Fast moving object detection with non-stationary background

The detection of moving objects under a free-moving camera is a difficult problem because the camera and object motions are mixed together and the objects are often detected into the separated components. To tackle this problem, we propose a fast moving object detection method using optical flow clustering and Delaunay triangulation as follows. First, we extract the corner feature points using Harris corner detector and compute optical flow vectors at the extracted corner feature points. Second, we cluster the optical flow vectors using K-means clustering method and reject the outlier feature points using Random Sample Consensus algorithm. Third, we classify each cluster into the camera and object motion using its scatteredness of optical flow vectors. Fourth, we compensate the camera motion using the multi-resolution block-based motion propagation method and detect the objects using the background subtraction between the previous frame and the motion compensated current frame. Finally, we merge the separately detected objects using Delaunay triangulation. The experimental results using Carnegie Mellon University database show that the proposed moving object detection method outperforms the existing other methods in terms of detection accuracy and processing time.     

动态背景下空时特性均显著的运动目标检测

从序列图像中提取变化区域是运动检测的主要作用,动态背景的干扰严重影响检测结果,使得有效性运动检测成为一项困难工作。受静态图像显著性检测启发,提出了一种新的运动目标检测方法,采用自底向上与自顶向下的视觉计算模型相结合的方式获取图像的空时显著性：先检测出视频序列中的空间显著性,在其基础上加入时间维度,利用改进的三帧差分算法获取具有运动目标的时间显著性,将显著性目标的检测视角由静态图像转换为空时性均显著的运动目标。实验和分析结果表明：新方法在摄像机晃动等动态背景中能较准确检测出空时均显著的运动目标,具有较高的鲁棒性。     

High-speed target tracking by fuzzy hostility-induced segmentation of optical flow field

A time efficient technique for real-time tracking of high-speed objects in a video sequence is presented in this article. The technique is primarily based on the segmentation of the optical flow field computed between the successive image frames of a video sequence, followed by the tracking of a detected point of interest (POI) within the segmented flow field. In the initial phase of the technique, the optical flow field between the first two successive image frames acquired from a video sequence, is computed. A fuzzy hostility index indicative of the degree of coherence of the moving objects in the image frames, is used to segment the optical flow field. This yields different coherent regions of interest (ROIs) in the segmented flow field. A POI is then detected in the different ROIs obtained. Tracking of the moving object is then carried out by computing the flow fields between predefined ROIs in the neighborhood of the detected POI in the subsequent image frames.Since the selected ROIs are smaller than the image frames, a fair amount of reduction in the time required for the computation of the optical flow field is achieved, thereby facilitating real-time operation. An application of the proposed technique is demonstrated on three video sequences of high-speed flying fighter aircrafts.     

基于局部微分光流的运动对象分割

运动对象分割是研究从场景的图像序列或视频中提取出运动目标的理论和方法,是计算机视觉中一个重要的研究方向,在军事和工业等领域有着广阔的应用前景.提出一种基于局部微分光流的运动对象分割算法.首先采用局部微分光流算法计算出场景的运动光流场并完成其初始分割,然后利用canny算子探测出对象的边缘信息并将其作为对光流场得到的运动信息的补充,从而分割出更为准确的运动对象.实验结果显示该方法具有良好的分割性能.     

结合单高斯与光流法的无人机运动目标检测

针对无人机场景下运动目标检测对实时性要求高,运动背景、环境光照易变化等问题,提出一种结合单高斯与光流法的运动目标检测算法.首先,对运动相机捕捉的图像采用改进的单高斯模型进行背景建模,并融合前一帧图像的多个高斯模型来进行运动补偿,然后,将得到的前景图像作为掩模来提取特征点和进行光流跟踪,并对稀疏特征点的运动轨迹进行层次聚类.实验结果表明,该算法能有效地处理运动相机造成的前景对背景模型的干扰,背景建模速度快,对光照变化不敏感,检测出的目标接近真实目标.     

混合视觉系统的运动物体检测和静态地图重建

复杂动态背景环境下的运动物体检测和静态地图重建中容易出现运动物体检测不完整的问题。针对上述问题,提出了一种混合视觉系统下点云分割辅助的运动物体检测方法。首先,提出了直通滤波+随机采样一致性（PassThrough+RANSAC）方法来克服大面积墙壁干扰以实现点云地面点的识别;其次,将非地面点数据作为特征点投射到图像上,并估计其光流运动向量和人工运动向量,从而对动态点进行检测;然后,采用动态阈值策略对点云进行欧氏聚类;最后,整合动态点检测结果与点云分割结果来完整地提取出运动物体。此外,通过八叉树地图（Octomap）工具将点云地图转换为三维栅格地图以完成地图的构建。通过实验结果和数据分析可知,所提方法可以有效提高运动物体检测的完整性,同时重建出低损耗、高实用性的静态栅格地图。     

A topology preserving non-rigid registration algorithm with integration shape knowledge to segment brain subcortical structures from MRI images

A new non-rigid registration method combining image intensity and a priori shape knowledge of the objects in the image is proposed. This method, based on optical flow theory, uses a topology correction strategy to prevent topological changes of the deformed objects and the a priori shape knowledge to keep the object shapes during the deformation process. Advantages of the method over classical intensity based non-rigid registration are that it can improve the registration precision with the a priori knowledge and allows to segment objects at the same time, especially efficient in the case of segmenting adjacent objects having similar intensities. The proposed algorithm is applied to segment brain subcortical structures from 15 real brain MRI images and evaluated by comparing with ground truths. The obtained results show the efficiency and robustness of our method.     

基于变化检测的视频对象分割算法研究

随着基于对象视频应用的发展,视频对象的分割成为人们研究的热点。提出了一种基于变化检测的视频对象分割算法。该算法首先求出连续两帧图像之间的差分,利用帧间变化信息可以得到视频对象的运动区域,根据差分图像的中值（MED）和中值绝对差（MAD）及原始图像均值确定阈值并滤除噪声,用数学形态学方法进行后处理,最终得到精确的视频运动对象。实验结果表明,该方法能够从背景不变的视频序列中较好地提取出视频运动对象,而且算法简单、高效、准确。     

Moving object detection by mobile Stereo Omni-directional System (SOS) using spherical depth image

Moving object detection with a mobile image sensor is an important task for mobile surveillance systems running in real environments. In this paper, we propose a novel method to effectively solve this problem by using a Stereo Omni-directional System (SOS), which can obtain both color and depth images of the environment in real time with a complete spherical field of view. Taking advantage of the SOS that the frame-out problem never occurs, we develop a method to detect the regions of moving objects stably under arbitrary movement and pose change of the SOS, by using the spherical depth image sequence obtained by the SOS. The method first predicts the depth image for the current time from that obtained at the previous time and the ego-motion of the SOS, and then detects moving objects by comparing the predicted depth image with the actual one obtained at the current time.     

基于全景视觉的移动机器人的运动目标检测

在动态背景下的运动目标检测中,由于目标和背景两者都是各自独立运动的,在提取前景运动目标时需要考虑由移动机器人自身运动引起的背景变化。仿射变换是一种广泛用于估计图像间背景变换的方法。然而,在移动机器人上使用全方位视觉传感器(ODVS)时,由于全方位图像的扭曲变形会 造成图像中背景运动不一致,无法通过单一的仿射变换描述全方位图像上的背景运动。将图像划分为网格窗口,然后对每个窗口分别进行仿射变换,从背景变换补偿帧差中得到运动目标的区域。最后,根据ODVS的成像特性,通过视觉方法解析出运动障碍物的距离和方位信息。实验结果表明,提出的方法能准确检测出移动机器人360°范围内的运动障碍物,并实现运动障碍物的精确定位,有效地提高了移动机器人的实时避障能力。     

基于序列图像的实时人流检测与识别算法研究

针对可见光下人流检测、识别算法中存在的运动目标分割准确率低、识别效果差等问题,提出一种新的跟踪与识别方法.首先利用序列图像中运动目标时空一致性,将帧间二阶差分(SODP)与边缘检测相结合进行运动目标分割;再根据行人运动模型和运动目标局部性特征,通过粗采样方法快速提取跟踪特征向量;利用运动目标轮廓投影比、形状因子等特征分量,并构造基于人工神经网络的运动目标分类器进行识别.通过对大型商场进行的实际测试表明:该方法在运行效率、识别准确率方面均取得满意结果.同时,算法对于光线、阴影和人流变化等外界因素的影响,具有较强适应性.     

融合多特征的运动一致性图像分割

目的:在彩色图像分割中,光流法能够得到运动区域,但难以获得运动目标准确的分割边界,而常用的算法往往会产生过分割。为了克服光流法的不足,在保留显著性区域的同时抑制过分割,从而获得具有运动一致性区域的分割结果,提出融合多特征的运动一致性图像分割算法。方法:首先通过Mean Shift算法获取图像的初始分割,然后利用空域信息（包括颜色、边缘和区域面积）对视觉感知上具有相似性的区域进行合并,再利用时域信息进行运动一致性区域合并,最终得到分割结果。结果:实验结果表明通过结合时空信息,该方法能够有效抑制过分割,不仅弥补了光流场不能准确提取目标边缘的不足,而且提高了分割目标的完整性。结论:与两种流行的彩色图像分割算法相比,所提方法获得了更加理想的结果。     

基于改进光流特征的运动目标跟踪

在城市智能视频监控中需要对运动目标进行实时跟踪,针对传统的运动目标检测中出现的跟踪目标易丢失、跟踪率低、实时性差等问题,提出一种基于改进光流特征的运动目标跟踪检测方法,对运动行人目标进行跟踪.该方法首先采用改进的Vibe运动背景建模法对视频中存在的运动行人进行检测,再将Shi-Tomasi角点检测与LK光流法进行结合,...     

基于RBF神经网络的复杂背景下的运动目标检测

由于运动摄像机的存在使得复杂背蒂下的运动目标检测问题更加复杂,根据场景中目标与背景具有不同的运动、任意场景可以分成不同的运动区域这一基拳事实,提出一种新的基于RBF神经网络的运动目标检测算法。运动补偿后求参考帧与补偿后的当前帧之间的光流,联合当前像素坐标及其灰度值得到五雏特征向量作为RBF网络的输入,RBF网络学习算法通过最小化由Bayesian理论和能量最小化理论导出的损失函数实现。学习矢量量化方法修正网络的中心,收敛后网络的输出就是运动目标区域。试验结果证明了算法的有效性。     

运动目标检测中的光流扰动效应

在一些运动目标检测过程中,需要自动判断是否检测到运动目标,虽然在场景中没有出现运动目标,检测结果却错误的判断为检测到了运动目标.为了找到这个错误的根源,通过实验,发现了光流扰动效应,并且设计了光流扰动效应检测算法,清晰地检测出了光流扰动效果.接下来,通过图像二值化方式,消除了光流扰动效应,避免了运动目标误判现象,得到了理想的运动目标检测结果.研究证明在空间中存在光流扰动效应,该效应会对运动目标检测造成干扰,消除光流扰动效应,可提高了运动目标检测与判断的准确度和可靠度.     

Layered Representation of a Video Shot with Mosaicing

: This paper presents a motion segmentation method useful for representing efficiently a video shot as a static mosaic of the background plus sequences of the objects moving in the foreground. This generates an MPEG-4 compliant, layered representation useful for video coding, editing and indexing. First, a mosaic of the static background is computed by estimating the dominant motion of the scene. This is achieved by tracking features over the video sequence and using a robust technique that discards features attached to the moving objects. The moving objects get removed in the final mosaic by computing the median of the grey levels. Then, segmentation is obtained by taking the pixelwise difference between each frame of the original sequence and the mosaic of the background. To discriminate between the moving object and noise, temporal coherence is exploited by tracking the object in the binarised difference image sequence. The automatic computation of the mosaic and the segmentation procedure are illustrated with real sequences experiments. Examples of coding and content-based manipulation are also shown. Received: 31 August 2000, Received in revised form: 18 April 2001, Accepted: 20 July 2001     

海量监控视频快速回放与检索技术

为解决海量监控视频的快速浏览和检索,介绍了一种基于目标索引的视频摘要和检索方法。该方法在光流分析的基础上,在画面的静止区域更新背景,运动的区域利用差分法分割出运动目标图像。经过优化的快速特征匹配和建立运动跟踪模型后,根据目标运动轨迹,按照时空距离进行聚类。在目标图像数据和运动参数进行XML结构化存储为索引的基础上,最后在检索时将符合条件的所有目标图像,按照其原有时间顺序逐帧贴到同一个背景图像中,形成动态的摘要视频。由于该方法剔除了背景中大量的时空冗余信息,可在较短回放时间内浏览全部有用目标,显著提高海量监控视频的查阅效率。     

Hybrid genetic optimization and statistical model based approachfor the classification of shadow shapes in sonar imagery

We present an original statistical classification method using a deformable template model to separate natural objects from man-made objects in an image provided by a high resolution sonar. A prior knowledge of the manufactured object shadow shape is captured by a prototype template, along with a set of admissible linear transformations, to take into account the shape variability. Then, the classification problem is defined as a two-step process: 1) the detection problem of a region of interest in the input image is stated as the minimization of a cost function; and 2) the value of this function at convergence allows one to determine whether the desired object is present or not in the sonar image. The energy minimization problem is tackled using relaxation techniques. In this context, we compare the results obtained with a deterministic relaxation technique and two stochastic relaxation methods: simulated annealing and a hybrid genetic algorithm. This latter method has been successfully tested on real and synthetic sonar images, yielding very promising results     

基于光流场与水平集的运动目标检测

利用光流场信息及运动内极限约束确定运动目标区域的初始分割,提取光流大小与光流方向两个特征构成特征向量,使用K-means聚类算法获得运动目标区域,利用水平集方法对初始运动区域进行进一步分割,通过最小化定义的能量函数驱动代表运动目标的闭合曲线进行演化,曲线演化将在空间梯度较大的位置停止,从而得到运动目标的封闭边缘曲线。实验表明,该方法可有效地从图像序列中检测出完整的运动目标。     

视频序列中的运动目标检测

针对室内安全监控的场景特点,提出一种稳健的运动目标检测方法,对每个背景像素使用多个矢量表示,利用当前帧和背景帧像素的色度分量差分进行运动检测,并选择性地更新背景模型.实验表明,该方法能有效消除背景中振动对象的干扰,提高运动目标检测的准确性,有利于消除由于虚假目标而导致的误报警.