METHOD AND SYSTEM FOR CATEGORIZATION OF A SCENE
First Claim
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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Abstract
The present invention relates to a method for categorizing a moving object within a scene In particular, the present invention relates to a method specifically taking into account the three dimensional data within a scene for determining the location of and type of objects present within the scene. The method involves determining a first probability level for the type of object based on its size and shape, determining a second probability level for the type of object based on its relative speed, and defining the type of the object based on a combination of the first and the second probability level. The invention also relates to a corresponding system and a computer program product.
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Citations
15 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An image processing system 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 image processing system comprising a control unit configured to:
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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. - View Dependent Claims (12, 13, 14)
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15. A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for operating an image processing system comprising a control unit, the image processing system configured 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 computer program product comprising:
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code for 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; code for processing the plurality of images to produce an equal plurality of depth maps of the scene; code for forming height maps for each of the plurality of images based on a predetermined model of the background and the corresponding depth map; code for extracting the at least one physical foreground object from each of the plurality of images based on the corresponding height map; code for 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; code for 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; code for 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 code for defining the type of the foreground object based on a combination of the first and the second probability level.
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Specification