Patent ID: 9727971
Date: 2017-08-08
CPC Classifications: G06K,G06T,H04N

Claim:
1. A method for updating a background model based on depth, the method comprising: receiving, in response to the occurrence of a predetermined background updating condition, one or more depth images captured after a time when the predetermined background updating condition occurs; obtaining, based on an original background model, foreground images in the one or more captured depth images, which are newly added compared with a depth image at the time when the predetermined background updating condition occurs; for each of foreground pixels in each of the newly added foreground images, comparing a current depth value with a previous depth value before the time when the predetermined background updating condition occurs; and updating, when the current depth value is greater than the previous depth value, the original background model as the updated background model by using the foreground pixel in the newly added foreground image, wherein whether the predetermine background updating condition occurs is determined based on at least one of: whether an increasing amount or an increasing rate of environment brightness is greater than a predetermined threshold, whether a change amount or a change rate of environment brightness is greater than a predetermined threshold, and whether a predetermined period has elapsed, and wherein the obtaining, based on the original background model, the foreground images in the one or more captured depth images, which are newly added compared with the depth image at the time when the predetermined background updating condition occurs includes: obtaining, based on the original background model, a first foreground image in the depth image captured at the time when the predetermined background updating condition occurs; obtaining, based on the original background model, second foreground images in the one or more depth images captured after a time when the predetermined background updating condition occurs; performing subtraction between each of the second foreground images and the first foreground image; setting newly added foreground images in the one or more captured depth images obtained by the subtraction as the newly added foreground images; and omitting a vanishing foreground image and a cancelled foreground image in the depth images obtained by the subtraction.