Method and apparatus for object identification and location correlation based on received images

• US 9,830,510 B2
• Filed: 12/22/2016
• Issued: 11/28/2017
• Est. Priority Date: 12/31/2014
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Anastassov, Anton, Giurgiu, Gavril Adrian, Jang, Dongwook
• Primary Examiner(s): Yentrapati, Avinash
• Application Number:
  US15/388,333
• Publication Number:
  US 20170103259A1
• Time in Patent Office: 341 Days
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06F 18/24 Classification techniques
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 30/422 Technical drawings; Geographical maps

Abstract

A method, apparatus and computer program product are provided for object identification and location correlation based on received images. A method is provided including receiving identity data associated with an object derived from one or more of a plurality of images determining an identity of an object in one or more of the plurality of images, receiving location information associated with a camera which captured the plurality of images, and correlating the identified object with a location for each of the respective images of the plurality of images.

Claims

1. A method comprising:

receiving identity data associated with an object derived from at least one image of a sequence of two or more images;

receiving location information associated with a camera which captured the sequence of images;

correlating the object with a location for a respective image of the sequence of images;

establishing a location of the object from the location of the respective image and the location information associated with the camera which captured the image;

generating a probability density associated with the location of the object;

plotting the location of the object on a map in an instance in which the probability density satisfies a predetermined threshold; and

determining an object placement efficiency based on a number of objects within a predetermined radius of a true location of the object and a total number of objects.

2. The method of claim 1, wherein respective images of the sequence of images are associated with a time stamp and the location information associated with the camera is associated with a time stamp, wherein the method further comprises:

determining a location of the object based on the time stamp associated with the location information and the time stamp associated with a respective image.

3. The method of claim 1, further comprising determining the identity of the object by applying pattern recognition to the at least one image.

4. The method of claim 1, wherein receiving location information associated with a camera which captured the sequence of images comprises receiving location information and speed of travel information associated with the camera which captured the sequence of images, wherein correlating the object with a location for a respective image of the sequence of images comprises correlating the object with a location based on an interpolation between the sequence of images using the speed of travel information.

5. The method of claim 1 wherein establishing a location of the object from the location of the respective image and the location information associated with the camera which captured the image comprises:

identifying an image from the sequence of images in which the object is determined to be exiting a field of view; and

establishing the location of the object based on the location in the field of view corresponding to the exit of a peripheral field of view of the camera.

6. The method of claim 5, wherein identifying the image from the sequence of images in which the object is determined to be exiting the field of view comprises:

identifying a sequential pair of images in which the object appears at least in part in a first image of the pair of images and the object does not appear in a second image of the pair of images; and

establishing the first image as the image from the sequence of images in which the object is exiting the field of view.

7. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and computer program code configured to, with the processor, cause the apparatus to at least:

receive identity data associated with an object derived from at least one image of a sequence of two or more images;

receive location information associated with a camera which captured the sequence of images;

correlate the object with a location for a respective image of the sequence of images;

establish a location of the object from the location of the respective image and the location information associated with the camera which captured the image;

generate a probability density associated with the location of the object;

plot the location of the object on a map in an instance in which the probability density satisfies a predetermined threshold; and

determine an object placement efficiency based on a number of objects within a predetermined radius of a true location of the object and a total number of objects.

8. The apparatus of claim 7, wherein respective images of the sequence of images are associated with a time stamp and the location information associated with the camera is associated with a time stamp, wherein the apparatus is further caused to:

determine a location of the object based on the time stamp associated with the location information and the time stamp associated with a respective image.

9. The apparatus of claim 7, wherein the apparatus is further caused to determine the identity of the object by applying pattern recognition to the at least one image.

10. The apparatus of claim 7, wherein causing the apparatus to receive location information associated with a camera which captured the sequence of images comprises causing the apparatus to receive location information and speed of travel information associated with the camera which captured the sequence of images, wherein causing the apparatus to correlate the object with a location for a respective image of the sequence of images comprises causing the apparatus to correlate the object with a location based on an interpolation between the sequence of images using the speed of travel information.

11. The apparatus of claim 7 wherein causing the apparatus to establish a location of the object from the location of the respective image and the location information associated with the camera which captured the image comprises causing the apparatus to:

identify an image from the sequence of images in which the object is determined to be exiting a field of view; and

establish the location of the object based on the location in the field of view corresponding to the exit of a peripheral field of view of the camera.

12. The apparatus of claim 11, wherein causing the apparatus to identify the image from the sequence of images in which the object is determined to be exiting the field of view comprises causing the apparatus to:

identify a sequential pair of images in which the object appears at least in part in a first image of the pair of images and the object does not appear in a second image of the pair of images; and

establish the first image as the image from the sequence of images in which the object is exiting the field of view.

13. A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions configured to:

receive identity data associated with an object derived from at least one image of a sequence of two or more images;

receive location information associated with a camera which captured the sequence of images;

correlate the object with a location for a respective image of the sequence of images;

establish a location of the object from the location of the respective image and the location information associated with the camera which captured the image;

generate a probability density associated with the location of the object;

plot the location of the object on a map in an instance in which the probability density satisfies a predetermined threshold; and

determine an object placement efficiency based on a number of objects within a predetermined radius of a true location of the object and a total number of objects.

14. The computer program product of claim 13, wherein the respective images of the sequence of images are associated with a time stamp and the location information associated with the camera is associated with a time stamp, wherein the program code instructions are further configured to:

determine a location of the object based on the time stamp associated with the location information and the time stamp associated with a respective image.

15. The computer program product of claim 13, further comprising program code instructions configured to determine the identity of the object by applying pattern recognition to the at least one image.

16. The computer program product of claim 13, wherein the program code instructions configured to receive location information associated with a camera which captured the sequence of images comprises program code instructions configured to receive location information and speed of travel information associated with the camera which captured the sequence of images, wherein the program code instructions configured to correlate the object with a location for a respective image of the sequence of images comprises program code instructions configured to correlate the object with a location based on an interpolation between the sequence of images using the speed of travel information.

17. The computer program product of claim 13 wherein the program code instructions configured to establish a location of the object from the location of the respective image and the location information associated with the camera which captured the image comprises program code instructions configured to:

identify an image from the sequence of images in which the object is determined to be exiting a field of view; and

establish the location of the object based on the location in the field of view corresponding to the exit of a peripheral field of view of the camera.