CN111931627A - Vehicle re-identification method and device based on multi-mode information fusion - Google Patents
Vehicle re-identification method and device based on multi-mode information fusionDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及智能停车管理领域，特别涉及一种基于多模态信息融合的车辆再识别方法及装置。The invention relates to the field of intelligent parking management, in particular to a vehicle re-identification method and device based on multimodal information fusion.
背景技术Background technique
车辆作为城市监控中的重要对象，在检测、跟踪、调度等大量与车辆相关的任务中引起了广泛关注。车辆再识别是找出不同摄像机所拍摄到的同一辆车，或同一摄像机在不同光照、不同视角下拍摄到的同一车辆。通过车辆再识别技术，可以实现跨镜头自动识别并锁定同一辆车，在城市交通调度、违法车辆追踪等具体任务中，起着十分重要的作用，有利于智能交通和智慧城市的规划与发展。As an important object in urban surveillance, vehicles have attracted extensive attention in a large number of vehicle-related tasks such as detection, tracking, and scheduling. Vehicle re-identification is to find the same vehicle shot by different cameras, or the same vehicle shot by the same camera under different lighting and different viewing angles. Through vehicle re-identification technology, it is possible to automatically identify and lock the same vehicle across cameras. It plays a very important role in specific tasks such as urban traffic scheduling and illegal vehicle tracking, and is beneficial to the planning and development of intelligent transportation and smart cities.
目前常见的车辆再识别方法通常包含如下几种类型：一种是利用传感器来解决车辆再识别的问题。例如，通过地磁传感器、红外射频传感器等进行车辆再识别，然而这种方法所需成本较高，安装环境要求复杂，不适用于大规模推广使用。第二种方法是通过车牌进行识别，实现车辆跨摄像头的追踪定位，但是在很多情况下，车牌由于光照、遮挡、污损等各种原因，导致车牌号码识别不准确，进而导致车辆再识别的误差较大；第三种方法是基于车辆局部外观特征进行车辆再识别，然而由于车辆局部外观特征对于车辆的反映情况较为片面，进而导致车辆再识别进度较低。The current common vehicle re-identification methods usually include the following types: One is to use sensors to solve the problem of vehicle re-identification. For example, vehicle re-identification is carried out through geomagnetic sensors, infrared radio frequency sensors, etc. However, this method requires high cost and complex installation environment requirements, which is not suitable for large-scale promotion and use. The second method is to recognize the license plate to realize the tracking and positioning of the vehicle across the cameras. However, in many cases, the license plate number is not accurately recognized due to various reasons such as illumination, occlusion, and contamination, which leads to the re-identification of the vehicle. The error is large; the third method is to re-identify the vehicle based on the local appearance features of the vehicle. However, because the local appearance features of the vehicle reflect the vehicle in a one-sided manner, the progress of vehicle re-identification is low.
发明内容SUMMARY OF THE INVENTION
为解决上述技术问题，本发明提供一种基于多模态信息融合的车辆再识别方法及装置，可以解决现有再识别方法仅通过车辆外观或者是车牌号码进行车辆再识别，所应用的识别特征较为单一，识别精度较低的问题。In order to solve the above technical problems, the present invention provides a vehicle re-identification method and device based on multi-modal information fusion, which can solve the problem that the existing re-identification method only uses the vehicle appearance or the license plate number to re-identify the vehicle, and the applied identification features It is a relatively simple problem with low recognition accuracy.
为实现上述目的，一种基于多模态信息融合的车辆再识别方法，其特征在于，所述方法包括：In order to achieve the above purpose, a vehicle re-identification method based on multimodal information fusion is characterized in that, the method includes:
从监控视频中提取待查询车辆图像；Extract the image of the vehicle to be queried from the surveillance video;
将所述待查询车辆图像作为预置多分支监测机制网络模型的输入，提取所述车辆的全局特征和多个局部特征，并根据多个局部特征中的车牌区域提取所述车辆的车牌字符；Taking the image of the vehicle to be queried as the input of the preset multi-branch monitoring mechanism network model, extracting the global feature and multiple local features of the vehicle, and extracting the license plate characters of the vehicle according to the license plate area in the multiple local features;
从预置数据库中获取不同车辆分别与所述车辆的全局特征、多个局部特征和车牌字符之间的相似度或者匹配的联合概率，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符；Obtain the similarity or the joint probability of matching between different vehicles and the global features, multiple local features and license plate characters of the vehicle respectively from a preset database, where the global features corresponding to different vehicles are stored in the preset database. , a plurality of local features and license plate characters, the preset database saves the global features, a plurality of local features and license plate characters corresponding to different vehicles respectively;
根据不同车辆与所述待查询车辆之间的相似度或者匹配的联合概率生成车辆重识别排序表。A vehicle re-identification ranking table is generated according to the similarity or the joint probability of matching between different vehicles and the vehicle to be queried.
进一步地，所述方法还包括：Further, the method also includes:
从监控视频中提取待查询车辆图像的时空信息；Extract the spatiotemporal information of the vehicle image to be queried from the surveillance video;
根据不同车辆与待查询车辆之间匹配的联合概率和所述待查询车辆图像的时空信息预测所述车辆的相对行驶方向；Predict the relative driving direction of the vehicle according to the joint probability of matching between different vehicles and the vehicle to be queried and the spatiotemporal information of the image of the vehicle to be queried;
根据不同摄像头之间的拓扑关系、所述车辆相对行驶方向、以及预置车辆时空转移模型，得到所述车辆与不同车辆之间的时空匹配概率，所述预置车辆时空转移模型是根据不同车辆分别对应的历史车辆行驶时空数据建立的。According to the topological relationship between different cameras, the relative driving direction of the vehicle, and the preset vehicle spatiotemporal transfer model, the spatiotemporal matching probability between the vehicle and different vehicles is obtained. The preset vehicle spatiotemporal transfer model is based on different vehicles. The corresponding historical vehicle driving time and space data are respectively established.
进一步地，所述根据不同车辆与待查询车辆之间的相似度或者匹配的联合概率生成车辆重识别排序表的步骤包括：Further, the step of generating a vehicle re-identification ranking table according to the similarity between different vehicles and the vehicle to be queried or the joint probability of matching includes:
根据不同车辆与待查询车辆之间匹配的联合概率或者相似度，以及所述车辆与不同车辆之间的时空匹配概率生成车辆重识别排序表。The vehicle re-identification ranking table is generated according to the joint probability or similarity of matching between different vehicles and the vehicle to be queried, and the spatiotemporal matching probability between the vehicles and different vehicles.
进一步地，从监控视频中提取待查询车辆图像的步骤包括：Further, the step of extracting the image of the vehicle to be queried from the surveillance video includes:
从监控视频中获取的待查询车辆图片上进行车辆目标检测，获取完整地被边界框标出的车辆目标图像；Perform vehicle target detection on the image of the vehicle to be queried obtained from the surveillance video, and obtain the vehicle target image completely marked by the bounding box;
剔除所述车辆目标图像中的冗余背景信息，得到所述待查询车辆图像。The redundant background information in the vehicle target image is eliminated to obtain the vehicle image to be queried.
进一步地，所述全局特征为所述车辆的整体外观特征，所述多个局部特征包括车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征。Further, the global feature is the overall appearance feature of the vehicle, and the multiple local features include the appearance feature of the front of the vehicle, the appearance feature of the rear of the vehicle, and the appearance feature of the license plate area of the vehicle.
进一步地，从预置数据库中获取不同车辆分别与所述车辆的全局特征、多个局部特征和车牌字符之间的相似度的步骤包括：Further, the step of obtaining the similarity between different vehicles and the vehicle's global features, multiple local features and license plate characters from a preset database includes:
根据不同车辆以及所述车辆的整体外观特征、车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、以及车牌字符特征，构造三元损失函数并计算不同车辆与所述车辆之间的特征距离，得到不同车辆分别与所述车辆之间的相似度。According to different vehicles and the overall appearance characteristics of the vehicles, vehicle front appearance characteristics, vehicle rear appearance characteristics, vehicle license plate area appearance characteristics, and license plate character characteristics, construct a ternary loss function and calculate the difference between different vehicles and the vehicle. The feature distance is used to obtain the similarity between different vehicles and the vehicle.
进一步地，所述获取不同车辆与所述车辆匹配的联合概率的步骤包括：Further, the step of obtaining the joint probability of matching between different vehicles and the vehicle includes:
基于贝叶斯概率模型，根据公式Pa＝PF×θ×Ptpo进行计算，其中，Pa为候选车辆与所述待查询车辆匹配的联合概率，PF为候选车辆与待查询车辆之间车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、车辆整体外观特征匹配的联合概率，Ptpo为候选车辆与待查询车辆之间的车牌匹配概率，θ为车牌识别的置信度。Based on the Bayesian probability model, the calculation is performed according to the formula Pa=PF×θ×Ptpo, where Pa is the joint probability that the candidate vehicle matches the vehicle to be queried, and PF is the front appearance feature of the vehicle between the candidate vehicle and the vehicle to be queried. , the joint probability of matching the appearance features of the vehicle tail, the appearance features of the vehicle license plate area, and the overall appearance features of the vehicle, Ptpo is the license plate matching probability between the candidate vehicle and the vehicle to be queried, and θ is the confidence of the license plate recognition.
进一步地，本发明提供一种基于多模态信息融合的车辆再识别装置，所述装置包括：Further, the present invention provides a vehicle re-identification device based on multimodal information fusion, the device comprising:
提取模块，用于从监控视频中提取待查询车辆图像；The extraction module is used to extract the image of the vehicle to be queried from the surveillance video;
所述提取模块，还用于将所述待查询车辆图像作为预置多分支监测机制网络模型的输入，提取所述车辆的全局特征和多个局部特征，并根据多个局部特征中的车牌区域提取所述车辆的车牌字符；The extraction module is further configured to use the image of the vehicle to be queried as the input of the preset multi-branch monitoring mechanism network model, extract the global feature and multiple local features of the vehicle, and extract the vehicle's global features and multiple local features according to the license plate area in the multiple local features. extracting the license plate characters of the vehicle;
获取模块，用于从预置数据库中获取不同车辆分别与所述车辆的全局特征、多个局部特征和车牌字符之间的相似度或者匹配的联合概率，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符；The acquisition module is used to acquire the similarity or the joint probability of matching between different vehicles and the global features of the vehicle, multiple local features and license plate characters respectively from a preset database, where different vehicles are stored in the preset database. respectively corresponding global features, multiple local features and license plate characters, and the preset database stores the global features, multiple local features and license plate characters corresponding to different vehicles respectively;
生成模块，用于根据不同车辆与所述待查询车辆之间的相似度或者匹配的联合概率生成车辆重识别排序表。The generating module is configured to generate a vehicle re-identification ranking table according to the similarity or the joint probability of matching between different vehicles and the vehicle to be queried.
进一步地，所述装置还包括：预测模块；Further, the apparatus further includes: a prediction module;
所述提取模块，还用于从监控视频中提取所述待查询车辆图像的时空信息；The extraction module is further configured to extract the spatiotemporal information of the image of the vehicle to be queried from the surveillance video;
所述预测模块，用于根据不同车辆与待查询车辆之间匹配的联合概率和所述待查询车辆图像的时空信息预测所述车辆的相对行驶方向；The prediction module is configured to predict the relative driving direction of the vehicle according to the joint probability of matching between different vehicles and the vehicle to be queried and the spatiotemporal information of the image of the vehicle to be queried;
所述获取模块，还用于根据不同摄像头之间的拓扑关系、所述车辆相对行驶方向、以及预置车辆时空转移模型，得到所述车辆与不同车辆之间的时空匹配概率，所述预置车辆时空转移模型是根据不同车辆分别对应的历史车辆行驶时空数据建立的。The obtaining module is further configured to obtain the space-time matching probability between the vehicle and different vehicles according to the topological relationship between different cameras, the relative driving direction of the vehicle, and the preset vehicle space-time transfer model. The vehicle spatiotemporal transfer model is established based on the historical vehicle driving spatiotemporal data corresponding to different vehicles.
进一步地，所述生成模块，具体用于根据不同车辆与待查询车辆之间匹配的联合概率或者相似度，以及所述车辆与不同车辆之间的时空匹配概率生成车辆重识别排序表。Further, the generating module is specifically configured to generate a vehicle re-identification ranking table according to the joint probability or similarity of matching between different vehicles and the vehicle to be queried, and the spatiotemporal matching probability between the vehicles and different vehicles.
进一步地，所述提取模块，具体用于从监控视频中获取的待查询车辆图片上进行车辆目标检测，获取完整地被边界框标出的车辆目标图像；剔除所述车辆目标图像中的冗余背景信息，得到所述待查询车辆图像。Further, the extraction module is specifically used to perform vehicle target detection on the image of the vehicle to be queried obtained from the surveillance video, and obtain the vehicle target image that is completely marked by the bounding box; and remove the redundancy in the vehicle target image. The background information is obtained, and the image of the vehicle to be queried is obtained.
进一步地，所述全局特征为所述车辆的整体外观特征，所述多个局部特征包括车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征。Further, the global feature is the overall appearance feature of the vehicle, and the multiple local features include the appearance feature of the front of the vehicle, the appearance feature of the rear of the vehicle, and the appearance feature of the license plate area of the vehicle.
进一步地，所述获取模块，具体用于根据不同车辆以及所述车辆的整体外观特征、车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、以及车牌字符特征，构造三元损失函数并计算不同车辆与所述车辆之间的特征距离，得到不同车辆分别与所述车辆之间的相似度。Further, the acquisition module is specifically configured to construct a ternary loss function according to different vehicles and the overall appearance characteristics of the vehicles, vehicle front appearance characteristics, vehicle rear appearance characteristics, vehicle license plate area appearance characteristics, and license plate character characteristics. And calculate the characteristic distance between different vehicles and the vehicle, and obtain the similarity between the different vehicles and the vehicle respectively.
进一步地，所述获取模块，具体还用于基于贝叶斯概率模型，根据公式Pa＝PF×θ×Ptpo进行计算，其中，Pa为候选车辆与所述待查询车辆匹配的联合概率，PF为候选车辆与待查询车辆之间车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、车辆整体外观特征匹配的联合概率，Ptpo为候选车辆与待查询车辆之间的车牌匹配概率，θ为车牌识别的置信度。Further, the acquisition module is specifically also used to calculate based on the Bayesian probability model according to the formula Pa=PF×θ×Ptpo, where Pa is the joint probability of matching between the candidate vehicle and the vehicle to be queried, and PF is The joint probability of matching the vehicle front appearance features, vehicle rear appearance features, vehicle license plate area appearance features, and vehicle overall appearance features between the candidate vehicle and the vehicle to be queried, Ptpo is the license plate matching probability between the candidate vehicle and the vehicle to be queried, θ Confidence for license plate recognition.
本发明提供的一种基于多模态信息融合的车辆再识别方法及装置，通过融入了预置多分支监测机制网络模型，通过分别比对车辆的全局特征、多个局部特征和车牌字符，实现基于全局外观特征、局部外观特征以及车牌字符相融合的特征匹配，进而与现有只是通过单一特征或者车牌字符进行特征匹配相比，可以有效提高车辆再识别的准确率；进一步地在模态上，还融入了车辆对应的时间与地理位置信息，形成多模态融合概率特征，很好的区分了车辆之间的类间差异和类内差异，能够适应真实场景下的不同光照、不同摄像头型号识别的应用需求。The invention provides a vehicle re-identification method and device based on multi-modal information fusion. By incorporating a preset multi-branch monitoring mechanism network model, and by comparing the global features, multiple local features and license plate characters of the vehicle, the realization of The feature matching based on the fusion of global appearance features, local appearance features and license plate characters can effectively improve the accuracy of vehicle re-identification compared with the existing feature matching that only uses a single feature or license plate characters. It also integrates the time and geographic location information corresponding to the vehicle to form a multi-modal fusion probability feature, which can well distinguish the inter-class and intra-class differences between vehicles, and can adapt to different lighting and different camera models in real scenes. Identified application requirements.
附图说明Description of drawings
图1是本发明提供的一种基于多模态信息融合的车辆再识别方法的流程图；1 is a flowchart of a vehicle re-identification method based on multimodal information fusion provided by the present invention;
图2是本发明提供的一种基于多模态信息融合的车辆再识别装置的示意图。FIG. 2 is a schematic diagram of a vehicle re-identification device based on multimodal information fusion provided by the present invention.
具体实施方式Detailed ways
下面通过附图和实施例，对本发明的装置结构和实现方式做进一步的详细描述。The device structure and implementation manner of the present invention will be further described in detail below through the accompanying drawings and embodiments.
本发明提供一种基于图像深度信息的停车事件确定方法，如图1所示，具体包括如下步骤：The present invention provides a parking event determination method based on image depth information, as shown in FIG. 1 , which specifically includes the following steps:
101、从监控视频中提取待查询车辆图像。101. Extract the image of the vehicle to be queried from the surveillance video.
对于本发明实施例，步骤101具体可以包括：从监控视频中获取的待查询车辆图片上进行车辆目标检测，获取完整地被边界框标出的车辆目标图像；剔除所述车辆目标图像中的冗余背景信息，得到所述待查询车辆图像。对于本发明实施例，通过将原始监控图像的车辆类别检出并进行实例分割，去除了背景噪声的干扰，可充分提取出车辆的全部信息，从而保证了提取的图像的清晰度，进而可以进一步提升车辆的再识别精度。For the embodiment of the present invention, step 101 may specifically include: performing vehicle target detection on the image of the vehicle to be queried obtained from the surveillance video, and obtaining a vehicle target image completely marked by a bounding box; The remaining background information is obtained to obtain the image of the vehicle to be queried. For the embodiment of the present invention, by detecting the vehicle category of the original monitoring image and performing instance segmentation, the interference of background noise is removed, and all information of the vehicle can be fully extracted, thereby ensuring the clarity of the extracted image, and further Improve vehicle re-identification accuracy.
具体地，从监控视频中获取的待查询车辆图片上进行车辆目标检测的具体过程可以包括如下步骤：当某一监控摄像机在捕获视频帧时，同时获取该监控摄像头的地理位置信息，以及拍摄该视频帧的时间信息。同时，利用单阶段的检测方法作为目标检测工具，再从源监控视频流中获取的车辆图片上进行车辆目标检测，获取完整地被边界框标出的车辆目标，作为车辆实例分割源数据，并且忽略分辨率小于256*256的图片，并在车辆检测后图像中，标注每辆车对应的身份ID。其中，所述地理位置包括但不限于国家、城市、经纬度坐标等。所述时间包括但不限于年月日、时分秒、农历、阳历等。所述单阶段检测方法包括但不限于YOLO、SSD等回归式的目标检测方法。所述源车辆图片涵盖真实的道路交通场景监控捕捉的同一辆车的多幅不同视角、不同背景、不同光照强度下的图像，其中，车辆图像所涵盖的内容包括：车牌外观信息、车牌字符信息、颜色、车型、车辆标注信息。Specifically, the specific process of performing vehicle target detection on the picture of the vehicle to be queried obtained from the surveillance video may include the following steps: when a surveillance camera is capturing a video frame, simultaneously acquiring the geographic location information of the surveillance camera, and photographing the surveillance camera Time information for video frames. At the same time, a single-stage detection method is used as a target detection tool, and then vehicle target detection is performed on the vehicle image obtained from the source monitoring video stream, and the vehicle target completely marked by the bounding box is obtained as a vehicle instance segmentation source data, and Ignore pictures with a resolution less than 256*256, and mark the ID corresponding to each vehicle in the image after vehicle detection. Wherein, the geographic location includes but is not limited to country, city, latitude and longitude coordinates, and the like. The time includes, but is not limited to, year, month, day, hour, minute, second, lunar calendar, solar calendar, and the like. The single-stage detection methods include but are not limited to regression-type target detection methods such as YOLO and SSD. The source vehicle image covers multiple images of the same vehicle from different viewing angles, different backgrounds, and different light intensities captured by real road traffic scene monitoring, wherein the content covered by the vehicle image includes: license plate appearance information, license plate character information , color, model, vehicle label information.
进一步地，获取完整地被边界框标出的车辆目标图像，剔除所述车辆目标图像中的冗余背景信息，得到所述待查询车辆图像的步骤具体可以包括：使用多边形标注工具将车辆图片数据集中的车辆目标，沿着车辆边界抠出，制成车辆实例分割数据集。使用卷积神经网络生成特征向量，训练车辆实例分割网络模型，然后将车辆图片进行初步的实例分割，之后对初步分割结果做数据清洗，如边缘检测、孔洞填充、连通域检测和像素面积比对，完善车辆和实例分割效果，获得分割后的车辆数据集。其中，所述实例分割方法包括但不限于MASK-RCNN、SOLO等实例分割方法。所述卷积神经网络包括但不限于VGG、AlexNet、ResNet等卷积神经网络。所述边缘检测包括但不限于高斯滤波、Canny、Sobel等边缘检测方法。所述孔洞填充包括但不限于开运算、闭运算、漫水填充等像素填充方法。Further, the steps of obtaining the vehicle target image completely marked by the bounding box, eliminating redundant background information in the vehicle target image, and obtaining the vehicle image to be queried may specifically include: using a polygon labeling tool to convert the vehicle image data. The centralized vehicle target is cut out along the vehicle boundary to make a vehicle instance segmentation dataset. Use the convolutional neural network to generate feature vectors, train the vehicle instance segmentation network model, and then perform preliminary instance segmentation on the vehicle image, and then perform data cleaning on the preliminary segmentation results, such as edge detection, hole filling, connected domain detection, and pixel area comparison. , improve the vehicle and instance segmentation effect, and obtain the segmented vehicle dataset. The instance segmentation methods include but are not limited to instance segmentation methods such as MASK-RCNN and SOLO. The convolutional neural network includes but is not limited to convolutional neural networks such as VGG, AlexNet, and ResNet. The edge detection includes, but is not limited to, Gaussian filtering, Canny, Sobel and other edge detection methods. The hole filling includes, but is not limited to, pixel filling methods such as opening operation, closing operation, and flood filling.
102、将所述待查询车辆图像作为预置多分支监测机制网络模型的输入，提取所述车辆的全局特征和多个局部特征，并根据多个局部特征中的车牌区域提取所述车辆的车牌字符。102. Use the image of the vehicle to be queried as the input of the preset multi-branch monitoring mechanism network model, extract the global feature and multiple local features of the vehicle, and extract the license plate of the vehicle according to the license plate area in the multiple local features character.
其中，所述全局特征为所述车辆的整体外观特征，所述多个局部特征包括车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征。所述预置多分支监测机制网络模型包括但不限于SSD、YOLO、M2det、Fast-RCNN等检测模型，检测模型所用的数据集为实例分割后的剔除背景噪声的车辆图像的数据集。所述车牌字符识别方法包括但不限于CRNN+CTC、YOLOV3等字符识别方法，进而保证车牌识别的准确性。The global feature is the overall appearance feature of the vehicle, and the multiple local features include the appearance feature of the front of the vehicle, the appearance feature of the rear of the vehicle, and the appearance feature of the license plate area of the vehicle. The preset multi-branch monitoring mechanism network model includes but is not limited to detection models such as SSD, YOLO, M2det, Fast-RCNN, etc. The data set used by the detection model is the data set of the vehicle image after instance segmentation with background noise removed. The license plate character recognition methods include but are not limited to CRNN+CTC, YOLOV3 and other character recognition methods, thereby ensuring the accuracy of license plate recognition.
103、从预置数据库中获取不同车辆分别与所述车辆的全局特征、多个局部特征和车牌字符之间的相似度或者匹配的联合概率。103. Acquire from the preset database the similarity or the joint probability of matching between different vehicles and the vehicle's global feature, multiple local features, and license plate characters, respectively.
其中，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符。Wherein, the preset database stores global features, multiple local features, and license plate characters corresponding to different vehicles, and the preset database stores global features, multiple local features, and license plate characters corresponding to different vehicles.
对于本发明实施例，从预置数据库中获取不同车辆分别与所述车辆的全局特征、多个局部特征和车牌字符之间的相似度的步骤包括：根据不同车辆以及所述车辆的整体外观特征、车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、以及车牌字符特征，构造三元损失函数并计算不同车辆与所述车辆之间的特征距离，得到不同车辆分别与所述车辆之间的相似度。For the embodiment of the present invention, the step of acquiring the similarity between different vehicles and the vehicle's global features, multiple local features and license plate characters from the preset database includes: according to different vehicles and the overall appearance features of the vehicle , vehicle front appearance characteristics, vehicle rear appearance characteristics, vehicle license plate area appearance characteristics, and license plate character characteristics, construct a ternary loss function and calculate the feature distance between different vehicles and the vehicle, and obtain different vehicles and the vehicle respectively. similarity between.
具体地，利用卷积层分别提取每张车辆图像的初始特征，再利用多分支检测模块机制分别提取车头外观特征、车尾外观特征、车牌外观特征以及车牌字符特征这四部分局部特征，经过图像融合，将四部分局部特征与全局特征相融合得到再识别模型。Specifically, the convolution layer is used to extract the initial features of each vehicle image, and the multi-branch detection module mechanism is used to extract the four parts of local features, namely, the front appearance features, the rear appearance features, the appearance features of the license plate, and the character features of the license plate. Fusion, the four parts of local features and global features are fused to obtain a re-identification model.
进一步地，所述损失函数为三元组损失函数为：Further, the loss function is a triple loss function:
其中，f(P)、f(N)为由不同摄像机拍摄的ID相同的车辆图像，f(A)为一张ID不同的车辆图像。所述提取多个局部特征和全局特征，需要设置提取不同区域特征的卷积神经网络的初始参数。具体地，经过车辆特征提取神经网络，输出车辆身份特征；特征融合网络采用5层全连接层神经网络，取其中第一层全连接层后的输出作为车辆的融合特征。所述特征提取网络包括但不限于ResNet、VGG、AlexNet等特征提取网路模型。训练特征融合网络的方法如下：采用了交叉熵损失函数和三元组损失函数的度量学习，训练所述网络的特征学习过程；在采用度量学习的损失函数训练特征融合网络5层全连接层神经网络的过程中，减小了车辆相同ID的类内距离，扩大了车辆不同ID类间距离，增强车辆融合特征的鲁棒性。Among them, f(P) and f(N) are images of vehicles with the same ID captured by different cameras, and f(A) is an image of vehicles with different IDs. The extraction of multiple local features and global features requires setting initial parameters of the convolutional neural network for extracting features from different regions. Specifically, through the vehicle feature extraction neural network, the vehicle identity feature is output; the feature fusion network adopts a 5-layer fully connected layer neural network, and the output after the first fully connected layer is taken as the fusion feature of the vehicle. The feature extraction network includes but is not limited to feature extraction network models such as ResNet, VGG, and AlexNet. The method of training the feature fusion network is as follows: the metric learning of the cross-entropy loss function and the triplet loss function is used to train the feature learning process of the network; the 5-layer fully connected layer neural network of the feature fusion network is trained using the loss function of the metric learning. In the process of the network, the intra-class distance of the same ID of the vehicle is reduced, the distance between different ID classes of the vehicle is expanded, and the robustness of the vehicle fusion feature is enhanced.
对于本发明实施例，所述获取不同车辆与所述车辆匹配的联合概率的步骤包括：基于贝叶斯概率模型，根据公式Pa＝PF×θ×Ptpo进行计算，其中，Pa为候选车辆与所述待查询车辆匹配的联合概率，PF为候选车辆与待查询车辆之间车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、车辆整体外观特征匹配的联合概率，Ptpo为候选车辆与待查询车辆之间的车牌匹配概率，θ为车牌识别的置信度。For the embodiment of the present invention, the step of obtaining the joint probability of matching between different vehicles and the vehicle includes: calculating based on a Bayesian probability model according to the formula Pa=PF×θ×Ptpo, where Pa is the relationship between the candidate vehicle and the vehicle. Describe the joint probability of matching the vehicle to be queried, PF is the joint probability of matching between the candidate vehicle and the vehicle to be queried, the appearance characteristics of the front of the vehicle, the appearance characteristics of the rear of the vehicle, the appearance characteristics of the vehicle license plate area, and the overall appearance characteristics of the vehicle, and Ptpo is the candidate vehicle and the vehicle. The license plate matching probability between the vehicles to be queried, and θ is the confidence level of the license plate recognition.
104、根据不同车辆与所述待查询车辆之间的相似度或者匹配的联合概率生成车辆重识别排序表。104. Generate a vehicle re-identification ranking table according to the similarity or the joint probability of matching between different vehicles and the vehicle to be queried.
其中，为了方便进行候选车辆筛选，所述车辆重识别排序表可以按照相似度或者概率的降序进行排列。Wherein, in order to facilitate the selection of candidate vehicles, the vehicle re-identification ranking table may be arranged in descending order of similarity or probability.
对于本发明实施例，为了进一步提升车辆再识别准确率，还可以融入车辆的时空信息，具体方法可以包括：从监控视频中提取所述待查询车辆图像的时空信息；根据不同车辆与待查询车辆之间匹配的联合概率和所述待查询车辆图像的时空信息预测所述车辆的相对行驶方向；根据不同摄像头之间的拓扑关系、所述车辆相对行驶方向、以及预置车辆时空转移模型，得到所述车辆与不同车辆之间的时空匹配概率，所述预置车辆时空转移模型是根据不同车辆分别对应的历史车辆行驶时空数据建立的。For the embodiment of the present invention, in order to further improve the accuracy of vehicle re-identification, the spatiotemporal information of the vehicle may also be incorporated, and the specific method may include: extracting the spatiotemporal information of the image of the vehicle to be queried from the surveillance video; According to the joint probability of matching between the joint probability and the spatiotemporal information of the vehicle image to be queried, the relative driving direction of the vehicle is predicted; The space-time matching probability between the vehicle and different vehicles, and the preset vehicle space-time transfer model is established according to the historical vehicle driving space-time data corresponding to different vehicles respectively.
此时，步骤104具体可以包括：根据不同车辆与待查询车辆之间匹配的联合概率或者相似度，以及所述车辆与不同车辆之间的时空匹配概率生成车辆重识别排序表。At this time,
本发明提供的一种基于多模态信息融合的车辆再识别方法，通过融入了预置多分支监测机制网络模型，通过分别比对车辆的全局特征、多个局部特征和车牌字符，实现基于全局外观特征、局部外观特征以及车牌字符相融合的特征匹配，进而与现有只是通过单一特征或者车牌字符进行特征匹配相比，可以有效提高车辆再识别的准确率；进一步地在模态上，还融入了车辆对应的时间与地理位置信息，形成多模态融合概率特征，很好的区分了车辆之间的类间差异和类内差异，能够适应真实场景下的不同光照、不同摄像头型号识别的应用需求。The invention provides a vehicle re-identification method based on multi-modal information fusion. By integrating a preset multi-branch monitoring mechanism network model, the global feature, multiple local features and license plate characters of the vehicle are compared respectively. The feature matching that combines appearance features, local appearance features and license plate characters can effectively improve the accuracy of vehicle re-identification compared with the existing feature matching that only uses a single feature or license plate characters. The time and geographic location information corresponding to the vehicle is integrated to form a multi-modal fusion probability feature, which can well distinguish the inter-class difference and intra-class difference between vehicles, and can adapt to different lighting and different camera models in real scenes. Application requirements.
作为图1所示方法的具体实现方式，本发明实施例提供一种基于多模态信息融合的车辆再识别装置，如图2所示，所述装置包括：提取模块21，用于从监控视频中提取待查询车辆图像；As a specific implementation of the method shown in FIG. 1 , an embodiment of the present invention provides a vehicle re-identification device based on multimodal information fusion. As shown in FIG. 2 , the device includes: an
所述提取模块21，还用于将所述待查询车辆图像作为预置多分支监测机制网络模型的输入，提取所述车辆的全局特征和多个局部特征，并根据多个局部特征中的车牌区域提取所述车辆的车牌字符；The
获取模块22，用于从预置数据库中获取不同车辆分别与所述车辆的全局特征、多个局部特征和车牌字符之间的相似度或者匹配的联合概率，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符，所述预置数据库中保存有不同车辆分别对应的全局特征、多个局部特征和车牌字符；The obtaining
生成模块23，用于根据不同车辆与所述待查询车辆之间的相似度或者匹配的联合概率生成车辆重识别排序表。The generating
进一步地，所述装置还包括：预测模块24；Further, the apparatus further includes: a
所述提取模块21，还用于从监控视频中提取所述待查询车辆图像的时空信息；The
所述预测模块24，用于根据不同车辆与待查询车辆之间匹配的联合概率和所述待查询车辆图像的时空信息预测所述车辆的相对行驶方向；The
所述获取模块22，还用于根据不同摄像头之间的拓扑关系、所述车辆相对行驶方向、以及预置车辆时空转移模型，得到所述车辆与不同车辆之间的时空匹配概率，所述预置车辆时空转移模型是根据不同车辆分别对应的历史车辆行驶时空数据建立的。The obtaining
进一步地，所述生成模块23，具体用于根据不同车辆与待查询车辆之间匹配的联合概率或者相似度，以及所述车辆与不同车辆之间的时空匹配概率生成车辆重识别排序表。Further, the generating
进一步地，所述提取模块21，具体用于从监控视频中获取的待查询车辆图片上进行车辆目标检测，获取完整地被边界框标出的车辆目标图像；剔除所述车辆目标图像中的冗余背景信息，得到所述待查询车辆图像。对于本发明实施例，通过将原始监控图像的车辆类别检出并进行实例分割，去除了背景噪声的干扰，可充分提取出车辆的全部信息，从而保证了提取的图像的清晰度，进而可以进一步提升车辆的再识别精度。Further, the
进一步地，所述全局特征为所述车辆的整体外观特征，所述多个局部特征包括车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征。Further, the global feature is the overall appearance feature of the vehicle, and the multiple local features include the appearance feature of the front of the vehicle, the appearance feature of the rear of the vehicle, and the appearance feature of the license plate area of the vehicle.
进一步地，所述获取模块22，具体用于根据不同车辆以及所述车辆的整体外观特征、车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、以及车牌字符特征，构造三元损失函数并计算不同车辆与所述车辆之间的特征距离，得到不同车辆分别与所述车辆之间的相似度。Further, the
进一步地，所述获取模块22，具体还用于基于贝叶斯概率模型，根据公式Pa＝PF×θ×Ptpo进行计算，其中，Pa为候选车辆与所述待查询车辆匹配的联合概率，PF为候选车辆与待查询车辆之间车辆车头外观特征、车辆车尾外观特征、车辆车牌区域外观特征、车辆整体外观特征匹配的联合概率，Ptpo为候选车辆与待查询车辆之间的车牌匹配概率，θ为车牌识别的置信度。Further, the
本发明提供的一种基于多模态信息融合的车辆再识别装置，通过融入了预置多分支监测机制网络模型，通过分别比对车辆的全局特征、多个局部特征和车牌字符，实现基于全局外观特征、局部外观特征以及车牌字符相融合的特征匹配，进而与现有只是通过单一特征或者车牌字符进行特征匹配相比，可以有效提高车辆再识别的准确率；进一步地在模态上，还融入了车辆对应的时间与地理位置信息，形成多模态融合概率特征，很好的区分了车辆之间的类间差异和类内差异，能够适应真实场景下的不同光照、不同摄像头型号识别的应用需求。The invention provides a vehicle re-identification device based on multi-modal information fusion. By integrating a preset multi-branch monitoring mechanism network model, the global feature, multiple local features and license plate characters of the vehicle are compared respectively. The feature matching that combines appearance features, local appearance features and license plate characters can effectively improve the accuracy of vehicle re-identification compared with the existing feature matching that only uses a single feature or license plate characters. The time and geographic location information corresponding to the vehicle is integrated to form a multi-modal fusion probability feature, which can well distinguish the inter-class difference and intra-class difference between vehicles, and can adapt to different lighting and different camera models in real scenes. Application requirements.
应该明白，公开的过程中的步骤的特定顺序或层次是示例性方法的实例。基于设计偏好，应该理解，过程中的步骤的特定顺序或层次可以在不脱离本公开的保护范围的情况下得到重新安排。所附的方法权利要求以示例性的顺序给出了各种步骤的要素，并且不是要限于所述的特定顺序或层次。It is understood that the specific order or hierarchy of steps in the disclosed processes is an example of a sample approach. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.
在上述的详细描述中，各种特征一起组合在单个的实施方案中，以简化本公开。不应该将这种公开方法解释为反映了这样的意图，即，所要求保护的主题的实施方案需要比清楚地在每个权利要求中所陈述的特征更多的特征。相反，如所附的权利要求书所反映的那样，本发明处于比所公开的单个实施方案的全部特征少的状态。因此，所附的权利要求书特此清楚地被并入详细描述中，其中每项权利要求独自作为本发明单独的优选实施方案。In the foregoing Detailed Description, various features are grouped together in a single embodiment for the purpose of simplifying the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, present invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the Detailed Description, with each claim standing on its own as a separate preferred embodiment of this invention.
为使本领域内的任何技术人员能够实现或者使用本发明，上面对所公开实施例进行了描述。对于本领域技术人员来说；这些实施例的各种修改方式都是显而易见的，并且本文定义的一般原理也可以在不脱离本公开的精神和保护范围的基础上适用于其它实施例。因此，本公开并不限于本文给出的实施例，而是与本申请公开的原理和新颖性特征的最广范围相一致。The disclosed embodiments are described above to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit and scope of this disclosure. Thus, the present disclosure is not intended to be limited to the embodiments set forth herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
上文的描述包括一个或多个实施例的举例。当然，为了描述上述实施例而描述部件或方法的所有可能的结合是不可能的，但是本领域普通技术人员应该认识到，各个实施例可以做进一步的组合和排列。因此，本文中描述的实施例旨在涵盖落入所附权利要求书的保护范围内的所有这样的改变、修改和变型。此外，就说明书或权利要求书中使用的术语“包含”，该词的涵盖方式类似于术语“包括”，就如同“包括，”在权利要求中用作衔接词所解释的那样。此外，使用在权利要求书的说明书中的任何一个术语“或者”是要表示“非排它性的或者”。The above description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods in order to describe the above embodiments, but one of ordinary skill in the art will recognize that further combinations and permutations of the various embodiments are possible. Accordingly, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of the appended claims. Furthermore, with respect to the term "comprising," as used in the specification or claims, the word is encompassed in a manner similar to the term "comprising," as if "comprising," were construed as a conjunction in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or."
本领域技术人员还可以了解到本发明实施例列出的各种说明性逻辑块(illustrative logical block)，单元，和步骤可以通过电子硬件、电脑软件，或两者的结合进行实现。为清楚展示硬件和软件的可替换性(interchangeability)，上述的各种说明性部件(illustrative components)，单元和步骤已经通用地描述了它们的功能。这样的功能是通过硬件还是软件来实现取决于特定的应用和整个系统的设计要求。本领域技术人员可以对于每种特定的应用，可以使用各种方法实现所述的功能，但这种实现不应被理解为超出本发明实施例保护的范围。Those skilled in the art may also understand that various illustrative logical blocks (illustrative logical blocks), units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. To clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units and steps described above have generally described their functions. Whether such functionality is implemented in hardware or software depends on the specific application and overall system design requirements. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be construed as exceeding the protection scope of the embodiments of the present invention.
本发明实施例中所描述的各种说明性的逻辑块，或单元都可以通过通用处理器，数字信号处理器，专用集成电路(ASIC)，现场可编程门阵列或其它可编程逻辑装置，离散门或晶体管逻辑，离散硬件部件，或上述任何组合的设计来实现或操作所描述的功能。通用处理器可以为微处理器，可选地，该通用处理器也可以为任何传统的处理器、控制器、微控制器或状态机。处理器也可以通过计算装置的组合来实现，例如数字信号处理器和微处理器，多个微处理器，一个或多个微处理器联合一个数字信号处理器核，或任何其它类似的配置来实现。The various illustrative logic blocks, or units described in the embodiments of the present invention can be implemented by general-purpose processors, digital signal processors, application specific integrated circuits (ASICs), field programmable gate arrays or other programmable logic devices, discrete Gate or transistor logic, discrete hardware components, or any combination of the above are designed to implement or operate the functions described. A general-purpose processor may be a microprocessor, or alternatively, the general-purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a digital signal processor core, or any other similar configuration. accomplish.
本发明实施例中所描述的方法或算法的步骤可以直接嵌入硬件、处理器执行的软件模块、或者这两者的结合。软件模块可以存储于RAM存储器、闪存、ROM存储器、EPROM存储器、EEPROM存储器、寄存器、硬盘、可移动磁盘、CD-ROM或本领域中其它任意形式的存储媒介中。示例性地，存储媒介可以与处理器连接，以使得处理器可以从存储媒介中读取信息，并可以向存储媒介存写信息。可选地，存储媒介还可以集成到处理器中。处理器和存储媒介可以设置于ASIC中，ASIC可以设置于用户终端中。可选地，处理器和存储媒介也可以设置于用户终端中的不同的部件中。The steps of the method or algorithm described in the embodiments of the present invention may be directly embedded in hardware, a software module executed by a processor, or a combination of the two. Software modules may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. Illustratively, a storage medium may be coupled to the processor such that the processor may read information from, and store information in, the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium may be provided in the ASIC, and the ASIC may be provided in the user terminal. Alternatively, the processor and the storage medium may also be provided in different components in the user terminal.
在一个或多个示例性的设计中，本发明实施例所描述的上述功能可以在硬件、软件、固件或这三者的任意组合来实现。如果在软件中实现，这些功能可以存储与电脑可读的媒介上，或以一个或多个指令或代码形式传输于电脑可读的媒介上。电脑可读媒介包括电脑存储媒介和便于使得让电脑程序从一个地方转移到其它地方的通信媒介。存储媒介可以是任何通用或特殊电脑可以接入访问的可用媒体。例如，这样的电脑可读媒体可以包括但不限于RAM、ROM、EEPROM、CD-ROM或其它光盘存储、磁盘存储或其它磁性存储装置，或其它任何可以用于承载或存储以指令或数据结构和其它可被通用或特殊电脑、或通用或特殊处理器读取形式的程序代码的媒介。此外，任何连接都可以被适当地定义为电脑可读媒介，例如，如果软件是从一个网站站点、服务器或其它远程资源通过一个同轴电缆、光纤电缆、双绞线、数字用户线(DSL)或以例如红外、无线和微波等无线方式传输的也被包含在所定义的电脑可读媒介中。所述的碟片(disk)和磁盘(disc)包括压缩磁盘、镭射盘、光盘、DVD、软盘和蓝光光盘，磁盘通常以磁性复制数据，而碟片通常以激光进行光学复制数据。上述的组合也可以包含在电脑可读媒介中。In one or more exemplary designs, the above functions described in the embodiments of the present invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on, or transmitted over, a computer-readable medium in the form of one or more instructions or code. Computer-readable media includes computer storage media and communication media that facilitate the transfer of a computer program from one place to another. Storage media can be any available media that a general-purpose or special-purpose computer can access. For example, such computer-readable media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other device that can be used to carry or store instructions or data structures and Other media in the form of program code that can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Furthermore, any connection is properly defined as a computer-readable medium, for example, if software is transmitted from a web site, server or other remote source over a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) Or transmitted by wireless means such as infrared, wireless, and microwave are also included in the definition of computer-readable media. The disks and disks include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks. Disks usually reproduce data magnetically, while discs generally reproduce data optically with lasers. Combinations of the above can also be included in computer readable media.
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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| CN113918679A (en)* | 2021-09-22 | 2022-01-11 | 三一汽车制造有限公司 | A knowledge question and answer method, device and construction machinery |
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| CN114550051A (en)* | 2022-02-24 | 2022-05-27 | 深圳壹账通科技服务有限公司 | Vehicle loss detection method and device, computer equipment and storage medium |
| CN115309925A (en)* | 2022-08-11 | 2022-11-08 | 北京百度网讯科技有限公司 | Vehicle searching method and device based on artificial intelligence and electronic equipment |
| CN116311214A (en)* | 2023-05-22 | 2023-06-23 | 珠海亿智电子科技有限公司 | License plate recognition method and device |
| CN116311214B (en)* | 2023-05-22 | 2023-08-22 | 珠海亿智电子科技有限公司 | License plate recognition method and device |
| CN118864802A (en)* | 2024-09-25 | 2024-10-29 | 中国科学院自动化研究所 | Vehicle re-identification model training method and device and vehicle re-identification method |
| CN119007139A (en)* | 2024-10-24 | 2024-11-22 | 安徽大学 | Dual-attention cross-mode vehicle re-identification method, system, equipment and medium |
| CN119007139B (en)* | 2024-10-24 | 2025-01-28 | 安徽大学 | Dual attention cross-modal vehicle re-identification method, system, device and medium |
| CN120356099A (en)* | 2025-04-11 | 2025-07-22 | 济南致业电子有限公司 | Image library construction and identification algorithm under large-scale incomplete multi-view and multi-mode scene |
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