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1. 发明申请

US20160335491A1 METHOD AND DEVICE FOR DETECTING GATHERING OF OBJECTS BASED ON STEREO VISION AS WELL AS NON-TRANSITORY COMPUTER-READABLE MEDIUM 有权
标题翻译：用于基于立体视觉检测物体的方法和装置，作为非接线计算机可读介质
公开(公告)号：US20160335491A1
公开(公告)日：2016-11-17
申请号：US15151940
申请日：2016-05-11
申请人： Qian Wang , Shengyin Fan , Xin Wang , Gang Qiao , Jiadan Zhu
发明人： Qian Wang , Shengyin Fan , Xin Wang , Gang Qiao , Jiadan Zhu
IPC分类号： G06K9/00 , G06T7/20 , G06T7/00
CPC分类号： G06K9/00369 , G06K9/00778
摘要： Method, device, and non-transitory computer-readable medium detecting a gathering of objects based on stereo vision are disclosed, and the method comprises steps of obtaining current and prior images and a corresponding depth map; extracting foreground pixels corresponding to detection objects from the current and prior images, and projecting the foreground pixels onto a ground surface to acquire a foreground projection image including foreground projection blocks; conducting, based on image feature differences of the foreground pixels between the current and prior images, projection onto the ground surface to acquire moving foreground projection blocks; utilizing the moving foreground projection blocks to erode the foreground projection blocks to obtain still foreground projection blocks; and determining, based on the still foreground projection blocks, whether the gathering of objects exists.
摘要翻译：公开了基于立体视觉检测物体聚集的方法，装置和非暂时计算机可读介质，并且该方法包括获取当前和先前图像以及对应的深度图的步骤; 从当前和先前图像中提取与检测对象相对应的前景像素，并将前景像素投影到地面上以获取包括前景投影块的前景投影图像; 基于当前和先前图像之间的前景像素的图像特征差异进行投影，以投影到地面上以获取移动的前景投影块; 利用移动的前景投影块来侵蚀前景投影块以获得静止的前景投影块; 以及基于所述静止前景投影块来确定是否存在对象的聚集。

2. 发明授权

US09754160B2 Method and device for detecting gathering of objects based on stereo vision as well as non-transitory computer-readable medium 有权
公开(公告)号：US09754160B2
公开(公告)日：2017-09-05
申请号：US15151940
申请日：2016-05-11
申请人： Qian Wang , Shengyin Fan , Xin Wang , Gang Qiao , Jiadan Zhu
发明人： Qian Wang , Shengyin Fan , Xin Wang , Gang Qiao , Jiadan Zhu
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00778
摘要： Method, device, and non-transitory computer-readable medium detecting a gathering of objects based on stereo vision are disclosed, and the method comprises steps of obtaining current and prior images and a corresponding depth map; extracting foreground pixels corresponding to detection objects from the current and prior images, and projecting the foreground pixels onto a ground surface to acquire a foreground projection image including foreground projection blocks; conducting, based on image feature differences of the foreground pixels between the current and prior images, projection onto the ground surface to acquire moving foreground projection blocks; utilizing the moving foreground projection blocks to erode the foreground projection blocks to obtain still foreground projection blocks; and determining, based on the still foreground projection blocks, whether the gathering of objects exists.

3. 发明授权

US09727971B2 Method and system for updating background model based on depth 有权
公开(公告)号：US09727971B2
公开(公告)日：2017-08-08
申请号：US14740641
申请日：2015-06-16
申请人： Gang Qiao , Xin Wang , Shengyin Fan , Qian Wang , Jiadan Zhu
发明人： Gang Qiao , Xin Wang , Shengyin Fan , Qian Wang , Jiadan Zhu
IPC分类号： G06K9/00 , G06T7/00 , G06T7/11 , G06T7/174 , G06T7/194 , H04N13/02
CPC分类号： G06T7/194 , G06K9/00 , G06T7/11 , G06T7/174 , G06T2207/10021 , G06T2207/10028 , G06T2207/20224 , H04N13/239
摘要： A method and a system for updating a background model based on depth are disclosed. The method includes receiving, in response to the occurrence of a predetermined background updating condition, one or more depth images captured after a time when the predetermined background updating condition occurs; obtaining, based on an original background model, foreground images in the one or more captured depth images, which are newly added compared with a depth image at the time when the predetermined background updating condition occurs; for each of foreground pixels in each of the newly added foreground images, comparing a current depth value with a previous depth value before the time when the predetermined background updating condition occurs; and updating, when the current depth value is greater than the previous depth value, the original background model as the updated background model by using the foreground pixel in the newly added foreground image.

4. 发明申请

US20160335490A1 METHOD AND APPARATUS FOR DETECTING PERSONS, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM 有权
标题翻译：用于检测人员的方法和装置以及非终端计算机可读记录介质
公开(公告)号：US20160335490A1
公开(公告)日：2016-11-17
申请号：US15148391
申请日：2016-05-06
申请人： Xin WANG , Shengyin Fan , Qian Wang , Jiadan Zhu
发明人： Xin WANG , Shengyin Fan , Qian Wang , Jiadan Zhu
IPC分类号： G06K9/00 , G06T7/00 , G06T7/40 , G06K9/62
CPC分类号： G06K9/00369 , G06K9/00778
摘要： A method and an apparatus for detecting persons are disclosed. The method includes initially detecting the persons in a height-top-view; dividing the height-top-view into one or more regions, and estimating crowd density in each region; determining, based on the crowd density, visible regions of the initially detected persons in each of the regions; for each of the initially detected persons, extracting a first gradient feature and a second gradient feature of the person from the height-top-view, and a grayscale image or a color image corresponding to the height-top-view, respectively; for each of the initially detected persons, determining, based on the extracted first gradient feature and second gradient feature, using a previously constructed classifier corresponding to the determined visible region of the person, a confidence level of the initially detected person; and correcting, based on the confidence level, a detection result of the initially detected persons.
摘要翻译：公开了一种用于检测人的方法和装置。该方法包括：首先检测身高高的人物; 将高空视图划分为一个或多个区域，并估算每个区域的人群密度; 基于人群密度确定每个区域中初始检测到的人的可见区域; 对于每个初始检测到的人，分别从高空俯视图提取人的第一梯度特征和第二梯度特征，以及灰度图像或与高度 - 俯视图相对应的彩色图像; 对于每个初始检测到的人，基于所提取的第一梯度特征和第二梯度特征，使用与所确定的人的可见区域相对应的先前构造的分类器来确定初始检测到的人的置信水平; 以及基于置信水平来校正初始检测到的人的检测结果。

5. 发明授权

US10026012B2 Method and apparatus for separating objects, and non-transitory computer-readable recording medium 有权
公开(公告)号：US10026012B2
公开(公告)日：2018-07-17
申请号：US15267329
申请日：2016-09-16
申请人： Jiadan Zhu , Xin Wang , Shengyin Fan , Qian Wang , Bo Pang
发明人： Jiadan Zhu , Xin Wang , Shengyin Fan , Qian Wang , Bo Pang
IPC分类号： G06K9/62 , G06K9/46 , G06T7/00 , G06T7/40
摘要： A method and an apparatus for separating objects are disclosed. The method includes obtaining a depth image including a plurality of objects; obtaining a two-dimensional image including the objects; performing pixel-clustering using depth values of pixels in the depth image and pixel values of pixels in the two-dimensional image to obtain a plurality of sub-regions; performing region-clustering for the sub-regions to obtain a clustering result as an object separation result; and outputting the object separation result.

6. 发明授权

US09984286B2 Method and apparatus for detecting persons, and non-transitory computer-readable recording medium 有权
公开(公告)号：US09984286B2
公开(公告)日：2018-05-29
申请号：US15148391
申请日：2016-05-06
申请人： Xin Wang , Shengyin Fan , Qian Wang , Jiadan Zhu
发明人： Xin Wang , Shengyin Fan , Qian Wang , Jiadan Zhu
IPC分类号： G06K9/00 , G06K9/62 , G06T7/00
CPC分类号： G06K9/00369 , G06K9/00778
摘要： A method and an apparatus for detecting persons are disclosed. The method includes initially detecting the persons in a height-top-view; dividing the height-top-view into one or more regions, and estimating crowd density in each region; determining, based on the crowd density, visible regions of the initially detected persons in each of the regions; for each of the initially detected persons, extracting a first gradient feature and a second gradient feature of the person from the height-top-view, and a grayscale image or a color image corresponding to the height-top-view, respectively; for each of the initially detected persons, determining, based on the extracted first gradient feature and second gradient feature, using a previously constructed classifier corresponding to the determined visible region of the person, a confidence level of the initially detected person; and correcting, based on the confidence level, a detection result of the initially detected persons.

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