Method, apparatus, computing device and computer-readable storage medium for correcting pedestrian trajectory
US-12062192-B2 · Aug 13, 2024 · US
US9292763B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9292763-B2 |
| Application number | US-201313951193-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 25, 2013 |
| Priority date | Jul 25, 2013 |
| Publication date | Mar 22, 2016 |
| Grant date | Mar 22, 2016 |
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A method includes determining a position and length of a non-zero run in a row of a pixel map. The method also includes determining a number of neighbors for the non-zero run in a preceding row, based at least in part on the position and the length. In addition, the method includes updating a correspondence map of the non-zero run and a correspondence map of a first neighbor of the non-zero run, based at least in part on a correspondence map of a second neighbor of the non-zero run, in response to a determination that the non-zero run has at least two neighbors in the preceding row.
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What is claimed is: 1. A method implemented with a processor, the method comprising: determining a position and length of a non-zero run in a row of a pixel map; determining, with the processor, a minimum label of roots of at least two neighbors in a preceding row of the pixel map, in response to a determination, based at least in part on the position and the length, that the non-zero run neighbors the at least two neighbors; and updating a correspondence map of the non-zero run and a correspondence map of a first neighbor of the at least two neighbors, based at least in part on a correspondence map of a second neighbor of the at least two neighbors, in response to the determination that the non-zero run neighbors the at least two neighbors. 2. The method of claim 1 , further comprising: assigning to the non-zero run the minimum label of the roots of the at least two neighbors. 3. The method of claim 1 , further comprising: updating a size of an object including the non-zero run, the first neighbor, and the second neighbor, in response to the determination. 4. The method of claim 3 , further comprising: updating the size of the object based at least in part of the length of the non-zero run. 5. The method of claim 1 , further comprising: determining that an object is completed, in response to a determination that the non-zero run has no neighbors in the preceding row. 6. The method of claim 1 , wherein the determination includes ORing the row with the preceding row. 7. The method of claim 1 , further comprising: discarding an object, based at least in part on an intensity of a pixel in the non-zero run and a predetermined threshold. 8. At least one non-transitory computer readable medium that includes code for execution and, when executed by a processor, operable to perform operations comprising: determining a position and length of a non-zero run in a row of a pixel map; determining a minimum label of roots of at least two neighbors in a preceding row of the pixel map, in response to a determination, based at least in part on the position and the length, that the non-zero run neighbors the at least two neighbors; and updating a correspondence map of the non-zero run and a correspondence map of a first neighbor of the at least two neighbors, based at least in part on a correspondence map of a second neighbor of the at least two neighbors, in response to the determination that the non-zero run neighbors the at least two neighbors. 9. The medium of claim 8 , the operations further comprising: assigning to the non-zero run the minimum label of the roots of the at least two neighbors. 10. The medium of claim 8 , the operations further comprising: updating a size of an object including the non-zero run, the first neighbor, and the second neighbor, in response to the determination. 11. The medium of claim 10 , the operations further comprising: updating the size of the object based at least in part of the length of the non-zero run. 12. The medium of claim 8 , the operations further comprising: determining that an object is completed, in response to a determination that the non-zero run has no neighbors in the preceding row. 13. The medium of claim 8 , wherein the determination includes ORing the row with the preceding row. 14. The medium of claim 8 , the operations further comprising: discarding an object, based at least in part on an intensity of a pixel in the non-zero run and a predetermined threshold. 15. An apparatus, comprising: a processor that determines a position and length of a non-zero run in a row of a pixel map, the processor configured to determine a minimum label of roots of at least two neighbors in a preceding row of the pixel map, in response to a determination, based at least in part on the position and the length, that the non-zero run neighbors the at least two neighbors, and to update a correspondence map of the non-zero run and a correspondence map of a first neighbor of the at least two neighbors, based at least in part on a correspondence map of a second neighbor of the at least two neighbors, in response to the determination that the non-zero run neighbors the at least two neighbors. 16. The apparatus of claim 15 , wherein the processor assigns to the non-zero run the minimum label of the roots of the at least two neighbors. 17. The apparatus of claim 15 , wherein the processor updates a size of an object including the non-zero run, the first neighbor, and the second neighbor, in response to the determination. 18. The apparatus of claim 17 , wherein the processor updates the size of the object based at least in part of the length of the non-zero run. 19. The apparatus of claim 15 , wherein the processor is configured to determine that an object is completed, in response to a determination that the non-zero run has no neighbors in the preceding row. 20. The apparatus of claim 15 , wherein the processing unit determines that the non-zero run neighbors the at least two neighbors by ORing the row with the preceding row.
by analysing connectivity, e.g. edge linking, connected component analysis or slices · CPC title
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