Object observing method and device

• US 5,910,817 A
• Filed: 05/17/1996
• Issued: 06/08/1999
• Est. Priority Date: 05/18/1995
• Status: Expired due to Fees

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: Kimachi, Masatoshi, Ohashi, Katsumi
• Primary Examiner(s): Chin, Tommy P.
• Assistant Examiner(s): VO, TUNG T
• Application Number:
  US08/651,339
• Time in Patent Office: 1,117 Days
• Field of Search: 348/159, 348/148, 348/149, 348/116, 348/39, 348/160, 348/161, 382/104, 382/154, 340/903, 395/125
• US Class Current: 348/159
• CPC Class Codes: G06V 20/647 by matching two-dimensional images to three-dimensional objects
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas

Abstract

A method and apparatus for observing vehicles on a road or in a parking lot comprises a pair of cameras directed toward a predetermined observation position simultaneously take pictures. A characteristic portion in each of the respective pictures is extracted. The extracted characteristic portions of the respective pictures are corresponded to the pictures, and the corresponded characteristic portion is measured in three-dimensions to extract the three-dimensional coordinates of the characteristic portions. The three-dimensional coordinates of the extracted characteristic portions are projected on a virtual perpendicular plane, and the projected data is compared with pre-determined two dimensional model data to discriminate the object.

Claims

1. A object observing method for observing an object comprising

a first step of simultaneously taking a picture by two or more cameras directed toward a predetermined observation position to extract a characteristic portion in each of the respective taken pictures,

a second step of corresponding said extracted characteristic portion in the picture to the pictures,

a third stop of measuring said corresponded characteristic portion in three-dimensions to extract its three-dimensional coordinates,

a fourth step of projecting the three-dimensional coordinates of said extracted characteristic portion on a virtual perpendicular plane vertically positioning on a plane contacting said object, and

a fifth step of comparing said projected data with predetermined two-dimensional model data to discriminate said object.

2. An object observing method according to claim 1, in which said fourth step of projecting is a step of dividing said three-dimensional coordinates of the respective characteristic portions into groups based on a positional relationship on a plane contacted by said object, and of projecting the three-dimensional coordinates included in the groups on said virtual perpendicular plane for each of the groups.

3. An object observing method according to claim 1 or 2, in which said fifth step of comparing is a step of setting a predetermined region including the respective projection points formed on said virtual perpendicular plane by the projecting processing of said fourth step, and of weighting the respective points based on the positional relationship of the respective points in said set region with said projection points to be compared with said two-dimensional model data.

5. An object observing method according to claim 1, in which said fourth step of projecting is a step of dividing said three-dimensional coordinates of the respective representative points into groups based on a positional relationship on a plane contacted by said object, and of projecting the three-dimensional coordinates included in the groups on said virtual perpendicular plane for each of the groups.

4. An object observing method for observing an object comprising

a first step of simultaneously taking a picture by two or more cameras directed toward a predetermined observation position to extract a characteristic portion in each of the respective taken pictures,

a second step of specifying a point showing the representative characteristics about said extracted characteristic portion of the picture,

a third step of corresponding said specified representative point to a picture,

a fourth step of measuring in three-dimensions for each of said corresponded representative points to extract its three-dimensional coordinates of the respective representative points,

a fifth step of projecting the three-dimensional coordinates of said extracted representative points on a virtual perpendicular plane vertically positioning on a plane contacting said object, and

a sixth step of comparing said projected data with predetermined two-dimensional model data to discriminate said object.

6. An object observing method according to claim 4, in which said sixth step of comparing is a step of setting a predetermined region including the respective projection points formed on said virtual perpendicular plane by the projecting processing of said fifth step, and of weighting the respective points based on the positional relationship of the respective points in said set region with said projection points to be compared with said two-dimensional model data.

7. An object observing device for observing an object comprising

two or more cameras directed toward a predetermined observation position,

characteristic extracting means for extracting a characteristic portion in each of the respective pictures simultaneously taken by said cameras,

corresponding means for corresponding the extracted characteristic portions of the respective pictures extracted by said characteristic extracting means to the pictures,

coordinate extracting means for three-dimensionally measuring the characteristic portions corresponded by said corresponding means to extract the three-dimensional coordinates of the characteristic portions,

storage means for storing two-dimensional model data of said object,

projecting means for setting a virtual perpendicular plane vertically positioning on a plane contacted by said object to project the three-dimensional coordinates of the characteristic portions extracted by said coordinate extracting means on said virtual perpendicular plane, and

comparing means for comparing the results of projection by said protecting means with said two-dimensional model data stored in said storage means.

8. An object observing device according to claim 7, in which said projecting means divides said three-dimensional coordinates of the respective characteristic portions extracted by said coordinate extracting means into groups based on a positional relationship on a plane contacted by said object, and projects the three-dimensional coordinates included in the groups on said virtual perpendicular plane for each of the groups.

9. An object observing device according to claim 7 or 8, in which said comparing means sets a predetermined region including the respective projection points formed on said virtual perpendicular plane by the projecting processing of said projecting means, and weights the respective points based on the positional relationship of the respective points in said set region with said projection points to be compared with said two-dimensional model data.

10. An object observing device for observing an object comprising

two or more cameras directed toward a predetermined observation position

characteristic extracting means for extracting a characteristic portion in each of the respective pictures simultaneously taken by said cameras,

representative point specifying means for specifying points respectively showing representative characteristics about the characteristic portions of the respective pictures extracted by said characteristic extracting means,

corresponding means for corresponding the respective representative points specified by said representative point specifying means to the pictures,

coordinate extracting means for three-dimensionally measuring for each of the representative points corresponded by said corresponding means to extract the three-dimensional coordinates of the respective representative points,

storage means for storing two-dimensional model data of said object,

projecting means for setting a virtual perpendicular plane vertically positioning on a plane contacted by said object to project the three-dimensional coordinates of the representative points extracted by said coordinate extracting means on said virtual perpendicular plane, and

comparing means for comparing the results of projection by said projecting means with said two-dimensional model data stored in said storage means.

11. An object observing device according to claim 10, in which said projecting means divides said three-dimensional coordinates of the respective representative points extracted by said coordinate extracting means into groups based on a positional relationship on a plane contacted by said object, and projects the three-dimensional coordinates included in the groups on said virtual perpendicular plane for each of the groups.

12. An object observing device according to claim 10 or 11, in which said comparing means sets a predetermined region including the respective projection points formed on said virtual perpendicular plane by the projecting processing of said projecting means, and weights the respective points based on the positional relationship of the respective points in said set region with said projection points to be compared with said two-dimensional model data.

13. A traffic flow measuring device for observing a flow of a vehicle on a road to measure traffic flow data on the road based on time change of the observation results comprising

two or more cameras disposed above the road directed toward an observation position on the road,

characteristic extracting means for extracting a characteristic portion in each of the respective pictures simultaneously taken by said cameras for each predetermined time period,

corresponding means for corresponding the extracted characteristic portions of the respective pictures extracted by said characteristic extracting means to the pictures,

coordinate extracting means for three-dimensionally measuring the characteristic portions corresponded by said corresponding means to extract the three-dimensional coordinates of the characteristic portions,

projecting means for setting a virtual perpendicular plane along the road to project the three-dimensional coordinates of the characteristic portions extracted by said coordinate extracting means on said virtual perpendicular plane,

storage means for storing a shape model of a side face of each vehicle about a plurality types of vehicles,

vehicle discriminating means for comparing the projection results by said projecting means with the respective models stored in said storage means to discriminate vehicles on the road, and

observing means for sequentially tracing the discrimination results by said vehicle discriminating means to observe the flow of the vehicles on the road.

14. A traffic flow measuring device for observing a flow of a vehicle on a road to measure traffic flow data on the road based on time change of the observation results comprising

two or more cameras disposed above the road directed toward an observation position on the road,

characteristic extracting means for extracting a characteristic portion in each of the respective pictures simultaneously taken by said cameras for a predetermined time period,

corresponding means for corresponding the extracted characteristic portions of the respective pictures extracted by said characteristic extracting means to the pictures,

coordinate extracting means for three-dimensionally measuring the characteristic portions corresponded by said corresponding means to extract the three-dimensional coordinates of the characteristic portions,

projecting means for setting a virtual perpendicular plane along the road to project the three-dimensional coordinates of the characteristic portions extracted by said coordinate extracting means on said virtual perpendicular plane,

vehicle discriminating means for discriminating vehicles on the road by employing a relative positional relationship of three dimensional coordinates satisfying a predetermined height condition among the three dimensional coordinates of the respective characteristic portions extracted by said coordinate extracting means, and

observing means for sequentially tracing the discrimination results by said vehicle discriminating means to observe the flow of the vehicles on the road.

15. A parking lot observing device for observing vehicles parking within a predetermined shape of area comprising

two or more cameras disposed above said area directed toward said area,

characteristic extracting means for extracting a characteristic portion in each of the respective pictures simultaneously taken by said cameras for a predetermined time period,

corresponding means for corresponding the extracted characteristic portions of the respective pictures extracted by said characteristic extracting means to the pictures,

coordinate extracting means for three-dimensionally measuring the characteristic portions corresponded by said corresponding means to extract the three-dimensional coordinates of the characteristic portions,

projecting means for setting a virtual perpendicular plane vertically standing on a vehicle parking plane of said area to project the throe-dimensional coordinates of the characteristic portions extracted by said coordinate extracting means on said virtual perpendicular plane,

storage means for storing a shape model of a side face of each vehicle about a plurality types of vehicles, and

vehicle discriminating means for comparing the projection results by said projecting means with the respective models stored in said storage means to discriminate vehicles on the area.