Object detection apparatus
First Claim
1. An object detection apparatus comprising:
- a posterior probability calculation portion utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the background and the foreground for the previous input image to the input image, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate a posterior probability of the background and the foreground from a probability model set up based on a tendency that the same event appears in the vicinity of the attentive pixel in the spatial and temporal directions; and
an object determination portion for determining an object from comparison of the posterior probability of the background with that of the foreground.
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Accused Products
Abstract
In order to improve object detection precision, an object detection apparatus includes a posterior probability calculation portion utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the previous background and foreground, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate a posterior probability of the background and the foreground from a probability model utilizing a tendency that the same event appears together in the vicinity of the attentive pixel in the spatial and temporal directions; and an object determination portion for determining an object from comparison between the posterior probabilities of the background and the foreground.
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Citations
28 Claims
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1. An object detection apparatus comprising:
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a posterior probability calculation portion utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the background and the foreground for the previous input image to the input image, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate a posterior probability of the background and the foreground from a probability model set up based on a tendency that the same event appears in the vicinity of the attentive pixel in the spatial and temporal directions; and an object determination portion for determining an object from comparison of the posterior probability of the background with that of the foreground. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An object detection apparatus comprising:
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a posterior probability calculation portion for calculating a posterior probability of a foreground for an attentive pixel and a posterior probability of a background for the attentive pixel as the posterior probability of the foreground and the posterior probability of the background for the attentive pixel of a present image included in a moving image; and an object determination portion for determining an object based on comparison of the posterior probability of the foreground for the attentive pixel with the posterior probability of the background for the attentive pixel, the posterior probability calculation portion calculating the posterior probability of the background for the attentive pixel based on; an occurrence probability of the background for the attentive pixel as the occurrence probability of the background of the attentive pixel; an occurrence probability of the background for a peripheral pixel as the occurrence probability of the background of the peripheral pixel which is a pixel of the present image and located in the vicinity of the attentive pixel; a first spatial relation probability indicating a probability that the peripheral pixel becomes the background when the attentive pixel is the background; an occurrence probability of the foreground for the peripheral pixel as the occurrence probability of the foreground of the peripheral pixel; a second spatial relation probability indicating a probability that the peripheral pixel becomes the foreground when the attentive pixel is the background; a posterior probability of the background for a past pixel as the posterior probability of the background of the past pixel which is a pixel of a past image included in the moving image and corresponds to the attentive pixel; a first temporal relation probability indicating a probability that the attentive pixel becomes the background when the past pixel is the background; a posterior probability of the foreground for the past pixel as the posterior probability of the foreground of the past pixel; and a second temporal relation probability indicating a probability that the attentive pixel becomes the background when the past pixel is the foreground, the posterior probability calculation portion calculating the posterior probability of the foreground for the attentive pixel based on; an occurrence probability of the foreground for the attentive pixel as the occurrence probability of the foreground of the attentive pixel; the occurrence probability of the background for the peripheral pixel; a third spatial relation probability indicating a probability that the peripheral pixel becomes the background when the attentive pixel is the foreground; the occurrence probability of the foreground for the peripheral pixel; a fourth spatial relation probability indicating a probability that the peripheral pixel becomes the foreground when the attentive pixel is the foreground; the posterior probability of the background for the past pixel; a third temporal relation probability indicating a probability that the attentive pixel becomes the foreground when the past pixel is the background; the posterior probability of the foreground for the past pixel; and a fourth temporal relation probability indicating a probability that the attentive pixel becomes the foreground when the past pixel is the foreground, the first spatial relation probability being higher than the second spatial relation probability; the fourth spatial relation probability being higher than the third spatial relation probability; the first temporal relation probability being higher than the third temporal relation probability; and the fourth temporal relation probability being higher than the second temporal relation probability. - View Dependent Claims (13, 14)
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15. A computer program product comprising a non-transitory computer readable medium encoded with computer implementable instructions to make a computer function as:
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a posterior probability calculation portion utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the background and the foreground for the previous input image to the input image, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate a posterior probability of the background and the foreground from a probability model set up based on a tendency that the same event appears in the vicinity of the attentive pixel in the spatial and temporal directions; and an object determination portion for determining an object from comparison of the posterior probability of the background with that of the foreground. - View Dependent Claims (16)
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17. An object detection method comprising the steps of:
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calculating a posterior probability by utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the background and the foreground for the previous input image to the input image, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate the posterior probability of the background and the foreground from a probability model set up based on a tendency that the same event appears in the vicinity of the attentive pixel in the spatial and temporal directions; and determining an object from comparison of the posterior probability of the background with that of the foreground. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. An object detection apparatus comprising:
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a posterior probability calculation means for utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the background and the foreground for the previous input image to the input image, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate a posterior probability of the background and the foreground from a probability model set up based on a tendency that the same event appears in the vicinity of the attentive pixel in the spatial and temporal directions; and an object determination means for determining an object from comparison of the posterior probability of the background with that of the foreground.
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Specification