Method and apparatus for stereo, multi-camera tracking and RF and video track fusion
First Claim
1. A method for tracking an object, comprising:
- receiving, by a plurality of camera trackers, camera video streams from a plurality of cameras;
providing, by the camera trackers, camera video tracks;
providing, by at least one radio frequency identification (RFID) and localization system, RF tracks and a plurality of RF identities;
selectively fusing, by a fusion module, the camera video tracks with the RF tracks to generate fused tracks;
associating, by the fusion module, the fused tracks with the RF identities; and
displaying, by a visualization display, the fused tracks and the RF identities;
providing time-synchronized access to the camera video tracks, by the visualization display.
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Accused Products
Abstract
A unified approach, a fusion technique, a space-time constraint, a methodology, and system architecture are provided. The unified approach is to fuse the outputs of monocular and stereo video trackers, RFID and localization systems and biometric identification systems. The fusion technique is provided that is based on the transformation of the sensory information from heterogeneous sources into a common coordinate system with rigorous uncertainties analysis to account for various sensor noises and ambiguities. The space-time constraint is used to fuse different sensor using the location and velocity information. Advantages include the ability to continuously track multiple humans with their identities in a large area. The methodology is general so that other sensors can be incorporated into the system. The system architecture is provided for the underlying real-time processing of the sensors.
192 Citations
20 Claims
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1. A method for tracking an object, comprising:
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receiving, by a plurality of camera trackers, camera video streams from a plurality of cameras;
providing, by the camera trackers, camera video tracks;
providing, by at least one radio frequency identification (RFID) and localization system, RF tracks and a plurality of RF identities;
selectively fusing, by a fusion module, the camera video tracks with the RF tracks to generate fused tracks;
associating, by the fusion module, the fused tracks with the RF identities; and
displaying, by a visualization display, the fused tracks and the RF identities;
providing time-synchronized access to the camera video tracks, by the visualization display. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for tracking an object, comprising:
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a plurality of camera trackers to receive camera video streams from a plurality of cameras and to provide camera video tracks;
at least one radio frequency identification (RFID) and localization system to provide RF tracks and a plurality of RF identities;
a fusion module to selectively fuse the camera video tracks with the RF tracks to generate fused tracks and to associate the fused tracks with the RF identities; and
a visualization display to display the fused tracks and the RF identities and to provide access to the camera video tracks. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A computer readable medium having stored thereon instructions for performing a method for tracking an object, the method comprising:
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receiving, by a plurality of camera trackers, camera video streams from a plurality of cameras;
providing, by the camera trackers, camera video tracks;
providing, by at least one radio frequency identification (RFID) and localization system, RF tracks and a plurality of RF identities;
selectively fusing, by a fusion module, the camera video tracks with the RF tracks to generate fused tracks;
associating, by the fusion module, the fused tracks with the RF identities; and
displaying, by a visualization display, the fused tracks and the RF identities;
providing access to the camera video tracks, by the visualization display. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification