Human detection device, human detection system, human detection method, and human detection program
A human detection device comprises an image acquiring unit configured to acquire an image captured by an imaging device, a human detecting unit configured to detect a human from the acquired image, a ground contact position identifying unit configured to identify a ground contact position of the human on the basis of a lower end portion of the detected human, a feature portion extracting unit configured to extract a feature portion of the detected human, a ratio calculating unit configured to calculate a ratio of the feature portion on the basis of a vertical size of the detected human and a vertical size of the extracted feature portion and a correction determining unit configured to determine whether the identified ground contact position is to be corrected on the basis of the identified ground contact position or the calculated ratio.
1. A human detection device, comprising a processor configured to function as:
an image acquiring unit configured to acquire an image captured by an imaging device;
a human detecting unit configured to detect a human from the acquired image;
a ground contact position identifying unit configured to identify a ground contact position of the human on the basis of a lower end portion of the detected human;
a feature portion extracting unit configured to extract a feature portion of the detected human;
a ratio calculating unit configured to calculate a ratio of the feature portion on the basis of a vertical size of the detected human and a vertical size of the extracted feature portion; and
a correction determining unit configured to determine whether the identified ground contact position is to be corrected on the basis of the identified ground contact position or the calculated ratio,
wherein the ground contact position identifying unit corrects the identified ground contact position on the basis of the vertical size and the ratio of the feature portion.
2. The human detection device according to claim 1 , wherein the correction determining unit determines that the identified ground contact position is to be corrected when the ratio of the feature portion indicates an abnormal value.
3. The human detection device according to claim 1 , wherein the correction determining unit determines that the identified ground contact position is to be corrected when an irregular variation is observed in the identified ground contact position or in the calculated ratio among a plurality of images acquired by the image acquiring unit.
4. The human detection device according to claim 1 , wherein the correction determining unit determines that the identified ground contact position is to be corrected when no irregular variation is observed in a position of the extracted feature portion among a plurality of images acquired by the image acquiring unit.
5. The human detection device according to claim 1 , wherein the correction determining unit determines that the human is to be detected anew when the identified ground contact position varies up and down repeatedly or the calculated ratio varies to increase and decrease repeatedly among a plurality of images acquired by the image acquiring unit.
6. The human detection device according to claim 1 , wherein the feature portion extracting unit extracts a head portion of the detected human as the feature portion.
7. A human detection system, comprising:
the human detection device according to claim 1 ; and
at least one of the imaging device or a display device configured to display the image.
8. A human detection method, comprising:
acquiring an image captured by an imaging device;
detecting a human from the acquired image;
identifying a ground contact position of the human on the basis of a lower end portion of the detected human;
extracting a feature portion of the detected human;
calculating a ratio of the feature portion on the basis of a vertical size of the detected human and a vertical size of the extracted feature portion;
determining whether the identified ground contact position is to be corrected on the basis of the identified ground contact position or the calculated ratio; and
correcting the identified ground contact position on the basis of the vertical size and the ratio of the feature portion.
9. A human detection program stored on a non-transitory computer readable medium that causes a computer to execute:
acquiring an image captured by an imaging device;
detecting a human from the acquired image;
identifying a ground contact position of the human on the basis of a lower end portion of the detected human;
extracting a feature portion of the detected human;
calculating a ratio of the feature portion on the basis of a vertical size of the detected human and a vertical size of the extracted feature portion;
determining whether the identified ground contact position is to be corrected on the basis of the identified ground contact position or the calculated ratio; and
correcting the identified ground contact position on the basis of the vertical size and the ratio of the feature portion.