Remote tracking of objects

• US 10,212,396 B2
• Filed: 01/14/2014
• Issued: 02/19/2019
• Est. Priority Date: 01/15/2013
• Status: Active Grant

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Sabato, Moshe
• Primary Examiner(s): Vo, Tung T
• Application Number:
  US14/760,986
• Publication Number:
  US 20150341602A1
• Time in Patent Office: 1,862 Days
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/20104 Interactive definition of region of interest [ROI]
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: H04N 23/62 Control of parameters via user interfaces
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

The presently disclosed subject matter includes tracking method and system wherein a succession images is generated at a sensing unit; one or more moving object in the succession of images is identified; an object tag is assigned to at least one of the moving objects to yield in a respective tagged object; responsive to a command received from a control unit indicative of a selected object, identifying a location of the selected object in a latest available captured image, wherein: if the selected object is a moving object, the selected object is identified in the latest available captured image based on a respective object tag; and if the selected object is a stationary object, the selected object is identified using an image or piece thereof comprising the at least one selected object.

Claims

1. A tracking system comprising:

a sensing unit comprising an image sensor, and a control unit;

wherein the sensing unit is configured to;

communicate over a communication link with the control unit;

capture, with the help of the image sensor, two or more images of a scene;

generate a succession of images;

identify one or more moving objects in said succession of images;

assign an object-tag to at least one of said moving objects to yield a respective tagged object;

send, to the control unit, data including at least;

an image of the succession of images; and

the tagged object;

trace the tagged object, from an earlier image in said succession of images to a later image in said succession of images, thereby maintaining a given object-tag continuously associated with a respective moving object along said succession of images;

wherein the control unit is configured to;

receive input indicative of a selection of at least one object in an image received from the sensing unit; and

responsive to the selection of the object in said image, determine whether the at least one selected object is a moving object or a stationary object;

in the case the at least one selected object is a moving object;

identify an object-tag assigned to the at least one selected object; and

generate a first type of command comprising said object-tag;

in the case the at least one selected object is a stationary object;

generate a second type of command comprising data about said image or part thereof that comprises the at least one selected object; and

send said command to the sensing unit, wherein said command further comprises an indication whether the at least one selected object is a moving object or a stationary object;

wherein the sensing unit is further configured to;

responsive to said command received from said control unit indicative of at least one selected object, identify a location of the at least one selected object in a latest available captured image, the identification comprising;

determining whether the at least one selected object is a moving object or a stationary object based on said indication of said received command;

in the case the at least one selected object is a moving object;

using the object-tag, obtained from the received first type of command, corresponding to the at least one selected object, for identifying the at least one selected object in the latest available captured image without first identifying the selected object in another previously captured image responsive to the command; and

in the case the at least one selected object is a stationary object;

using the image or piece thereof, obtained from the received second type of command, comprising the at least one selected object, for identifying the at least one selected object in the latest available captured image.

2. The tracking system according to claim 1,

wherein said object-tag is associated with a respective moving object to yield said respective tagged object based on information indicative of a location of said moving object in said succession of images.

3. The tracking system according to claim 1, wherein said sensing unit is configured to continuously send a flow of images from said succession of images to said control unit.

4. The tracking system according to claim 1, wherein said sensing unit is further configured to:

in the case the at least one selected object is a stationary object, match said image or piece thereof to said latest available captured image; and

identify the at least one selected object in said image or piece thereof.

5. The tracking system according to claim 1, wherein said sensing unit is configured to identify said one or more moving objects with the help of a Video Motion Detection algorithm.

6. The tracking system according to claim 1, further comprising an object locating module configured to:

in case said selected object is not located in a field of view of said image sensor, estimate a real-time location of the selected object; and

generate direction commands to said image sensor, such that said selected object is located in a real-time image of the scene generated by the image sensor.

7. The tracking system according to claim 1, wherein said command is a tracking command for instructing said sensing unit to track the selected object.

8. The tracking system according to claim 1, wherein said control unit is further configured to:

receive a captured image from said sensing unit; and

display said image on a display operatively connected to the control unit; and

wherein said selection is made by an operator interacting with the control unit.

9. The tracking system according to claim 1, further configured to execute said command with respect to the selected object notwithstanding a time-delay between a time when the sensing unit captures the image with the selected object, to a time when a corresponding command is received at the sensing unit with respect to the selected object.

10. The tracking system according to claim 1, being further configured to:

store information with respect to said one or more objects and respective object-tags in a data-repository associated with the sensing unit;

determine that a given tagged object is no longer moving;

maintain in the data repository information with respect to the given tagged object and a respective object-tag for a time period which is equal or greater than a communication time-delay between the sensing unit and the control unit; and

discard the information once the time period lapses.

23. The tracking system according to claim 1, wherein said step of tracing further comprises, in case a position of the tagged object is changed from a first position in the earlier image to a second updated position in the later image, updating a stored position of the tagged object from the first position to the second updated position, and the step of identifying a selected moving object further comprises using the received object-tag to identify the selected object based on the updated position.

11. A method of tracking objects, the method comprising:

in a sensing unit comprising an image sensor, perform at least the following with the help of at least one computer processor;

capturing two or more images of a scene;

generating a succession of images;

identifying one or more moving objects in said succession of images;

assigning an object-tag to at least one of said moving objects to yield a respective tagged object;

sending, to a control unit communicating with said sensing unit, data including at least;

an image of the succession of images; and

the tagged object;

tracing the tagged object, from an earlier image in said succession of images to a later image in said succession of images, thereby maintaining a given object-tag continuously associated with a respective moving object along said succession of images;

in the control unit;

receiving input indicative of a selection of at least one in an image received from the sensing unit;

responsive to the selection of the object in said image, determining whether the at least one selected object is a moving object or a stationary object;

in the case the at least one selected object is a moving object;

identifying an object-tag assigned to the at least one selected object; and

generating a first type of command comprising said object-tag;

in the case the at least one selected object is a stationary object;

generating a second type of command comprising data about said image or part thereof that comprises the at least one selected object; and

sending said command to the sensing unit, wherein said command further comprises an indication whether the at least one selected object is a moving object or a stationary object;

in the sensing unit;

identifying, responsive to said command received from said control unit indicative of at least one selected object, a location of the at least one selected object in a latest available captured image, the identification comprising;

determining whether the at least one selected object is a moving object or a stationary object based on said indication of said received command;

in the case the at least one selected object is a moving object, using the object-tag, obtained from the received first type of command, corresponding to the at least one selected object, for identifying the at least one selected object in the latest available captured image without first identifying the selected object in another previously captured image responsive to the command; and

in the case the at least one selected object is a stationary object, using the image or piece thereof, obtained from the received second type of command, comprising the at least one selected object, for identifying the at least one selected object in the latest available captured image.

12. The method according to claim 11,

wherein said object-tag is associated with a respective moving object to yield said respective tagged object, based on information indicative of a location of said moving object in said succession of images.

13. The method according to claim 11, further comprising continuously sending a flow of images from said succession of images to said control unit.

14. The method according to claim 11, further comprising:

in case the at least one selected object is a stationary object, matching said image or piece thereof to said latest available captured image; and

identifying the at least one selected object in said image or piece thereof, in order to identify the at least one selected object in the latest available captured image.

15. The method according to claim 11, further comprising selecting at least one moving object from among said one or more moving objects, based on a predetermined criterion.

16. The method according to claim 11, further comprising:

in case said selected object is not located in a field of view of said image sensor, estimating a real-time location of the selected object; and

generating direction commands to said image sensor, such that said selected object is located in a real-time image of the scene generated by the image sensor.

17. The method according to claim 11, further comprising storing information with respect to said one or more objects and respective object-tags in a data-repository operatively connected to the sensing unit.

18. The method according to claim 11, further comprising:

in said control unit;

receiving a captured image from said sensing unit;

displaying said image on a display operatively connected to the control unit; and

wherein said selection is made by an operator interacting with the control unit.

19. The method according to claim 11, further comprising:

executing said command with respect to the selected object notwithstanding a time-delay between a time when the sensing unit acquires the image with the selected object, to a time when a corresponding command is received at the sensing unit with respect to the selected object.

20. The method according to claim 17, further comprising:

determining that a given tagged object is no longer moving;

maintaining in the data repository information with respect to the given tagged object and a respective object-tag for a time period which is equal or greater than a communication time-delay between the sensing unit and the control unit; and

discarding the information once the time period lapses.

24. The method according to claim 11, wherein said step of tracing further comprises, in case a position of the tagged object is changed from a first position in the earlier image to a second updated position in the later image, updating a stored position of the tagged object from the first position to the second updated position, and the step of identifying a selected moving object further comprises using the received object-tag to identify the selected object based on the updated position.

21. A non-transitory computer storage device readable by machine, tangibly embodying a program of instructions executable by the machine to perform a method of tracking objects, the method comprising:

generating a succession of images;

identifying one or more moving objects in said succession of images;

assigning an object-tag to at least one of said moving objects to yield a respective tagged object;

sending, to a control unit, data including at least;

an image of the succession of images; and

the tagged object;

tracing the tagged object, from an earlier image in said succession of images to a later image in said succession of images, thereby maintaining a given object-tag continuously associated with a respective moving object along said succession of images;

receiving a command from the control unit;

wherein the command is generated at the control unit upon receipt of input indicative of a selection of at least one object in an image received from the sensing unit;

wherein in the case the at least one selected object is a moving object, an object-tag assigned to the at least one selected object is incorporated in the generated first type of command;

in the case the at least one selected object is a stationary object, data about said image or part thereof that comprises the at least one selected object is incorporated in the generated second type of command; and

wherein said command further comprises an indication whether the at least one selected object is a moving object or a stationary object;

identifying, responsive to said command, a location of the at least one selected object in a latest available captured image, the identification comprising;

determining whether the at least one selected object is a moving object or a stationary object based on said indication of said received command;

in the case the at least one selected object is a moving object;

using the object-tag, obtained from the received first type of command, corresponding to the at least one selected object, for identifying the at least one selected object in the latest available captured image without first identifying the selected object in another previously captured image responsive to the command; and

in the case the at least one selected object is a stationary object;

using the image or piece thereof, obtained from the received second type of command, comprising the at least one selected object, for identifying the at least one selected object in the latest available captured image.

22. A tracking system, comprising:

a sensing unit comprising an image sensor;

the sensing unit configured to;

communicate over a communication link with a control unit;

capture, with the help of the image sensor, two or more images of a scene and generate a succession of images;

identify one or more moving objects in said succession of images;

assign an object-tag to at least one of said moving objects to yield a respective tagged object;

send, to the control unit, data including at least;

an image of the succession of images; and

the tagged object;

trace the tagged object, from an earlier image in said succession of images to a later image in said succession of images, thereby maintaining a given object-tag continuously associated with a respective moving object along said succession of images;

receive a command from the control unit;

wherein the command is generated at the control unit upon receipt of input indicative of a selection of at least one object in an image received from the sensing unit;

wherein in the case the at least one selected object is a moving object, an object-tag assigned to the at least one selected object is incorporated in the generated first type of command;

in the case the at least one selected object is a stationary object, data about said image or part thereof that comprises the at least one selected object is incorporated in the generated second type of command; and

wherein said command further comprises an indication whether the at least one selected object is a moving object or a stationary object;

responsive to said command received from said control unit indicative of at least one selected object, identify a location of the at least one selected object in a latest available captured image, the identification comprising;

determining whether the at least one selected object is a moving object or a stationary object based on said indication of said received command;

in the case the at least one selected object is a moving object;

using the object-tag, obtained from the received first type of command, corresponding to the at least one selected object, for identifying the at least one selected object in the latest available captured image without first identifying the selected object in another previously captured image responsive to the command; and

in the case the at least one selected object is a stationary object;

using the image or piece thereof, obtained from the received second type command, comprising the at least one selected object, for identifying the at least one selected object in the latest available captured image.