Motion detecting apparatus, motion detecting method, and storage medium storing motion detecting program for avoiding incorrect detection

• US 6,512,537 B1
• Filed: 06/01/1999
• Issued: 01/28/2003
• Est. Priority Date: 06/03/1998
• Status: Expired due to Term

• Current Assignee: Sovereign Peak Ventures, LLC (Dominion Harbor Enterprises, LLC)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Shimizu, Kazuhito, Inoue, Shuji
• Primary Examiner(s): Kelley, Chris
• Assistant Examiner(s): Parsons, Charles
• Application Number:
  US09/324,437
• Time in Patent Office: 1,337 Days
• Field of Search: 348/143, 348/210, 348/152, 348/154, 348/155, 348/699, 348/700, 382/107, 382/278, 382/240, 382/260, 358/105, 358/136
• US Class Current: 348/155
• CPC Class Codes: G08B 13/19602 Image analysis to detect motion of the intruder, e.g. by frame subtraction
• 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 13/19667 Details realated to data compression, encryption or encoding, e.g. resolution modes for reducing data volume to lower transmission bandwidth or memory requirements
• CPC Class Codes: H04N 19/139 Analysis of motion vectors, e.g. their magnitude, direction, variance or reliability
• CPC Class Codes: H04N 19/503 involving temporal prediction adaptive coding with adaptive selection between spatial and temporal predictive coding H04N19/107; adaptive coding with adaptive selection among a plurality of temporal predictive coding modes H04N19/109
• CPC Class Codes: H04N 5/145 Movement estimation for video coding H04N19/51

Abstract

To provide a motion detecting apparatus that judges whether each macro block shows a part of an object in motion using motion vectors calculated by a general-purpose MPEG video encoder during motion compensation. The motion detecting apparatus compares a motion vector of a present macro block with motion vectors of macro blocks surrounding the present macro block. If the motion vector of the present macro block and the motion vectors of the surrounding macro blocks are not random in direction and magnitude, the motion detecting apparatus judges that the present macro block shows a part of an object in motion. Otherwise, the motion detecting apparatus judges that the present macro block does not show a part of an object in motion.

Claims

1. A motion detecting apparatus for processing coded images with motion vectors of a target area to determine movement of an object in the target area comprising:

a first judging unit for (a) computing, for each of a plurality of blocks, a scale of complexity of a pattern of the block, and (b) judging the block as a possible motion block if the scale of complexity is larger than a first threshold value and a magnitude of a motion vector representing the block is larger than a second threshold value; and

a second judging unit for further judging the blocks that meet or exceed the threshold values of the first judging unit as a motion block when a direction and magnitude of the block approximates the direction and magnitude of a predetermined number of surrounding blocks wherein the determination of a motion block is indicative of a moving object.

2. The motion detecting apparatus of claim 1,

wherein the second judging unit includes:

reading means for reading motion vectors of blocks which are judged as possible motion blocks among the blocks surrounding the present block, from the memory;

first detecting means for detecting motion vectors, among the read motion vectors, whose directions are roughly similar to a direction of the motion vector of the present block;

second detecting means for detecting motion vectors, among the read motion vectors, whose magnitudes are similar to a magnitude of the motion vector of the present block; and

determining means for determining whether the present block is the motion block, depending on a number of motion vectors detected by both the first detecting means and the second detecting means.

3. The motion detecting apparatus of claim 2,

wherein the first detecting means judges, when signs of a horizontal component and a vertical component of any of the read motion vectors respectively match signs of a horizontal component and a vertical component of the motion vector of the present block, the read motion vector to have a direction roughly similar to the direction of the motion vector of the present block, and

wherein the second detecting means judges, when a difference between a magnitude of any of the read motion vectors and the magnitude of the motion vector of the present block is smaller than a threshold value, the read motion vector to have a magnitude similar to the magnitude of the motion vector of the present block.

4. The motion detecting apparatus of claim 3,

wherein the determining means determines the present block as the motion block when

5. The motion detecting apparatus of claim 4, further comprising:

area storing means for storing a critical area set in a frame;

area judging means for judging whether at least one of motion blocks found by the second judging unit is present within the critical area; and

alarm generating means for generating an alarm depending on a judgment result of the area judging means.

6. The motion detecting apparatus of claim 5,

wherein the area storing means further stores a critical direction corresponding to the critical area, and

wherein the area judging means judges, when the motion blocks are present within the critical area, whether an average direction of motion vectors of the motion blocks is roughly similar to the critical direction.

7. The motion detecting apparatus of claim 6,

wherein the alarm generating means generates the alarm when the area judging means judges that at least one motion block whose motion vector has an average direction roughly similar to the critical direction is present within the critical area in each of a predetermined number of consecutive frames.

8. A motion detecting apparatus, connected to a video encoder which sequentially compression-codes images inputted from a camera, for detecting motion of objects in the images, the motion detecting apparatus comprising:

acquiring means for acquiring a motion vector calculated by the video encoder for each of a plurality of blocks from the video encoder together with a first difference sum-total and a second difference sum-total of the block, and storing the motion vector, the first difference sum-total, and the second difference sum-total of the block in a memory, the first difference sum-total, expressed as AE0, being a sum-total of differences in luminance values of corresponding pixels between the block and a rectangle area which is present in a reference frame and corresponds to the block, and the second difference sum-total, expressed as AE, being a sum-total of differences in luminance values of corresponding pixels between the block and a rectangle area which is present in the reference frame and is directed to by the motion vector of the block;

first judging means for judging blocks, among the plurality of blocks, which each satisfy

9. The motion detecting apparatus of claim 8,

wherein the second judging means includes:

reading means for reading motion vectors of blocks which are judged as possible motion blocks among the blocks surrounding the present block, from the memory;

first detecting means for detecting motion vectors, among the read motion vectors, whose directions are roughly similar to a direction of the motion vector of the present block;

second detecting means for detecting motion vectors, among the read motion vectors, whose magnitudes are similar to a magnitude of the motion vector of the present block; and

determining means for determining whether the present block is the motion block, depending on a number of motion vectors detected by both the first detecting means and the second detecting means.

10. The motion detecting apparatus of claim 9,

wherein the first detecting means judges, when signs of a horizontal component and a vertical component of any of the read motion vectors respectively match signs of a horizontal component and a vertical component of the motion vector of the present block, the read motion vector to have a direction roughly similar to the direction of the motion vector of the present block, and

wherein the second detecting means judges, when a difference between a magnitude of any of the read motion vectors and the magnitude of the motion vector of the present block is smaller than a threshold value, the read motion vector to have a magnitude similar to the magnitude of the motion vector of the present block.

11. The motion detecting apparatus of claim 10,

wherein the determining means determines the present block as the motion block when

12. The motion detecting apparatus of claim 8, further comprising:

area storing means for storing a critical area set in a frame;

area judging means for judging whether at least one of motion blocks found by the second judging means is present within the critical area; and

alarm generating means for generating an alarm depending on a judgement result of the area judging means.

13. The motion detecting apparatus of claim 12,

wherein the area storing means further stores a critical direction corresponding to the critical area, and

wherein the area judging means judges, when the motion blocks are present within the critical area, whether an average direction of motion vectors of the motion blocks is roughly similar to the critical direction.

14. The motion detecting apparatus of claim 13,

wherein the alarm generating means generates the alarm when the area judging means judges that at least one motion block whose motion vector has an average direction roughly similar to the critical direction is present within the critical area in each of a predetermined number of consecutive frames.

15. The motion detecting apparatus of claim 8, further comprising

third judging means for rejudging, when the present block judged by the second judging means as the motion block satisfies

16. The motion detecting apparatus of claim 15,

wherein the second judging means includes:

reading means for reading motion vectors of blocks which are judged as possible motion blocks among the blocks surrounding the present block, from the memory;

first detecting means for detecting motion vectors, among the read motion vectors, whose directions are roughly similar to a direction of the motion vector of the present block;

second detecting means for detecting motion vectors, among the read motion vectors, whose magnitudes are similar to a magnitude of the motion vector of the present block; and

determining means for determining whether the present block is the motion block, depending on a number of motion vectors detected by both the first detecting means and the second detecting means.

17. The motion detecting apparatus of claim 16,

wherein the first detecting means judges, when signs of a horizontal component and a vertical component of any of the read motion vectors respectively match signs of the horizontal component and the vertical component of the motion vector of the present block, the read motion vector to have a direction roughly similar to the direction of the motion vector of the present block, and

wherein the second detecting means judges, when a difference between a magnitude of any of the read motion vectors and the magnitude of the motion vector of the present block is smaller than a threshold value, the read motion vector to have a magnitude similar to the magnitude of the motion vector of the present block.

18. The motion detecting apparatus of claim 17,

wherein the determining means determines the present block as the motion block when

19. The motion detecting apparatus of claim 15, further, comprising:

area storing means for storing a critical area set in a frame;

area judging means for judging whether at least one of motion blocks rejudged by the third judging means is present within the critical area; and

alarm generating means for generating an alarm depending on a judgement result of the area judging means.

20. The motion detecting apparatus of claim 19,

wherein the area storing means further stores a critical direction corresponding to the critical area, and

wherein the area judging means judges, when the motion blocks are present within the critical area, whether an average direction of motion vectors of the motion blocks is roughly similar to the critical direction.

21. The motion detecting apparatus of claim 20,

wherein the alarm generating means generates the alarm when the area judging means judges that at least one motion block whose motion vector has an average direction roughly similar to the critical direction is present within the critical area in each of a predetermined number of consecutive frames.

22. The motion detecting apparatus of claim 15, further comprising

fourth judging means for rejudging, when the blocks surrounding the present block rejudged by the third judging means as the motion block are not motion blocks and the present block satisfies

23. The motion detecting apparatus of claim 22,

wherein the second judging means includes:

reading means for reading motion vectors of blocks which are judged as possible motion blocks among the blocks surrounding the present block, from the memory;

first detecting means for detecting motion vectors, among the read motion vectors, whose directions are roughly similar to a direction of the motion vector of the present block;

second detecting means for detecting motion vectors, among the read motion vectors, whose magnitudes are similar to a magnitude of the motion vector of the present block; and

determining means for determining whether the present block is the motion block, depending on a number of motion vectors detected by both the first detecting means and the second detecting means.

24. The motion detecting apparatus of claim 23,

wherein the first detecting means judges, when signs of a horizontal component and a vertical component of any of the read motion vectors respectively match signs of the horizontal component and the vertical component of the motion vector of the present block, the read motion vector to have a direction roughly similar to the direction of the motion vector of the present block, and

wherein the second detecting means judges, when a difference between a magnitude of any of the read motion vectors and the magnitude of the motion vector of the present block is smaller than a threshold value, the read motion vector to have a magnitude similar to the magnitude of the motion vector of the present block.

25. The motion detecting apparatus of claim 24,

wherein the determining means determines the present block as the motion block when

26. The motion detecting apparatus of claim 22, further comprising:

area storing means for storing a critical area set in a frame;

area judging means for judging whether at least one of motion blocks rejudged by the fourth judging means is present within the critical area; and

alarm generating means for generating an alarm depending on a judgement result of the area judging means.

27. The motion detecting apparatus of claim 26,

wherein the area storing means further stores a critical direction corresponding to the critical area, and

wherein the area judging means judges, when the motion blocks are present within the critical area, whether an average direction of motion vectors of the motion blocks is roughly similar to the critical direction.

28. The motion detecting apparatus of claim 27,

wherein the alarm generating means generates the alarm when the area judging means judges that at least one motion block whose motion vector has an average direction roughly similar to the critical direction is present within the critical area in each of a predetermined number of consecutive frames.

29. The motion detecting apparatus of claim 22, further comprising

fifth judging means for rejudging, when in a frame preceding a frame of the present block at least one motion block is included in blocks made up of:

a block existing in a same position as the present block rejudged by the fourth judging means as the motion block; and

blocks surrounding the block, the present block as the motion block.

30. The motion detecting apparatus of claim 29,

wherein the second judging means includes:

reading means for reading motion vectors of blocks which are judged as possible motion blocks among the blocks surrounding the present block, from the memory;

first detecting means for detecting motion vectors, among the read motion vectors, whose directions are roughly similar to a direction of the motion vector of the present block;

second detecting means for detecting motion vectors, among the read motion vectors, whose magnitudes are similar to a magnitude of the motion vector of the present block; and

determining means for determining whether the present block is the motion block, depending on a number of motion vectors detected by both the first detecting means and the second detecting means.

31. The motion detecting apparatus of claim 30,

wherein the first detecting means judges, when signs of a horizontal component and a vertical component of any of the read motion vectors respectively match signs of the horizontal component and the vertical component of the motion vector of the present block, the read motion vector to have a direction roughly similar to the direction of the motion vector of the present block, and

wherein the second detecting means judges, when a difference between a magnitude of any of the read motion vectors and the magnitude of the motion vector of the present block is smaller than a threshold value, the read motion vector to have a magnitude similar to the magnitude of the motion vector of the present block.

32. The motion detecting apparatus of claim 31,

wherein the determining means determines the present block as the motion block when

33. The motion detecting apparatus of claim 29, further comprising:

area storing means for storing a critical area set in a frame;

area judging means for judging whether at least one of motion blocks rejudged by the fifth judging means is present within the critical area; and

alarm generating means for generating an alarm depending on a judgement result of the area judging means.

34. The motion detecting apparatus of claim 33,

wherein the area storing means further stores a critical direction corresponding to the critical area, and

wherein the area judging means judges, when the motion blocks are present within the critical area, whether an average direction of motion vectors of the motion blocks is roughly similar to the critical direction.

35. The motion detecting apparatus of claim 34,

wherein the alarm generating means generates the alarm when the area judging means judges that at least one motion block whose motion vector has an average direction roughly similar to the critical direction is present within the critical area in each of a predetermined number of consecutive frames.

36. A computer-readable storage medium storing a motion detecting program for detecting, through use of motion vectors outputted from a video encoder which sequentially compression-codes images inputted from a camera, motion of objects in the images, the motion detecting program comprising:

an acquiring step for acquiring a motion vector calculated by the video encoder for each of a plurality of blocks from the video encoder together with a first difference sum-total and a second difference sum-total of the block, and storing the motion vector, the first difference sum-total, and the second difference sum-total of the block in a memory, the first difference sum-total, expressed as AE0, being a sum-total of differences in luminance values of corresponding pixels between the block and a rectangle area which is present in a reference frame and corresponds to the block, and the second difference sum-total, expressed as AE, being a sum-total of differences in luminance values of corresponding pixels between the block and a rectangle area which is present in the reference frame and is directed to by the motion vector of the block;

a first judging step for judging blocks, among the plurality of blocks, which each satisfy

37. A motion detecting apparatus for detecting motion of an object in an image, comprising:

acquiring means for acquiring a motion vector calculated for each of a plurality of blocks by inter-frame motion compensating prediction, and a first difference sum-total and a second difference sum-total of the block, and storing the motion vector, the first difference sum-total, and the second difference sum-total of the block in a memory, the first difference sum-total, expressed as AE0, being a sum-total of differences in luminance values of corresponding pixels between the block and a target area which is present in a reference frame and corresponds to the block, and the second difference sum-total, expressed as AE, being a sum-total of differences in luminance values of corresponding pixels between the block and the target area which is present in the reference frame and is directed to by the motion vector of the block;

first judging means for judging blocks, among the plurality of blocks, which each satisfy an equation;

38. A computer-readable storing medium storing a motion detecting program for detecting, through use of motion vectors outputted from a video encoder which sequentially compression-codes images inputted from a camera, motion of objects in the images, the motion detecting program comprising:

an acquiring step for acquiring a plurality of motion vectors calculated by the video encoder respectively for a plurality of blocks and storing the plurality of motion vectors of the respective plurality of blocks in a memory;

a first judging step for (a) computing, for each of a plurality of blocks, a scale of complexity of a pattern of the block, and (b) judging the block as a possible motion block if the scale of complexity is larger than a first threshold value and a magnitude of a motion vector representing the block is larger than a second threshold value, and

a second judging step for judging the blocks that meet or exceed the threshold values of the first judging step as a motion block when a direction and magnitude of the block approximates the direction and magnitude of a predetermined number of surrounding blocks wherein the determination of a motion block is indicative of a moving object wherein the present block is selected from the possible motion blocks one by one, and

wherein the motion block shows a part of an object in motion.

39. A motion detecting method for detecting, through use of motion vectors outputted from a video encoder which sequentially compression-codes images inputted from a camera, motion of objects in the images, the motion detecting method comprising:

an acquiring step for acquiring a plurality of motion vectors calculated by the video encoder respectively for a plurality of blocks and storing the plurality of motion vectors of the respective plurality of blocks in a memory;

a first judging step for (a) computing, for each of a plurality of blocks, a scale of complexity of a pattern of the block, and (b) judging the block as a possible motion block if the scale of complexity is larger than a first threshold value and a magnitude of a motion vector representing the block is larger than a second threshold value; and

a second judging step for judging the blocks that meet or exceed the threshold values of the first judging step as a motion block when a direction and magnitude of the block approximates the direction and magnitude of a predetermined number of surrounding blocks wherein the determination of a motion block is indicative of a moving object;

wherein the present block is selected from the possible motion blocks one by one, and

wherein the motion block shows a part of an object in motion.

40. A motion detecting apparatus for processing coded images with motion vectors of a target area to determine movement of an object in the target area comprising:

a first judging unit for processing motion vectors representing predetermined blocks that collectively represent a portion of the target area to determine those blocks that are possible motion blocks indicative of a moving object by comparing a value representative of a block to a minimum flat area threshold value, to distinguish a block in a flat area of the target area from those in a non-flat area; and

a second judging unit for further judging the blocks that meet or exceed the flat area threshold value for judging a block as a motion block when a direction and magnitude of the block approximates the direction and magnitude of a predetermined number of surrounding blocks wherein the determination of a motion block is indicative of a moving object.