System and process for detecting, tracking and counting human objects of interest
First Claim
1. A method of identifying, tracking, and counting objects of interest based upon at least one pair of stereo image frames taken by at least one image capturing device, comprising the steps of:
- obtaining said at least one pair of stereo image frames and converting each said stereo image frame to a rectified image frame using calibration data obtained from said at least one image capturing device;
identifying the presence or absence of said objects of interest and comparing each of said objects of interest to existing tracks comprising previously identified objects of interest, wherein the identifying step includes the following steps;
a first component detection step wherein connected areas in said depth image satisfying a predefined connectivity property are labeled as components;
a second object detection step wherein local maxima detections are computed for each said component; and
merging said local maxima detections closer than a specified merging distance to each other; and
for each said presence of an object of interest, adding said object of interest to one of said existing tracks if said object of interest matches said one existing track, or creating a new track comprising said object of interest if said object of interest does not match any of said existing tracks.
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Accused Products
Abstract
A method of identifying, tracking, and counting human objects of interest based upon at least one pair of stereo image frames taken by at least one image capturing device, comprising the steps of: obtaining said stereo image frames and converting each said stereo image frame to a rectified image frame using calibration data obtained for said at least one image capturing device; generating a disparity map based upon a pair of said rectified image frames; generating a depth map based upon said disparity map and said calibration data; identifying the presence or absence of said objects of interest from said depth map and comparing each of said objects of interest to existing tracks comprising previously identified objects of interest; for each said presence of an object of interest, adding said object of interest to one of said existing tracks if said object of interest matches said one existing track, or creating a new track comprising said object of interest if said object of interest does not match any of said existing tracks; updating each said existing track; and maintaining a count of said objects of interest in a given time period based upon said existing tracks created or modified during said given time period.
42 Citations
21 Claims
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1. A method of identifying, tracking, and counting objects of interest based upon at least one pair of stereo image frames taken by at least one image capturing device, comprising the steps of:
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obtaining said at least one pair of stereo image frames and converting each said stereo image frame to a rectified image frame using calibration data obtained from said at least one image capturing device; identifying the presence or absence of said objects of interest and comparing each of said objects of interest to existing tracks comprising previously identified objects of interest, wherein the identifying step includes the following steps; a first component detection step wherein connected areas in said depth image satisfying a predefined connectivity property are labeled as components; a second object detection step wherein local maxima detections are computed for each said component; and merging said local maxima detections closer than a specified merging distance to each other; and for each said presence of an object of interest, adding said object of interest to one of said existing tracks if said object of interest matches said one existing track, or creating a new track comprising said object of interest if said object of interest does not match any of said existing tracks. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of identifying, tracking, and counting objects of interest based upon at least one pair of stereo image frames taken by at least one image capturing device, comprising the steps of:
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obtaining said at least one pair of stereo image frames; identifying the presence or absence of said objects of interest and comparing each of said objects of interest to existing tracks comprising previously identified objects of interest, wherein the identifying step includes the following steps; a first component detection step wherein connected areas in a depth image satisfying a predefined connectivity property are labeled as components; a second object detection step wherein local maxima detections are computed for each said component; and merging said local maxima detections closer than a specified merging distance to each other; and for each said presence of an object of interest, adding said object of interest to one of said existing tracks if said object of interest matches said one existing track, or creating a new track comprising said object of interest if said object of interest does not match any of said existing tracks. - View Dependent Claims (21)
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Specification