Visual tracking of an object

• US 10,275,893 B2
• Filed: 12/22/2017
• Issued: 04/30/2019
• Est. Priority Date: 04/26/2013
• Status: Active Grant

• Current Assignee: Centre National De La Recherche Scientifique, Sorbonne Universite
• Original Assignee: Centre National De La Recherche Scientifique, Sorbonne Universite
• Inventors: Regnier, Stephane, Benosman, Ryad, Pacoret, Cecile, Siohoi, Ieng, Zhenjiang, Ni
• Primary Examiner(s): Bali, Vikkram
• Application Number:
  US15/852,204
• Publication Number:
  US 20180122085A1
• Time in Patent Office: 494 Days
• Field of Search: None
• CPC Class Codes: G06F 18/23 Clustering techniques
• CPC Class Codes: G06T 2200/28 involving image processing hardware
• CPC Class Codes: G06T 2207/30108 Industrial image inspection
• 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 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/277 involving stochastic approaches, e.g. using Kalman filters
• CPC Class Codes: G06T 7/77 using statistical methods

Abstract

Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterised in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.

Claims

1. A visual tracking system, comprising:

an asynchronous sensor; and

a device configured to visually tracking of at least one object represented by a cluster of points associated with information, said device comprising;

means of receiving, from the asynchronous sensor, data representing a set of space-time events,

means of determining a probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the set received by the reception means,

means of determining whether or not an event belongs to the cluster of points as a function of the probability determined for the event considered, for each event in the set received by the reception means,

means of updating information associated with the cluster of points for the at least one object, for each event for which it has been determined that it belongs to the cluster of points, a position of the at least one object being updated as a function of the position at a previous time of the at least one object and the event determined at the previous step as belonging to the cluster of points representing the at least one object, and

means of calculating a position, size, and orientation of the at least one object depending on the updated information.

2. The visual tracking system according to claim 1, wherein whether or not an event belongs to the cluster of points is determined by comparing the determined probability for the considered event with a predetermined threshold.

3. The visual tracking system according to claim 1, wherein the position, size, and orientation of the at least one object is calculated by modelling the object by an ellipse and calculating the half axes and orientation of the ellipse.

4. The visual tracking system according to claim 1, wherein the device further comprises means of determining the speed of the at least one object.

5. The visual tracking system according to claim 1, further comprising a display configured to display data representing the position, size, and orientation of the at least one object calculated as a function of the updated information.

6. The visual tracking system according to claim 1, wherein the device is configured to visually track the at least one object in three dimensions.

7. The visual tracking system according to claim 6, wherein the device further comprises means of determining whether the at least one object is moving away from or toward the asynchronous sensor.

8. The visual tracking system according to claim 7, wherein

the determined probability is based on a probability distribution, and

whether the at least one object is moving away from or toward the asynchronous sensor is determined by calibrating a relationship between a change of size of the probability distribution to the size of the object.

9. The visual tracking system according to claim 7, wherein

the determined probability is based on a probability distribution, and

whether the at least one object is moving away from or toward the asynchronous sensor is determined based on parameters of the probability distribution.