JP2012133433A - Left/carried-away object detection apparatus and left/carried-away object detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a left/carried-away object detection apparatus which is capable of accurately determining a left/carried-away event, and a left/carried-away object detection method.SOLUTION: A background data generation section 12 generates two background image data items with different quantities of information in the past and generates two background distance data items with different quantities of information in the past, and a left/carried-away area detection section 13 compares the two background image data items with the different quantities of information in the past to detect an area which is continuously varied for a fixed time or longer. A left/carried-away event determination section 14 compares the two background distance data items with the different quantities of information in the past for the area detected by the left/carried-away area detection section 13 and determines whether the event is a left event or a carried-way event. Thus, by generating two kinds of background image data and background distance data with the different quantities of information in the past, accurate left/carried-away detection can be performed.

Description

  The present invention provides a device for detecting a leaving / moving object suitable for use in a surveillance camera device having a function of detecting the occurrence of an event such as leaving / taking away from an image photographed by a camera and distance information. The present invention relates to a method for detecting a leaving / moving object.

  As a system for detecting an event from a sequence of images taken by a camera, for example, a system described in Patent Document 1 is known. In the system described in Patent Document 1, a region where a leaving / moving event has occurred is detected by comparing two images before and after the occurrence of the event and extracting a region having a change. . In addition, in order to determine whether the detected event is left or removed, the length and sum of the luminance edges in the area are compared between the two images, and luminance edge information from the past image to the current image is compared. If the brightness edge information has increased from the past image to the current image, it is determined that the object has been removed. It is determined that an object has been placed and the edge information has increased, and that a leaving event has occurred.

Special table 2004-519786 gazette

  However, in the conventional technique described above, since the leaving event and the leaving event are discriminated only by the increase / decrease of the edge information in the leaving / moving detection area, an object having less edge information than the surrounding area is detected. In the case of being left behind, the edge information is reduced as compared to before being left behind, and it is determined as a removal event. On the other hand, when the take-away occurs, the edge information hidden by the object becomes visible, so that the edge information increases and it is erroneously determined as a leaving event. FIG. 4 is a diagram illustrating an example in which removal has occurred. In the same figure, the luminance edge 101 of the camera image 100 in which nine box-shaped objects 110 are stacked three by three vertically and horizontally is substantially rectangular, but when the object 110 stacked on the top is taken away, The luminance edge portion 101a corresponding to that portion of the camera image 100 (the portion of the object 110 that has been removed) has a shape along the outer edge of the object 110 (a U-shape), and the edge before the object 110 is removed is removed. Although the information increases and the removal occurs, it is erroneously determined as a leaving event.

  The present invention has been made in view of such circumstances, and provides a removed / removed object detection apparatus and a removed / removed object detection method capable of accurately determining a removed / removed event. With the goal.

  The leaving / moving object detection device of the present invention includes a camera unit that images a monitoring target region and outputs image data, a distance measurement unit that measures a distance from the camera unit to the object in the monitoring target region, A background data generation unit that generates background data by averaging processing over one or more past frames from image data output from the camera unit or distance data output from the distance measurement unit, and the background data generation unit The background data generated by the background data generated by the background data generated by the background data generated by the background data generated by the background data generator Accordingly, a detention / removal event determination unit that determines whether the area detected by the deportation / removal area detection unit is a detention event or a detention event.

  According to the above configuration, the background image data for detecting the leaving / moving event is generated, and the leaving / moving area detecting unit determines the leaving / moving event candidate as the generated background image data. Detect the area. Then, the leaving / moving event determining unit compares the distance data before and after the occurrence of the leaving / moving event measured by the distance measuring unit in the area detected by the leaving / moving area detecting unit. Judgment of leaving event and removal event. As a result, it is possible to determine a leaving event and a leaving event with high accuracy.

  In the above configuration, the background data generation unit generates background image data from the image data output from the camera unit by an averaging process over the past one or more frames, and is output from the distance measurement unit. Background distance data is generated by an averaging process over one or more past frames from the distance data.

  According to the above configuration, temporal noise in the background data and the distance data can be suppressed, and whether the event is a leaving event or a leaving event can be detected and determined with high accuracy.

  In the above configuration, the background data generation unit adjusts the past information amount in the background image data to be generated, the number of frames to be background generated, and the time interval of frames when performing averaging processing of one or more frames By doing so, at least two background image data are generated.

  According to the above configuration, it is possible to easily adjust the past information amount, and it is possible to generate background data according to the environment (noise, change in brightness, etc.) of the shooting area.

  In the above-described configuration, the leaving / moving area detection unit outputs, from the output of the background data generation unit, short background image data having a relatively small amount of past information and long background image data having a relatively large amount of past information. By acquiring and comparing these background image data, an area where the change has continued for a certain period of time is detected.

  According to the above configuration, it is possible to reduce the influence of sudden noise on the image data, and it is possible to detect a leaving / moving area with higher accuracy.

  In the above-described configuration, the leaving / moving event determination unit obtains, from the output of the background data generation unit, short background distance data with a relatively small amount of past information and long background distance data with a relatively large amount of past information. Obtaining and comparing these background distance data, when the long background distance data is farther than the short background distance data in the area detected by the leaving / carrying area detection unit, A region is determined as a region where a leaving event has occurred, and conversely, when the long background distance data is closer than the short background distance data, the region is a region where a leaving event has occurred. judge.

  According to the above configuration, it is possible to reduce the influence of sudden noise in the distance data, and it is possible to detect a leaving / moving area with higher accuracy.

  The leaving / moving object detection method of the present invention includes a step of measuring a distance from the camera unit to an object in a monitoring target area photographed by the camera unit, and image data output from the camera unit or the distance measuring unit. From the distance data output from the step of generating background data by averaging over one or more past frames, and from the generated background data, A step of detecting a left area, and a step of determining whether the detected area is a leaving event or a leaving event based on the generated background data.

  According to the above method, background image data for detecting a leaving / taking away event is generated, a region that is a candidate for a leaving / taking away event is detected from the generated background image data, and in the detected region By comparing the distance data before and after the occurrence of the leaving / moving event, the leaving event and the leaving event are determined. As a result, it is possible to determine a leaving event and a leaving event with high accuracy.

  In the present invention, a leaving / moving area is detected from a plurality of images having different amounts of past information, and distance data before and after the occurrence of the leaving / taking event measured in the detection area are compared. Therefore, it is possible to accurately determine a leaving / carrying event.

1 is a block diagram showing a schematic configuration of a leaving / moving object detection apparatus according to an embodiment of the present invention. The flowchart for demonstrating operation | movement of the leaving / moving object detection apparatus of FIG. FIG. 1 is a diagram schematically showing processing until a leaving / moving event is detected in the leaving / moving object detection apparatus of FIG. 1. The figure for explaining the conventional leaving / moving object detection technology

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments for carrying out the invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of a leaving / moving object detection apparatus according to an embodiment of the present invention. In the same figure, the leaving / moving object detection apparatus 1 of the present embodiment includes a camera unit 10, a distance measuring unit 11, a background data generating unit 12, a leaving / removing area detecting unit 13, and a placing unit. A leaving / taking away event determination unit 14, a display unit 15, and a notification unit 16 are provided.

  The camera unit 10 captures the monitoring target area and outputs image data. The distance measuring unit 11 measures the distance from the camera unit 10 to an object (not shown) existing in the monitoring target region in the monitoring target region captured by the camera unit 10 and outputs distance data.

  The background data generation unit 12 generates background image data from the image data output from the camera unit 10 by processing such as averaging over one or more past frames. In this case, two background image data having different amounts of past information (ie, “short background image data” having a relatively small amount of past information and “long background image data” having a relatively large amount of past information) are generated. . Here, by easily adjusting the past information amount, it is possible to generate background image data corresponding to the environment (noise, change in brightness, etc.) of the shooting region.

  Further, the background data generation unit 12 generates background distance data from the distance data output from the distance measurement unit 11 by a process such as averaging over the past one or more frames. In this case, two background distance data having different past information amounts (ie, “short background distance data” having a relatively small amount of past information and past information amounts) by changing the update rate and the update interval by averaging or the like. "Long background distance data") having a relatively large number of. At this time, the past information amounts of the short background distance data and the long background distance data are determined in a form corresponding to the two past information amounts of the short background image data and the long background image data. The background data generation unit 12 outputs the generated background image data to the left / removed area detection unit 13 and outputs the generated background distance data to the left / removed event determination unit 14.

  The removed / removed area detection unit 13 detects an area removed from the monitoring target area or a left area from the background image data generated by the background data generation unit 12. That is, the leaving / removal area detection unit 13 acquires the short background image data and the long background image data from the background data generation unit 12 and compares the background image data, so that the change continues for a certain time or more. Detect areas. By performing the difference process between the short background image data and the long background image data having different amounts of past information, it is possible to detect the leaving / carrying area while reducing the influence of sudden noise and brightness change. .

  The leaving / carrying event determination unit 14 compares the short background distance data and the long background distance data with respect to the area detected by the leaving / carrying area detection unit 13, and determines whether the leaving event is a leaving event. Judge whether it is a take away event. In this case, when the long background distance data is farther than the short background distance data in the area detected by the leaving / moving area detection unit 13, the area is determined to be the area where the leaving event has occurred. On the contrary, when the long background distance data is closer than the short background distance data, the area is determined to be the area where the carry-out event has occurred. By comparing the background distance data before and after the occurrence of the leaving / carrying event in the area detected by the leaving / carrying area detection unit 13, the influence of sudden noise in the background distance data can be reduced. Therefore, it is possible to determine a leaving event / a leaving event with higher accuracy.

  The display unit 15 displays the determination result in the leaving / moving event determination unit 14 on the captured image so that the user can determine the determination result. The display unit 15 may display using an image when an actual leaving / moving event has occurred before the determination. The notification unit 16 notifies the user of the occurrence of an event, such as generating a buzzer sound from an audio speaker (not shown) when the event occurs. In addition, you may make it also perform the display which alert | reports event generation | occurrence | production on the display part 15. FIG. In addition, the display unit 15 and the notification unit 16 may be separated from the removed / removed object detection device 1 and may be disposed at a location away from the removed / removed object detection device 1.

Next, the operation of the leaving / moving object detection apparatus 1 of the present embodiment will be described in detail.
FIG. 2 is a flowchart for explaining the operation of the leaving / moving object detection apparatus 1 of the present embodiment. In the figure, first, the distance measuring unit 11 measures the distance from the camera unit 10 to an object (not shown) existing in the monitoring target region in the monitoring target region captured by the camera unit 10 (step S1). Next, the background data generation unit 12 generates background image data from the image data output from the camera unit 10 by a process such as averaging over the past one or more frames (step S2). In this case, the background data generation unit 12 generates short background image data and long background image data having different amounts of past information.

  Next, the background data generation unit 12 generates background distance data from the distance data output from the distance measurement unit 11 by a process such as averaging over the past one or more frames (step S3). In this case, the background data generation unit 12 generates short background distance data and long background distance data having different past information amounts by changing the update rate and the update interval. Next, the removed / removed area detection unit 13 detects the area removed from the monitoring target area or the left area from the background image data generated by the background data generation unit 12. That is, the short background image data generated by the background data generation unit 12 and the long background image data are compared to detect a region that has continued to change for a predetermined time (step S4).

  Next, the leaving / moving event determining unit 14 performs the short background distance data and the long background distance data generated by the background data generating unit 12 on the area detected by the leaving / moving area detecting unit 13. If the long background distance data is farther than the short background distance data, the area is determined to be the area where the leaving event occurred, and conversely, the long background distance data is compared to the short background distance data. If the distance data is closer, the area is determined to be an area where a take-away event has occurred (step S5). The leaving / taking away event determining unit 14 displays the determination result on the display unit 15 (step S6). Next, the leaving / carrying event determination unit 14 determines whether or not a leaving / carrying event has occurred (step S7), and determines that a leaving / carrying event has occurred (that is, the determination in step S7). If YES is determined in step S8), a buzzer sound is generated to notify the user (step S8). After notifying the occurrence of the leaving / taking away event, the present process is terminated. On the other hand, if it is determined that no leaving / carrying event has occurred (that is, if NO is determined in the determination in step S7), no processing is performed and this processing is terminated.

  FIG. 3 is a diagram schematically showing processing until a leaving / carrying event is detected. In the figure, when a leaving / taking away event occurs, the leaving / taking away area detecting unit 13 detects a change area by comparing the current image with a background image having a high update rate. At this time, distance information in each background image is calculated by the distance measuring unit 11 and associated with the detected change area. When a background image with a fast update rate and the current image are in the same state after a certain period of time, there will be a difference between the background image with a fast update rate and the other slow background image. The area detection unit 13 detects a leaving / moving area. Next, the leaving / carrying event determination unit 14 compares the short background distance data and the long background distance data with respect to the area detected by the leaving / carrying area detection unit 13, and the past information is small. When long background distance data with a lot of past information (that is, far in time) is located farther than short background distance data (that is, close in time), the object is left in the near time. Assuming that the distance has become short, it is determined that a leaving event has occurred. Conversely, when the long background distance data with a large amount of past information (ie, far in time) is located closer to the short background distance data with a small amount of past information (ie, near in time), it is closer in time. Assuming that the object has been taken away and the distance has increased, it is determined that a take-away event has occurred. By doing so, it is possible to determine the leaving / moving event with higher accuracy.

  As described above, according to the removed / removed object detection device 1 of the present embodiment, the background data generation unit 12 performs a short operation in which two background image data having different past information amounts, that is, a past information amount is relatively small. Long background image data having a relatively large amount of past information and background image data are generated, and two background distance data having different amounts of past information, that is, short background distance data and past information having a relatively small amount of past information A long background distance data having a relatively large amount is generated, and the removed / removed area detecting unit 13 compares the short background image data with the long background image data, so that the area that has changed for a certain period of time, that is, the removed area. An area that is a candidate for a take-away event is detected, and the leave / take-away event determination unit 14 is short-circuited with respect to the area detected by the leave / take-out area detection unit 13. Compares the background distance data and the long background distance data and determines whether it is a leaving event or a removing event, so it is possible to accurately determine whether it is a leaving event or a leaving event. It can be carried out.

  In this embodiment, two pieces of background image data and two pieces of background distance data are generated (for example, two pieces of short background image data and long background image data in the case of background image data). For example, the number is not limited.

  In the present embodiment, the camera unit 10 includes one camera, but may be a stereo camera including two cameras. By using a stereo camera, it is possible to acquire images and distance data with two cameras without separately preparing an apparatus for distance measurement, and it is also possible to easily acquire distance information corresponding to the image position.

  The present invention detects a removed / removed area from a plurality of images having different amounts of past information, and compares the distance data before and after the occurrence of the removed / removed event in the detected area. It has the effect of being able to accurately discriminate between a leaving event and a leaving event, and is useful for applications such as discrimination of a leaving / leaving event.

DESCRIPTION OF SYMBOLS 1 Leaving / moving object detection apparatus 10 Camera part 11 Distance measurement part 12 Background data generation part 13 Leaving / removal area detection part 14 Leaving / removal event determination part 15 Display part 16 Notification part

Claims (6)

A camera unit that captures an image of the monitored area and outputs image data;
A distance measuring unit for measuring a distance from the camera unit to the object in the monitoring target area;
A background data generating unit that generates background data by averaging processing over one or more past frames from image data output from the camera unit or distance data output from the distance measuring unit;
From the background data generated by the background data generation unit, a region removed from the monitoring target region, or a left / removed region detection unit for detecting a left region,
A leave / remove to determine whether the area detected by the leave / remove area detection unit is a leave event or a leave event based on the background data generated by the background data generation unit An event determination unit;
Leaving / removing object detection device with   The background data generation unit generates background image data from the image data output from the camera unit by an averaging process over one or more past frames, and generates past image data from the distance data output from the distance measurement unit. The leaving / moving object detection device according to claim 1, wherein the background distance data is generated by an averaging process over one or more frames.   When the background data generating unit performs averaging processing of one or more frames, the past information amount in the background image data to be generated is changed by adjusting the number of frames to be background generated and the time interval of the frames. The leaving / moving object detection device according to claim 1, wherein at least two pieces of background image data are generated.   The leaving / removal area detection unit acquires, from the output of the background data generation unit, short background image data with a relatively small amount of past information and long background image data with a relatively large amount of past information. 4. The removed / removed object detection device according to claim 3, wherein an area that has continued to change for a predetermined time or more is detected by comparing the background image data.   The leaving / carrying event determination unit acquires, from the output of the background data generation unit, short background distance data with a relatively small amount of past information and long background distance data with a relatively large amount of past information. If the long background distance data is farther than the short background distance data in the area detected by the leaving / moving area detection unit, the area is left behind. An area where an event has occurred is determined, and conversely, when the long background distance data is closer than the short background distance data, the area is determined as an area where a carry-out event has occurred. 4. A leaving / moving object detection device according to 4. Measuring a distance from the camera unit to an object in a monitoring target area captured by the camera unit;
From the image data output from the camera unit or the distance data output from the distance measurement unit, generating background data by averaging processing over the past one or more frames;
From the generated background data, detecting a region removed from the monitoring target region, or a region left, and
Determining whether the detected area is a leaving event or a leaving event from the generated background data;
A method for detecting a removed / removed object comprising

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