Patent US6754367B1 successfully refreshed from Google Patents.
US6754367B1
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Method and apparatus for automatically detecting intrusion object into view of image pickup device
Assignee: Kokusai Denki Electric Inc
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Filing: 2000-09-28
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Granted: 2004-06-22
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Expires: 2020-09-28
Abstract
Abstract An intruding object detecting method and an intruding object detecting apparatus for judging whether an detected object is an intruding object or not even in the condition that there are shadows of moving objects other than target objects to be detected, such as shaking trees, leaves thereof, etc. An image signal is supplied from an image pickup device; a moving object is extracted from the image signal by a subtraction method; division is made between the image signal and a reference background image signal for every pixel so as to produce a ratio image; a histogram of luminance values (pixel values) is calculated on a part of the ratio image corresponding to the moving object extracted in the extracting step; a pixel value on the part of the ratio image corresponding to the extracted moving object is calculated in ratio representation from the calculated histogram; the calculated pixel value in ratio representation is estimated; and the extracted moving object is judged to be an intruding object or not, on the basis of the estimation of the pixel value in ratio representation. Thus, intruding objects are detected in the field of view to be monitored.
Inventors
- 👤 Wataru Ito
- 👤 Hirotada Ueda
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 15:57
CPC Classifications
G; G08; G08B; G08B13/00; G08B13/18; G08B13/189; G08B13/194; G08B13/196; G08B13/19602; G06; G06T; G06T7/00; G06T7/20; G06T7/277; G06V; G06V10/00; G06V10/20; G06V10/28; G06V20/00; G06V20/50; G06V20/52; G08B13/19606
Claims Analysis
Total Claims: 35
Claim 1
Independent Claim
117 words
An intruding object detecting method comprising the steps of: inputting an image signal from an image pickup apparatus; extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; making division between said image signal and said reference background image signal for every pixel so as to produce a ratio image; calculating a histogram of pixel values on said ratio image of said moving object extracted from said image signal; detecting symmetry of said histogram of the extracted moving object; and judging whether said extracted moving object is an intruding object or not, on the basis of detection result of said symmetry of said histogram.
Claim 2
Dependent Claim
117 words
An intruding object detecting method comprising the steps of: inputting an image signal from an image pickup apparatus; extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; making division between said image signal and said reference background image signal for every pixel so as to produce a ratio image; calculating a histogram of pixel values on said ratio image of said moving object extracted from said image signal; detecting symmetry of said histogram of the extracted moving object; and judging whether said extracted moving object is an intruding object or not, on the basis of detection result of said symmetry of said histogram.
Claim 3
Dependent Claim
177 words
An intruding object detecting method according to claim 1 , wherein said step of detecting symmetry of said histogram including the steps of: calculating mean pixel values in ratio representation on a part of said ratio image corresponding to said extracted image object from said histogram ( 109 ); and comparing an absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation with a predetermined threshold value (T 1 ); wherein said judging step judges said extracted image object to be an intruding object when comparison result in said comparing step concludes that said absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation is equal to or larger than said predetermined threshold value (T 1 ), and judges said extracted image object to be not an intruding object when said absolute value is smaller than said predetermined threshold value (T 1 ).
Claim 4
Dependent Claim
90 words
An intruding object detecting method according to claim 1 , wherein said step of detecting symmetry of said histogram including the steps of: calculating sharpnesses of pixel value distribution on a part of said ratio image corresponding to said extracted image object from said histogram; and comparing each of said calculated sharpnesses of pixel value distribution with a predetermined threshold value (T 2 ); wherein said judging step judges said extracted image object to be an intruding object or not on the basis of comparison result in said comparing step.
Claim 5
Dependent Claim
46 words
An intruding object detecting method according to claim 3 , wherein said judging step judges said extracted image object to be an intruding object when at least one of said sharpnesses of pixel value distribution is not smaller than said predetermined threshold value (T 2 ).
Claim 6
Dependent Claim
44 words
An intruding object detecting method according to claim 3 , wherein said judging step judges said extracted image object to be not an intruding object when both of said sharpnesses of pixel value distribution are smaller than said predetermined threshold value (T 2 ).
Claim 7
Dependent Claim
20 words
An intruding object detecting method according to claim 3 , wherein said predetermined threshold value (T 2 ) is variable.
Claim 8
Dependent Claim
179 words
An intruding object detecting method according to claim 1 , wherein said step of detecting symmetry of said histogram including: a first comparing step of calculating mean pixel values in ratio representation on a part of said ratio image corresponding to said extracted image object from said histogram, and comparing an absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation with a first predetermined threshold value (T 1 ); and a second comparing step of calculating sharpnesses of pixel value distribution on a part of said ratio image corresponding to said extracted image object from said histogram, and comparing each of said calculated sharpnesses of pixel value distribution with a second predetermined threshold value (T 2 ); wherein said first comparing step executes said second comparing step when said difference between one mean pixel value in ratio representation and a reciprocal of the other mean pixel value in ratio representation is smaller than said first predetermined threshold value (T 1 ).
Claim 9
Dependent Claim
21 words
An intruding object detecting method according to claim 7 , wherein said second predetermined threshold value (T 2 ) is variable.
Claim 10
Dependent Claim
47 words
An intruding object detecting method according to claim 7 , wherein said second comparing step judges said extracted image object to be an intruding object when at least one of said sharpnesses of pixel value distribution is not smaller than said predetermined threshold value (T 2 ).
Claim 11
Dependent Claim
45 words
An intruding object detecting method according to claim 7 , wherein said second comparing step judges said extracted image object to be not an intruding object when both of said sharpnesses of pixel value distribution are smaller than said predetermined threshold value (T 2 ).
Claim 12
Dependent Claim
39 words
An intruding object detecting method according to claim 1 , wherein in said step of producing a ratio image, said ratio image is produced with respect to a part of said image signal corresponding to said extracted image object.
Claim 13
Dependent Claim
45 words
An intruding object detecting method according to claim 1 , further comprising a step of storing judgement result of said step of judging whether said extracted image object is an intruding object or not, and a step of comparing a plurality of past judgement results.
Claim 14
Dependent Claim
72 words
An intruding object detecting method according to claim 1 , further comprising a step of judging whether a mean pixel value of said part of said image signal corresponding to said extracted moving object is smaller than a predetermined value (T 3 ) or not, and said histogram calculating step is executed about said extracted image object which said mean pixel value is not smaller than said predetermined value (T 3 ).
Claim 15
Dependent Claim
89 words
An intruding object detecting method according to claim 1 , wherein said step of detecting symmetry of said histogram including the step of: detecting, from said histogram, symmetry between a first area where a luminance value of said input image is larger than a luminance value of said reference background image and a second area where a luminance value of said input image is larger than a luminance value of said reference background image, with respect to a part of said ratio image corresponding to said extracted moving object.
Claim 16
Dependent Claim
179 words
An intruding object detecting method according to claim 14 , wherein said step of detecting symmetry of said histogram including the step of: calculating mean pixel values in ratio representation in said first and second areas on a part of said ratio image corresponding to said extracted moving object from said histogram; and comparing an absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation with a predetermined threshold value (T 1 ); wherein said judging step judges said extracted moving object to be an intruding object when said comparing step shows comparison result that said absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation is equal to or larger than said predetermined threshold value (T 1 ), and judges said extracted moving object to be not an intruding object when said absolute value is smaller than said predetermined threshold value (T 1 ).
Claim 17
Dependent Claim
98 words
An intruding object detecting method according to claim 14 , wherein said step of detecting symmetry of said histogram including the step of: calculating sharpnesses of pixel value distribution in said first and second areas on a part of said ratio image corresponding to said extracted moving object from said histogram; and comparing each of said pair of calculated sharpnesses of pixel value distribution with a predetermined threshold value (T 2 ); wherein said judging step judges whether said extracted moving object is an intruding object or not on the basis of comparison result in said comparing step.
Claim 18
Dependent Claim
197 words
An intruding object detecting method according to claim 14 , wherein said step of detecting symmetry of said histogram including: a first comparing step of calculating mean pixel values in ratio representation in said first and second areas on a part of said ratio image corresponding to said extracted moving object from said histogram, and comparing an absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation with a first predetermined threshold value (T 1 ); a second comparing step of calculating sharpnesses of pixel value distribution in said first and second areas on a part of said ratio image corresponding to said extracted moving object from said histogram, and comparing each of said two calculated sharpnesses of pixel value distribution with a second predetermined threshold value (T 2 ); wherein said first comparing step executes said second comparing step when said absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation is smaller than said first predetermined threshold value (T 1 ).
Claim 19
Dependent Claim
141 words
An intruding object detecting method comprising the steps of: inputting an image signal from an image pickup apparatus; extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; making division between said image signal and said reference background image signal for every pixel so as to produce a ratio image; calculating a histogram of pixel values on said ratio image of said moving object extracted from said image signal; calculating sharpnesses of pixel value distribution on a part of said ratio image corresponding to said extracted moving object from said calculated histogram; comparing each of said calculated sharpnesses with a predetermined threshold value (T 2 ); and judging whether said extracted moving object is an intruding object or not on the basis of detection result of said sharpnesses.
Claim 20
Dependent Claim
141 words
An intruding object detecting method comprising the steps of: inputting an image signal from an image pickup apparatus; extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; making division between said image signal and said reference background image signal for every pixel so as to produce a ratio image; calculating a histogram of pixel values on said ratio image of said moving object extracted from said image signal; calculating sharpnesses of pixel value distribution on a part of said ratio image corresponding to said extracted moving object from said calculated histogram; comparing each of said calculated sharpnesses with a predetermined threshold value (T 2 ); and judging whether said extracted moving object is an intruding object or not on the basis of detection result of said sharpnesses.
Claim 21
Dependent Claim
46 words
An intruding object detecting method according to claim 18 , wherein said judging step judges said extracted moving object to be an intruding object when at least one of said sharpnesses of pixel value distribution is not smaller than said predetermined threshold value (T 2 ).
Claim 22
Dependent Claim
44 words
An intruding object detecting method according to claim 18 , wherein said judging step judges said extracted moving object to be not an intruding object when both of said sharpnesses of pixel value distribution are smaller than said predetermined threshold value (T 2 ).
Claim 23
Dependent Claim
39 words
An intruding object detecting method according to claim 18 , wherein in said step of producing a ratio image, said ratio image is produced with respect to a part of said image signal corresponding to said extracted moving object.
Claim 24
Dependent Claim
72 words
An intruding object detecting method according to claim 18 , further comprising a step of judging whether a mean pixel value of said part of said image signal corresponding to said extracted moving object is smaller than a predetermined value (T 3 ) or not, and said histogram calculating step is executed about said extracted image object which said mean pixel value is not smaller than said predetermined value (T 3 ).
Claim 25
Dependent Claim
60 words
An intruding object detecting method according to claim 18 , further comprising a step of storing judgement result of said judging step, and a step of comparing a plurality of past judgement results, and stored; wherein said extracted moving object is judged to be an intruding object or not on the basis of comparison result of said past judgement results.
Claim 26
Dependent Claim
155 words
An intruding object detecting apparatus comprising: an image pickup device for generating an image signal to detect an intruding object in a field to be monitored; and an image processor for receiving said image signal; wherein said image processor comprising: a moving object extracting unit for extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; a ratio image producing unit for generating a ratio image by making division between said image signal and said reference background image signal; a histogram producing unit for producing a histogram of pixel values on said ratio image of said extracted moving object; a detecting unit for detecting symmetry of said histogram of the extracted moving object; and a decision unit for deciding whether said extracted moving object is an intruding object or not on the basis of detection result of said symmetry of said histogram.
Claim 27
Dependent Claim
155 words
An intruding object detecting apparatus comprising: an image pickup device for generating an image signal to detect an intruding object in a field to be monitored; and an image processor for receiving said image signal; wherein said image processor comprising: a moving object extracting unit for extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; a ratio image producing unit for generating a ratio image by making division between said image signal and said reference background image signal; a histogram producing unit for producing a histogram of pixel values on said ratio image of said extracted moving object; a detecting unit for detecting symmetry of said histogram of the extracted moving object; and a decision unit for deciding whether said extracted moving object is an intruding object or not on the basis of detection result of said symmetry of said histogram.
Claim 28
Dependent Claim
183 words
A computer program product comprising: a computer usable medium having computer readable program code means embodied in said medium for detecting an intruding object appearing in an image signal supplied from an image pickup device, said computer readable program code means comprising: means for applying a subtraction method to said image signal and a reference background image signal stored in a memory device to extract an moving object; means for making division between said image signal and said reference background image signal so as to produce a ratio image; means for producing a histogram of pixel values on said ratio image of said extracted moving object from said ratio image; means for calculating at least one of mean pixel values in ratio representation and sharpnesses of pixel value distribution about said extracted moving object from said histogram; means for comparing said calculated mean pixel values in ratio representation and/or said calculated sharpnesses with a predetermined threshold value; and means for judging whether said extracted moving object is an intruding object or not, on the basis of comparison result obtained by said comparing means.
Claim 29
Dependent Claim
183 words
A computer program product comprising: a computer usable medium having computer readable program code means embodied in said medium for detecting an intruding object appearing in an image signal supplied from an image pickup device, said computer readable program code means comprising: means for applying a subtraction method to said image signal and a reference background image signal stored in a memory device to extract an moving object; means for making division between said image signal and said reference background image signal so as to produce a ratio image; means for producing a histogram of pixel values on said ratio image of said extracted moving object from said ratio image; means for calculating at least one of mean pixel values in ratio representation and sharpnesses of pixel value distribution about said extracted moving object from said histogram; means for comparing said calculated mean pixel values in ratio representation and/or said calculated sharpnesses with a predetermined threshold value; and means for judging whether said extracted moving object is an intruding object or not, on the basis of comparison result obtained by said comparing means.
Claim 30
Dependent Claim
143 words
An intruding object detecting method comprising the steps of: inputting an image signal from an image pickup device; extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; making division between said image signal and said reference background image signal for every pixel so as to produce a ratio image; calculating a histogram of pixel values on a part of said ratio image corresponding to said moving object extracted from said image signal; calculating mean pixel values in ratio representation on a part of said ratio image corresponding to said extracted moving object from said calculated histogram; comparing said mean pixel values in ratio representation; and judging whether said extracted moving object is an intruding object on the basis of comparison result of said mean pixel values in ratio representation.
Claim 31
Dependent Claim
143 words
An intruding object detecting method comprising the steps of: inputting an image signal from an image pickup device; extracting a moving object from said image signal and a reference background image signal stored in a memory device by a subtraction method; making division between said image signal and said reference background image signal for every pixel so as to produce a ratio image; calculating a histogram of pixel values on a part of said ratio image corresponding to said moving object extracted from said image signal; calculating mean pixel values in ratio representation on a part of said ratio image corresponding to said extracted moving object from said calculated histogram; comparing said mean pixel values in ratio representation; and judging whether said extracted moving object is an intruding object on the basis of comparison result of said mean pixel values in ratio representation.
Claim 32
Dependent Claim
171 words
An intruding object detecting method according to claim 26 , wherein said comparing step including the steps of: calculating mean pixel values in ratio representation on a part of said ratio image corresponding to said extracted moving object from said histogram; and comparing an absolute value of a difference between one of said mean pixel value in ratio representation and a reciprocal of the other mean pixel value in ratio representation with a predetermined threshold value (T 1 ); wherein said judging step judges that said extracted object is an intruding object when said comparing step shows comparison result that said absolute value of a difference between one of said mean pixel values in ratio representation and a reciprocal of the other mean pixel value in ratio representation is equal to or larger than said predetermined threshold value (T 1 ), and judges that said extracted object is not an intruding object when said comparing step indicates that said absolute value is smaller than said predetermined threshold value (T 1 ).
Claim 33
Dependent Claim
39 words
An intruding object detecting method according to claim 26 , wherein in said step of producing a ratio image, said ratio image is produced with respect to a part of said image signal corresponding to said extracted moving object.
Claim 34
Dependent Claim
71 words
An intruding object detecting method according to claim 26 , further comprising a step of judging whether a mean pixel value of a part of said image signal corresponding to said extracted moving object is smaller than a predetermined value (T 3 ) or not, and said histogram calculating step is executed on said moving object in which said mean pixel value shows a value not smaller than said predetermined value.
Claim 35
Dependent Claim
58 words
An intruding object detecting method according to claim 26 , further comprising a step of storing judgement result in said judging step, and a step of comparing a plurality of past judgement results, wherein said extracted moving object is judged to be an intruding object or not on the basis of comparison result of said past judgement results.
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