TRNG I HC KHOA HC T NHIN

KHOA CNG NGH THNG TIN

LP C NHN TI NNG

Nguyn Xun Tng Huy

0612128

Nguyn Hong V

0612573

TM HIU K THUT PHT HIN NGI

TRONG VIDEO GIM ST LP HC

KHA LUN TT NGHIP C NHN CNTT

GIO VIN HNG DN

TS. inh B Tin

KHA 2006 - 2010

NHN XT CA GIO VIN HNG DN

TpHCM, ngy .. thng nm

Gio vin hng dn

NHN XT CA GIO VIN PHN BIN

Kha lun p ng yu cu ca Kha lun c nhn CNTT.

TpHCM, ngy .. thng nm
Gio vin phn bin

ii

LI CM N
Trc tin, chng em xin gi li cm n su sc n Thy inh B Tin v
Thy inh B Thng tn tnh hng dn, ch bo chng em trong sut thi gian
thc hin ti. Nu khng c c nhng s ch bo ca cc thy, lun vn ca
chng em s rt kh hon thnh. Qua thi gian c cc thy hng dn, chng em
hc hi c nhiu kin thc b ch v kinh nghim qu bu lm nn tng cho
qu trnh hc tp, lm vic v nghin cu sau ny.
Chng em xin chn thnh cm n anh L Phong, ngi tn ty ch bo v
theo st nhm em trong sut qu trnh lm ti.
Chng em xin trn trng cm n qu Thy c trong Khoa Cng ngh thng
tin trng i hc Khoa hc T nhin TP H Ch Minh tn tnh ging dy,
truyn t nhng kin thc qu bu trong sut bn nm hc lm nn tng v to
iu kin cho chng em c thc hin lun vn ny.
Chng con xin c by t lng bit n su sc i vi ng B, Cha M,
nhng ngi lun ng vin, chm sc c v tinh thn ln vt cht, lun to iu
kin cho chng con chuyn tm hc tp v nghin cu.
Chng mnh xin trn trng cm n cc bn trong nhm tch cc h tr
chng mnh hon thnh c lun vn ny.
Mc d rt c gng n lc ht mnh, song chc chn lun vn khng khi
cn nhiu thiu st. Chng em rt mong nhn c s thng cm v ch bo tn tnh
ca qu Thy c v cc bn.
TP. H Ch Minh , 07/2010
Chn Thnh Cm n
Nhm Sinh Vin Thc Hin

iii

 CNG CHI TIT

Tn Ti: Tm hiu k thut pht hin ngi trong video gim st lp
hc.
Gio vin hng dn: TS. inh B Tin.
Thi gian thc hin: t ngy 12/12/2009 n ngy 07/07/2010.
Sinh vin thc hin:
Nguyn Xun Tng Huy (0612128) Nguyn Hong V (0612573).
Loi ti: Nghin cu v xy dng cc phng php pht hin i tng
Ni Dung Ti (m t chi tit ni dung ti, yu cu, phng php
thc hin, kt qu t c, ):
y l ti thuc v hng nghin cu cc k thut pht hin ngi trong
mi trng lp hc v pht trin ng dng thc nghim. ti bao gm cc phn
sau:
Nghin cu v tm hiu cc phng php tr nn c.
Nghin cu v tm hiu cc phng php pht hin mu.
Nghin cu v tm hiu pht hin theo dng mu snake.
Nghin cu v tm hiu cch rt trch c trng HOG.
Nghin cu v tm hiu phng php my hc SVM.
Xy dng h thng pht hin ngi trong lp hc minh ha.
K Hoch Thc Hin:
12/12/2009 - 26/01/2010: Tm hiu cc phng php tr nn sn c.
27/01/2010 - 26/2/2010: Tm hiu cc phng php theo vt i tng theo

iv

hng tip cn Filtering.

27/02/2010 - 15/03/2010: Tm hiu cc phng php pht hin mu v ng
dng vo video lp hc.
15/03/2010 - 14/04/2010: Tm hiu v c trng HOG cng vi SVM.

15/04/2010 - 1/05/2010: Tm hiu v phng php pht hin theo dng mu.

1/05/2010 - 01/06/2010: Tch hp ton h thng.

02/06/2010 - 30/06/2010: Ci tin cc phng php s dng.
01/07/2010 - 15/07/20010: Xy dng chng trnh minh ha.
Ngy 15 thng 7 nm 2010

Xc nhn ca GVHD

SV Thc hin

Mc lc
LI CM N ................................................................................................ iii
CNG CHI TIT ................................................................................. iv
Mc lc........................................................................................................... vi
Danh mc hnh .................................................................................................x
Danh mc bng ............................................................................................ xiv
Tm tt kha lun ..........................................................................................xv
Phn m u .....................................................................................................1
Gii thiu bi ton pht hin i tng .......................................................1
Pht hin hc sinh trong lp hc ..................................................................1
B cc ..............................................................................................................4
Phn A: Vn v bi ton pht hin i tng .............................................6
Chng 1. Cc phng php tr nn (Background subtraction) ...............10
1.1 Gii thiu .......................................................................................... 10
1.2 Cc phng php c bn .................................................................. 10
1.2.1 Frame Differencing.....................................................................10
1.2.2 Running Average ........................................................................13
1.2.3 Running Median .........................................................................15
1.3 Cc phng php cao cp................................................................. 17
1.3.1 Running Gaussian Average ........................................................17
1.3.2 Codebook ....................................................................................18
Chng 2. Cc phng php pht hin mu ...............................................24
2.1 Pht hin mu bng phng php c bn......................................... 24

vi

2.2 Pht hin mu bng m hnh Gauss ................................................. 24

2.2.1 Single Gaussian ..........................................................................24
2.2.2 Mixture of Gaussians ..................................................................27
2.3 Kt lun ............................................................................................ 28
Chng 3. Pht hin theo dng mu snake..................................................30
3.1 Gii thiu .......................................................................................... 30
3.2 Biu din ........................................................................................... 30
3.3 Khng gian trng thi ....................................................................... 32
3.4 So khp ............................................................................................. 35
Chng 4. Histogram of gradient (HOG)....................................................37
4.1 Gii thiu .......................................................................................... 37
4.2 Rt trch c trng HOG trong nh .................................................. 38
4.3 Chun ha vector c trng cho tng block..................................... 42
4.4 Integral Image ................................................................................... 42
4.5 Cng thc quy tnh Integral Image .............................................. 44
Chng 5. Support Vector Machines (SVM) ..............................................45
5.1 Gii thiu .......................................................................................... 45
5.2 Cc khi nim c bn ....................................................................... 45
5.2.1 Siu phng phn cch .................................................................45
5.2.2 Support vectors ...........................................................................49
5.2.3 Bin (Margin) ........................................................................51
5.3 Phn lp d liu ................................................................................ 51
5.3.1 Trng hp d liu c th phn chia tuyn tnh c ...............52
5.3.2 Trng hp d liu khng th phn chia tuyn tnh c .........52

vii

5.4 Nhn xt............................................................................................ 54

Phn B: ng dng bi ton pht hin i tng trong lp hc .....................55
Chng 6. Gii thiu bi ton .....................................................................55
6.1 Gii thiu v h thng pht hin hc sinh trong lp hc ................. 55
6.2 Mt s gi thit t ra trong ti.................................................... 57
6.3 M t d liu video lp hc ............................................................. 59
6.3.1 Mc ch s dng .......................................................................59
6.3.2 Chi tit v b d liu ..................................................................59
Chng 7. Pht hin mu tc trong video lp hc ......................................64
7.1 Gii thiu bi ton ............................................................................ 64
7.2 Phng php .................................................................................... 64
7.3 Nhn xt............................................................................................ 66
Chng 8. p dng c trng HOG cng vi SVM trong vic pht hin
hc sinh trong lp hc ...............................................................................................68
8.1 Gii thiu bi ton ............................................................................ 68
8.2 Hun luyn cho b phn lp SVM ................................................... 70
8.3 Tin hnh phn lp ........................................................................... 72
8.4 Kt qu thc nghim ........................................................................ 74
8.5 Nhn xt............................................................................................ 76
Chng 9. p dng Snake trong vic pht hin hc sinh trong lp hc .....78
9.1 Gii thiu .......................................................................................... 78
9.2 Xy dng d liu .............................................................................. 78
9.3 Nhn xt............................................................................................ 80
Chng 10. Kt lun v hng pht trin ...................................................81

viii

10.1 Kt lun ............................................................................................ 81

10.2 Hng pht trin ............................................................................... 81
Ti Liu Tham Kho ......................................................................................82

ix

Danh mc hnh
Hnh 1. Minh ha cc hc sinh ni chuyn trong lp ......................................2
Hnh 2. Minh ha hc sinh ng gc trong lp .................................................2
Hnh 3. nh sng khng trong video ..........................................................3
Hnh 4. nh sng qu mnh trong video .........................................................4
Hnh 5: S tng quan v vn pht hin i tng bng cc phng
php my hc [4] .........................................................................................................8
Hnh 6: Kt qu khi thc hin thut ton frame differencing trn video VNSIN-VE_02.avi. i tng c khoang trn trn hnh cho ta thy i vi nhng
im bn trong lng i tng b xem nhm l background ....................................12
Hnh 7: Kt qu khi thc hin thut ton frame differencing trn video
Leavy.avi. i tng c khoang trn trn hnh do ng yn nn thut ton xem
nhm l background ..................................................................................................13
Hnh 8: Kt qu khi thc hin thut ton Running Average trn video
Leavy.avi ...................................................................................................................15
Hnh 9: Kt qu chy thut ton khng tt i vi nhng video c
background thay i ..................................................................................................15
Hnh 10: Kt qu khi thc hin thut ton Running Average trn video VNSIN-VE_02.avi ..........................................................................................................17
Hnh 11: M hnh codeword [8] ....................................................................19
Hnh 12: Kt qu khi thc hin thut ton Codebook trn video VN-SINVE_02.avi ..................................................................................................................23
Hnh 13. Kt qu lc mu tc da trn h mu RGB ca video
3_13.45.00.avi ...........................................................................................................24
Hnh 14: B d liu mu tc ca ngi .........................................................26
Hnh 15: Kt qu cho vic phn lp mu s dng m hnh Gauss trn video
4.avi. Mu ta mong mun pht hin y l mu tc ca ngi .............................27

Hnh 16: Kt qu cho vic phn lp mu tc trn video 3_14.10.00.avi. Mu

ta mong mun pht hin y l mu tc ca ngi ...............................................27
Hnh 17. Minh ha so khp snake trn nh ...................................................30
Hnh 18. Minh ha vic xy dng snake t tp template point c sn: nhng
im mu trng l template point, nhng im mu xanh l control point ..............32
Hnh 19. Su mc bin i affine c bn.......................................................33
Hnh 20. Minh ha p dng php bin i affine trn ng cong ...............35
Hnh 21. Minh ha so khp khng gian snake vi bin tm c trn nh:
ng mu l template, ng mu vng l ng cong c kht cao nht ....36
Hnh 22: R-HOG v C-HOG [10] ..................................................................37
Hnh 23: Mi khi (block) gm nhiu (cell). V d trong hnh trn ta thy
mt khi gm 9 [10] ...............................................................................................38
Hnh 24: Cc khi c xp chng ln nhau [10] .........................................38
Hnh 25 tnh gc v bin theo X-gradient v Y-gradient..........................40
Hnh 26: Cc bc rt trch c trng HOG [4] ............................................41
Hnh 27 Integral Image [11]...........................................................................43
Hnh 28 Cng thc tnh integral image [12] ..................................................43
Hnh 29: ng mu vng trn hnh l ng phn chia i vi tp d liu
gm hai thuc tnh [15] .............................................................................................46
Hnh 30: Mt b d liu hai chiu c phn chia tuyn tnh. C v hn
ng thng phn chia tuyn tnh c th . Vy ci no l tt nht? [14]..................47
Hnh 31: Trong hnh ny chng ta c 2 siu phng phn chia tuyn tnh cng
vi bin ca n. Ci no tt hn? Ci c bin ln hn th s c chnh xc
cao hn [14] ..............................................................................................................48
Hnh 32: ng biu din H1 v H2, ng mu l khong cch
Euclidean ca hai im 1 v 2. ng mu xanh l khong cch Euclidean nh nht
[15] ............................................................................................................................50
Hnh 33: Cc support vector trong SVM. Cc support vector l nhng hnh
c vin dy hn. [14].................................................................................................51

xi

Hnh 34: Mt trng hp n gin trn khng gian 2 chiu. Khc vi d liu
c th phn chia tuyn tnh c trn hnh 6.20, y ta khng th v mt ng
thng phn chia 2 lp. Do vy ranh gii quyt nh y th khng tuyn tnh. [14]
...................................................................................................................................53
Hnh 35: M hnh chung ca h thng pht hin hc sinh trong lp.............55
Hnh 36: Kt qu t c sau khi thc hin vic pht hin mu tc ...........56
Hnh 37: Kt qu sau khi pht hin u ngi bng SVM v HOG .............57
Hnh 38: Mt hnh minh ha trong video 2.avi .............................................58
Hnh 39: Khu vc gii hn x l ca h thng. Vng trng l vng khng x
l ................................................................................................................................58
Hnh 40: Mt i tng khng nhn r trong video 3.avi..............................59
Hnh 41: Mt s kh khn trong video 2.avi .................................................61
Hnh 42: Kh khn gp phi trong video 3.avi ..............................................62
Hnh 43: Kh khn trong video 1.avi .............................................................63
Hnh 44: B d liu mu tc ca ngi .........................................................64
Hnh 45: Knh mu HSV [16] .......................................................................65
Hnh 46: Kt qu cho vic phn lp mu tc s dng m hnh Gauss trn
video 4.avi .................................................................................................................66
Hnh 47: Kt qu trong vic tm cc vng hnh ch nht bao cc mu tc ...66
Hnh 48: Kt qu trong vic pht hin mu tc chng 7 ..........................68
Hnh 49: Kt qu thu c khi loi i nhng vng c din tch qu nh hoc
qu ln .......................................................................................................................69
Hnh 50: Qu trnh pht hin i tng bng SVM v c trng HOG [4] ..70
Hnh 51: Mt s hnh nh trong b positive ..................................................70
Hnh 52: Mt hnh bt k trong tp negative .................................................71
Hnh 53: M rng hnh ch nht bao vng mu tc ......................................72
Hnh 54: Pht hin phn thn trn ca ngi ti v tr mu tc v nhng v tr
xung quanh ................................................................................................................73

xii

Hnh 55: Kt hp cc hnh ch nht li vi nhau. Hnh ch nht mu xanh l

kt qu ca vic kt hp cc hnh ch nht ..........................................................74
Hnh 56: Kt qu cui cng ca vic pht hin phn trn ca ngi ............74
Hnh 57: Kt qu khi chy vi video 3.avi ....................................................76
Hnh 58: Trng hp pht hin mu tc khng chnh xc do mu en ca tc
trng vi mu en ca laptop v mu o ..................................................................77
Hnh 59: Trng hp mu tc dnh vi mu o ............................................77
Hnh 60: Trng hp hai u chm li vi nhau ...........................................77
Hnh 61. Cc trng hp c th xy ra nhm ln sau khi p dng b phn lp
SVM ..........................................................................................................................78
Hnh 62. Mt s dng mu omega c dng so khp ............................79
Hnh 63. Kt qu sau khi s dng dng mu omega kim tra cc vng u
vai ngi trong nh, do nhiu khin kt qu khng tt ............................................79
Hnh 64. Cc dng mu na vng cung c dng so khp ....................79
Hnh 65. Kt qu khi so khp cc dng mu na vng cung vi cc phn u
ca ngi c pht hin .....................................................................................80

xiii

Danh mc bng
Bng 1: Bng phn loi cc thut ton pht hin i tng [1].......................6
Bng 2: Bng kt qu thc nghim khi chy thut ton frame differencing .12
Bng 3: Bng kt qu thc nghim khi chy thut ton Running Average ...14
Bng 4: Bng kt qu thc nghim khi chy thut ton Running Median ....17
Bng 5: Bng kt qu thc nghim khi chy thut ton Running Gaussian
Average .....................................................................................................................18
Bng 6: Bng kt qu thc nghim khi chy thut ton Codebook ...............22
Bng 7: Bng thng k tp video d liu .......................................................60
Bng 8: Kt qu ca vic pht hin i tng bng phng php phn lp
SVM i vi b d liu.............................................................................................75

xiv

Tm tt kha lun
Pht hin i tng (object detection) l mt bi ton quan trng trong lnh
vc th gic my tnh. y l mt hng nghin cu c nhiu ng dng trong thc
t nh th thao, giao thng, giao tip ngi v my, lp hc Kha lun ny tp
trung nghin cu cc vn v pht hin i tng v ng dng ch yu vo lnh
vc pht hin hc sinh trong video gim st lp hc. Kha lun ny c thc hin
vi cc mc ch:
Tm hiu cc phng php pht hin i tng khc nhau.
ng dng cc thut ton pht hin i tng vo thc tin, c bit l
lnh vc gim st lp hc.
Cc ni dung chnh c trnh by trong kha lun bao gm:
Tm hiu cc thut ton tr mu nn (Background Subtraction).
Tm hiu cc thut ton pht hin mu.
Tm hiu cch rt trch c trng HOG v p dng phng php my
hc SVM trong vic pht hin i tng.
Tm hiu cch pht hin i tng theo dng mu snake.
Xy dng ng dng minh ha trong lnh vc gim st lp hc.
T kha: pht hin i tng (object detection), pht hin phn thn trn
ca ngi (upper body detection).

xv

Phn m u
Gii thiu bi ton pht hin i tng
Pht hin i tng trong th gic my tnh l cng vic tm kim cc vt th
trong nh hoc trong video. y l hng nghin cu c quan tm nhiu hin
nay vi nhiu ng dng. Mt nhnh trong pht hin i tng l pht hin ngi
trong nh hoc video. Con ngi c th nhn bit cc i tng l ngi mt cch
d dng trong cc nh hoc video d s khc nhau l rt a dng. Nhng i vi
h thng th gic my tnh th cng vic ny vn cn l thch thc ln. Nguyn
nhn ch yu l do din mo v t th ca mi ngi l ht sc a dng, nh
hng v iu kin nh sng, s che lp ln nhau ca nhng ngi trong m
ng, cht lng video
tng chnh yu trong cc phng php pht hin i tng l da vo
c trng c th c rt trch ra t nhng i tng mu. c trng ny c s
dng cng vi mt b phn lp hoc s dng thut ton pht hin ra nhng i
tng tng t vi cc i tng mu

Pht hin hc sinh trong lp hc

Nhn dng hc sinh trong lp hc l bi ton c nhiu ng dng trong thc
t. Vic pht hin tt, chnh xc cc hc sinh trong lp hc s to tin cho rt
nhiu hng pht trin nh:
Theo vt cc hc sinh trong lp.
Pht hin ra nhng hnh vi, c ch trong lp nh: pht biu trong gi
hc, ni chuyn ring, ng gt
Qun l lp hc nh im danh, m s lng sinh vin c trong lp.
nh gi trng thi ca lp hc nh: mt lp hc l ng hay
tha? dao ng ca cc hc sinh trong lp nh th no

Hnh 1. Minh ha cc hc sinh ni chuyn trong lp

Hnh 2. Minh ha hc sinh ng gc trong lp

Kh khn thng xuyn phi i mt trong ti l:

 Cht lng cc video gim st lp hc thng khng cao.

Kh khn gp phi v iu kin nh sng
Kh khn v s che lp thng xuyn ca nhng dy hc sinh

Hnh 3. nh sng khng trong video

Hnh 4. nh sng qu mnh trong video

B cc
Ni dung ca kha lun c trnh by trong 10 chng, bao gm cc ni
dung v cc phng php v vn v pht hin i tng. Cng vi vic p dng
cc phng php ny vo vn pht hin ngi trong video gim st lp hc.
Chng 1 Cc phng php tr nn (Background subtraction): Gii
thiu cch pht hin cc i tng chuyn ng bng nhng phng php tr nn
c bn v nng cao.
Chng 2 Cc phng php pht hin mu: Gii thiu v cc cch pht
hin mu sc.
Chng 3 Pht hin theo dng mu snake: Gii thiu snake, cch xy
dng khng gian dng mu v so khp vi i tng.

Chng 4 Histogram of gradient (HOG): Gii thiu tng quan v c

trng HOG cng vi cch rt trch c trng HOG t mt nh.
Chng 5 Support Vector Machines (SVM): Gii thiu tng quan v b
phn lp SVM.
Chng 6 Gii thiu bi ton: Gii thiu v bi ton pht hin ngi
trong video gim st lp hc, gii thiu m hnh chung ca h thng pht hin
ngi, v mt s gi nh ca bi ton. M t b d liu video lp hc.
Chng 7 Pht hin mu tc trong video lp hc: Gii thiu v cch p
dng m hnh Single Gauss pht hin mu tc ngi.
Chng 8 p dng c trng HOG cng vi SVM trong vic pht
hin hc sinh trong lp hc: M t qu trnh ng dng b phn lp SVM cng vi
c trng HOG pht hin ngi trong video lp hc.
Chng 9 Tch hp: Chng cui cng c ti, tm li cc vn
gii quyt v cc hng pht trin trong tng lai.
Chng 11 Kt lun v hng pht trin: Chng cui cng c ti,
tm li cc vn gii quyt v cc hng pht trin trong tng lai.

Phn A: Vn v bi ton pht hin i tng

Vn pht hin i tng l lnh vc c nghin cu rng ri v c nhiu
ng dng trong cuc sng hin nay. Phn ln cc i tng c pht hin qua vic
da vo nhng thng tin trong mt frame nh. C rt nhiu hng tip cn gii
quyt vn trn. Cc hng tip cn ny c phn thnh nhiu loi nh sau [1]:
Loi

Nhng nghin cu lin quan

Moravecs detector

Point detectors

Harris detector
Scale Invariant Feature Transform
Affine Invariant Point Detector
Mean-shift

Segmentation

Graph-cut
Active contours
Mixture of Gaussians

Background Modeling

Eigenbackground
Wall flower
Dynamic texture background
Support Vector Machines

Supervised Classifier

Neural Networks
Adaptive Boosting

Bng 1: Bng phn loi cc thut ton pht hin i tng [1]

Qua bng trn ta thy c nhiu hng tip cn x l vn pht hin i

tng. Tuy nhin vic la chn phng php p dng th da vo tnh hung c th.

i vi trng hp c nh nn khng thay i th vic pht hin i tng

chuyn ng c th c thc hin bng cc phng php tr nn. Chi tit v cc
gii thut ny s c trnh by chng sau. Hng gii quyt thng gp l xy
dng m hnh nn, sau s dng m hnh ny cng vi frame hin ti t rt
ra c cc foreground chuyn ng. u im ca gii thut ny l n gin. c
th tip cn theo hng ny th ta cn phi xy dng c m hnh background. C
rt nhiu phng php xy dng m hnh background nh: Anurag Mittal dng
adaptive kernel density estimation xy dng m hnh nn [2]. Phng php ny
cho kt qu tt tuy nhin gp kh khn v khng gian lu tr, tnh ton phc tp,
tc khng p ng thi gian thc. Haritaoglu dng gii thut W4, Stauffer s
dng Mixture of Gaussian [3] xy dng m hnh nn Sau khi pht hin ra
c cc i tng chuyn ng th vic xc nh xem nhng i tng ny c
ng l nhng i tng ta cn pht hin hay khng cng l mt kh khn ln phi
i mt.
Trong cc lnh vc v pht hin phn u ca ngi th Wei Qu, Nidhal
Bouaynaya and Dan Schonfeld ra hng tip cn bng cch kt hp m hnh
mu da cng vi m hnh mu tc (skin and hair color model). Nhng mu ny
c pht hin da vo m hnh Gauss. Sau bng cch p dng phng php so
khp mu (template matching) t c mc ch pht hin phn u ngi
p ng thi gian thc. Kh khn trong hng tip cn ny thng gp vic thu
thp d liu hun luyn mu da v mu tc, chnh xc d b nh hng bi
sng ca mi trng.
Vic pht hin i tng c th c thc hin bng cc phng php my
hc. Cc phng php ny c th k n nh: mng neural, adaptive boosting, cy
quyt nh, support vector machines. im chung ca cc phng php ny u
phi tri qua giai on hun luyn trn mt tp d liu. Tp d liu ny phi ln,
bao qut ht c cc trng thi ca i tng. Sau cc c trng s c rt
trch ra trn b d liu hun luyn ny. Vic la chn c trng s dng ng vai

tr quan trng nh hng n hiu qu ca cc phng php my hc. Mt s c

trng thng c s dng nh: c trng v mu sc, c trng v gc cnh, c
trng histogram Sau khi c c c trng, ta s nh nhn lp c th cho cc
c trng s dng trong vic hun luyn. Trong qu trnh hun luyn, cc
phng php my hc s sinh ra mt hm nh x nhng c trng u vo tng
ng vi nhn lp c th. Sau khi hun luyn xong th cc phng php my hc
trn s c dng phn lp cho nhng c trng mi. c im ca phng
php ny l chnh xc cao. Tuy nhin n gp phi kh khn trong vic thu thp
d liu hun luyn ban u, tn thi gian v chi ph cho qu trnh hc my.

Hnh 5: S tng quan v vn pht hin i tng bng cc phng php my hc [4]

i vi vn v pht hin hc sinh trong lp hc, do gp phi kh khn

trong vic p dng phng php tr nn v t l foreground trong frame nh l kh
ln, hn na mu sc a dng, nh sng v v tr cc vt trong phng hc c th
thay i v cc i tng hc sinh di chuyn khng nhiu nn d dng b cc
phng php trn nhn nhm l phn nn... Vic pht hin u ngi bng cch da
vo mu da v mu tc th khng cho kt qu tt. Do mu da gn ging vi mu
bn gh, mu tc gn ging vi mu ca... V th nhm em xut ra hng tip
cn trong vic pht hin phn u ca ngi l da vo c trng hnh dng cng
vi phng php phn loi bng my hc. c th pht hin c tt phn u
ngi trong lp hc th nhm em tip cn vn qua hai bc:
Bc 1: Tin x l, c lng v tr xut hin ca u ngi da vo mu
tc.

 Bc 2: s dng thng tin v v tr ca bc trn pht hin u ngi

bng hai phng php chnh l pht hin theo dng mu snake v s dng
c trng HOG cng vi SVM.

Chng 1.
1.1

Cc phng php tr nn (Background subtraction)

Gii thiu
Trong nhng ng dng v th gic my tnh, vn c bn nht c t ra

l lm th no pht hin c cc i tng chuyn ng trong video

(foreground), lm th no bit c u l nhng cnh vt khng thay i
(background) gii quyt c nhng vn nu trn th ta dng phng
php tr nn. y l mt trong nhng phng php nn tng nht trong lnh vc th
gic my tnh. C nhiu gii thut khc nhau v tr nn. Cc gii thut ny c
chia thnh hai nhm l: phng php c bn v phng php cao cp. Trong gii
hn ca lun vn ny, chng em s trnh by chi tit v nhng gii thut tr nn sau
y:
Phng php c bn:
o Frame Differencing
o Running Average
o Running Median
Phng php cao cp:
o Running Gaussian Average
o Codebook
tng chung ca cc phng php tr nn: pht hin ra c cc i
tng chuyn ng trong video chng ta phi c c m hnh background. M
hnh background ny c th c hc qua nhiu frame nh. Sau ta s dng m
hnh background ny so snh vi frame nh hin ti v kt qu l ta s nhn bit
c u l vng nn, u l cc i tng.
1.2

Cc phng php c bn
1.2.1

Frame Differencing

Trong tt c cc phng php background subtraction th phng php

Frame Differencing c xem l phng php n gin nht. Chi ph tnh ton

10

thp, tc thc thi thut ton nhanh. Tuy nhin kt qu t c khi ta p dng
thut ton ny l tng i thp.
tng chnh trong phng php Frame Differencing: cc i tng chuyn
ng s c pht hin da trn s khc bit gia hai frame nh lin tip nhau cng
vi mt ngng c chn trc. Gii thut trn c thc hin bng phng php
tr hai frame lin tip, i vi mi gi tr pixel kt qu ta so snh gi tr ti pixel
vi ngng c chn. Nu gi tr ny nm trong ngng cho php th ti ta
xem nh l background. Ngc li l foreground. [5]
|

(1.1)

Trong :
Ft+1: frame nh th t - 1
Ft : frame nh th t
th: ngng c chn. chnh xc ca thut ton ph thuc vo gi tr
ngng ny.
u im:
D ci t.
Tc thc thi nhanh.
Thut ton chy chnh xc trong trng hp cc i tng di chuyn lin tc,
nn background l tnh.
Khuyt im:
chnh xc ca thut ton l tng i thp.
Thut ton trn ch xc nh foregound chnh xc i vi nhng im bin
ca i tng. i vi nhng im nh bn trong lng i tng do s dch
chuyn ca nhng im nh ny l khng ng k do s b xem nh l
background.

11

 Trong trng hp khi mt i tng ngng chuyn ng trong mt khong

thi gian th s b xem l background.
Kt qu thc nghim: Cu hnh my Pentium Dual Core, 2.5 GHz, 2GB RAM.
Tc x l

Kch thc frame

Tng s frame

VN-SIN-VE_02.avi

352 x 288

758

33

Leavy.avi

360 x 240

4362

31

Tn video

(fps)

Bng 2: Bng kt qu thc nghim khi chy thut ton frame differencing

Hnh 6: Kt qu khi thc hin thut ton frame differencing trn video VN-SIN-VE_02.avi.
i tng c khoang trn trn hnh cho ta thy i vi nhng im bn trong lng i
tng b xem nhm l background

12

Hnh 7: Kt qu khi thc hin thut ton frame differencing trn video Leavy.avi. i tng
c khoang trn trn hnh do ng yn nn thut ton xem nhm l background

1.2.2

Running Average

Trong phng php frame differencing cp trn. Do vic xc nh

cc i tng ch da vo s khc bit hai frame lin tip nhau. Do vy chnh
xc ca thut ton tng i thp. khc phc nhc im ny th phng php
Running Average ra hng gii quyt l xy dng nn m hnh background. Sau
m hnh background ny c s dng tm ra foreground. M hnh
background ny c xy dng bng cch hc qua n frame lin tip. Gi tr pixel ti
v tr (x,y) ca m hnh background ny c tnh bng cch ly trung bnh cng
ca tt c cc gi tr pixel ti v tr (x,y) ca n frame hc. [6]

(1.2)

Trong :
B(x, y): gi tr pixel ti v tr (x, y) ca m hnh background
Fi(x, y): gi tr pixel ti v tr (x, y) ca frame th i
n: tng s frame hc
Sau khi xy dng c m hnh background, vic xc nh ra c u l
i tng foreground c thc hin bng cch so snh tng frame nh vi m hnh

13

background. Da vo gi tr ca ngng c chn trc tng t nh phng

php frame differencing.
|

(1.3)

chnh xc ca thut ton ph thuc vo m hnh background. Do

ci tin thut ton tt hn ta cp nht m hnh background qua tng bc chy thut
ton.
(1.4)

thng c chn l 0.05.

Nh vy, m hnh background s c cp nht lin tc sau mi frame. V
vy s gip tng chnh xc ca phng php.
u im:
chnh xc cao hn phng php frame differencing.
Khuyt im:
Tn chi ph trong khi hc ra m hnh background
Thut ton ch p dng tt i vi trng hp background tnh khng thay
i
Kt qu thc nghim: Cu hnh my Pentium Dual Core, 2.5 GHz, 2GB RAM.
Tc x l

Tn video

Kch thc frame

Tng s frame

VN-SIN-VE_02.avi

352 x 288

758

57

Leavy.avi

360 x 240

4362

30

(fps)

Bng 3: Bng kt qu thc nghim khi chy thut ton Running Average

14

Hnh 8: Kt qu khi thc hin thut ton Running Average trn video Leavy.avi

Phng php trn khc phc c nhng khuyt im ca phng php

Frame Differencing. Cc im bn trong lng i tng chuyn ng hay nhng
i tng dng chuyn ng trong khong thi gian di khng b xem nh l
background. Tuy nhin phng php ny chy khng tt i vi nhng video c
background chuyn ng.

Hnh 9: Kt qu chy thut ton khng tt i vi nhng video c background thay i

1.2.3

Running Median

Tng t nh phng php Running Average. Bc u tin ca phng

php Median l xy dng ra m hnh background qua qu trnh hc trn n frame.

15

Gi tr pixel ti v tr (x, y) ca m hnh background c xy dng bng cch chn

ra gi tr trung v ca n frame ti v tr (x, y).
Gi tr trung v c xc nh bng cch sau:
V d, vi mt dy frame t F1 ti Fn, ta xt pixel v tr (x, y) th cc gi tr
F1(x, y), F2(x, y),, Fn(x,y) s to thnh mt dy gi tr ca pixel (x, y) ng vi tng
frame nh
Bc u tin ta xp xp dy pixel ny theo th t tng dn
Gi tr trung v chnh l phn t nm chnh gia ca dy pixel sp xp th
t
Sau khi xy dng c m hnh background theo phng php trn th
nhng bc sau c thc hin tng t nh thut ton Running Average.
V c bn th phng php trn gn ging vi phng php Running
Average. Tuy nhin, phng php Running Median i hi chi ph lu tr v tnh
ton rt ln. Nu trong phng php Running Average, ta ch cn lu li tng gi tr
pixel ti mt v tr th trong phng php Running Median, ta phi lu li tt c cc
gi tr ca im nh ti mi frame.
u im:
chnh xc cao hn phng php frame differencing.
Khuyt im:
Tn chi ph trong khi hc ra m hnh background
Kt qu thc nghim: Cu hnh my Pentium Dual Core, 2.5 GHz, 2GB RAM.

16

Tc x l

Tn video

Kch thc frame

Tng s frame

VN-SIN-VE_02.avi

352 x 288

758

31

Leavy.avi

360 x 240

4362

30

(fps)

Bng 4: Bng kt qu thc nghim khi chy thut ton Running Median

Hnh 10: Kt qu khi thc hin thut ton Running Average trn video VN-SIN-VE_02.avi

1.3

Cc phng php cao cp

Cc phng php c bn c cp trn ch chy tt i vi trng hp

background tnh khng chuyn ng. Tuy nhin trong thc t ta thng bt gp
nhng background c s thay i theo thi gian nh: cnh cy rung trong gi, s
giao ng ca mn ca, dao ng ca sng nc Do cc phng php c
cp di y s khc phc c vn trn
1.3.1

Running Gaussian Average

Phng php ny do Wren, Azarbayejani, Darrell, Pentland a ra vo nm

1997. Phng php ny t mt phn phi Gaussian ln s bin thin gi tr ca
mi pixel trong on video. V d, vi mt dy frame t F1 ti Fn, ta xt pixel v
tr (x, y) th cc gi tr F1(x, y), F2(x, y), , Fn(x,y) s to thnh mt dy gi tr ca

17

pixel (x, y) ng vi tng frame nh. Bng cch tnh trung bnh v phng sai ca
dy pixel ny ta xc nh c pixel background (gi tr trung bnh) v ngng (
lch nhn vi mt hng s no ). [5]
(1.5)
(1.6)
Nhng pixel no c gi tr no tha |

th c xem l

foreground. th c th chn bng k . [5]

u im:
Xc nh c ngng cho tng im nh trn frame.
Khuyt im:
D b nh hng bi sng.
Kt qu thc nghim: Cu hnh my Pentium Dual Core, 2.5 GHz, 2GB RAM.
Tc x l

Tn video

Kch thc frame

Tng s frame

VN-SIN-VE_02.avi

352 x 288

758

31

Leavy.avi

360 x 240

4362

30

(fps)

Bng 5: Bng kt qu thc nghim khi chy thut ton Running Gaussian Average

1.3.2

Codebook

tng chnh ca phng php ny l ti v tr mi pixel ca m hnh nn,

mt tp cc cluster vi tm v gii hn trong khng gian mu s c xy dng
nhm th hin s phn b ca pixel nn trong khng gian mu . Mi cluster nh
vy c gi l codeword, tp cluster ti mi v tr pixel c gi l codebook. [7]
Sau y l chi tit ca vic xy dng codebook:

18

Xt ti mi v tr pixel, gi X = {x1, x2, , xn} l dy gi tr hun luyn cho

pixel , C = {c1, c2, , cL} l codebook cho v tr pixel . Codebook ny gm L
codeword. Mi codeword ci vi I = 1, 2, , L gm 2 thnh phn:
Vector RGB
B 6 thnh phn
o

. Trong :

: sng ln nht v nh nht ca pixel i c gn cho

codeword.
o

: Tn s codeword th i xut hin

: Maximum negative run-length xc nh khong thi gian lu nht

trong qu trnh hun luyn m codeword i khng xut hin, nu

i ln

hn mt ngng cho trc th chng t codeword i ch mang tnh tm

thi v cn phi loi ra khi codebook.
o

: Thi gian u tin v cui cng codeword i xut hin.

Hnh 11: M hnh codeword [8]

19

Trong khi hun luyn m hnh, mi gi tr xt (c ly mu ti thi im t)

c so snh vi codebook hin ti tm xem codeword no khp vi xt. xc
nh xem codeword no khp tt nht chng ta dng o m sc v sng. Chi
tit gii thut nh sau [8]:
I.

L 0, C

II.

For t=1 to N do

( php gn)

i.
ii.

,
tm codeword

{ |

trong

} khp vi

da trn hai

iu kin (a) v (b) sau

a.
(

b.
iii.

Nu C = hoc khng tm c khp trong (ii) th

Khi to mt codeword cL vi

iv.

Ngc li, cp nht codeword khp cm vi

} v

bng cch t

) v

)
end for.
III.

Vi mi codeword
Xy dng codebook

, i = 1, ..., L t
{

).
} Vi

l ngng cho

trc
Hai iu kin (a) v (b) trn c tha khi mu xt v cm gn v sng
ca xt nm trong nhng vng bao sng ca cm

20

Tip theo ta s xem nu mu sc v sng thay i s c nh hng g n

phng php trn:
Khi chng ta c mt pixel xt = (R, G, B) v mt codeword ci vi

Ta c:

Color distortion

c th c tnh bng cch sau:

( )

( )

Thut ton phn on foreground-background c cho trong bng sau:

Vi mi codeword ta tm

khp vi x da trn 2 iu kin:

21

)
nh trong II-iv ca thut ton xy dng codebook

Cp nhp codeword
{

Sau khi c c foreground, ta s dng b lc median v php

morphology loi b cc vng pixel nh ring l (thng l nhng pixel nhiu).
Cui cng l gom nhm cc pixel k cn c c foreground blob [7].
u im:
Do vic s dng h mu YcbCr nn phng php ny x l cc video trong
mi trng sng yu kh tt
Khuyt im:
Ci t phc tp.
Tc kh chm.
Kt qu thc nghim: Cu hnh my Pentium Dual Core, 2.5 GHz, 2GB RAM.
Tc x l

Tn video

Kch thc frame

Tng s frame

VN-SIN-VE_02.avi

352 x 288

758

25

Leavy.avi

360 x 240

4362

23

Bng 6: Bng kt qu thc nghim khi chy thut ton Codebook

22

(fps)

Hnh 12: Kt qu khi thc hin thut ton Codebook trn video VN-SIN-VE_02.avi

23

Chng 2.
2.1

Cc phng php pht hin mu

Pht hin mu bng phng php c bn

Phng php n gin nht ly c mu trong video l xt tng pixel

mu. Tng pixel mu trong nh s c so snh vi mt khong mu bng cch xt

tng knh mu ca pixel vi ngng gi tr ng vi khong mu ang xt,
nhng pixel no nm trong ngng cho php ny th c gi li, ngc li s b
loi b

Hnh 13. Kt qu lc mu tc da trn h mu RGB ca video 3_13.45.00.avi

Phng php ny cho kt qu khng tt trong iu kin c nhiu nhiu trong

nh. Trong hnh trn ta mong mun pht hin mu en ca tc ngi. Tuy nhin
mt s khu vc bng ti b pht hin nhm.
2.2

Pht hin mu bng m hnh Gauss

2.2.1

Single Gaussian

2.2.1.1

Gii thiu

i vi phng php c cp trn th chnh xc thng khng cao.

Do cho vic pht hin mu c chnh xc hn th ta p dng m hnh Gauss.
M hnh Gauss gip ta c th xc nh c mu ca mt pixel c phi cng mu
vi mu chng ta mun tm hay khng.

24

 tng chnh ca Gauss l ti mt pixel bt k c mu c. Ta tnh mc

ging ca mu c vi mu color ta cn tm bng cng thc sau [9]
|

(2.1)

| |

Hoc [9]:
(2.2)
Trong :
: Means
: Covariance
n: tng s pixel
cj: gi tr mu ti pixel th j
Vi s l khong cch Mahalanobis
Sau ta so snh vi mt ngng cho trc xc nh xem mu c c phi
l mu color ta mong i hay khng. Vic chn ngng c nh hng rt ln n
kt qu ca thut ton ny.
c th s dng c m hnh Gauss ta phi tri qua hai bc l hun
luyn v phn lp
Thm mt vn na c t ra l chn knh mu no l ph hp. gim
bt s nh hng ca nh sng th ta tnh ton trn knh mu HSV.
2.2.1.2

Hun luyn

M hnh Gauss c hun luyn trn mt b d liu mu c th. Xt yu cu

trong vic pht hin mu tc ca ngi, ta s hun luyn m hnh Gauss da trn
mt tp d liu mu tc ca ngi. Tp d liu ny c to ra bng cch trch ra t

25

mu tc. y l hnh nh minh ha mu tc ca ngi dng cho vic hun luyn

m hnh Gauss:

Hnh 14: B d liu mu tc ca ngi

Da trn tp d liu ny ta s tnh c hai tham s Means v Covariance

ca m hnh Gauss theo cng thc sau [9]:

(2.3)

(2.4)

chnh xc ca m hnh cng cao khi b d liu hun luyn cng ln.
2.2.1.3

Phn lp

Sau khi c c m hnh gauss, xc nh xem mu c ca mt pixel bt

k c phi l mu ta ang mun tm hay khng ta cn tnh xc sut mu c ca pixel
da vo hm Gauss. Xc xut ny c tnh theo cng thc (1) hoc (2) vi means
v covariance c bc hun luyn. V cng vi mt ngng chn trc
s gip ta phn lp xem mu c c phi l mu ta ang mun tm hay khng

26

Hnh 15: Kt qu cho vic phn lp mu s dng m hnh Gauss trn video 4.avi. Mu ta
mong mun pht hin y l mu tc ca ngi

Hnh 16: Kt qu cho vic phn lp mu tc trn video 3_14.10.00.avi. Mu ta mong mun
pht hin y l mu tc ca ngi

Trong v d trn th nhng mu gn ging mu en ca tc nh: khu vc ti

ca bn gh, mu balo, mu ca b pht hin nhm. Tuy nhin khi so vi phng
php bn trn th cho kt qu tt hn. Nhng khu vc bng ti khng cn b pht
hin nhm.
2.2.2

Mixture of Gaussians

tng chnh ca phng php Mixture of Gaussians cng tng t nh

phng php Single Gaussian. Nu nh phng php Single Gaussian ch da vo
mt hm Gauss xc nh xem mt mu c bt k c phi l mu chng ta mun
truy vn hay khng th phng php Mixture of Gaussians da vo nhiu hm

27

Gauss xc nh iu . Mi hm Gauss trong Mixture of Gaussians c means v

covariance ring bit vi nhau.
Ti bc phn lp ca Mixture of Gaussians. Xc xut mu c ca mt pixel
bt k c tnh theo cng thc sau [9]:
|

(2.5)

Trong :
k: tng s Single Gaussian c trong Mixture of Gaussians
: tham s ca Single Gaussian th i. Vi

: Single Gaussian th i

Mi Single Gaussian c mean v covariance ring ca n.

Vic hun luyn m hnh Mixture of Gaussians c thc hin vi k thut
gi l thut gii Expectation Maximization(EM). Thut ton ny gi nh s lng
cc thnh phn Single Gaussian bn trong Mixture of Gaussians l bit trc
Vic phn lp vi m hnh Mixture of Gaussians c thc hin bng cch
so snh gi tr

vi mt vi ngng c chn trc

Kt lun

2.3

Vi hng tip cn ca mt s phng php c cp trn y th ta c

cc u khuyt im nh sau:
u im:
Pht hin chnh xc mu ta mong mun tm kim
Tc x l nhanh.
Khuyt im: i vi nhng hng tip cn da vo mu sc th thng gp phi
mt s kh khn nht nh nh sau:

28

 chnh xc ph thuc rt nhiu vo iu kin nh sng. Do vic la

chn h mu ng vai tr ht sc quan trng. lm gim s nh hng ca
sng th ta x l trn nhng h mu nh: HSV, YCbCr
chnh xc ca phng php pht hin mu bng m hnh Gauss ph
thuc vo b d liu mu trong vic hun luyn. chnh xc cng cao khi
b d liu hun luyn cng ln.

29

Chng 3.

Pht hin theo dng mu snake

Gii thiu

3.1

Theo [10], snake c nh ngha l hnh chiu ca mt ng vin lin tc

nm trn b mt nh. ng vin ny c th c xp vo mt trong cc loi sau:
(a) ng bin ca b mt gia hai min c tnh cht tng phn nhau, (b) ng
bao ngoi bng ca mt b mt nm trn nn khc, (c) ng thng nm trn b
mt m tng phn vi tnh cht cc b ca hai bn ng thng . tng
phn ca tnh cht c cp trn c nh ngha bi s khc nhau v cng
, hoc mu sc, kt cu hoc cc i lng trc quan phc tp khc; tuy nhin,
trong phm vi lun vn ny, chng ti gi nh rng tng phn c th hin
di dng khc nhau v mu sc ph hp vi cc thut ton lc mu.
tng chnh khi s dng snake l ta s dng cc dng mu c nh
ngha sn tm ra trong nh nhng i tng c vin ngoi khp vi cc dng
mu .

Hnh 17. Minh ha so khp snake trn nh

3.2

Biu din
Theo [10], chng ti nh ngha snake l ng cong B-spline ng nht, bc

ba v khng tun hon. ng cong B-spline ng nht, bc ba gm N phn on

ng cong

, gia cc ng cong

ny l lin tc bc hai. Cc phn on ny

30

c tham s ha vi

nh l trn ca bn im kim sot (control point)

, c th hin nh sau:

(3.1)

Vi iu kin lin tc bc hai gia cc ng cong, ng thi tng trng s

, chng ti s dng bn hm trn bc ba ph hp vi mi ng

cong sau y:

. Khi , phng trnh ng cong

c biu din di dng

ma trn nh sau:

)(

(3.2)

l vector cha ton b im kim sot ca

Cho

ng cong, trong M=N+3. Khi xt trn ton b ng cong, tham s u c

chuyn i tng ng vi tham s

da trn vector G cha cc hm trn

. Gi c nh ngha nh sau:

ton cc

(3.3)
{

Vector G(s) c dng chuyn i tham s s sang tham s u tng ng v

chn ra hm Bi s dng trong cng thc xc nh ng cong

(3.4)
(

)(

31

Nh vy, ng cong c th c suy ra t tp cc im nm trn ng

cong, cc im ny c gi l im hnh mu (template point) cho trc nh sau:

(3.6)
(

Hnh 18. Minh ha vic xy dng snake t tp template point c sn: nhng im mu trng
l template point, nhng im mu xanh l control point

3.3

Khng gian trng thi

Theo [11], khng gian trng thi l s nh x tuyn tnh vector khng gian

trng thi vo vector spline

(3.7)
Q: spline-vector
X: shape-space vector
Q0: ng cong mu
W: ma trn NQNX hnh dng.

32

(a)

(b)

(c)

(d)

(e)
(f)
Hnh 19. Su mc bin i affine c bn. (a) dch chiu ngang, (b) dch chiu dc, (c) quay,
(d) t l theo chiu dc, (e) t l theo chiu ngang, (f) t l theo ng cho

m t xp x cc bin i c th c ca vt th trn mt phng hai chiu,

chng ta ch cn su php bin i affine trn hnh mu. Nhm cc php bin i
affine trn mt phng c xem nh mt lp cc bin i tuyn tnh vi hnh mu
Q0 v ma trn hnh dng (shape-matrix):
(

33

(3.8)

Hai ct u tin trong W biu din cho s chuyn v ngang v dc. Bn mc

affine cn li c th hin thng qua kt hp tuyn tnh n gin trong bn ct cn
li. Nh vy trong cng thc nh x, X ng vai tr l trng s cho cc ct trong W.
(3.9)
Di y l mt s v d cho cc php bin i:
: nh x vo hnh mu Q0.
: dch hnh mu Q0 sang phi mt n v.
: phng to hai ln hnh mu Q0 ban u
: xoay hnh mu i gc
ngc chiu kim ng h

(a)

(b)

34

(c)
(d)
Hnh 20. Minh ha p dng php bin i affine trn ng cong. (a) dch tri, (b) dch ln,
(c) thu nh, (d) quay

3.4

So khp
Vi mi phn on to nn ng cong Q, ng php tuyn c xem xt

c ct vi bin ca i tng trn hnh hay khng, chiu di ca ng php tuyn

ny cng nh th ng cong cng m st vi i tng ( di ca php tuyn
thng c s dng t 10-20 pixel). Gi
mu v ng bin trong nh,
{

l hp (fitness) gia m hnh dng

c tnh nh sau:
|

(3.10)

: v tr ca phn on ng cong th i xt trn nh,

z(i): l v tr ca bin tm c gn nht ct php tuyn ti v tr ng cong
th i,
: gi tr penalty nu khng tm thy ng bin no dc theo php tuyn ti
v tr ng cong th i.
Vi (3.1), khp c tnh theo cng thc sau:

35

(3.11)

: gi tr c chn trc.

Hnh 21. Minh ha so khp khng gian snake vi bin tm c trn nh: ng mu l
template, ng mu vng l ng cong c kht cao nht

36

Chng 4.

Histogram of gradient (HOG)

Gii thiu

4.1

Histogram of gradient (HOG) l c trng c dng nhiu trong lnh vc

pht hin i tng. K thut ny c xut bi Bill Triggs v Navel Dalal vo
nm 2005 ti vin nghin cu INRIA.
tng chnh trong t trng HoG l hnh dng v trng thi ca vt c th
c c trng bng s phn b v gradient v hng ca cnh. c trng ny
c pht trin da trn SIFT, c trng HOG c tnh trn c mt vng. Do s
bin thin mu sc trong cc vng l khc nhau, kt qu l mi vng s cho ta mt
vector c trng ca n. V vy c c c trng ca ton b ca s (window)
ta phi kt hp nhiu vng lin tip li vi nhau.
c trng HOG c mt s bin th thng gp nh: R-HOG, R2-HOG, CHOG [10]. Cc c trng ny khc nhau cch phn b v hnh dng ca cc nh
trong hnh

Hnh 22: R-HOG v C-HOG [10]

R-HOG: mi c hnh dng l hnh ch nht

C-HOG: mi c dng hnh trn

37

4.2

Rt trch c trng HOG trong nh

T mt nh cho trc, qua vic rt trch c trng trn nh cho ta c

mt vector i din cho i tng . Vic rt ra c cc vector c trng nh vy

gip chng ta chuyn khng gian nh sang khng gian vector c th x l v tnh
ton n gin hn trn my tnh.
Phng php tng quan tnh ton c trng HOG trn mt ca s
(window) bt k:
Phn chia ca s (window) cn tnh HOG thnh nhiu khi (block). Mi
khi gm nhiu (cell). Cc phi c kch thc bng nhau, s lng
trong mi khi l bng nhau
Cc khi ny c t chng ln nhau, khong cch gia hai khi con lin
tip nhau phi l mt hng s

Hnh 23: Mi khi (block) gm nhiu (cell). V d trong hnh trn ta thy mt khi gm 9
[10]

Hnh 24: Cc khi c xp chng ln nhau [10]

Sau khi phn chia ca s cn tnh ton HOG nh trn. Ta tin hnh rt
trch c trng nh sau:

38

o Tnh ton c trng trn tng vng:

Tnh ton c trng trn tng nh (cell)
Tnh ton c trng trn tng khi (block) bng cch kt hp
cc li vi nhau
o Thu thp c trng ca cc vng trn nh.
Tnh v chun ha vector c trng cho tng block
Thu thp cc c trng HOG cho cc ca s
Sau y l chi tit thut ton rt trch c trng HOG. minh ha thut
ton, ta c th chn mt v d nh sau tnh vector c trng HoG v s lng
thnh phn ca vector : gi s ta c mt nh vi kch thc l 64x128 pixels. Ta
chia nh ny thnh cc cell vi kch thc 8x8 pixels. V ta chn kch thc ca
block l 2x2 cell.
Bc 1: chuyn nh trong khng gian RGB sang nh dng GRAY SCALE,
sau tin hnh cn bng histogram trn nh GRAY SCALE gim i nh
hng ca s thay i nh sng.
Bc 2: tnh s bin thin mu sc ti tt c cc pixel ca nh GRAY
SCALE theo chiu X [-1 0 1] v theo chiu Y [

] v thu c 2 nh

gradient-x v gradient-y c kch thc bng kch thc nh GRAY SCALE

v cho thy c s bin thin mu sc ni trn.
Bc 3: tin hnh tnh gc v hng bin thin mu sc t 2 nh gradient-x
v gradient-y nh hnh v bn di :

39

Hnh 25 tnh gc v bin theo X-gradient v Y-gradient

Vic lu tr chnh xc tng gi tr gc (orientation) ca tng v tr

(x,y) khng mang li nhiu kt qu, do vy ta s chia khng gian gc ra thnh
cc pin. Vic phn chia pin cng nh s cng lm tng chnh xc, thc
nghim cho thy kch thc bin khong 20o cho kt qu tt nht. Do t 0 180 ta chia thnh 9 bin nh sau:
0 - 20, 21 - 40, 41 - 60, 61 - 80, 81 - 100, 101 - 120, 121 - 140, 141 160, 161 - 180
Bc 4: ng vi mi bin trn ta tin hnh thng k bin (magnitude) ti
tng v tr. Vi mi bin, ti v tr (x,y) nu nh gc (orientation) thuc v bin
th gi tr ca bin ti v tr (x,y) bng gi tr bin (magnitude), ngc
li gi tr bin ti v tr (x,y) bng 0.
Bc 5: tnh ton vector c trng cho tng cell (8x8). Vector c trng ca
mi cell s gm 9 thnh phn tng ng vi 9 bin,v gi tr ti thnh phn i
bng tng gi tr ca cc im trong bin i m c ta nm trong cell .
Bc 6: tnh ton vector c trng cho tng block (16x16). Ta ch cn ghp
cc vector c trng ca tng cell trong block li vi nhau c vector
c trng ca mt block v chun ha li vector c trng ca block ny.
Vic chun ha c trng trong block s c bn chi tit phn sau. Nh
vy vector c trng ca block s gm 9 x 4 = 36 thnh phn.

40

 Bc 7: tnh ton vector c trng cho ton b nh (64x128). Ta ch cn

ghp cc vector c trng ca tng block li vi nhau c vector c
trng ca c window. Lu rng cc block khng t tch bit nhau m gi
ln nhau, cch nhau mt khong bng kch thc ca cell theo mi chiu
(hoc bng phn na kch thc ca cell). Nh vy vector c trng ca
window = s block trong window * 36 = ((64 16)/8 + 1)*((128 16)/8 +
1)*36 = 7*15*36 = 3780 thnh phn.
Bc 8: Sau cng ta chun ha li vector c trng ca c window.

Hnh 26: Cc bc rt trch c trng HOG [4]

41

Chun ha vector c trng cho tng block

4.3

chun ha vector c trng cho c window, ta chun ha c trng cho

tng vector ca tng block. Ta s dng cc phng php sau chun ha vector
c trng ca tng block. [4]
L2-norm:
(4.1)

L1-norm:
(4.2)

L1-sqrt:

(4.3)

Trong :

: vector c trng ban u ca mt block (cha chun ha).

: k-norm ca

vi k = 1, 2

: Hng s nh
Theo Dalal v Triggs, L2-norm v L1-sprt cho cng kt qu. Trong khi

L1-norm cho kt qu km hn. Tuy vy vic chun ha bng mt trong cc phng

php trn vn cho kt qu tt hn i vi nhng vector khng chun ha.
4.4

Integral Image
T bc 5, 6, 7 trong s trn ta nhn thy l ta cn tnh c trng cho

tng cell rt nhiu ln, do vy y c th s dng k thut integral image lm

tng tc tnh ton. [11]

42

Hnh 27 Integral Image [11]

nh Integral l nh c tnh cht sau: gi tr ca pixel ti v tr (x, y) bt k
trong nh Integral bng vi tng s cc pixel thuc hnh ch nht c to bi im
gc tri trn cng ca nh (0,0) v im (x, y) ang xt.

(4.4)

Hnh 28 Cng thc tnh integral image [12]

Trong :
i: nh ban u
ii: nh integral ca i
nh integral ca mt nh cho trc c tnh theo cng thc trn. Nh p
dng integral image vo tnh gi tr ti mi bin ca vector c trng ca tng cell
rt nhanh chng. Gi s ta cn tnh gi tr vector c trng ca cell D (nh trn
hnh) ti thnh phn i, khi ta ch cn ly nh integral image ca nh bin i tnh
trn, ta thu c nh ii. Khi gi tr cn tnh s bng:
(4.5)
Lu rng ta ch cn tnh integral image duy nht 1 ln v dng n tnh
cho ton b cc cell. u im ca cch tnh ny l ta ch cn bit gi tr nh Integral
ca bn gc hnh ch nht l c th d dng tnh c vector c trng ca hnh
ch nht

43

Cng thc quy tnh Integral Image

4.5

tnh nhanh Integral Image ta c th dng cng thc quy sau [11] [12]:
(4.6)
(4.7)
Vi gi tr khi to:

Trong :
i: nh ban u
ii: nh integral ca i
s: gi tr trung gian
Ta c th hiu cng thc quy trn nh sau, tnh ii ta s tnh theo tng
dng v tnh dng tip theo ta s dng kt qu ca dng trc. Nh vy c th
thy phc tp ca vic tnh integral image l O(n)

44

Chng 5.

Support Vector Machines (SVM)

Gii thiu

5.1

Trong mc ny chng ta s bn v Support Vector Machine (SVM). SVM l

mt phng php trong vic phn loi d liu tuyn tnh v khng tuyn tnh. C
nhiu phng php phn loi d liu nh: phn lp da vo cy quyt nh, phn
lp da vo lut, phn lp Bayesian, phn lp theo lan truyn ngc Tuy nhin
trong lnh vc ca ti th SVM l phng php phn lp c chn s dng.
Bi bo u tin v Support Vector Machine c gii thiu vo nm 1992
bi Vladimir Vapnik v hai ng s Bernhard Boser v Isabelle Guyon, mc d nn
mng c bn ca SVM c t nm 1960 (bao gm cc cng vic c thc hin
rt sm bi Vapnik v Alexei Chervonenkis trong l thuyt hc thng k). [13]
Trc khi i vo tm hiu phng php SVM, ta phi bit c cc khi
nim v siu phng phn chia tuyn tnh, support vector
Cc khi nim c bn

5.2

5.2.1

Siu phng phn cch

Cho trc tp d liu D gm (X1, y1), (X2, y2), ..., (X|D|, y|D|).
Trong Xi l mt tp cc b hun luyn tng ng vi nhn lp yi. Mi yi
s nhn mt trong hai gi tr hoc l +1 hoc l -1 (yi {+1, -1}).
Phng php phn lp SVM s tm ra ng phn lp tt nht phn
chia tp d liu ny thnh tng lp tch bit ra vi nhau. Theo [14], phng trnh
tng qut ca mt ng phn chia nh vy c biu din di dng sau:
(5.1)
Trong :
W: Vector trng s, W = {w1, w2,,wn).
n: S thuc tnh (hay cn gi l s chiu ca d liu).

45

 b: Mt i lng v hng, thng c xem nh l mt nghing (bias).

i vi trng hp d liu hai chiu (hai thuc tnh) th phng trnh trn
biu din ca ng thng phn chia. Nu d liu ca chng ta l ba chiu th
ng phn chia gia hai tp s l mt mt phng phn cch. Tng qut cho d liu
n chiu th s c phn cch bi mt siu phng. Chng ta s s dng thut ng
siu phng (hyperplane) ch n ranh gii quyt nh m chng ta mun tm
kim bt chp s lng thuc tnh.

Hnh 29: ng mu vng trn hnh l ng phn chia i vi tp d liu gm hai thuc
tnh [15]

46

Tuy nhin trong thc t ta c th tm c v s nhng siu phng phn chia

trn cng mt tp d liu. V chng ta mun tm ng thng phn chia sao cho tt
nht, c ngha l c sai st phn loi b nht trn b d liu.

Hnh 30: Mt b d liu hai chiu c phn chia tuyn tnh. C v hn ng thng phn
chia tuyn tnh c th . Vy ci no l tt nht? [14]

Do mc tiu ca phng php phn lp SVM l tm mt siu phng phn

cch gia hai lp sao cho khong cch l (margin) gia hai lp t cc i.
Siu phng c bin ln nht (maximum marginal hyperplane) s c
chn nh l siu phng phn chia tp d liu mt cch tt nht. Trong hnh bn
di, ta thy c hai siu phng c th phn chia c v nhng bin ca n.
Trc khi i vo nh ngha ca bin (margin), hy nhn vo hnh trn mt cch
trc quan. C hai siu phng u phn tch tt c nhng b d liu cho trc. Mt
cch trc quan, siu phng vi bin ln hn s chnh xc hn trong vic phn
loi cc b d liu trong tng lai so vi siu phng c bin nh hn. iu ny
l l do ti sao (trong sut giai on hc hay hun luyn), SVM tm nhng siu
phng c bin ln nht, gi l MMH (maximum marginal hyperlane). Siu

47

phng c bin ln nht l siu phng c khong cch t n ti hai mt bn ca

n th bng nhau (mt bn song song vi siu phng). Khong cch tht ra l
khong cch ngn nht t MMH ti b d liu hun luyn gn nht ca mi lp.
Siu phng c bin ln nht ny cho chng ta mt s phn loi tt nht gia cc
lp

Hnh 31: Trong hnh ny chng ta c 2 siu phng phn chia tuyn tnh cng vi bin ca
n. Ci no tt hn? Ci c bin ln hn th s c chnh xc cao hn [14]

Siu phng phn cch c vai tr quan trng trong vic phn lp, n quyt
nh xem mt b d liu s thuc v lp no. thc hin vic phn lp, SVM ch
cn xc nh xem mt b d liu nm v pha no ca siu phng phn cch
(5.2)
D(x) < 0: b d liu s nm pha di siu phng phn cch
D(x) = 0: b d liu s nm trn siu phng phn cch
D(x) > 0: b d liu s nm pha trn siu phng phn cch

48

5.2.2

Support vectors

Ta c phng trnh tng qut ca siu phng

Ta xt trn v d sau:
Vi b d liu hun luyn c hai thuc tnh A1 v A2: X={x1, x2}, vi x1, x2 l
gi tr ca thuc tnh A1, A2. W = {w1, w2}. Phng trnh siu phng c th vit li:

Trong :
w0 tng ng vi hng s b trong phng trnh tng qut ca siu phng
V vy mi im nm trn siu phng phn cch tha mn:

Tng t, nhng im nm di siu phng phn cch phi tha mn:

Bng cch iu chnh trng s w0 ta c:

49

Hnh 32: ng biu din H1 v H2, ng mu l khong cch Euclidean ca hai im 1

v 2. ng mu xanh l khong cch Euclidean nh nht [15]

iu ny c ngha l nu bt k b no nm ti hoc trn H1 u thuc v lp

+1, v bt k b no nm ti hoc di H2 u thuc v lp -1.Kt hp 2 bt ng
thc trn ta c:

Mi b hun luyn nm ti cc mt bin H1 hay H2 tha mn phng trnh

trn c gi l support vectors. Support vectors l nhng b gn vi siu phng
phn chia tuyn tnh (MMH) nht.

50

Trong hnh bn di, support vectors l hnh trn c vin dy hn. Ta thy
rng cc support vectors l nhng b kh phn lp nht v cung cp nhiu thng tin
nht cho vic phn lp.

Hnh 33: Cc support vector trong SVM. Cc support vector l nhng hnh c vin dy hn.
[14]

5.2.3

Bin (Margin)

T cc iu trn chng ta c th a ra mt cng thc cho vic tnh bin

ln nht. Khong cch t siu phng phn chia n mi im ti H1 l

Trong
l khong cch Euclidean chun ca W l
khi

. Vi W = {w1, w2}

. [14]

Theo nh ngha, khong cch t siu phng n H1 bng vi khong cch t

mi im ti H2 n siu phng. V vy, kch thc ca bin cc i l
5.3

Phn lp d liu

51

5.3.1

Trng hp d liu c th phn chia tuyn tnh c

Vic hun luyn SVM vi mc ch l tm ra cc support vectors v

MMH. MMH l ranh gii phn chia tuyn tnh gia cc lp v v th SVM tng
ng c th c s dng phn lp d liu m d liu c th phn chia tuyn
tnh. Chng ta xem SVM c hun luyn l SVM tuyn tnh.
Sau khi hun luyn SVM, chng ta s phn loi cc b mi. Da trn cng
thc Lagrangian ta c [14]:

Trong :
yi l nhn lp ca support vector Xi
XT l mt b test
(nhn t Lagrangian)
b0 l bin s c xc nh bi s ti u ha hay cc thut ton SVM
l l s lng cc support vectors.
MMH c th c xem nh ranh gii quyt nh trong vic quyt nh
xem mt b test bt k s thuc vo lp no. Cho mt b test XT, chng ta gn n
vo phng trnh trn, v sau kim tra du ca kt qu. T ta s bit c b
test s ri vo mt no ca siu phng. Nu du l dng, th XT ri vo pha trn
ca MMH, v SVM on rng XT thuc v lp +1. Nu du l m, th XT nm ti
hoc di MMH v nhn lp c on l -1.
5.3.2

Trng hp d liu khng th phn chia tuyn tnh c

Trong phn trn chng ta cp n trng hp SVM phn lp nhng d

liu c th phn chia tuyn tnh, nhng nu d liu khng th phn chia tuyn tnh

52

th sao? Trong trng hp ny khng c ng thng no c th v c phn

chia cc lp ny. SVM tuyn tnh m chng ta hc th khng em li li gii kh
thi trong trng hp ny.

Hnh 34: Mt trng hp n gin trn khng gian 2 chiu. Khc vi d liu c th phn
chia tuyn tnh c trn hnh 6.20, y ta khng th v mt ng thng phn chia 2 lp.
Do vy ranh gii quyt nh y th khng tuyn tnh. [14]

Tuy nhin hng tip cn ca SVM tuyn tnh c th c m rng to ra

SVM khng tuyn tnh cho vic phn lp cc d liu khng th phn chia tuyn
tnh (hay gi tt l d liu khng tuyn tnh). Nhng SVM nh vy c kh nng tm
nhng ranh gii quyt nh khng tuyn tnh (nhng mt khng tuyn tnh) trong
khng gian u vo.
Lm th no m rng tip cn tuyn tnh?. Chng ta thu c SVM phi
tuyn bng cch m rng SVM tuyn tnh nh sau. C hai bc chnh:
Bc 1: Ta chuyn d liu ngun ln mt khng gian nhiu chiu hn bng
cch s dng nh x phi tuyn. Mt vi nh x phi tuyn thng thng c th
c s dng thc hin bc ny
Bc 2: Tm nhng siu phng trong khng gian mi ny. Cui cng chng
ta li quay li vn ti u bnh phng c gii quyt s dng cng

53

thc SVM tuyn tnh. Siu phng c bin ln nht c tm thy trong
khng gian mi tng ng vi siu b mt phn chia khng tuyn tnh trong
khng gian ban u.
Tuy nhin vn ny nm ngoi phm vi ca ti. Chi tit v vn ny
c cp [13]
5.4

Nhn xt
Ging nh cc phng php my hc khc, phng php SVM hot ng

tt n phi c hun luyn trn mt b d liu ln, bao qut y cc trng

hp.
u im ca phng php ny l c chnh xc cao. Tuy nhin n gp
phi khuyt im l tn thi gian v chi ph cho vic hun luyn.

54

Phn B: ng dng bi ton pht hin i tng trong lp hc

Chng 6.
6.1

Gii thiu bi ton

Gii thiu v h thng pht hin hc sinh trong lp hc

Vi mc tiu t ra ca ti l tm hiu cc k thut pht hin ngi

trong video gim st lp hc th chng ti ra mt phng php gii quyt

chnh nh sau:

Hnh 35: M hnh chung ca h thng pht hin hc sinh trong lp

H thng ca chng ti gm c ba bc chnh:

Bc 1: Hair detection - bng cch s dng c trng v mu tc, phng
php ny s pht hin ra tt c nhng v tr c mu ging vi mu tc. V tr
ny c th l v tr u ngi hoc nhng ch ti, khung ca s c mu
en Mc tiu ca bc trn l c lng ra nhng v tr no m u
ngi c th xut hin.

55

Hnh 36: Kt qu t c sau khi thc hin vic pht hin mu tc

Trong hnh trn ta thy kt qu vic pht hin ra mu tc tng i tt. Pht
hin c hu ht cc mu tc. Tuy nhin cng gp mt s nhiu nh: bng ti ca
bn gh, mu o gn ging mu tc kh nhng nhiu chng ti p dng
bc tip theo.
Bc 2: Sau khi c c kt qu ca vic pht hin mu tc th ta s dng
bc hai kim tra li kt qu ca bc u tin. Mc tiu ca bc ny
nhm loi b cc nhiu trong bc u tin. Ti bc hai ta p dng hai
phng php:
o Phng php 1: s dng b phn lp SVM v c trng HOG ca nh
phn pha trn u ngi

56

Hnh 37: Kt qu sau khi pht hin u ngi bng SVM v HOG

o Phng php 2: pht hin u ngi bng phng php omega shape
Bc 3: bc ny nhm mc tiu so snh hai phng php bc hai.
Mt s gi thit t ra trong ti

6.2

Do camera khng th thu hnh ht trn vn ton b lp hc. Do h thng

s ch pht hin hc sinh trong mt dy bn c quan st r rng (bn phi
hoc bn tri). Nhng vng nm ngoi phm vi s b qua trong qu trnh x
l

57

Hnh 38: Mt hnh minh ha trong video 2.avi

Hnh trn ta thy rng video ch thu hnh c dy bn bn phi. Do h

thng ch pht hin nhng ngi dy bn ny. i vi nhng ngi thuc dy bn
bn tri s c b qua. thc hin c iu ny ta da vo mt hnh mask nh
hnh bn di. Vng trng trong hnh l vng s khng x l

Hnh 39: Khu vc gii hn x l ca h thng. Vng trng l vng khng x l

Mu tc ca cc i tng bn trong video phi l mu en

58

 i vi cc i tng khng th nhn r c s b qua

Hnh 40: Mt i tng khng nhn r trong video 3.avi

6.3

M t d liu video lp hc
6.3.1

Mc ch s dng

Tp d liu c s dng trong ti ca nhm l video v lp hc. B d

liu trn c s dng cho hai mc ch chnh:
Mt s video c ly lm d liu hun luyn cho m hnh SVM
Cc video cn li c s dng test kt qu cho vic detect u ngi
trong lp hc
6.3.2

Chi tit v b d liu

B d liu ca nhm hin gi gm 11 video. Sau y l phn m t chi tit

v mi video

59

6.3.2.1

Thng s video
Tng s

Kch thc

Dung lng

Frame Rate

frame

mt frame

(MB)

(fps)

00:14:59

26998

640x480

66.5

30

2.avi

00:10:59

19772

640x480

368

30

3.avi

00:11:00

19803

640x480

351

30

4.avi

00:11:00

19800

640x480

359

30

5.avi

00:10:57

19730

640x480

299

30

6.avi

00:04:58

8956

640x480

22.5

30

7.avi

00:10:59

19775

640x480

336

30

8.avi

00:10:59

19771

640x480

373

30

9.avi

00:10:59

19778

640x480

299

30

10.avi

00:10:58

19776

640x480

326

30

11.avi

00:10:59

19776

640x480

268

30

Tn video

Thi gian

1.avi

Bng 7: Bng thng k tp video d liu

6.3.2.2

c trng d liu

c im chung ca cc video trn l cht tng hnh nh khng c tt

lm
Do phng php ca nhm ph thuc rt nhiu vo bc pht hin ra mu
tc ca ngi. Do nhm gp phi mt s kh khn gy nhiu lm nh hng n
kt qu pht hin mu tc nh sau:

60

Hnh 41: Mt s kh khn trong video 2.avi

Khung mu trong hnh 1 cho ta mt v d v trng hp hai sinh vin c

u chm vo nhau. Do nu da vo mu tc th khng th pht hin
c l c hai u khc nhau
Khung mu xanh trong hnh 1 minh ha cho vic mu tc ca mt sinh vin
ging vi mu ca. Do khng th pht hin c v tr u ca sinh vin
trong trng hp ny

61

Hnh 42: Kh khn gp phi trong video 3.avi

i vi cc i tng pha xa so vi camera v c tc tng i ngn

(khung mu xanh trong hnh 2) th vic pht hin ra mu tc cng gp rt
nhiu kh khn.
Trng hp c bit nh trong video 3.avi th ta bt gp hin tng l c o
khoc c mc vo gh nh trong khung trong hnh 2. Do khng pht
hin c chnh xc v tr u u

62

Hnh 43: Kh khn trong video 1.avi

Kh khn thng xuyn gp phi trong cc video l nhng bng ti ca bn

do vy lm cho vic pht hin mu tc s khng c chnh xc

63

Chng 7.
7.1

Pht hin mu tc trong video lp hc

Gii thiu bi ton

Bi ton pht hin mu tc ca ngi trong video l bi ton ng vai tr

quan trng trong h thng gim st lp hc. y l bc tin x l u tin ca h

thng pht hin phn u ca ngi. Bng cch da vo thng tin mu tc t
c th tm ra nhng v tr tim nng m ti c th l phn u ca hc sinh.
Phng php c p dng ti bc ny l s dng m hnh Gauss. chnh xc
ca h thng ph thuc rt nhiu vo bc pht hin mu tc ngi. Mu sc ta cn
quan tm y l mu tc ca hc sinh.
7.2

Phng php
c th pht hin c chnh xc mu tc ca ngi th chng ti chn

hng tip cn l s dng phng php lc mu bng m hnh Single Gauss.

Bc u tin cn thc hin khi p dng phng php ny l giai on xy
dng m hnh mu cho Single Gauss. M hnh ny c xy dng bng vic hun
luyn trn mt tp d liu mu tc ca ngi. Tp d liu ny c to ra bng
cch trch ra t mu tc ca ngi trong video. Sau y l hnh nh minh ha mu
tc ca ngi dng cho vic hun luyn m hnh Gauss:

Hnh 44: B d liu mu tc ca ngi

Tp d liu hun luyn gm 20 nh. Mi nh c kch thc 100x100 pixels.

gim bt s nh hng ca nh sng th chng ti chn tnh ton trn
knh mu HSV.

64

Hnh 45: Knh mu HSV [16]

Trong knh mu HSV, th i vi knh H s nh hng ca mu en l rt

thp. V vy vic tnh ton Means v Covariance s da vo hai knh mu S v V
trong h mu HSV.
Da trn tp d liu ny ta s tnh c hai tham s Means v Covariance
ca m hnh Gauss theo cng thc sau:

(7.1)

(7.2)

Trong :
cj l mt vector gm hai thnh phn S v V trong knh mu HSV ti pixel
th j.
Sau khi xy dng c m hnh mu cho Gauss. Bc tip theo ta s s
dng m hnh ny trong vic phn lp. Vic phn lp c thc hin nh sau:
Tnh xc sut mu c ca pixel da vo hm Gauss. Xc xut ny c tnh
theo cng thc (1) hoc (2) trong chng 2 vi means v covariance c bc
hun luyn. V cng vi mt ngng chn trc s gip ta phn lp xem mu
c c phi l mu ta ang mun tm hay khng.

65

Hnh 46: Kt qu cho vic phn lp mu tc s dng m hnh Gauss trn video 4.avi

T kt qu trn ta s tm cc hnh ch nht bao quanh khu vc mu tc nh

hnh bn di.

Hnh 47: Kt qu trong vic tm cc vng hnh ch nht bao cc mu tc

7.3

Nhn xt
Kt qu thu c trong vic pht hin mu tc l tng i tt. Tt c mu

tc u c pht hin. Tuy nhin trong mt vi trng hp sau th vic pht hin
mu tc s khng chnh xc:

66

i vi mt s mu gn ging vi tc ngi u b pht hin nhm nh:

mu en ca nhng bng ti, mu o en, mu en ca khung ca

Ngoi ra h thng cng s khng pht hin c nhng hc sinh c tc

vng, tc nhum hoc thm ch l khng c tc, tc qu ngn

67

Chng 8.

p dng c trng HOG cng vi SVM trong vic pht

hin hc sinh trong lp hc

Gii thiu bi ton

8.1

Chng ny s m t cch ng dng b phn lp SVM cng vi c trng

HOG trong vic pht hin phn pha trn (upper body part) ca hc sinh trong vdeo
gim st lp hc. u vo trong bc ny l nhng khu vc c mu tc c pht
hin ra chng 7. Kt qu ca bc pht hin mu tc c trnh by trong hnh
bn di.

Hnh 48: Kt qu trong vic pht hin mu tc chng 7

Vi gi nh ca bi ton l ch x l i vi dy bn bn tri. Trong hnh

trn ta nhn thy rng ngoi vic pht hin chnh xc mu tc ngi th cn c mt
s nhiu nh khu vc ti ca bn gh, mu o ca hc sinh gn ging mu tc
Vi nhn xt rng din tch ca phn u ngi l tng i ln. V vy
gim bt nhiu bc trn chng ti da vo din tch ca hnh ch nht bao
quanh vng u xc nh. y ta cho rng din tch phn u nh nht l 100

68

v ln nht l 10000. i vi nhng vng c din tch qu nh hoc qu ln th ta

c th b qua. Sau khi loi b i nhng vng c din tch nm ngoi khong trn.
Kt qu thu c nh sau:

Hnh 49: Kt qu thu c khi loi i nhng vng c din tch qu nh hoc qu ln

Ta thy rng tuy loi b c phn ln nhng nhiu. Tuy nhin vn cn

c mt s nhiu khng loi tr c. Do vy mc tiu ca phng php s dng b
phn lp SVM cng vi c trng HOG s nhm loi b i cc nhiu trn.
Cc bc chnh trong vic pht hin phn thn trn ca ngi bng phng
php SVM v HOG s c thc hin nh sau:
T tp hun luyn cha cc nh positive v negative ca phn thn trn
ngi. Ta rt trch ra c trng HOG v t hun luyn cho b phn
lp SVM
T cc v tr c mu ging mu tc, ta rt trch ra c trng HOG v sau
s dng b phn lp SVM xc nh xem ti c phi l phn thn
trn ca ngi hay khng

69

Hnh 50: Qu trnh pht hin i tng bng SVM v c trng HOG [4]

8.2

Hun luyn cho b phn lp SVM

SVM c th thc hin vic phn lp, bc u ta phi hun luyn SVM.

D liu cho vic hun luyn ny gm c hai b:

B d liu positive: y l b d liu cha cc hnh nh v phn thn trn
ca ngi. Mi nh phi bao gm phn u ca ngi v hai vai. B d liu
trn gm c tng cng 352 nh. Mi nh c kch thc 48x48 pixels. Sau
y l mt s nh trong b d liu trn

Hnh 51: Mt s hnh nh trong b positive

B d liu negative: cha cc hnh nh bt k, nhng hnh nh ny khng

phi l phn trn ca ngi. B d liu trn c 425 nh vi kch thc bt k

70

Hnh 52: Mt hnh bt k trong tp negative

i vi mi b d liu ta s tin hnh vic rt trch c trng HOG nh

cp chng 4. Tham s c s dng trong vic rt trch c trng HOG l:
Tng s bin: 9
Kch thc mt : 4x4 pixels
Kch thc ca mt khi: 2x2 cells
chng lp ca cc khi: 0.5
Tc thc thi trong vic rt trch c trng HOG l kh chm do tn nhiu
chi ph tnh ton.
Sau khi rt trch c trng cho b d liu positve v negative ta s tin
hnh hun luyn cho b phn lp SVM. i vi c trng HOG c rt trch ra t
b positive ta s gn nhn lp l 1 v nhn lp l 2 cho b negative. y ta s
dng b phn lp SVM loi Linear.

71

8.3

Tin hnh phn lp

Sau khi tri qua bc hun luyn cho b phn lp SVM, ta s s dng m

hnh tin hnh phn lp. Qu trnh thc hin phn lp c tin hnh nh
sau:
Ti mi hnh ch nht bao vng mu tc, ta s m rng hnh ch nht sau
cho n bao ton b khu vc phn thn trn ca ngi:

Hnh 53: M rng hnh ch nht bao vng mu tc

Trong hnh trn, hnh ch nht c mu trng l hnh bao vng mu tc. T
hnh ch nht ny ta tin hnh m rng ra sao cho n bao ton b vng thn pha
trn ca ngi. Kt qu thu c hnh ch nht mu nh hnh bn trn.
Sau khi m rng vng mu tc, ta s tin hnh rt trch c trng HOG
trong vng ny. Vic rt trch c trng c thc hin nh sau:
iu chnh kch thc ca vng hnh ch nht v kch thc
48x48 pixels
Rt trch c trng HOG trong vng 48x48 pixels
Sau ta a c trng HOG ny vo b phn lp SVM thc hin vic
phn loi. Nu SVM phn loi ra nhn lp l 1 ta s kt lun rng v tr l phn
trn ca u ngi. m bo s chnh xc trong qu trnh phn loi th ti mi

72

mt v tr mu tc, ta s tin hnh vic pht hin phn thn trn ca ngi ti v tr
v nhng v tr xung quanh.

Hnh 54: Pht hin phn thn trn ca ngi ti v tr mu tc v nhng v tr xung quanh

Trong hnh trn, vng hnh ch nht mu l vng uc SVM phn loi l
phn thn trn ca ngi, hnh ch nht mu xanh th khng phi l phn thn trn
ca ngi. Bc k tip ta s tin hnh kt hp nhng hnh ch nht mu li vi
nhau thnh kt qu cui cng. Vic kt hp c thc hin nu chng c phn din
tch chung chim hn 70%

73

Hnh 55: Kt hp cc hnh ch nht li vi nhau. Hnh ch nht mu xanh l kt qu ca

vic kt hp cc hnh ch nht

Kt qu cui cng ta s thu c nh hnh bn di. Kt qu ca vic pht

hin phn thn trn ca ngi c hin th trong hnh ch nht mu . Cc nhiu
c loi b hon ton.

Hnh 56: Kt qu cui cng ca vic pht hin phn trn ca ngi

8.4

Kt qu thc nghim
Kt qu thc nghim: Cu hnh my Pentium Dual Core, 2.5 GHz, 2GB

RAM

74

Tn video

Kch thc frame

Tng s frame

Tc x l (fps)

1.avi

640x480

26998

0.55

2.avi

640x480

19772

1.85

3.avi

640x480

19803

0.53

4.avi

640x480

19800

0.67

5.avi

640x480

19730

0.90

6.avi

640x480

8956

0.55

7.avi

640x480

19775

1.32

8.avi

640x480

19771

0.55

9.avi

640x480

19778

8.5

10.avi

640x480

19776

0.62

11.avi

640x480

19776

0.85

Bng 8: Kt qu ca vic pht hin i tng bng phng php phn lp SVM i vi b
d liu

75

Hnh 57: Kt qu khi chy vi video 3.avi

8.5

Nhn xt
Phng php pht hin phn trn ca ngi bng cch p dng b phn lp

SVM cng vi c trng HOG c chnh xc cao. Tuy nhin tc x l khng

t thi gian thc do chi ph trong vic tnh ton HOG l tng i ln. cho m
hnh SVM c chnh xc v hiu qu th ph thuc rt nhiu vo tp d liu hun
luyn. Tp d liu ny phi thu thp ln v khch quan. Mt iu quan trng na
l kt qu ca phng php ny ph thuc rt ln vo bc pht hin mu tc
ngi. Do trong cc trng hp m khu vc u ca hc sinh che lp vi nhng
vt dng c mu ging mu tc hoc l hai hay nhiu phn u ca hc sinh chm
li vi nhau (nh cc hnh bn di) th vic pht hin mu tc s khng cn chnh
xc

76

Hnh 58: Trng hp pht hin mu tc khng chnh xc do mu en ca tc trng vi mu

en ca laptop v mu o

Hnh 59: Trng hp mu tc dnh vi mu o

Hnh 60: Trng hp hai u chm li vi nhau

77

Chng 9.

p dng Snake trong vic pht hin hc sinh trong lp

hc
Gii thiu

9.1

Phng php ny c p dng kim tra li tnh chnh xc ca kt qu rt

trch c sau khi p dng b phn lp SVM. Bng cch so khp cc ca s kt qu
vi cc dng mu c sn, phng php ny s gip loi b cc nhiu m b phn
lp nhm

Hnh 61. Cc trng hp c th xy ra nhm ln sau khi p dng b phn lp SVM

u vo ca bc ny l kt qu ca bc lc mu tc v kt qu sau khi p
dng b phn lp SVM a ra.
9.2

Xy dng d liu
Mc d c s tng ng v hnh dng bao ngoi ca phn trn c th

ngi, nhng i vi tng i tng ring l th s khc nhau l rt a dng: kch

thc, gc nghing, ... V vy, m bo cc dng mu c th bao qut c
nhiu nht cc trng hp, d liu cng cn c mt lng ln cc dng mu cho
trc.
Trong cc nghin cu, dng mu thng dng nht l ng vin th hin
vng u-vai ca ngi, c gi l omega shape.

78

Hnh 62. Mt s dng mu omega c dng so khp

Tuy nhin, do trong video gim st lp hc, s trng lp gia cc i tng

ngi kh nhiu, dn n s che lp phn ln phn trn c th, nht l phn vai, hn
na nhiu khi tin hnh pht hin ng bin l rt ln, chnh xc khi tnh
ton khp gia dng mu omega trn nh l khng cao.

Hnh 63. Kt qu sau khi s dng dng mu omega kim tra cc vng u vai ngi trong
nh, do nhiu khin kt qu khng tt

Do , chng ti ngh s dng dng mu na vng cung, i din cho na

phn trn ca tc ngi. iu ny loi b c vn v s che lp ca ngi, tuy
nhin do dng mu n gin hn dng mu omega, nn khi s dng dng mu ny
vn xy ra trng hp so khp vi hnh dng m khng phi l na phn trn ca
tc ngi. D liu c xy dng sn nh sau:

Hnh 64. Cc dng mu na vng cung c dng so khp

ng vi mi dng mu cho trc, mt khng gian dng mu c khi to

da trn cc php bin i affine t dng mu gc (xem 3.3), v tin hnh so

79

khp vi nh sau khi c lc mu tc ng vi v tr ca s c xc nhn l c

phn u ca ngi trong video. Hn na, tng tnh chnh xc khi s dng dng
mu, chng ti tn dng thng tin v khng gian trong lp hc, l nhng
ngi gn camera hn s c so khp vi dng mu ln hn, nhng ngi xa
v cui lp s c so khp vi dng mu nh hn.

Hnh 65. Kt qu khi so khp cc dng mu na vng cung vi cc phn u ca ngi

c pht hin

9.3

Nhn xt
Phng php ny kh n gin, tuy nhin chi ph tnh ton i vi mi

khng gian dng mu ng vi mi dng mu c sn trn tng ca s kt qu l kh

ln, v cha p ng c vi yu cu thi gian thc i vi vic gim st lp hc.
Hn na, hiu qu ca phng php ny ph thuc hon ton vo bc lc mu tc
trong video, cc dng mu tc c th khng c hnh dng c nh v khp vi
nhng dng mu sn c s b b st trong qu trnh so khp ny.

80

Chng 10. Kt lun v hng pht trin

10.1

Kt lun

Kha lun ny, vi mc tiu chnh l tm hiu cc k thut pht hin ngi
trong video gim st lp hc. Kha lun t c cc kt qu nh sau:
Tm hiu v nh gi cc phng php tr nn khc nhau.
Tm hiu v p dng cc thut ton pht hin mu.
Tm hiu v p dng cc thut ton pht hin mu.
Tm hiu v p dng snake trong vic pht hin phn trn ca ngi
Tm hiu v p dng phng php my hc SVM cng vi c trng
HOG trong vic pht hin phn trn ca ngi
Tuy nhin kha lun cn tn ti cc hn ch:
Tc x l khng t thi gian thc.
H thng cha pht hin c phn trn ca ngi trong cc trng
hp nh: hai phn u ca ngi chm li, phn u ca ngi dnh
vi nhng khu vc c mu ging mu tc.
10.2

Hng pht trin

Hng pht trin ca kha lun c th l khc phc cc hn ch va nu

trn, c th l:
Ti u x l t thi gian thc.
p dng cc thut ton theo vt i tng c th cho kt qu tt
hn.
Pht hin cc hnh vi trong lp hc nh: pht biu trong lp, ng gt
trong lp

81

Ti Liu Tham Kho

[1]

Alper Yilmaz, Omar Javed, and Mubarak Shah, "Object Tracking: A Survey,"
pp. 7-15.

[2]

Anurag Mittal and Mikos Paragios, "Motion Based Background Subtraction

using Adaptive Kernel Density Estimation," pp. 302-309, 2004.

[3]

C.Stauffer and W.Grimson, "Adaptive Background mixture models for Realtime tracking," pp. 750-755, 1999.

[4]

Wei Jiang, "Human Feature Extraction in VS image Using HOG Algorithm".

[5]

Massimo Piccardi, "Background subtraction techniques: a review".

[6]

Gary Bradski and Adrian Kaehler, "Learning Open CV," pp. 271-275.

[7]

L Phong, "Theo vt nhiu i tng bng phng php PHD Filter," pp. 7679, 2008.

[8]

Kyungnam Kim, Thanarat H. Chalidabhongso, David Darwood, and Larry

Davis, "Background Modeling And Subtraction By Codebook Construction".

[9]

Vladimir Vezhnevets, Vassili Sazonov, and Alla Andreeva, "A Survey on

Pixel-Based Skin Color Detection Techniques," p. 4.

[10]

Gregory D. Hager Christopher Rasmussen, "Probabilistic data association

method for tracking multiple and compound visual objects," pp. 7-9, August
2000.

[11]

Michael Isard Andrew Blake, Active Contours.

[12]

Navneet Dalal and Bill Triggs, "Histograms of Oriented Gradients for Human

82

Detection," p. 6.
[13]

Paul Viola and Michael Jones, "Rapid Object Detection using a Boosted
Cascade of Simple Features," pp. 2-3, 2001.

[14]

Paul Viola and Michael Jones, "Robust Real-time Object Detection," pp. 4-6.

[15]

V S Bc, Huy Hong, Nguyn Xun Tng Huy, and Nguyn Hong V,
"Bo co ti phn lp v d on," pp. 80-91.

[16]

Jiawei Han and Micheline Kamber, "Data Mining Concepts and Techniques,"
pp. 337-344.

[17]

Colin Campbell, "Introduction to Support Vector Machines".

[18]

[Online]. http://en.wikipedia.org/wiki/HSL_and_HSV

83