Method and System for Calibrating a Camera and Localizing Objects Within the Camera Field of View
AssigneeMotorola Solutions, Inc.
InventorsCHIA YING LEE, YIN WANG, ALEKSEY LIPCHIN
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Abstract
A computer-implemented method of localizing an image of a person captured using a camera is provided, the person in the field of view of a camera, comprising: obtaining the image captured using a camera, the image comprising the person within a bounding box; determining at least one slant value associated with the person within the bounding box; determining head image coordinates and feet image coordinates for the person using the at least one slant value; and localizing the person by projecting the head image coordinates to a head plane and the feet image coordinates for the person to a ground plane.
Claims18
A computer-implemented method of localizing an image of a person captured using a camera, the person in a field of view of a camera, comprising:
- obtaining the image captured using a camera, the image comprising the person within a bounding box;
- determining at least one slant value associated with the person within the bounding box;
- determining head image coordinates and feet image coordinates for the person using the at least one slant value;
- and
- localizing the person by projecting the head image coordinates to a head plane and the feet image coordinates for the person to a ground plane.
A computer implemented method of calibrating a camera having a field of view, comprising:
- observing N persons within the field of view, for each person k, within the N persons, generating a bounding box;
- for each kth bounding box, determining (δx,k, δy,k), wherein center coordinates of the bounding box are represented as (xc,k, yc,k), the head image coordinates for each kth person are represented as (xc,k+δx,k, yc,k+δy,k) and the feet image coordinates are represented as (xc,k−δx,k, yc,k−δy,k);
- determining the camera parameters comprising a height of the camera (Hcam), a camera focal length (f), a roll (θ), and a pitch (ρ) that minimize a residual of:
- H
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A security system comprising:
- a camera having a field of view including a person;
- and
- a processor communicatively coupled to the camera;
- and
- a memory device having stored thereon computer program code that is executable by the processor, and when executed by the processor, causes the processor to:
- obtain an image of the person captured using the camera, the image comprising the person within a bounding box;
- determine at least one slant value associated with the person within the bounding box;
- determine head image coordinates and feet image coordinates for the person using the at least one slant value;
- and
- localize the person by projecting the head image coordinates to a head plane and the feet image coordinates for the person to a ground plane.
Dependencies are inferred from the claim text.