Tracking apparatus and tracking method

• US 6,014,167 A
• Filed: 01/21/1997
• Issued: 01/11/2000
• Est. Priority Date: 01/26/1996
• Status: Expired due to Term

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Sakamoto, Takayuki, Kageyama, Koji, Tomitaka, Tadafusa, Suito, Taro
• Primary Examiner(s): Tung, Bryan
• Assistant Examiner(s): Philippe, Gims S.
• Application Number:
  US08/785,393
• Time in Patent Office: 1,085 Days
• Field of Search: 348/169, 348/170, 348/253, 348/94, 348/91, 348/92, 348/171, 348/172, 348/152, 348/234, 348/207, 348/208, 348/143, 348/155, 348/369
• US Class Current: 348/169
• CPC Class Codes: G01S 3/7865 using correlation of the live video image with a stored image

Abstract

The invention provides a tracking apparatus and a tracking method by which an imaging object can be set without any special manual operation by a user. An imaged image is supplied to an imaging object setting section via an imaging object processing section. In the imaging object setting section, a motion detection section calculates a difference value between images of successive two frames and detects a motion of an image based on the difference value. Then, a portion of the image from which the motion is detected is set as an imaging object to be tracked.

Claims

1. A tracking apparatus, comprising:

imaging means for generating a plurality of images;

driving means for driving said imaging means to effect panning and tilting;

imaging object setting means for detecting motion in an image and for setting a portion in said image in which said motion has been detected as an imaging object, said imaging object setting means including motion detection means for calculating a difference value of images of two successive frames generated by said imaging means and for detecting said motion of the image based on the calculated difference value such that said portion in said image in which said motion has been detected is initially set as said imaging object without user manipulation;

imaging object detection means for detecting the imaging object set by said imaging object setting means in said plurality of images generated by said imaging means;

control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means; and

frame display control means for superimposing a frame around said imaging object on said image when said imaging object detection means has detected said imaging object, said frame display control means modifying said frame if said imaging object is no longer detected.

2. The tracking apparatus as claimed in claim 1, wherein said motion detection means detects, in said image generated by said imaging means, said portion which exhibits said motion and has a saturation degree higher than a predetermined threshold value.

3. The tracking apparatus as claimed in claim 1, wherein said motion detection means detects, in said image generated by said imaging means, said portion which exhibits said motion and has a chroma higher than a predetermined threshold value.

4. The tracking apparatus as claimed in claim 1, wherein said imaging object setting means sets, as the imaging object, said portion of said image from which said motion is detected by said motion detection means immediately after a power supply to said tracking apparatus is switched on.

5. The tracking apparatus as claimed in claim 1, further comprising operation means, and wherein said imaging object setting means sets, as the image object, said portion of said image from which said motion is detected by said motion detection means after said operation means is operated.

6. The tracking apparatus as claimed in claim 1, wherein said control means controls said driving means so that the position of the imaging object detected by said imaging object detection means coincides with a central portion of said image generated by said imaging means.

8. The tracking apparatus according to claim 1, wherein said frame display control means successively varies the size of the frame when the imaging object is not detected.

9. The tracking apparatus according to claim 1, wherein said frame display control means causes the displayed frame to blink when the imaging object is not detected.

10. The tracking apparatus according to claim 1, wherein said display frame control means stops the display of the frame when the imaging object is not detected.

11. The tracking method according to claim 8, further comprising

stopping the display of the frame when the imaging object is not detected.

7. A tracking method for a tracking apparatus which includes imaging means for generating a plurality of images, driving means for driving said imaging means to effect panning and tilting, imaging object setting means for setting an imaging object, imaging object detection means for detecting the imaging object set by said imaging object setting means in an image generated by said imaging means, and control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means, said method comprising the steps of:

detecting, by said imaging object setting means, said motion of the image generated by said imaging means by calculating a difference value of images of two successive frames generated by said imaging means such that said motion of the image is detected on the basis of the calculated difference value;

setting, by said imaging object setting means, a portion in said image in which said motion has been detected by said imaging object setting means as the imaging object such that said portion in said image in which said motion has been detected is initially set as said imaging object without user manipulation;

superimposing a frame around said imaging object on said image when said imaging object has been detected; and

modifying said frame if said imaging object is no longer detected.

12. A tracking apparatus, comprising:

imaging means for generating a plurality of images;

driving means for driving said imaging means to effect panning and tilting;

imaging object detection means for detecting an imaging object in an image generated by said imaging means by calculating a difference value of images of two successive frames generated by said imaging means such that a motion of the image is detected on the basis of the calculated difference value, a portion in said image in which said motion has been detected being initially set as said imaging object without user manipulation;

control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means; and

character display control means for causing a predetermined character to be displayed when the imaging object is not detected by said imaging object detection means.

13. A tracking method for a tracking apparatus which includes imaging means for generating a plurality of images, driving means for driving said imaging means to effect panning and tilting, imaging object detection means for detecting an imaging object in an image generated by said imaging means, and control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means, said method comprising the steps of:

detecting said imaging object in an image generated by said imaging means by calculating a difference value of images of two successive frames generated by said imaging means such that a motion of the image is detected on the basis of the calculated difference value, a portion in said image in which said motion has been detected being initially set as said imaging object without user manipulation;

providing a display; and

causing a predetermined character to be displayed on said display when the imaging object is not detected by said imaging object detection means.

14. A tracking apparatus, comprising:

imaging means for generating a plurality of images;

driving means for driving said imaging means to effect panning and tilting;

imaging object detection means for detecting an imaging object in an image generated by said imaging means by calculating a difference value of images of two successive frames generated by said imaging means such that a motion of the image is detected on the basis of the calculated difference value, a portion in said image in which said motion has been detected being initially set as said imaging object without user manipulation;

control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means; and

sound outputting means for outputting a predetermined sound when the imaging object is not detected by said imaging object detection means.

15. A tracking method for a tracking apparatus which includes imaging means for generating a plurality of images, driving means for driving said imaging means to effect panning and tilting, imaging object detection means for detecting an imaging object in an image generated by said imaging means, and control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means, said method comprising the steps of:

detecting said imaging object in an image generated by said imaging means by calculating a difference value of images of two successive frames generated by said imaging means such that a motion of the image is detected on the basis of the calculated difference value, a portion in said image in which said motion has been detected being initially set as said imaging object without user manipulation;

providing audio output means; and

outputting a predetermined sound when the imaging object is not detected by said imaging object detection means.

16. A tracking apparatus, comprising:

imaging means for generating a plurality of images;

driving means for driving said imaging means to effect panning and tilting;

imaging object detection means for detecting an imaging object in an image generated by said imaging means by calculating a difference value of images of two successive frames generated by said imaging means such that a motion of the image is detected on the basis of the calculated difference value, a portion in said image in which said motion has been detected being initially set as said imaging object without user manipulation;

control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image generated by said imaging means; and

light emitting means for emitting light when the imaging object is not detected by said imaging object detection means.

17. A television conference system, comprising:

a tracking apparatus for tracking an imaging object;

said tracking apparatus including;

imaging means for generating a plurality of images;

driving means for driving said imaging means to effect panning and tilting;

imaging object setting means for detecting motion in an image and for setting a portion in said image in which said motion has been detected as an imaging object, said imagine object setting means including motion detection means for calculating a difference value of images of two successive frames generated by said imaging means and for detecting said motion of the image based on the calculated difference value such that said portion in said image in which said motion has been detected is initially set as said imaging object without user manipulation;

imaging object detection means for detecting the imaging object set by said imaging object setting means in said plurality of images generated by said imaging means;

control means for controlling said driving means so that a position of the imaging object detected by said imaging object detection means coincides with a predetermined reference position of said image outputted from said imaging means; and

frame display control means for superimposing a frame around said imaging object on said image when said imaging object detection means has detected said imaging object, said frame display control means modifying said frame if said imaging object is no longer detected.