3-D model based method for detecting and classifying vehicles in aerial imagery
First Claim
1. A computer implemented method for determining a vehicle type of a vehicle detected in an image, comprising the steps of:
- receiving an image comprising a detected vehicle;
projecting a plurality of vehicle models comprising salient feature locations on the detected vehicle in the image, wherein each vehicle model is associated with a vehicle type;
comparing a first set of features derived from each of the salient feature locations of the vehicle models to a second set of features derived from corresponding salient feature locations of the detected vehicle to form a plurality of positive match scores (p-scores) and a plurality of negative match scores (n-scores); and
classifying the detected vehicle as one of the plurality of vehicle models by;
forming a feature vector of n-scores and p-scores;
training a set of specific vehicle-type (SVM) classifiers;
comparing the detected vehicle to each of the trained classifiers; and
associating the detected vehicle with a selected trained classifier based on a confidence value produced by the selected trained classifier.
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Accused Products
Abstract
A computer implemented method for determining a vehicle type of a vehicle detected in an image is disclosed. An image having a detected vehicle is received. A number of vehicle models having salient feature points is projected on the detected vehicle. A first set of features derived from each of the salient feature locations of the vehicle models is compared to a second set of features derived from corresponding salient feature locations of the detected vehicle to form a set of positive match scores (p-scores) and a set of negative match scores (n-scores). The detected vehicle is classified as one of the vehicle models models based at least in part on the set of p-scores and the set of n-scores.
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Citations
20 Claims
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1. A computer implemented method for determining a vehicle type of a vehicle detected in an image, comprising the steps of:
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receiving an image comprising a detected vehicle; projecting a plurality of vehicle models comprising salient feature locations on the detected vehicle in the image, wherein each vehicle model is associated with a vehicle type; comparing a first set of features derived from each of the salient feature locations of the vehicle models to a second set of features derived from corresponding salient feature locations of the detected vehicle to form a plurality of positive match scores (p-scores) and a plurality of negative match scores (n-scores); and classifying the detected vehicle as one of the plurality of vehicle models by; forming a feature vector of n-scores and p-scores; training a set of specific vehicle-type (SVM) classifiers; comparing the detected vehicle to each of the trained classifiers; and associating the detected vehicle with a selected trained classifier based on a confidence value produced by the selected trained classifier. - View Dependent Claims (2, 18, 19, 20)
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3. A computer implemented method for determining a vehicle type of a vehicle detected in an image, comprising the steps of:
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receiving an image comprising a detected vehicle; projecting a plurality of three-dimensional vehicle models comprising salient feature locations on the detected vehicle in the image, wherein each vehicle model is associated with a vehicle type; comparing a first set of features derived from each of the salient feature locations of the vehicle models to a second set of features derived from corresponding salient feature locations of the detected vehicle to form a plurality of positive match scores (p-scores) and a plurality of negative match scores (n-scores); and classifying the detected vehicle as one of the plurality of vehicle models based at least in part on the plurality of p-scores and the plurality of n-scores by; training a set of specific vehicle-type SVM classifiers; comparing the detected vehicle to each of the trained classifiers; and associating the detected vehicle with a selected trained classifier based on a confidence value produced by the selected trained classifier. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus for determining a vehicle type of a vehicle detected in an image, comprising:
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an image capture device for receiving an image comprising a detected vehicle; and a digital processing system configured for;
projecting a plurality of three-dimensional vehicle models comprising salient feature locations on the detected vehicle in the image, wherein each vehicle model is associated with a vehicle type;comparing a first set of features derived from each of the salient feature locations of the vehicle models to a second set of features derived from corresponding salient feature locations of the detected vehicle to form a plurality of positive match scores (p-scores) and a plurality of negative match scores (n-scores); and classifying the detected vehicle as one of the plurality of vehicle models based at least in part on the plurality of p-scores and the plurality of n-scores by;
training a set of specific vehicle-type SVM classifiers;
comparing the detected vehicle to each of the trained classifiers; andassociating the detected vehicle with a selected trained classifier based on a confidence value produced by the selected trained classifier. - View Dependent Claims (14, 15, 16, 17)
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Specification