Background recovery in monocular vision

A process for background image recovery in an image sequence of a moving object, said process comprising the steps of:

• providing a monocular device for providing said image sequence;
• inputting said image sequence, via said monocular device, wherein said image sequence contains a moving object moving with respect to a background;
• identifying at least one region associated with the moving object in said image sequence, wherein said moving object is identified from the background;
• deriving a moving constellation containing said at least one region, and defining said moving constellation in a minimum circumscribing polygon;
• deriving partial background images associated with respective positions of said moving constellation;
• and
• combining said partial background images to derive said background to be recovered;
• and wherein a background image is recursively obtained and updated in accordance with the algorithm:
• Mc.sub.i =Rm.tau.(I.sub.i -I.sub.{i-1})
• Bg.sub.0 =I.sub.0
• Bg.sub.i= Bg.sub.{i-1} .orgate..sub.r (I.sub.i -Mc.sub.i)
• Bg.sub.unknown =.andgate..sub.sub{i=0..n} Mc.sub.i
• where I.sub.i denotes input image, Rm.tau. is a minimum rectangle operator and Mc.sub.i is a moving constellation at the ith frame.

A process for background image recovery in an image sequence having a plurality of frames, comprising the steps of:

• providing an optical device for producing said image sequence;
• inputting said image sequence, via said optical device, wherein said image sequence contains a moving object moving with respect to a background;
• taking two consecutive frames associated with said image sequence into an image buffer storage continuously at a general video frame rate and storing two consecutive frames;
• deriving an intensity difference frame from said two consecutive frames;
• binarizing said intensity difference frame to get a bounding box frame;
• forming a bounding box in a binarized frame by forming horizontal and vertical projections and thresholding both ends of said bounding box to get boundaries of said bounding box by utilizing a threshold value dependent upon the size of a moving object contained in said image sequence;
• deriving a partial background frame from a frame associated with said bounding box, wherein regions within the bounding box, except for a region of said bounding box constitute a recovered static background;
• and
• overlapping each partial background frame to the background frame to be recovered, thereby incrementally recovering and updating the background every frame.

A process for background image recovery in an image sequence having a plurality of frames, wherein said image sequence includes an image of a moving object, comprising the steps of:

• providing an optical device for producing said image sequence;
• inputting said image sequence, via said optical device, wherein said image sequence contains a moving object moving with respect to a background;
• storing consecutive frames of said plurality of frames including therein said image of the moving object;
• deriving difference frames from said consecutive frames;
• deriving a bounding box frame from each difference frame;
• deriving a partial background frame from each bounding box frame wherein said partial background frame excludes an area within a bounding box;
• and
• overlapping said partial background frames for providing said backgrounds information to be recovered.

A process for continuous background image recovery from a sequence of images with moving objects, comprising inputting a sequence of images of a background and a moving object, followed by the steps performed on images of said sequence of:

• a) identifying regions of moving objects relative to the background;
• b) deriving a moving constellation containing moving objects in a minimum circumscribing polygon;
• c) deriving partial background images associated with respective positions of said moving constellation;
• d) combining a plurality of said partial background images;
• and
• e) utilizing background images obtained in step d) for the background of step a).

A process for continuous background image recovery from a sequence of images including an image of a moving object, comprising inputting a sequence of images containing a background and a moving object, followed by the steps performed on said image of:

• a) identifying regions of moving objects from the background;
• b) deriving a moving constellation containing moving objects in a minimum circumscribing polygon;
• c) deriving partial background images associated with respective position of said moving constellation;
• and
• d) combining a plurality of said partial background images to derive said background to be recovered and wherein a background image is recursively obtained and updated in accordance with the algorithm:
• Mc.sub.i =Rm.tau.(I.sub.i -I.sub.(i-1))
• Bg.sub.0 =I.sub.0
• Bg.sub.i =Bg.sub.(i-1) .orgate..sub.r (I.sub.i -Mc.sub.i)
• Bg.sub.unknown =.andgate..sub.sub(i=0..n) Mc.sub.i
• wherein I.sub.i denotes input image and Mc.sub.i is a moving constellation the ith frame.