THREE DIMENSIONAL DETECTING DEVICE AND METHOD FOR DETECTING IMAGES THEREOF

• US 20150043777A1
• Filed: 08/06/2014
• Published: 02/12/2015
• Est. Priority Date: 08/08/2013
• Status: Active Grant

• Current Assignee: Huper Laboratories Co., Ltd.
• Original Assignee: Huper Laboratories Co., Ltd.
• Inventors: Tsai, Chih-Hsiang, Wang, Chao-Ming
• Granted Patent: US 9,483,698 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: G06V 40/10 Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
• CPC Class Codes: G08B 13/19606 Discriminating between target movement or movement in an area of interest and other non-signicative movements, e.g. target movements induced by camera shake or movements of pets, falling leaves, rotating fan
• CPC Class Codes: G08B 13/19613 Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion
• CPC Class Codes: G08B 13/19652 Systems using zones in a single scene defined for different treatment, e.g. outer zone gives pre-alarm, inner zone gives alarm

Abstract

A method includes generating a disparity map according to two sets of image data, identifying at least one object in the disparity map, mapping the at least one object onto a plane view, tracking at least one object on the plane view, and providing a robust algorithm about a cross-line time interval and a cross-line degree. The robust algorithm includes detecting whether the at least one object enters a predetermined region when the at least one object crosses a predetermined boundary.

Claims

1. A method for detecting images with a three dimensional detecting device, comprising:

generating a disparity map according to two sets of image data;

identifying at least one object in the disparity map;

mapping the at least one object onto a plane view;

tracking the at least one object on the plane view; and

determining the at least one object has intruded a predetermined region when a condition of the at least one object on the plane view satisfies a predetermined criterion.

2. The method of claim 1, further comprising determining the condition of the at least one object on the plane view satisfies the predetermined criterion when the at least one object crosses a predetermined boundary of the predetermined region by at least a predetermined distance, the at least one object crosses the predetermined boundary for a predetermined period of time and/or the at least one object crosses the predetermined boundary at a height within a predetermined height range.

3. The method of claim 1, further comprising detecting whether a number of the at least one object is larger than 1.

4. The method of claim 3, further comprising if the number of the at least one object is larger than 1, tracking a plurality of objects on the plane view;

wherein determining the at least one object has intruded the predetermined region when the condition of the at least one object on the plane view satisfies the predetermined criterion comprises determining an object of the plurality of objects has intruded the predetermined region when a condition of the object on the plane view satisfies the predetermined criterion.

5. The method of claim 4, further comprising determining the condition of the object on the plane view satisfies the predetermined criterion when the object crosses a predetermined boundary of the predetermined region by at least a predetermined distance, the object crosses the predetermined boundary for a predetermined period of time and/or the object crosses the predetermined boundary at a height within a predetermined height range.

6. A method for detecting images with a three dimensional detecting device, comprising:

generating a disparity map according to two sets of image data;

identifying at least one object in the disparity map;

mapping the at least one object onto a plane view, wherein the plane view has a three dimensional section of interest, a bottom area of the section of interest is enclosed by an artificial boundary and a physical boundary, the section of interest comprises a plurality of sub-sections each having cross-sectional areas substantially identical to the bottom area, and a sum of heights of the sub-sections is equal to a height of the section of interest;

tracking the at least one object in the plane view to identify a height of each of the at least one object; and

when detecting an object of the at least one object has crossed the artificial boundary, comparing a height of the object with at least one height range of at least one sub-section of the section of interest, and determining if the object has crossed a surface of each of the at least one sub-section according to a comparison result.

7. The method of claim 6, further comprising:

enabling detection of intrusion of the object to the at least one sub-section.

8. The method of claim 6, further comprising:

setting a number threshold of number of components of the object crossing the surface, a ratio threshold of a ratio of a portion of the object crossing the surface to the object, a time threshold of a period of time the object has crossed the surface, and/or a height range of each sub-section.

9. The method of claim 6, further comprising:

after determining the object has crossed the surface according to the comparison result, detecting number of components of the object crossing the surface, a direction the object crossing the surface, a ratio of a portion of the object crossing the surface to the object, and/or a period of time the object has crossed the surface.

10. The method of claim 9, further comprising:

comparing the ratio of the portion of the object crossing the surface to the object and a ratio threshold of the sub-section; and

determining the object has intruded the sub-section when the ratio of the portion of the object crossing the surface to the object is higher than the ratio threshold of the sub-section.

11. The method of claim 10, further comprising:

after determining the object has intruded the sub-section, detecting a direction the object retreats from the sub-section.

12. The method of claim 9, further comprising:

comparing a period of time the object has crossed the surface and a time threshold of the sub-section; and

determining the object has intruded the sub-section when the period of time the object has crossed the surface is longer than the time threshold of the sub-section.

13. The method of claim 12, further comprising:

after determining the object has intruded the sub-section, detecting a direction the object retreats from the sub-section.

14. The method of claim 9, further comprising:

comparing number of components of the object crossing the surface and a number threshold of the sub-section; and

determining the object has intruded the sub-section when the number of components of the object crossing the surface is larger than the number threshold of the sub-section.

15. The method of claim 14, further comprising:

after determining the object has intruded the sub-section, detecting a direction the object retreats from the sub-section.