CN1452130A

CN1452130A - Multiple target image hierarchical clustering method

Info

Publication number: CN1452130A
Application number: CN 03128918
Authority: CN
Inventors: 刘中华; 周永权; 刘允才
Original assignee: Shanghai Jiao Tong University
Current assignee: Shanghai Jiao Tong University
Priority date: 2003-05-29
Filing date: 2003-05-29
Publication date: 2003-10-29
Anticipated expiration: 2023-05-29
Also published as: CN100359532C

Abstract

The invention relates to a hierarchical clustering method of multi-target images. Firstly, the target points are arranged from large to small according to the height direction, and the target is divided into equivalent layers according to the maximum value and minimum value of the target height, and each layer is obtained. All the target points and find the corresponding relationship between the target points of the upper and lower layers, cluster and identify the targets on each layer separately from top to bottom, and finally fuse the target center points of all layers to perform multi-layer target information fusion . The invention can perform high-precision segmentation and identification of multi-moving targets under crowded conditions, and is also applicable to the condition of non-crowded targets and multi-moving target recognition of video images.

Description

The hierarchical cluster method of multiple goal image

Technical field:

The present invention relates to a kind of hierarchical cluster method of multiple goal image, a plurality of detected target under the crowed condition is carried out hierarchical cluster and identification, belong to computerized information Flame Image Process and mode identification technology, can be applied to intelligent transportation field and other association areas.

Background technology:

It is a lot of at present the target in the image to be carried out the method for identification, according to different application backgrounds diverse ways is arranged.These methods all are the discrimination methods that carries out according to behind the single Threshold Segmentation image, and therefore very strong specific aim and limitation are arranged.

The complicacy of identification of targets and discrimination method depends on the congested conditions of target in the image, in image under the more sparse situation of target, utilize single threshold value to the target in the image (in laser image, object height is the true altitude of object, in general pattern, then be gray-scale value) cut apart, adopt ripe relatively discrimination method that the impact point of cutting apart is carried out cluster identification, can obtain effect preferably.But under the situation that target is crowded, crowded a plurality of targets can be joined together to form the connected region of target in the image, be difficult to be divided into impact point independently individual and to carry out the identification of success with the method for carrying out identification after the single layering, present ripe relatively cutting techniques all is to carry out at sparse target, the method that changes single threshold value also has a lot, as Region Segmentation method etc., but do not see the relevant algorithm of target under the crowed condition being cut apart identification at present, crowded target is carried out accurate identification become current a great problem, this is the problem that institute must solution when identification technique was applied in practical matter.

Summary of the invention:

The objective of the invention is at the deficiencies in the prior art, a kind of hierarchical cluster method of multiple goal image is provided, multiple goal is cut apart and identification problem under the solution crowed condition.

For realizing such purpose, considered the elevation information of target in the technical scheme of the present invention, the multilayer Threshold Segmentation is carried out in the target area, equivalence is divided each layer equally on the object height direction, every layer is carried out cluster and identification separately, and the target information of carrying out multilayer then merges.Determine concrete threshold value according to the application scenario of reality, obtain target all impact points in this threshold range, impact point is carried out from big to small arrangement by short transverse, obtain maximal value and minimum value, carry out five equilibrium according to maximal value and minimum value, by upper strata to lower floor equal portions threshold value space successively, threshold value is stored in the array.Cut apart the central point that obtains target according to threshold value to every layer, successively each layer carried out the identification of target from top to bottom.From the superiors, judge whether the target in this layer exists corresponding target's center's point in the target area scope of following one deck.If do not exist, then think new target; If, the distance of the central point of judgement and this layer target, then merging at these 2 as if satisfying condition is a target, otherwise thinks two targets.And the like, layer is finished the target identification to each layer successively from top to bottom.Final center and the target number that obtains all targets.

Method of the present invention is specific as follows:

1. according to the threshold value of initial setting all impact points are carried out from big to small arrangement, obtain the maximal value H of object height _MaxWith minimum value H _Min

2. according to the maximal value of object height and minimum value target is carried out equivalence level and cut apart, set according to concrete application scenario between cut section, obtain all impact point of each layer.

3. whether target's center's point of judging the n layer in the target area of n+1 layer, travels through all target's center's points.If the bee-line (the breadth extreme estimated value of target) between satisfying at 2 is then thought same target.Otherwise think different targets, this target's center's point is labeled as new impact point, be stored in the corresponding array.

4. after above-mentioned steps is finished bilevel impact point corresponding relation, after corresponding target cut apart and merge,, then merge, otherwise cut apart if satisfy the condition of bee-line.The impact point that central point is not mated is thought the central point of fresh target.

5. from the superiors successively, until handling last one deck, target's center's point of all each layers is merged in every calculating and judgement of carrying out above-mentioned algorithm between two-layer at last.

Because target detected impact point (target area) under crowded condition forms connected region easily, Threshold Segmentation and the identification algorithm of using individual layer are difficult to the target in the connected region is cut apart and identification accurately, easily with the target omission in the connected region with inaccurately detect the center of target.The present invention carries out the multilayer Threshold Segmentation according to object height information to the target area, detect the impact point isolated area of target different Threshold Segmentation layers on short transverse, utilize iteration self-organization data analysis algorithm that the impact point of differing heights layer is carried out identification, the high precision that realizes multiple mobile object under the crowed condition is cut apart and identification, can not omission and flase drop and detect the central point and the number of a plurality of crowded targets exactly not.

The present invention is equally applicable to the not crowded condition of target, video image is comprised the multiple mobile object identification of gray level image and coloured image and infrared image has reference function too.

Description of drawings:

Fig. 1 is multilayer threshold value cluster of the present invention and identification synoptic diagram.

Parallelogram among Fig. 1 is represented individual-layer data, and elliptic region is wherein represented impact point, and the mean value of oval internal object point is represented target's center, layering down more, and elliptic region is big more, because threshold value is low more, impact point is many more.

Fig. 2 is that individual layer is cut apart the result with identification.

Actual in the dashed rectangle among Fig. 2 is five targets, but only identifies three targets.

Fig. 3 is cut apart result with identification for multilayer.

The mark that is marked among Fig. 3 is identical with Fig. 2.Clearly show five targets and its movement locus of identification among the figure.

Fig. 4 is that the multilayer under the crowed condition is cut apart the result with identification.

Embodiment:

Below in conjunction with concrete test figure and accompanying drawing technical scheme of the present invention is further described.

Input data of the presently claimed invention are laser scanning datas, comprise target depth L, angle of deflection, and three parameters of angle of pitch β utilize the coordinate transformation formula to convert the original laser scan-data to the coordinate X of target under earth axes, Y, Z.After each analyzing spot of target finished the conversion of coordinate, can obtain position under earth axes of each analyzing spot on the target (X, Y) and height (Z).

The present invention adopts the concrete implementation step of many Threshold Segmentation and identification algorithm as follows: 1) with the laser scanning system real time scan to raw data change into the coordinate figure X of impact point under earth axes, Y, Z, obtain target at these all impact points more than threshold value according to the threshold value of initial setting, and carry out from big to small arrangement, obtain the maximal value H of object height _MaxWith minimum value H _Min2) according to the dividing layer number N that sets, the just number of threshold value.Object height is carried out equivalence from peak to peak to be cut apart.Obtain the impact point (target area) of target, as shown in Figure 1 at each Threshold Segmentation layer.Parallelogram among the figure is represented the Threshold Segmentation layer, the impact point zone that little oval representative is wherein obtained.3) impact point that each layer is partitioned into carries out iteration self-organization data automatic cluster, determines that the central point of each target is represented target, preserves all impact points that belongs to same target simultaneously.Be recorded in the Dynamic Array cutting apart with identification result of each layer.In Fig. 1, use the central point of oval central point signal target.4) merge according to the target's center's point and the impact point of algorithm steps noted earlier to each layer, whether target's center's point between judgement is whenever two-layer up and down and impact point zone have covering or comprise.And judge whether that new impact point occurs.Target's center's point of each layer is carried out again calculating and judgement.5) with the unified one deck to the end of each layer target's center's point, the target's center point that guarantees each layer is not omitted and is not repeated.The position of target's center is exported as last testing result.Be illustrated in figure 3 as the result of multilayer Threshold Segmentation.

Accompanying drawing 2 and accompanying drawing 3 are that individual layer is cut apart and is segmented in target under the same moving scene with multilayer and cuts apart result with identification.Fig. 4 is that the multilayer under the crowed condition is cut apart the result with identification, target in the border, field is very crowded, actual range between the target can find out that from result shown in the drawings algorithm that multilayer is cut apart can detect target location and the number under the crowed condition fully exactly greatly about about 20cm.

Claims

1, a kind of hierarchical clustering method of multi-target image, it is characterized in that comprising the steps:

1) According to the initially set threshold, arrange all the target points from large to small to obtain the target

The maximum value H _max and the minimum value H _min of the height;

2) According to the maximum value and minimum value of the target height, the target is divided into equivalence layers, and the interval is divided

Set according to the specific application occasion, and obtain all the target points of each layer;

3) Determine whether the target center point of the nth layer is in the target area of the n+1 layer, and traverse all target

Mark the center point, if the shortest distance between two points is satisfied (the estimated maximum width of the target), then

It is considered to be the same target, otherwise it is considered to be a different target, and the center point of the target is marked as

The new target point is stored in the corresponding array;

4) After completing the corresponding relationship between the target points of the upper and lower layers, the corresponding targets are segmented and combined

And, if the condition of the shortest distance is satisfied, merge, otherwise split, and the center point is not matched

The matching target point is considered as the center point of the new target;

5) Start from the top layer in order until the last layer is processed, and finally integrate the targets of all layers

center point.