公开(公告)号：US11593949B2

公开(公告)日：2023-02-28

申请号：US17220475

申请日：2021-04-01

Applicant: STMicroelectronics S.r.l.

Inventor： Giuseppe Spampinato ,  Salvatore Curti ,  Arcangelo Ranieri Bruna

IPC: G06T7/223

Abstract: In accordance with an embodiment, a method of detecting moving objects via a moving camera includes receiving a sequence of images from the moving camera; determining optical flow data from the sequence of images; decomposing the optical flow data into global motion related motion vectors and local object related motion vectors; calculating global motion parameters from the global motion related motion vectors; calculating moto-compensated vectors from the local object related motion vectors and the calculated global motion parameters; compensating the local object related motion vectors using the calculated global motion parameters; and clustering the compensated local object related motion vectors to generate a list of detected moving objects.

公开(公告)号：US10140550B2

公开(公告)日：2018-11-27

申请号：US15169232

申请日：2016-05-31

Applicant: STMicroelectronics S.r.l.

Inventor： Giuseppe Spampinato ,  Arcangelo Ranieri Bruna ,  Viviana D'Alto

IPC: G06K9/62 ,  G06T7/215 ,  G06T7/277 ,  G06K9/48 ,  G06T7/20

Abstract: Image processing circuitry processes image frames in a sequence of image frames, for example, to identify objects of interest. The processing includes filtering motion vectors associated with a current image frame, grouping the filtered motion vectors associated with the current image frame into a set of clusters associated with the current image frame, and selectively merging clusters in the set of clusters associated with the current image frame. At least one of the filtering, the grouping and the merging may be based on one or more clusters associated with one or more previous image frames in the sequence of image frames. Motion vectors included in merged clusters associated with a previous frame may be added to filtered motion vectors before grouping the motion vectors in the current frame.

公开(公告)号：US20180082132A1

公开(公告)日：2018-03-22

申请号：US15471138

申请日：2017-03-28

Applicant: STMicroelectronics S.r.l.

Inventor： Giuseppe Spampinato ,  Salvatore Curti ,  Nunziata Ivana Guarneri ,  Arcangelo Ranieri Bruna

IPC: G06K9/00 ,  G08G1/0962 ,  G06K9/62 ,  G06K9/46

CPC classification number: G06K9/00791 ,  G06K9/00335 ,  G06K9/00805 ,  G06K9/46 ,  G06K9/6218 ,  G06K2009/4666 ,  G08G1/09626

Abstract: A sequence of images obtained by a camera mounted on a vehicle is processed in order to generate Optical Flow data including a list of Motion Vectors being associated with respective features in the sequence of images. The Optical Flow data is analyzed to calculate a Vanishing Point by calculating the mean point of all intersections of straight lines passing through motion vectors lying in a road. An Horizontal Filter subset is determined taking into account the Vanishing Point and a Bound Box list from a previous frame in order to filter from the Optical Flow the horizontal motion vectors. The subset of Optical Flow is clustered to generate the Bound Box list retrieving the moving objects in a scene. The Bound Box list is sent to an Alert Generation device and an output video shows the input scene where the detected moving objects are surrounded by a Bounding Box.

公开(公告)号：US20140348239A1

公开(公告)日：2014-11-27

申请号：US14278680

申请日：2014-05-15

Applicant: STMicroelectronics S.r.l.

Inventor： Giuseppe Spampinato ,  Arcangelo Ranieri Bruna

IPC: H04N19/51

CPC classification number: H04N5/23254 ,  G06T5/003 ,  G06T7/246 ,  G06T2207/20201 ,  H04N5/23248 ,  H04N5/23251

Abstract: A panning device for processing relative motion vectors and absolute motion vectors obtained from a video sequence, includes: a panning filter module, such as a high-pass IIR filter, for subjecting relative motion vectors to panning processing, an adder module for adding the relative motion vectors subjected to panning in the panning filter module to absolute motion vectors to obtain respective summed values of motion vectors, a clipping module for subjecting the summed values of motion vectors obtained in the adder module to clipping according to a selected cropping window for obtaining final output absolute motion vectors, a first leak integrator arranged after the panning filter module, and a second leak integrator arranged after the clipping module.

Abstract translation: 用于处理从视频序列获得的相对运动矢量和绝对运动矢量的平移装置包括：用于对相对运动矢量进行平移处理的平移滤波器模块，例如高通IIR滤波器，用于将相对运动矢量相加 在平移滤波器模块中进行平移的运动矢量到绝对运动矢量，以获得运动矢量的各个相加值;削波模块，用于根据所选择的裁剪窗口对加法器模块中获得的运动矢量的相加值进行削波，以获得最终的运动矢量 输出绝对运动矢量，布置在平移滤波器模块之后的第一泄漏积分器和布置在限幅模块之后的第二泄漏积分器。