Linking zones for object tracking and camera handoff

• US 20040252194A1
• Filed: 08/08/2003
• Published: 12/16/2004
• Est. Priority Date: 06/16/2003
• Status: Active Grant

• Current Assignee: Columbia Peak Ventures, LLC (Dominion Harbor Enterprises, LLC)
• Original Assignee: ActivEye, Inc. (Honeywell International Inc.)
• Inventors: Lin, Yung-Ting
• Granted Patent: US 7,242,423 B2
• Time in Patent Office: Days
• US Class Current: 348/169
• CPC Class Codes: G08B 13/19645 Multiple cameras, each having view on one of a plurality of scenes, e.g. multiple cameras for multi-room surveillance or for tracking an object by view hand-over
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

Linked zones define the temporal and spatial relationships among multiple zones of a surveillance area, and are used to model an object'"'"'s disappearance from one zone, for potential reappearance at another zone. One or more zones are defined within each camera'"'"'s field of view. Two zones are linked if an object that disappears from one zone is capable of appearing in the other zone. Each link has an associated delay parameter or function that characterizes the time delay, if any, between a disappearance and subsequent appearance. For each zone, a set of other zones that are linked to this zone is maintained. When an object disappears from a zone, the set of other zones that are linked to this zone is used to reduce the search space for object appearances corresponding to this disappearance. When the corresponding object appearance is found, the tracking function is handed-off to the tracking module associated with the zone in which the object appeared.

Claims

1. A surveillance system for tracking objects, comprising:

one or more object-tracking modules that are configured to detect a plurality of events corresponding to appearances and disappearances of objects in images corresponding to one or more fields of view of one or more cameras, and

a handoff controller, operably coupled to the one or more tracking modules, that is configured to associate a first event with a second event of the plurality of events, based on locations of the plurality of events in the one or more fields of view,

wherein

each location of each event of the plurality of events is associated with a defined zone within a field of view of a camera of the one or more cameras, the first event thereby being associated with a first zone, and

the first zone has an associated set of linked zones, the set of linked zones being based on a feasibility of an object in the first zone traversing to or from each of the zones in the set of linked zones,

the handoff controller is configured to select the second event from among events occurring in the set of linked zones associated with the first zone.

2. The surveillance system of claim 1, wherein

the handoff controller is further configured to select the second event based on a time duration between the first event and the second event.

3. The surveillance system of claim 2, wherein

the set of linked zones of the first zone includes a time duration parameter corresponding to traversing between the first zone and each of the zones in the set of linked zoned, and

the handoff controller is configured to select the second event based on the time duration between the first event and the second event relative to the time duration parameter corresponding to traversing between the first zone and the zone of the second event.

4. The surveillance system of claim 3, wherein

the time duration parameter includes at least one of:

a minimum traversal time,

a maximum traversal time,

a traversal time likelihood, and

a probability distribution function of traversal time.

5. The surveillance system of claim 3, wherein

the time duration parameter is based on observations of prior traversals between the first zone and each of the zones in the set of linked zones.

6. The surveillance system of claim 1, wherein

the handoff controller facilitates defining the zones within the fields of view of the one or more cameras and defining the set of linked zones associated with the first zone.

7. The surveillance system of claim 1, wherein

the set of linked zones of the first zone includes a likelihood parameter corresponding to traversing between the first zone and each of the zones in the set of linked zoned.

8. The surveillance system of claim 7, wherein

the likelihood parameter is based on observations of prior traversals between the first zone and each of the zones in the set of linked zones.

9. The surveillance system of claim 1, wherein

the first event corresponds to a first image,

the second event corresponds to a second image, and

the handoff controller selects the second event based also on a comparison of the first image and the second image.

10. The surveillance system of claim 1, further including

the one or more cameras.

11. The surveillance system of claim 1, further including

a video router, operably coupled to the handoff controller, that is configured to route images from the one or more cameras based on the association between the first event and the second event.

12. The surveillance system of claim 1, wherein

the handoff controller is further configured to control at least one of the one or more cameras corresponding to the set of linked zones, based on the first event.

13. The surveillance system of claim 1, wherein

the handoff controller is further configured to select the second event based on a comparison of a trajectory associated with the first event and a trajectory associated with the second event.

14. The surveillance system of claim 1, wherein

the handoff controller is further configured to select the second event based on an order of occurrence of the second event relative to the first event.

15. A method of tracking a target object, comprising:

detecting a first event corresponding to an appearance or disappearance of a first object image,

determining a set of one or more other object images associated with other appearance or disappearance events,

comparing the first object image to the one or more other object images to select a second object image that matches the first object image, and

creating an association between a track of the first object image and a track of the second object image,

wherein

the first event corresponds to the appearance or disappearance of the first object image from a first zone of a field of view, and

determining the other events includes

identifying each linked zone that is associated with the first zone, wherein each linked zone is based on a feasibility of an object traversing between the first zone and the linked zone, and

selecting the other events from events that occur at each linked zone.

16. The method of claim 15, wherein

selecting the other events is based on a time duration between the first event and each of the other events.

17. The method of claim 16, wherein

selecting the other events is based on a relationship between the time duration between the first event and each of the other events and a time duration parameter that is based on a traversal time between the first zone and each linked zone corresponding to each of the other events.

18. The method of claim 17, wherein

the time duration parameter is based on durations of prior traversals between the first zone and each linked zone.

19. The method of claim 18, wherein

the time duration parameter includes at least one of:

a minimum traversal time,

a maximum traversal time,

a traversal time likelihood, and

a probability distribution function of traversal time.

20. The method of claim 15, further including

facilitating defining at least one of the first zone and the linked zones within an image representing a field of view of a camera.

21. The method of claim 15, wherein

selecting the second object image is further based on a likelihood parameter corresponding to traversing between the first zone and each linked zone.

22. The method of claim 21, wherein

the likelihood parameter is based on observations of prior traversals between the first zone and each of the zones in the set of linked zones.

23. The method of claim 15, further including

routing video streams from a plurality of cameras based on selecting the second object image.

24. The method of claim 15, further including

controlling one or more cameras based on the first event.

25. The method of claim 15, wherein

selecting the second object image is further based on a comparison of a trajectory associated with the first image object and a trajectory associated with the second image object.

26. The method of claim 15, wherein

selecting the other events is further based on an order of occurrence of the first event relative to each of the other events.

27. The method of claim 15, wherein

the first event corresponds to either an appearance or disappearance event, and

each of the other events corresponds, respectively, to a disappearance or appearance event.