Surveillance information generation apparatus, imaging direction estimation apparatus, surveillance information generation method, imaging direction estimation method, and program

Patent metadata

Field	Value
Publication number	US-2018247135-A1
Application number	US-201615754613-A
Country	US
Kind code	A1
Filing date	May 9, 2016
Priority date	Sep 1, 2015
Publication date	Aug 30, 2018
Grant date	—

Abstract

A surveillance information generation apparatus (2000) includes a first surveillance image acquisition unit (2020), a second surveillance image acquisition unit (2040), and a generation unit (2060). The first surveillance image acquisition unit (2020) acquires a first surveillance image (12) generated by a fixed camera (10). The second surveillance image acquisition unit (2040) acquires a second surveillance image (22) generated by a moving camera (20). The generation unit (2060) generates surveillance information (30) relating to object surveillance, using the first surveillance image (12) and first surveillance information (14).

First claim

1 . A surveillance information generation apparatus comprising:
a first acquisition unit acquiring a first surveillance image imaged by a fixed camera, which is a camera a position of which is fixed; a second acquisition unit acquiring a second surveillance image imaged by a moving camera, which is a camera a position of which is not fixed; and a generation unit generating surveillance information of an object by using the first surveillance image and the second surveillance image.

2 . The surveillance information generation apparatus according to claim 1 , wherein the generation unit generates a display in which the second surveillance image is superimposed on the first surveillance image, as the surveillance information.

3 . The surveillance information generation apparatus according to claim 2 , wherein the generation unit superimposes the second surveillance image on a position on the first surveillance image corresponding to a position of the moving camera in a real world.

4 . The surveillance information generation apparatus according to claim 2 , wherein the generation unit performs:
displaying a mark representing the moving camera on the first surveillance image; and in a case where an operation to select the mark is performed, as the surveillance information, generating a display in which the second surveillance image generated by the moving camera corresponding to the mark is superimposed on the first surveillance image.

5 . The surveillance information generation apparatus according to claim 1 , wherein the generation unit performs:
generating distribution information indicating distribution of an object captured in the first surveillance image; calculating the number of objects captured in the second surveillance image; and correcting the distribution information by using the number of objects captured in the second surveillance image, and generating the corrected distribution information as the surveillance information.

6 . The surveillance information generation apparatus according to claim 5 , wherein the generation unit generates a display in which the corrected distribution information is superimposed on the first surveillance image.

7 . The surveillance information generation apparatus according to claim 5 , further comprising a map information acquisition unit acquiring map information of a place to be surveilled,
wherein the generation unit generates a display in which the corrected distribution information is superimposed on a map indicated by the map information.

8 . The surveillance information generation apparatus according to claim 5 , wherein the generation unit performs:
calculating an imaging range of the moving camera in the first surveillance image, with using an imaging direction of the moving camera; and correcting the number or distribution of objects within the imaging range of the moving camera indicated by the distribution information, with using the number of objects captured in the second surveillance image.

9 . The surveillance information generation apparatus according to claim 1 , wherein the generation unit superimposes a display representing an imaging direction of the moving camera on the first surveillance image.

10 . The surveillance information generation apparatus according to claim 8 , further comprising:
a first moving direction estimation unit estimating a first moving direction, which is a moving direction of the object in the first surveillance image; a second moving direction estimation unit estimating a second moving direction, which is a moving direction of the object in the second surveillance image; and an imaging direction estimation unit estimating the imaging direction of the moving camera, based on the first moving direction, the second moving direction, a position and a pose of the fixed camera, and a position of the moving camera, wherein the generation unit uses the estimated imaging direction of the moving camera as the imaging direction of the moving camera.

11 . The surveillance information generation apparatus according to claim 10 , wherein the imaging direction estimation unit performs:
calculating a third moving direction, which is a moving direction of the object captured in the second surveillance image on a plane of a plan view of a place to be surveilled in a vertical direction, with using the position and pose of the fixed camera and the first moving direction; calculating a plurality of candidate moving directions, which are moving directions of the object when viewing the object moving from each of the plurality of candidate imaging directions to the third moving direction at the position of the moving camera; and estimating that the candidate moving direction with a highest degree of equivalence to the second moving direction is the imaging direction of the moving camera.

12 . The surveillance information generation apparatus according to claim 11 , wherein the imaging direction estimation unit calculates the moving direction of the object captured in the first surveillance image on the plane, with using the position and pose of the fixed camera and the first moving direction, and handles the calculated moving direction as the third moving direction.

13 . The surveillance information generation apparatus according to claim 11 , further comprising a moving route information acquisition unit acquiring moving route information indicating a moving route of an object,
wherein the imaging direction estimation unit calculates the moving direction of the object captured in the first surveillance image on the plane, with using the position and pose of the fixed camera and the first moving direction, and wherein a moving direction that is obtained by moving the calculated moving direction to the vicinity of the moving camera along the moving route indicated by the moving route information is handled as the third moving direction.

14 . An imaging direction estimation apparatus comprising:
a first moving direction estimation unit estimating a first moving direction, which is a moving direction of an object in a first surveillance image imaged by a fixed camera which is a camera whose position is fixed; a second moving direction estimation unit estimating a second moving direction, which is a moving direction of an object in a second surveillance image imaged by a moving camera which is a camera whose position is not fixed; and an imaging direction estimation unit estimating an imaging direction of the moving camera, based on the first moving direction, the second moving direction, a position and a pose of the fixed camera, and a position of the moving camera.

15 . A surveillance information generation method executed by a computer, the method comprising:
acquiring a first surveillance image imaged by a fixed camera, which is a camera a position of which is fixed; acquiring a second surveillance image imaged by a moving camera, which is a camera a position of which is not fixed; and generating surveillance information of an object by using the first surveillance image and the second surveillance image.

16 . An imaging direction estimation method executed by a computer, the method comprising:
estimating a first moving direction, which is a moving direction of an object in a first surveillance image imaged by a fixed camera which is a camera whose position is fixed; estimating a second moving direction, which is a moving direction of an object in a second surveillance image imaged by a moving camera which is a camera whose position is not fixed; and estimating an imaging direction of

Assignees

• Nec Corp

Inventors

• Oami Ryoma

Classifications

• G06T11/26

  Drawing of charts or graphs · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T11/60

  Creating or editing images; Combining images with text · CPC title

• G06T2207/30196

  Human being; Person · CPC title

• G06T7/248

  involving reference images or patches · CPC title