatus according to claim 3,

wherein said segmentation unit is configured to perform the segmentation, so as to divide the movement trajectories into the subsets according to a spatial segmentation designated by a user for the video sequence.

5. The moving object detection apparatus according to claim 1,

wherein each of the movement trajectories is represented by a multidimensional vector, and

said segmentation unit is configured to perform the segmentation, so as to divide the movement trajectories into the subsets in a multidimensional vector space expressing the multidimensional vector.

6. The moving object detection apparatus according to claim 3,

wherein said segmentation unit is configured to perform the segmentation so that subsets close to each other, among the subsets, partly overlap one another, and to set a movement trajectory included in, an overlapping region as the common points.

7. The moving object detection apparatus according to claim 3,

wherein said segmentation unit is configured to set, as the common points set for each of the subsets, a movement trajectory, among the movement trajectories included in the subset, which is located close to a boundary with an adjacent subset.

8. The moving object detection apparatus according to claim 1,

wherein said geodesic distance transformation unit is configured to transform each of the distances calculated by said distance calculation unit into the geodesic distance, by calculating a shortest path between a pair of movement trajectories calculated by said motion analysis unit, the shortest path being obtained by combining short distances satisfying a predetermined condition, among the distances calculated by said distance calculation unit.

9. The moving object detection apparatus according to claim 8,

wherein said geodesic distance transformation unit is configured to transform each of the distances calculated by said distance calculation unit into the geodesic distance, by calculating the shortest path after:

selecting a predetermined number of distances in ascending order, from among distances each between a pair of movement trajectories included in an individual subset; and

performing nonlinear processing to change an unselected distance into an infinite distance.

10. The moving object detection apparatus according to claim 8,

wherein said geodesic distance transformation unit is configured to transform each of the distances calculated by said distance calculation unit into the geodesic distance, by calculating the shortest path after:

selecting distances each being equal to or shorter than a threshold, from among distances each between a pair of movement trajectories included in an individual subset; and

performing nonlinear processing to change an unselected distance into an infinite distance.

11. The moving object detection apparatus according to claim 1,

wherein said region extraction unit is configured to detect at least one discontinuous point in a distribution of the approximate geodesic distances calculated by said approximate geodesic distance calculation unit, and to perform the clustering so that the movement trajectories separated by a geodesic distance shorter than a gap of the detected discontinuous point are classified into one cluster.

12. The moving object detection apparatus according to claim 1,

wherein said region extraction unit is configured to perform dimensionality reduction on the approximate geodesic distance calculated by said approximate geodesic distance calculation unit, by calculating an eigenvalue and an eigenvector, and to perform the clustering in a lower-dimensionality space.

13. The moving object detection apparatus according to claim 1,

wherein said geodesic distance transformation unit is configured to generate criteria used for transforming the distance into the geodesic distance, and to transform the distance into the geodesic distance using each of the criteria so as to generate the geodesic distances for each of the criteria,

said approximate geodesic distance calculation unit is configured to integrate the geodesic distances for each of the criteria, and

said region extraction unit includes:

a candidate generation unit configured to generate a result of the region extraction as a candidate for each of the criteria, by extracting the region through the clustering performed on the integrated approximate geodesic distance corresponding to the criterion; and

a candidate selection unit configured to obtain an instruction regarding the number of classes, select a candidate having the number of extracted regions close to the obtained number of classes, from among the candidates generated by said candidate generation unit, and output the selected candidate as a result of the region extraction performed by said region extraction unit.

14. The moving object detection apparatus according to claim 13,

wherein said geodesic distance transformation unit is configured to generate a threshold as the criteria, and generate the geodesic distance for each of the criteria by combining distances shorter than the threshold, among the distances calculated by said distance calculation unit.

15. The moving object detection apparatus according to claim 1, further comprising

an image display unit configured to display a result of the region extraction performed by said region extraction unit by superimposing the result onto the image received by said image receiving unit.

16. The moving object detection apparatus according to claim 1, further comprising

a recording-transmitting unit configured:

to determine a region on the image received by said image receiving unit according to a result of the region extraction performed by said region extraction unit; and

to record and hold the result in association with the determined region or to transmit the result in association with the determined region to an external source via a transmission line.

17. The moving object detection apparatus according to claim 1,

wherein said image receiving unit is configured to receive a video sequence including two or more moving objects, and

said region extraction unit is configured to detect the two or more moving objects by performing the region extraction on the two or more moving objects.

18. The moving object detection apparatus according to claim 1, further comprising

a motion estimation unit configured to estimate a motion of the moving object, by calculating a representative movement trajectory from the movement trajectories of the blocks included in the region extracted by said region extraction unit and estimating a motion of the region on the basis of the representative movement trajectory.

19. A vector data classification apparatus which classifies vector data pieces into classes, each class including similar vector data pieces out of the vector data pieces, said vector data classification apparatus comprising:

a vector data receiving unit configured to receive vector data pieces;

a segmentation unit configured to perform segmentation so that the vector data pieces are divided into subsets each used for calculating a geodesic distance, and to set a part of the vector data pieces included in at least one of the subsets as a common point shared by the subsets;

a distance calculation unit configured to calculate a distance representing a similarity between a pair of vector data pieces, for each of the subsets;

a geodesic distance calculation unit configured to transform the distance calculated by said distance calculation unit into a geodesic distance which is a length of a path between the pair of vector data pieces via a vector data piece serving as a relay point;

an approximate geodesic distance calculation unit configured to calculate an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common points, among the geodesic distances obtained by said geodesic distance calculation unit; and

a data classification unit configured to generate at least one class from the video sequence, by performing clustering using the calculated approximate geodesic distance so that similar vector data pieces are classified into one class.

20. A moving object detection method of detecting a moving object in a video sequence by extracting a region corresponding to a whole or a part of an image of the moving object, said moving object detection method comprising:

receiving a set of images included in the video sequence;

calculating movement trajectories, each of the movement trajectories being calculated by;

detecting a motion of the image between a pair of images included in the set of images, for each pair of blocks included in the pair of images, each block having one or more pixels; and

concatenating motions detected from all pairs of images included in the set of images;

performing segmentation so that the movement trajectories are divided into subsets, and setting a part of the movement trajectories as common points shared by the subsets;

calculating a distance representing a similarity between a pair of movement trajectories, for each of the subsets;

transforming the calculated distance into a geodesic distance;

calculating an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common points, among the calculated geodesic distances; and

extracting at least one region from the video sequence, by performing clustering using the calculated approximate geodesic distance so that blocks having similar movement trajectories are classified into one region.

21. A non-transitory computer-readable recording medium for use in a computer, the recording medium having a computer program recorded thereon for detecting a moving object in a video sequence by extracting a region corresponding to a whole or a part of the moving object, said computer program causing the computer to execute:

the steps included in the moving object detection method according to claim 20.