METHOD, DEVICE AND COMPUTER PROGRAM FOR THE SELF-CALIBRATION OF A SURVEILLANCE CAMERA

• US 20100103266A1
• Filed: 11/02/2007
• Published: 04/29/2010
• Est. Priority Date: 01/11/2007
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Jaeger, Thomas, Merkel, Marcel
• Application Number:
  US12/522,571
• Publication Number:
  US 20100103266A1
• Time in Patent Office: Days
• US Class Current: 348/155
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

Video surveillance systems are used, by way of example, for monitoring public places, such as railway stations, junctions, airports, or public buildings, such as libraries, museums, but also private environments, such as an alarm system in houses. To this end, the video surveillance systems often have a plurality of surveillance cameras which observe relevant surveillance scenes. The video sequences produced during observation are usually combined and evaluated at a central location. The invention proposes a method for calibrating a surveillance camera (3), where the surveillance camera (3) depicts a real surveillance scene, which can be described using world coordinates (4), on a surveillance picture (7), which can be described using picture coordinates (4), where at least one trajectory (9) for a moving object (2) in the surveillance scene is determined which comprises a set of position data (10) which describes the position of the moving object (2) using picture coordinates (4) as a function of time, and where the trajectory (9) is used for calibrating the surveillance camera (3) by using a movement model for the moving object (2) to convert the time-dependent position data (10) for the moving object into distances in the real surveillance scene.

Claims

1. A method for calibrating a surveillance camera (3), in which the surveillance camera (3) depicts a real surveillance scene which may be described using world coordinates (4), on a surveillance picture (7) which may be described using picture coordinates (4),

and at least one trajectory (9) of a moving object (2) in the surveillance scene is determined, the surveillance scene comprising a set of position data (10) which describes the position of the moving object (2) using picture coordinates (4) as a function of time, and

the trajectory (9) is used to calibrate the surveillance camera (3) by using a movement model for the moving object (2) to convert the time-dependent position data (10) for the moving object into distances in the real surveillance scene.

2. The method as recited in claim 1,

wherein

the moving object (2) is classified.

3. The method as recited in claim 1,

wherein

the movement model is designed as a pedestrian movement model which assumes a constant rate of motion of the pedestrian.

4. The method as recited in claim 1, wherein

the time-dependent position data (10) are designed to be equidistant in terms of time, and wherein the distance between two image points of two position data in picture coordinates (4) is converted into a distance in world coordinates (6) in the real surveillance scene.

5. The method as recited in claim 1,

wherein

a transformation specification between picture coordinates (4) and world coordinates (6) is determined.

6. The method as recited in claim 1,

wherein

a large number of trajectories (8) that are statistically combined with one another is ascertained and utilized.

7. The method as recited in claim 1,

wherein

further advance knowledge is used for the calibration.

8. The method as recited in claim 1,

wherein

the ascertained distances and/or the transformation specification are/is used to calculate or estimate camera parameters (L, rho, theta).

9. The method as recited in claim 1,

wherein

a ground plane (1) in the surveillance scene is ascertained.

10. A device for calibrating a surveillance camera, which is preferably designed for use with the method as recited in claim 1,

comprising an input module (12) for entering one or more surveillance pictures of a real surveillance scene which may be described using world coordinates (4),

comprising an object-tracking module (13) which is designed to determine a trajectory (9) of a moving object (2) in the surveillance scene, the trajectory (9) comprising a set of position data (10) which describes the position of the moving object (2) using picture coordinates (6) as a function of time, and

comprising a calibration module (14) which is used to calibrate the surveillance camera (3) by using a movement model for the moving object (2) to convert the time-dependent position data for the moving object (2) into distances in the real surveillance scene.

11. A computer program comprising program code means for carrying out all steps of the method as recited in claim 1 when the program is run on a computer and/or the device.