Patent ID: 11875526
Assignee: DEEPING SOURCE INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 13:
14. An object recognizing device for recognizing an identical object in a specific space taken from a plurality of cameras having viewing frustums that are different from each other by using an object detector capable of predicting centers of mass of objects projected onto a ground, comprising:
a memory that stores instructions for recognizing the identical object in the specific space taken from the plurality of cameras having viewing frustums that are different from each other by using the object detector capable of predicting the centers of mass of the objects projected onto the ground; and
a processor for recognizing the identical object in the specific space taken from the plurality of cameras having viewing frustums that are different from each other by using the object detector capable of predicting the centers of mass of the objects projected onto the ground;
wherein the processor performs processes of (I) in response to a 1-st test image to an n-th test image acquired by taking the specific space from a 1-st camera to an n-th camera having viewing frustums that are different from each other, wherein the n is an integer of 2 or more, (i) inputting each of the 1-st test image to the n-th test image into an object detector trained to predict one or more centers of mass of one or more objects projected onto the ground, to thereby instruct the object detector to perform object detection on each of the 1-st test image to the n-th test image, or (ii) inputting each of the 1-st test image to the n-th test image into each of a 1-st object detector to an n-th object detector, wherein the 1-st object detector corresponds to the 1-st camera and the n-th objector corresponds to the n-th camera, to thereby instruct each of the 1-st object detector to the n-th object detector to perform object detection on the 1-st test image to the n-th test image and thus acquire 1-st object detection information to n-th object detection information, wherein the 1-st object detection information contains information on one or more 1-st bounding boxes for one or more 1-st objects positioned in the 1-st test image and information on one or more 1-st projection points acquired by projecting one or more centers of mass of the 1-st objects onto the ground and information on the n-th object detection contains information on one or more n-th bounding boxes for one or more n-th objects positioned in the n-th test image and information on one or more n-th projection points acquired by projecting one or more centers of mass of the n-th objects onto the ground; (II) projecting each of the 1-st object detection information to the n-th object detection information onto a top view map for the specific space; and (III) (i) assigning each of clusters that are different from each other to all of the 1-st projection points included in the 1-st object detection information projected onto the top view map to thereby generate 1-st stage-derived clustering information, (ii) while increasing k from 2 to n, determining whether a specific cluster exists or not, among all clusters included in a (k−1)-th stage-derived clustering information, whose distance from all k-th projection points included in k-th object detection information projected onto the top view map is shortest within a preset distance, to thereby generate a k-th stage-derived clustering information, and (iii) recognizing all clusters included in the n-th stage-derived clustering information as each of objects by referring to n-th stage-derived clustering information.