[go: up one dir, main page]

WO2020159165A1 - Caméra stéréo infrarouge - Google Patents

Caméra stéréo infrarouge Download PDF

Info

Publication number
WO2020159165A1
WO2020159165A1 PCT/KR2020/001192 KR2020001192W WO2020159165A1 WO 2020159165 A1 WO2020159165 A1 WO 2020159165A1 KR 2020001192 W KR2020001192 W KR 2020001192W WO 2020159165 A1 WO2020159165 A1 WO 2020159165A1
Authority
WO
WIPO (PCT)
Prior art keywords
subject
camera
thermal
thermal image
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/001192
Other languages
English (en)
Korean (ko)
Inventor
이재덕
주우덕
박종명
서상원
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of WO2020159165A1 publication Critical patent/WO2020159165A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
    • G01N15/06—Investigating concentration of particle suspensions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
    • G01N15/06—Investigating concentration of particle suspensions
    • G01N15/075—Investigating concentration of particle suspensions by optical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3504—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance

Definitions

  • the present invention relates to an infrared stereo camera.
  • the infrared stereo camera is used to acquire the temperature and position information of the subject, and it can be applied to a technical field of obtaining concentration information of a specific gas.
  • An infrared camera is a device that collects radiant energy emitted by an object without supply of light from the outside and visualizes it through appropriate conversion so that it can be easily recognized. Infrared cameras are different from conventional imaging equipment for viewing with or without visible light or reflected light intensity differences.
  • an infrared camera varies depending on the wavelength used, required performance, detector, and infrared detection method. Basically, an infrared camera is composed of an optical lens part, an infrared sensor part, and an image implementation.
  • LWIR Long Wave Infrared
  • ⁇ -Bolometer a sensor that detects Long Wave Infrared (LWIR) in the 8-14 ⁇ m wavelength band, is mainly used.
  • LWIR is a wavelength band that emits the strongest in the human body and can be useful for temperature measurement and pedestrian/animal identification.
  • the infrared camera has a high transmittance for fine particles, which is advantageous for remote monitoring, lifesaving, and tracking devices. In addition, it does not require a separate light source, so night vision can be secured, and it has excellent detection performance even in an environment such as direct sunlight, making it suitable for security and military applications. In addition, the infrared camera is capable of discriminating minute temperatures, making medical thermal diagnosis possible and suitable for monitoring in manufacturing, manufacturing, and industrial sites.
  • the stereo method refers to a method of acquiring a distance value from a camera to a subject using binocular parallax characteristics in which images are differently photographed on two or more cameras mounted at a distance from each other. Specifically, it is possible to obtain a distance value from a camera to a subject by detecting where a pattern at a specific position in one image is located in the other image, and extracting a difference between two positions, that is, binocular disparity.
  • An object of the present invention is to solve the limitation of the same resolution in measuring the distance and temperature of an object by using an infrared stereo camera, and to provide information by additionally obtaining the type and concentration of gas.
  • a first thermal imaging camera for capturing a subject and obtaining a first thermal image is provided, spaced apart from the first thermal imaging camera, and captured by the subject to capture a second thermal image And a second thermal imaging camera, a control unit connected to the first thermal imaging camera and the second thermal imaging camera, wherein the control unit includes the pixels constituting the outline of the subject and the central pixel of the subject.
  • an infrared stereo camera that is matched to the first thermal image based on and extracts distance information of the subject through a stereovision operation.
  • the central pixel of the subject provides an infrared stereo camera characterized in that the sum of the distances from the pixels constituting the contour of the subject is the minimum. do.
  • control unit correlates the center pixel of the subject between the first thermal image and the second thermal image, and the center of the subject in the first thermal image It provides an infrared stereo camera, characterized in that for correcting the outline pixels of the subject in the second thermal image through the positional relationship between the pixels and the outline pixels of the subject.
  • the controller matches the second thermal image to the first thermal image by using the corrected outline pixel of the subject and the central pixel of the subject. It provides an infrared stereo camera, characterized in that.
  • the control unit extracts the shaking information of the first thermal imaging camera through the first thermal image continuously photographed at a predetermined time difference
  • the first Provided is an infrared stereo camera, characterized in that the pixels constituting the outline of the subject extracted from the second thermal image and the center pixel of the subject are corrected based on the shaking information of the thermal camera.
  • control unit corrects the central pixel of the subject in the second thermal camera by using the shaking information of the central pixel of the subject in the first thermal camera It provides an infrared stereo camera.
  • control unit correlates the corrected center pixel in the second thermal image and the central pixel of the subject in the first thermal image, and the first thermal image Provided is an infrared stereo camera, characterized in that by correcting the outline pixel information of the subject in the second thermal image, through a positional relationship between the center pixel of the subject and the outline pixel of the subject.
  • control unit using the corrected outline pixel and the corrected center pixel of the second thermal image to the second It provides an infrared stereo camera characterized by matching to a thermal image.
  • the second thermal imaging camera further includes a filter that passes only the wavelength absorbed by a specific gas among the wavelengths emitted from the subject
  • the control unit provides an infrared stereo camera, characterized in that, by comparing the amount of light incident on a region corresponding to the filter in the first thermal image and the second thermal image, the concentration of the specific gas is measured.
  • the second thermal imaging camera includes a plurality of filters respectively corresponding to gases having different wavelengths to be absorbed, so that a corresponding region in the second thermal image is different. It provides an infrared stereo camera, characterized in that provided.
  • the second infrared camera is provided with the plurality of filters so that the area corresponding to the second thermal image forms a grid pattern.
  • control unit measures an increase in the concentration of gas generated during a fire, and detects a heat source through the first camera. Provide a camera.
  • the infrared stereo camera further includes a communication unit communicating with an external device, and the control unit increases the concentration of gas generated during a fire, and the heat source Provided is an infrared stereo camera characterized by controlling the communication unit to provide topic information to the external device when the temperature increases above a specific temperature or the area is widened.
  • the topic information includes combustion start information informing the time when combustion is started, presence/absence of life, target information of the life, distance information of the life, distance information of the combustion point , It provides an infrared stereo camera, characterized in that it comprises at least one of the motion information of the living thing.
  • the present invention provides the position and temperature information of a subject using an infrared stereo camera.
  • the present invention provides a solution capable of providing the position and temperature information of a subject using an infrared stereo camera having different resolutions.
  • the present invention provides a solution for estimating the shaking of the low-resolution infrared camera and correcting the positional information of the subject through the shaking information of the high-resolution infrared camera among the infrared stereo cameras.
  • the present invention provides a solution capable of providing presence and concentration information of a specific gas through an infrared stereo camera.
  • the present invention provides a solution that can provide information that can accurately determine whether the fire in the early stage of the fire through the temperature of the heat source and the concentration of the gas.
  • FIG. 1 is a conceptual diagram for photographing a subject using an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 2 is a block diagram of an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 3 is a view for explaining disparity between thermal images taken by an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 4 is a flowchart illustrating a method of acquiring distance information of a subject in an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 5 is a method for correcting shaking information of a low-resolution camera (second thermal camera) based on a high-resolution camera (first thermal camera) in an infrared stereo camera according to an embodiment of the present invention, and obtaining distance information of a subject This is the flow chart.
  • FIG. 6 is a view for explaining a specific wavelength band absorbed by the gas.
  • FIG. 7 is a view for explaining a method of measuring the concentration of gas by comparing the amount of light absorbed by both cameras in an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 8 is a view for explaining the arrangement of a filter for filtering a wavelength absorbed by a gas in an infrared stereo camera according to an embodiment of the present invention.
  • 9 to 12 are views for explaining a method of detecting and biometric fire detection using an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 1 is a conceptual diagram for photographing a subject using an infrared stereo camera 100 according to an embodiment of the present invention
  • FIG. 2 is a configuration diagram of an infrared stereo camera 100 according to an embodiment of the present invention.
  • Infrared stereo camera 100 is provided spaced apart from the first thermal imaging camera 110 and the first thermal imaging camera 110 to obtain a first thermal image by photographing the subject 300, And a second thermal imaging camera 120 that captures the subject 300 to obtain a second thermal imaging image.
  • the first camera 110 and the second camera 120 have a predetermined distance and are fixedly supported by a fixing device such as a rig or a mechanism having such a separate function.
  • a stereo camera is installed in which two cameras are separated by a distance (about 6 to 7 cm) of a person's two eyes so that a 3D stereoscopic image naturally appears to a person, but the present invention is not intended to realize a 3D stereoscopic image.
  • the distance between the first camera 110 and the second camera 120 is not limited to the distance between the eyes of a person.
  • the first thermal imaging camera 110 and the second thermal imaging camera 120 are spaced apart and provided in the infrared stereo camera 100 so that the entire shooting area 400 may include an overlapping portion 410 and a non-overlapping portion 420. have.
  • the entire imaging area 400 is an area in which the imaging area of the first thermal imaging camera 110 and the area captured by the second thermal imaging camera 120 are combined, and the overlapping portion 410 includes the first thermal imaging camera 110 and the second imaging area. Refers to an area photographed by the thermal imaging camera 120.
  • the non-overlapping portion 420 may correspond to an area photographed only by the first thermal imaging camera 110 or an area photographed only by the second thermal imaging camera 120.
  • FIG 1 illustrates an embodiment in which the first thermal imaging camera 110 and the second thermal imaging camera 120 have the same field of view (FOV), but the field of view (FOV) need not be the same.
  • the stereo infrared camera 100 can measure the distance from the entire photographing area 400 to the subject 300 located in the overlapping portion 410.
  • the first thermal imaging camera 110 and the second thermal imaging camera 120 include a lens 111 and 121 through which infrared rays emitted from a subject pass, and a temperature sensor array for detecting infrared rays passing through the lenses 111 and 121 Analog-to-digital converter (ADC, 113, 123), and image that converts the same thermal image detector (112, 122), the output of the thermal image detector (112, 122) into a digital signal Processors 114, 124 may be included.
  • ADC Analog-to-digital converter
  • the thermal imaging detectors 112 and 122 are configured to be related to the resolutions of the first thermal imaging camera 110 and the second thermal imaging camera 120, and the first thermal imaging camera 110 and the second thermal imaging camera 120 are temperature sensors. It may have a resolution corresponding to the array.
  • the thermal imaging detector 112 of the first thermal imaging camera 110 and the thermal imaging detector 122 of the second thermal imaging camera 122 may have the same temperature sensor array such that the first thermal imaging image and the second thermal imaging image have the same resolution. have.
  • the present invention is characterized in accurately measuring a distance of a subject on a high resolution basis without the same resolution limitation. In this regard, it will be described in detail through FIG. 5.
  • the image processors 114 and 124 acquire thermal images through digital signals converted by the ADCs 113 and 123. Specifically, the image processors 114 and 124 serve to perform and adjust histogram, peaking, brightness and contrast, and thermal filtering.
  • the first thermal imaging camera 110 and the second thermal imaging camera 120 may be connected to the control unit 130, and the control unit 130 may obtain a first thermal image obtained from the first thermal imaging camera 110 and the second thermal imaging camera 120.
  • the distance to the subject 300 may be measured by matching the image with the second thermal image.
  • the controller 130 includes edge detector 131 that detects the contours of the subjects 300 in the first thermal image and the second thermal image, and contour pixel information of the subjects 300 detected in the edge detector 131. It may include an image matching unit 132 for matching the first thermal image and the second thermal image, and a parallax calculator 133 for calculating the disparity between the matched images and measuring the distance of the subject.
  • the outline pixel of the subject 300 may be a pixel representing the appearance of the subject or a pixel corresponding to a keypoint among the appearance of the subject.
  • the image matching unit 132 may obtain center pixel information of the subject 300 from the contour pixel information of the subject 300 or the keypoint pixel information, and match the contour pixels and the center pixels to correspond to each other. have.
  • the central pixel information of the object 300 may be a pixel in which the sum of the distances from the pixels representing the outline of the subject is the minimum, or a pixel in which the sum of the distances from the pixels representing the key point is the minimum.
  • the parallax calculator 133 may calculate a parallax between the matched contour pixel and the center pixel, and thereby obtain a distance of the subject 300.
  • Disparity refers to the difference in position and shape within the field of view of an object felt when one object is viewed from two different points (both cameras), and the infrared stereo camera 100 and the subject ( The distance D of 300) can be obtained as follows.
  • D is the distance between the infrared stereo camera 100 and the subject 300
  • l is the distance between the first camera 110 and the second camera 120
  • fl is the focal length
  • d1+d2 is the disparity. )to be.
  • the present invention is characterized in calculating the distance of the subject 300 by matching the center pixel of the subject 300 as well as the contour pixels of the subject 300 between the first and second thermal images.
  • the center pixel of the subject 300 may improve inaccuracy due to a difference in resolution between the first thermal imaging camera 110 and the second thermal imaging camera 120.
  • the infrared stereo camera 100 is the second thermal imaging obtained from the second thermal imaging 120
  • the contour pixel information and the center pixel information of the subject 300 are extracted from and matched to the first thermal image to obtain a distance of a high-resolution camera reference subject.
  • FIG. 3 is a view for explaining disparity between thermal images taken by an infrared stereo camera according to an embodiment of the present invention.
  • FIG. 3(a) is a thermal image taken by a thermal camera on the left
  • FIG. 3(b) is a thermal image taken by a thermal camera on the right.
  • FIG. 3(a) corresponds to a first thermal image photographed by the first thermal camera 110
  • FIG. 3(b) is a second photographed by the second thermal camera 120 It will be described in correspondence with the thermal image.
  • the disparity image is an image of the corresponding pixel-to-pixel disparity.For example, when displaying two objects with different distances, a black-and-white scale is used to make objects at close distances white and objects at long distances black. Can be displayed as
  • FIG. 3 illustrates an embodiment in which disparity is calculated by matching contour pixels.
  • the resolutions of the first and second thermal images are different, matching of both pixels may be incorrect.
  • the stereo infrared camera according to the present invention intends to acquire center pixel information of a subject using contour pixel information, and offsets incorrect matching due to a difference in resolution between both cameras using center pixel information.
  • FIG. 4 is a flowchart illustrating a method of acquiring distance information of a subject in an infrared stereo camera according to an embodiment of the present invention.
  • the controller may extract contour pixel information of the subject from the first thermal image and the second thermal image.
  • the controller may extract central pixel information of the subject from the outline pixel information of the subject from each of the first and second thermal images.
  • the central pixel of the subject may be a pixel in which the sum of the distances from the outline pixels of the subject is minimal.
  • the outline pixels of the subject may be a plurality of pixels forming a closed curve, but may be a plurality of key points among the outline pixels of the subject.
  • control unit may correct the outline pixel information of the subject in the second thermal image through the positional relationship between the outline pixel and the center pixel of the subject in the first thermal image.
  • control unit correlates the center pixel of the subject in the first thermal image and the center pixel of the subject in the second thermal image, and checks the relative positional relationship between the outline pixel and the central pixel of the subject in the first thermal image, and Through the relative positional relationship, the outline pixel information of the subject may be corrected in the second thermal image.
  • the outline pixel information of the subject may include location information on plane coordinates of pixels constituting the outline of the subject.
  • the control unit may match the second thermal image to the first thermal image through the center pixel information of the subject and the corrected outline pixel information in the second thermal image.
  • matching the second thermal image to the second thermal image may use epipolar geometry used for conventional stereo vision calculation, and the center pixel information of the subject as a matching point that implements a matching matrix. And corrected outline pixel information.
  • the controller may extract distance information of the subject through a stereo vision operation. (S405)
  • the first thermal camera and the second thermal camera may be fixed at a predetermined distance and have the same degree of shaking.
  • the present invention looks at a method for more accurately obtaining distance information of a subject by correcting shaking information of a second thermal camera using a first thermal camera having a high resolution.
  • FIG. 5 is a method for correcting shaking information of a low-resolution camera (second thermal camera) based on a high-resolution camera (first thermal camera) in an infrared stereo camera according to an embodiment of the present invention, and obtaining distance information of a subject This is the flow chart.
  • the shaking information is extracted based on the first thermal imaging camera having high resolution, and through this, the shaking information of the second thermal imaging camera is corrected more accurately. You can get the distance.
  • control unit of the infrared stereo camera can acquire the shaking information of the first thermal imaging camera through the first thermal image continuously photographed at a predetermined parallax (S501).
  • the first thermal image photographed continuously at a preset parallax may be the first thermal image acquired at the Nth time and the first thermal image acquired at the N+1th time at a preset time difference.
  • the shaking information of the first thermal imaging camera may be obtained through motion information of a key point between an N-th acquired first thermal image and an N+1-th acquired first thermal image.
  • the controller may correct the center pixel information of the subject in the second thermal image using the shaking information of the first thermal camera.
  • the Nth second thermal image and the N+1 It is possible to correct the outline pixel information of the subject in the N+1 second thermal image so that the shaking information between the second second thermal image corresponds to dx_N and dy_N.
  • the center pixel information of the subject may be obtained through the outline pixel information of the subject obtained from the N+1 th second thermal image corrected to correspond to the shaking degree of the first thermal camera. That is, the center pixel of the object acquired from the N+1 th second thermal image may be corrected through the shaking information of the first thermal camera.
  • the N-th second thermal image is obtained at the same time as the N-th first thermal image
  • the N+1-th second thermal image is obtained at the same time as the N+1-th first thermal image
  • the subject distance is measured as the shaking information obtained from the first and second thermal cameras differs. This is to prevent the calculated values from being different.
  • the controller may correct the outline pixel information of the subject through the center pixel information corrected in the second thermal image.
  • S503 the center pixel of the subject obtained from the first thermal image and the corrected center pixel of the second thermal image correspond to each other, and the second image is generated through relative position information between the center pixel and the contour pixel obtained from the first thermal image. 2 It is possible to correct contour fill cell information obtained from a thermal image.
  • the control unit uses the center pixel of the subject corrected by reflecting the shaking information of the first thermal camera in the second thermal image, and the contour pixel of the subject corrected through the relative position between the center pixel and the contour pixel in the first thermal image.
  • the second thermal image may be matched to the first thermal image.
  • the matching process may be the same as S404 described in FIG. 4.
  • the controller may match the second thermal image to the first thermal image and extract distance information of the subject through stereo vision calculation.
  • the characteristics of the present invention for extracting the distance information of the subject using a thermal camera having different resolutions but using a high resolution standard were examined.
  • FIG. 6 is a view for explaining a specific wavelength band absorbed by the gas.
  • the absorbed wavelength may be different depending on the type of gas. Although different depending on the type, the wavelength absorbed by the gas is mostly in the infrared range, so using infrared as a light source may be easy to classify the type of gas.
  • the amount of light absorbed and absorbed by excluding the wavelength corresponding to the specific gas may be changed.
  • the present invention is to propose a method for checking the type and concentration of gas using two infrared cameras.
  • the second thermal imaging camera 120 may further include a filter 200 that passes only a specific wavelength range on a path that absorbs infrared rays.
  • the filter 200 may serve to pass only a specific magnetic field range absorbed by a specific gas, through which the present invention can measure the concentration of a specific gas.
  • the controller 130 may measure the concentration of a specific gas corresponding to the filter 200 by comparing the amount of light incident on the region corresponding to the filter 200 in the first thermal image and the second thermal image.
  • FIG. 7 is a view for explaining a method of measuring the concentration of gas by comparing the amount of light absorbed by both cameras in an infrared stereo camera according to an embodiment of the present invention.
  • E_t means the amount of light absorbed by the infrared camera in the wavelength band absorbed by the infrared camera.
  • E_i means the amount of light absorbed by the infrared camera in the wavelength band absorbed by a specific gas.
  • a spectral graph may be formed as shown in FIG. 7(b) according to the concentration.
  • the wavelength absorbed by the specific gas may be measured with less intensity.
  • the first graph means that the concentration of a specific gas is small
  • the second graph means that the concentration of a specific gas is large.
  • a single infrared camera can know the distribution of gas through the difference in the amount of light absorbed between pixels, but cannot determine the difference in the amount of light entering the same pixel depending on the presence or absence of gas.
  • the present invention is to provide a filter 200 corresponding to a specific gas in only two infrared cameras, and to measure the type and concentration of a specific gas through a difference in light amount between corresponding pixels in both infrared cameras.
  • 7(c) is a spectral graph corresponding to an infrared camera equipped with a filter.
  • the first graph of FIG. 7(c) is a graph corresponding to the first graph of FIG. 7(b), and the first graph of FIG. 7(b) is a spectral graph corresponding to the first thermal imaging camera.
  • the first graph of 7(c) is the spectral graph corresponding to the second thermal imaging camera.
  • the second graph of FIG. 7(c) is a graph corresponding to the second graph of FIG. 7(b), and the second graph of FIG. 7(b) is a spectral graph corresponding to the first thermal imaging camera.
  • the second graph in (c) is a spectral graph corresponding to the second thermal imaging camera.
  • the first thermal imaging camera can absorb the wavelength emitted from the subject in a state in which the intensity of light absorbed corresponding to the concentration of the specific gas is reduced in a wavelength band absorbed by the specific gas.
  • the second thermal imaging camera may absorb the intensity of light emitted from the subject in response to the concentration of the specific gas in the wavelength band absorbed by the specific gas.
  • the control unit may check the type and concentration of a specific gas through a difference in the amount of light absorbed between corresponding pixels between the first thermal imaging camera and the second thermal imaging camera.
  • the controller may control a specific gas. You can check the presence or absence.
  • the concentration of the specific gas can be calculated through conversion of the ratio of the amount of light absorbed between pixels corresponding to the first thermal imaging camera and the second thermal imaging camera.
  • FIG. 8 is a view for explaining the arrangement of a filter for filtering a wavelength absorbed by a gas in an infrared stereo camera according to an embodiment of the present invention.
  • the infrared stereo camera may include a first thermal camera 110 and a second thermal camera 120, the second thermal camera 120 absorbs the wavelength of the object emitted
  • a filter 200 that passes only wavelengths absorbed by a specific gas on the path may be included.
  • the filter 200 may be a filter targeting only one specific gas as shown in FIG. 8(a).
  • the filter 200 may filter wavelengths other than the wavelength absorbed by a specific gas in all regions of the thermal image acquired by the second thermal imaging camera, or in some regions.
  • the filter 200 may include a plurality of filters 201 to 204 targeting a plurality of specific gases, as shown in FIG. 8(b).
  • the plurality of filters 201 to 204 are filters corresponding to different specific gases, respectively, and the wavelengths of the plurality of specific gases may be different from each other.
  • the filter 200 may be provided with a plurality of filters 201 to 204 on the same plane so that corresponding regions of the thermal image are different. That is, the control unit compares the pixel information absorbing the wavelength passing through the first filter 201 in the second thermal image and the pixel information of the first thermal image corresponding to the absorbed wavelength passing through the first filter 201. It is possible to confirm the existence and concentration of a specific gas to be said.
  • a grid pattern may be formed as shown in FIG. 8(c) and provided on the same plane. This is to improve the inaccuracy of the presence and concentration of a specific gas measured when a specific gas is concentrated and distributed in a specific region in a thermal image.
  • the infrared stereo camera according to the present invention can be particularly useful in case of fire. To this end, the usefulness of the present invention is examined through FIGS. 9 to 12.
  • 9 to 12 are diagrams for explaining a method of detecting and detecting fire using infrared stereo cameras 100a to 100e according to an embodiment of the present invention.
  • the infrared stereo cameras 100a to 100e according to the present invention may be provided in the same space, a plurality of infrared stereo cameras may be provided, as shown in FIG. 9, to be more easily connected to each other.
  • the time when the plurality of infrared stereo cameras 100a to 100e senses a specific temperature or higher may be a state in which combustion has already progressed. Therefore, detecting a fire with a heat source may be late for initial response.
  • the gas generated during the fire may spread evenly over the space. Accordingly, when the gas generated during a fire is first detected through the infrared stereo camera 100a bet 100e of the present invention, the gas information can be easily used to determine whether or not a fire occurs.
  • the infrared stereo cameras 100a to 100e of the present invention detect that the concentration of gas generated during a fire increases (S601), it is possible to determine that combustion is starting in a specific space and detect a heat source (S602) .
  • infrared stereo cameras 100a to 100e of the present invention when it is confirmed that combustion is started in a specific space, it is possible to take a follow-up action in response to combustion start, flame generation, combustion maximum, flame extinction and combustion extinction time.
  • the infrared stereo cameras 100a to 100e of the present invention did not detect a temperature corresponding to a fire, it was confirmed that combustion occurred in a specific area when the concentration change of a specific gas generated during combustion was confirmed. By judging, it may enter section 1 of FIG. 10.
  • the infrared stereo camera can provide combustion start information to an external device that can communicate and can take corresponding follow-up measures.
  • Responsible follow-up measures may include provision of information on suspected fire zones, information on changes in gas concentration, and early warning of fire.
  • the second section of FIG. 10 may be entered.
  • FIG. 12 illustrates an embodiment of providing location information and temperature of a flame generated through an external device, whether a person exists in a corresponding space, and location, gas type and concentration information.
  • the information may be provided on a three-dimensional space.
  • the pre-stored person information it is possible to distinguish a person who exists in the space, and provide information to the person and related persons.
  • the infrared stereo camera according to the present invention enters section 3 of FIG. 10 through a point of change in gas concentration, and when a specific temperature is not detected, it is determined that the flame is extinguished and enters section 4 of FIG. 10 to respond follow up.
  • Continuous operation of two cameras may be undesirable for energy efficiency. Therefore, it may be desirable to operate with a single camera except when gas information or location information is required.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Dispersion Chemistry (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Radiation Pyrometers (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

La présente invention concerne une caméra stéréo infrarouge. La caméra stéréo infrarouge comprend : une première caméra d'imagerie thermique obtenant une première image thermique en capturant un sujet ; une seconde caméra d'imagerie thermique disposée de façon à être espacée de la première caméra d'imagerie thermique et obtenant une seconde image thermique en capturant le sujet ; et un dispositif de commande connecté à la première caméra d'imagerie thermique et à la seconde caméra d'imagerie thermique, le dispositif de commande mettant en correspondance la seconde image thermique avec la première image thermique sur la base d'informations de pixel constituant le contour du sujet et des informations de pixel central du sujet, et extrayant des informations de distance du sujet par l'intermédiaire d'une opération de stéréovision.
PCT/KR2020/001192 2019-02-01 2020-01-23 Caméra stéréo infrarouge Ceased WO2020159165A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0013901 2019-02-01
KR1020190013901A KR102668750B1 (ko) 2019-02-01 2019-02-01 공간정보 인식장치

Publications (1)

Publication Number Publication Date
WO2020159165A1 true WO2020159165A1 (fr) 2020-08-06

Family

ID=71841518

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/001192 Ceased WO2020159165A1 (fr) 2019-02-01 2020-01-23 Caméra stéréo infrarouge

Country Status (2)

Country Link
KR (1) KR102668750B1 (fr)
WO (1) WO2020159165A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114903434A (zh) * 2022-03-31 2022-08-16 脑意(北京)智能生物技术有限公司 一种三维动态热能-动能影像数据的生成方法
CN116758079A (zh) * 2023-08-18 2023-09-15 杭州浩联智能科技有限公司 一种基于火花像素的危害预警方法
EP4465271A1 (fr) * 2023-05-15 2024-11-20 Honeywell International Inc. Étalonnage d'un capteur infrarouge (ir) dans un dispositif de détection d'incendie

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102251307B1 (ko) * 2020-09-10 2021-05-13 주식회사 콕스 거리측정 기능을 갖는 열상 카메라 시스템
JP7434138B2 (ja) * 2020-11-17 2024-02-20 株式会社日立製作所 物体認識装置および物体認識方法
KR102487590B1 (ko) * 2020-12-04 2023-01-13 주식회사 콕스 얼굴 인식에 기초하여 촬영 대상의 온도를 측정하는 방법
KR102355884B1 (ko) * 2021-01-26 2022-02-08 (주) 플레이오니 인공지능을 이용한 화재 판정 방법, 장치 및 프로그램
KR20230057109A (ko) 2021-10-21 2023-04-28 삼성전자주식회사 센싱 데이터의 처리 장치 및 방법
WO2023210940A1 (fr) * 2022-04-26 2023-11-02 삼성전자 주식회사 Dispositif électronique et procédé d'utilisation d'une caméra selon le port d'un accessoire de type lentille
KR20250097451A (ko) * 2023-12-21 2025-06-30 한국기계연구원 파장 선택적 적외선 센서 기반 열화상 색상화 시스템 및 이를 이용한 열화상 색상화 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101012691B1 (ko) * 2010-07-05 2011-02-09 주훈 3차원 입체 열상 카메라 시스템
KR20120109057A (ko) * 2011-03-24 2012-10-08 삼성테크윈 주식회사 영상 융합 시스템 및 그 방법
KR20140074059A (ko) * 2012-12-07 2014-06-17 (주)희스테크 가스 측정 장치 및 방법
KR101656711B1 (ko) * 2015-08-31 2016-09-12 한밭대학교 산학협력단 열발산 피사체 검출 장치 및 그 제어 방법
KR101918887B1 (ko) * 2017-09-19 2018-11-14 한국과학기술원 모노 적외선 카메라를 이용한 거리 측정 장치 및 그 방법

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8803093B2 (en) * 2009-06-02 2014-08-12 Flir Systems Ab Infrared camera for gas detection
KR101148799B1 (ko) * 2011-09-21 2012-05-24 주식회사 창성에이스산업 적외선 열영상 화재감지기 및 이를 이용한 화재 감지방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101012691B1 (ko) * 2010-07-05 2011-02-09 주훈 3차원 입체 열상 카메라 시스템
KR20120109057A (ko) * 2011-03-24 2012-10-08 삼성테크윈 주식회사 영상 융합 시스템 및 그 방법
KR20140074059A (ko) * 2012-12-07 2014-06-17 (주)희스테크 가스 측정 장치 및 방법
KR101656711B1 (ko) * 2015-08-31 2016-09-12 한밭대학교 산학협력단 열발산 피사체 검출 장치 및 그 제어 방법
KR101918887B1 (ko) * 2017-09-19 2018-11-14 한국과학기술원 모노 적외선 카메라를 이용한 거리 측정 장치 및 그 방법

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114903434A (zh) * 2022-03-31 2022-08-16 脑意(北京)智能生物技术有限公司 一种三维动态热能-动能影像数据的生成方法
EP4465271A1 (fr) * 2023-05-15 2024-11-20 Honeywell International Inc. Étalonnage d'un capteur infrarouge (ir) dans un dispositif de détection d'incendie
CN116758079A (zh) * 2023-08-18 2023-09-15 杭州浩联智能科技有限公司 一种基于火花像素的危害预警方法
CN116758079B (zh) * 2023-08-18 2023-12-05 杭州浩联智能科技有限公司 一种基于火花像素的危害预警方法

Also Published As

Publication number Publication date
KR102668750B1 (ko) 2024-05-23
KR20200095918A (ko) 2020-08-11

Similar Documents

Publication Publication Date Title
WO2020159165A1 (fr) Caméra stéréo infrarouge
WO2012067423A2 (fr) Dispositif portatif de mesure de la température par capteur infrarouge à barrette
US9196056B2 (en) Electro-optical system and method for analyzing images of a scene to identify the presence of a target color
US8427632B1 (en) Image sensor with laser for range measurements
WO2019182355A1 (fr) Téléphone intelligent, véhicule et caméra ayant un capteur d'image thermique, et procédé d'affichage et de détection l'utilisant
GB2350510A (en) A pyroelectric sensor system having a video camera
WO2021261642A1 (fr) Système de correction de température mesurée
CN102538983A (zh) Ccd测温装置
JP2006500622A (ja) 均一性補正のためのフロントレンズシャッター取り付け
EP3709268A1 (fr) Agencement de traitement d'image
WO2017183915A2 (fr) Appareil d'acquisition d'image et son procédé
WO2019132131A1 (fr) Système électro-optique d'analyse d'image à longueurs d'onde multiples permettant de détecter une victime et un vaisseau d'accident
WO2000042400A1 (fr) Pyrometre permettant l'imagerie de surface et de particules ainsi que leur procede d'utilisation
KR101455071B1 (ko) 디지털 합성을 이용한 야간 촬영 성능 개선방법
WO2020230930A1 (fr) Caméra d'imagerie thermique et procédé de commande associé
WO2017023151A1 (fr) Appareil de traitement d'image
US10466110B2 (en) Infrared image acquisition device and infrared image acquisition method
WO2021187775A1 (fr) Terminal de communication mobile
KR101413575B1 (ko) 열화상 카메라와 분석처리유닛을 수납할 수 있는 일체형 케이스
WO2016195464A2 (fr) Système d'imagerie médicale complexe
US20240406523A1 (en) Broadband camera for flame detection and detection of a thermal image of the scene of the flame
WO2017183796A1 (fr) Dispositif électronique comportant un dispositif optique à infrarouges et procédé de commande de dispositif optique à infrarouges
JP2000134611A (ja) 侵入者監視装置
WO2020159024A1 (fr) Appareil de traitement d'image basé sur une caméra non identique
KR960005483B1 (ko) 열화상검출수단을 가진 비데오카메라시스템

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20748175

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20748175

Country of ref document: EP

Kind code of ref document: A1