System and method for stabilized single moving camera object tracking
First Claim
1. A system comprising:
- a moveable camera adapted to obtain a sequence of video images of an object;
a determiner adapted to identify an object border in a current video image of said sequence of video images, said determiner being adapted to determine an object area and a background area based on said object border;
an estimator adapted to estimate a camera motion estimate of said moveable camera based on said background area and to estimate an object motion estimate of the object based on said object area, said estimator being adapted to generate a camera motion model from said camera motion estimate and being adapted to generate an object motion model from at least one of said object motion estimate and said camera motion model;
a stabilizer adapted to adjust at least one video image within said sequence of video images based on said camera motion model; and
a controller adapted to control said moveable camera to track the object based on said object motion model and said camera motion model.
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Abstract
A system including a moveable camera adapted to obtain a sequence of video images of an object, a determiner adapted to identify an object border in a current video image of said sequence of video images, said determiner being adapted to determine an object area and a background area based on said object border; an estimator adapted to estimate a camera motion estimate of said moveable camera and to estimate an object motion estimate of the object, said estimator being adapted to generate a camera motion model from said camera motion estimate and being adapted to generate an object motion model from at least one of said object motion estimate and said camera motion model; a stabilizer adapted to adjust at least one video image within said sequence of video images based on said camera motion model; and a controller adapted to control said moveable camera to track the object based on said object motion model and said camera motion model.
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Citations
20 Claims
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1. A system comprising:
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a moveable camera adapted to obtain a sequence of video images of an object;
a determiner adapted to identify an object border in a current video image of said sequence of video images, said determiner being adapted to determine an object area and a background area based on said object border;
an estimator adapted to estimate a camera motion estimate of said moveable camera based on said background area and to estimate an object motion estimate of the object based on said object area, said estimator being adapted to generate a camera motion model from said camera motion estimate and being adapted to generate an object motion model from at least one of said object motion estimate and said camera motion model;
a stabilizer adapted to adjust at least one video image within said sequence of video images based on said camera motion model; and
a controller adapted to control said moveable camera to track the object based on said object motion model and said camera motion model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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a moveable camera adapted to obtain a sequence of video images, an estimator adapted to generate a camera motion estimate of motion of said moveable camera and to generate a camera motion model from said camera motion estimate;
a controller adapted to receive an initial direction of an optical axis, said controller controlling said moveable camera to maintain the optical axis in the initial direction based on the initial direction and said camera motion model; and
a stabilizer adapted to adjust said sequence of video images based on said camera motion model to stabilize said sequence of video images. - View Dependent Claims (12, 13, 14, 15)
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16. A method comprising:
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obtaining, at a moveable camera, a sequence of video images of a scene having an object;
identifying an object border within a current video image that substantially surrounds said object;
determining a background area and an object area of said current video image in said sequence of video images based on said object border;
determining optical flow data of said background area and of said object area;
calculating a camera motion model based on said optical flow data of said background area;
calculating an object motion model based on said optical flow data of said object area;
adjusting said object border based on said object motion model;
calculating a correction model based on said camera motion model; and
adjusting said current video image based on said correction model. - View Dependent Claims (17, 18, 19, 20)
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Specification