Intruding object monitoring method and intruding object monitoring system

• US 6,812,835 B2
• Filed: 02/26/2001
• Issued: 11/02/2004
• Est. Priority Date: 02/28/2000
• Status: Expired due to Fees

• Current Assignee: Hitachi Kokusai Electric Incorporated (Hitachi, Ltd.)
• Original Assignee: Hitachi Kokusai Electric Incorporated (Hitachi, Ltd.)
• Inventors: Ito, Wataru, Ueda, Hirotada
• Primary Examiner(s): Pham, Toan N.
• Application Number:
  US09/791,725
• Publication Number:
  US 20010019357A1
• Time in Patent Office: 1,345 Days
• Field of Search: 340/541, 340/549, 340/545.3, 340/565, 348/169, 348/170, 382/103, 382/218, 382/219
• US Class Current: 340/541
• CPC Class Codes: G08B 13/19604 involving reference image or background adaptation with time to compensate for changing conditions, e.g. reference image update on detection of light level change
• CPC Class Codes: G08B 13/19608 Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
• CPC Class Codes: G08B 13/19643 wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
• CPC Class Codes: G08B 13/19689 Remote control of cameras, e.g. remote orientation or image zooming control for a PTZ camera
• CPC Class Codes: G08B 13/19693 using multiple video sources viewed on a single or compound screen
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

An intruding object monitoring method using an intruding object monitoring system having a first intruding object monitoring apparatus for monitoring a monitor area by inputting images of the area and at least one second intruding object monitoring apparatus for performing a following of an intruding object. By this method, first intruding object monitoring apparatus acquires detection information of an object intruding into the monitor area, the second intruding object monitoring apparatus captures the intruding object in accordance with the detection information supplied from the first intruding object monitoring apparatus. After the intruding object is captured, the second intruding object monitoring apparatus performs the following of the captured intruding object independently of the first intruding object monitoring apparatus.

Claims

1. An intruding object monitoring method for use in an intruding object monitoring system having a first intruding object monitoring apparatus having a first camera for inputting images of a monitor area and at least one second intruding object monitoring apparatus having a second camera for performing a following of an intruding object, the method comprising the steps of:

acquiring first information of an object intruding into said monitor area with said first camera of said first intruding object monitoring apparatus, said first information including position information of said intruding object;

transmitting said first information from said first intruding object monitoring apparatus to a second intruding object monitoring apparatus;

capturing said intruding object with said second camera of said second intruding object monitoring apparatus in accordance with said position information from said first intruding object monitoring apparatus;

acquiring second information of said captured intruding object picked up by said second camera of said second intruding object monitoring apparatus; and

following said captured intruding object with said second camera of said second intruding object monitoring apparatus by controlling at least said second camera of said second intruding object monitoring apparatus based on said second information of said captured intruding object obtained from said second camera of said second intruding object monitoring apparatus.

2. An intruding object monitoring method according to claim 1, wherein said first intruding object monitoring apparatus performs a tracking of said intruding object and when the following of the intruding object by the first intruding object monitoring apparatus becomes impossible, the first intruding object monitoring apparatus continues the following by acquiring said second information of the intruding object from the second intruding object monitoring apparatus.

3. An intruding object monitoring method according to claim 1, wherein when the following of the intruding object by the second intruding object monitoring apparatus becomes impossible, the second intruding object monitoring apparatus continues the following by acquiring said first information of the intruding object from the first intruding object monitoring apparatus.

4. An intruding object monitoring method according to claim 1, wherein the intruding object monitoring system has a plurality of second intruding object monitoring apparatuses;

and

said first intruding object monitoring apparatus, when detected a new intruding object, causes one of the second intruding object monitoring apparatuses not in intruding object following to follow said new intruding object.

5. An intruding object monitoring method according to claim 1, wherein said following request is sent via a communication line interconnecting said first and second intruding object monitoring apparatuses.

6. An intruding object monitoring method for use in an intruding object monitoring system having a first intruding object monitoring apparatus having a first camera, a view field of which is a monitor area and at least one second intruding object monitoring apparatus having a second camera a monitor area of which is a partial area of the view field of the first intruding object monitoring apparatus, comprising the steps of:

picking up images of the monitor area by said first camera of the first intruding object monitoring apparatus;

acquiring first information of an intruding object from the images outputted by said first camera of said first intruding object monitoring apparatus, said first information including position information of said object;

capturing the intruding object by controlling said second camera of the second intruding object monitoring apparatus according to said position information;

acquiring second information of the intruding object in the monitor area, picked up by said second camera of the second intruding object monitoring apparatus; and

performing a following of the intruding object by controlling said second camera of the second intruding object monitoring apparatus in accordance with said second information of said captured intruding object obtained from said second camera of said second intruding object monitoring apparatus.

7. An intruding object monitoring method according to claim 6, wherein said second information is information including a size and position of the intruding object, and the following of the intruding object captured by the second intruding object monitoring apparatus is performed by changing a direction and zoom of the second intruding object monitoring apparatus by controlling the pan/tilt head and a zoom lens of the second intruding object monitoring apparatus in accordance with said second information.

8. An intruding object monitoring method according to claim 6, wherein said first information of the intruding object is detected by a subtraction method.

9. An intruding object monitoring method according to claim 6, wherein the second information of the intruding object is detected by a template matching method.

10. An intruding object monitoring method according to claim 6, wherein the intruding object monitoring system has a plurality of second intruding object monitoring apparatuses, and wherein said intruding object monitoring method further comprises:

judging whether the intruding object is a newly detected intruding object,

if a new intruding object is detected, supplying, by the first intruding object monitoring apparatus, third information of the newly detected intruding object to one of the second intruding object monitoring apparatuses not performing the intruding object following;

capturing, by the second intruding object monitoring apparatus the newly detected intruding object in accordance with the supplied third information; and

after the newly detected intruding object is captured, performing, by the second intruding object monitoring apparatus, the following of the captured intruding object based on information other than said third information from the first intruding object monitoring apparatus.

11. An intruding object monitoring method according to claim 6, wherein the intruding object monitoring system has a plurality of second intruding object monitoring apparatuses;

and

the method further comprises a step of judging whether the intruding object is a newly detected intruding object, and

an assigning step of identifying one of the second intruding object monitoring apparatuses now not in intruding object following if the intruding object is judged as a newly detected intruding object, supplying forth information of the intruding object to the identified second intruding object monitoring apparatus, and assigning the following to the identified second intruding object monitoring apparatus.

12. An intruding object monitoring method according to claim 11, wherein said assigning step assigns the following to the second intruding object monitoring apparatus nearest to the newly detected intruding object among the second intruding object monitoring apparatuses now not in following.

13. An intruding object monitoring method according to claim 11, wherein at least two areas having different priority orders are set beforehand in the view field covering the monitor area, and when two or more new intruding objects are detected, the following is assigned to a second intruding object monitoring apparatus in order from an intruding object detected in an area having a highest priority order.

14. An intruding object monitoring method for use in an intruding object monitoring system having a first intruding object monitoring apparatus having a view field covering a monitor area and at least one second intruding object monitoring apparatus having as a monitor area a partial area of the view field of the first intruding object monitoring apparatus comprising a step of:

picking up images of the monitor area by the first intruding object monitoring apparatus;

acquiring first information of an intruding object from the images outputting by said first intruding object monitoring apparatus;

capturing the intruding object by controlling the second intruding object monitoring apparatus according to said first information;

acquiring second information of the intruding object in the monitor area with the second intruding object monitoring apparatus; and

judging whether the intruding object is a newly detected intruding object based on said second information,

wherein if the intruding object is a newly detected intruding object, the second intruding object monitoring apparatus performs the following of the newly detected intruding object.

15. An intruding object monitoring method according to claim 14, wherein if said judging step judges that the intruding object is not a newly detected intruding object, the intruding object is the intruding object under tracking by the first intruding object monitoring apparatus, and a change from a past position of the intruding object to a present position of the intruding object is used as a motion locus of the intruding object under the tracking.

16. An intruding object monitoring method according to claim 14, wherein the intruding object monitoring system further comprises a display for displaying an image taken with the first or second intruding object monitoring apparatus, and the motion locus of the intruding object is displayed on the display, being superposed upon the image of the intruding object taken with the second intruding object monitoring apparatus.

17. An intruding object monitoring system comprising:

a plurality of intruding object monitoring apparatus, each of which has a camera for monitoring a predetermined monitor area; and

a communication apparatus for transmitting first information relating to an intruding object between said plurality of intruding object monitoring apparatuses,

wherein a plurality of said intruding object monitoring apparatuses are each switchably operable among a plurality of monitoring modes including at least a detecting mode having an intruding object detecting function for performing a tracking of said intruding object and a following mode for performing a following of said intruding object, and when one of said camera of said intruding object monitoring apparatuses detects said intruding object, said camera outputs second information relating to said detected intruding object, and said camera follows said detected intruding object based on said second information.

18. An intruding object monitoring system according to claim 17, wherein said plurality of intruding object monitoring apparatuses monitor one monitor area in a shared manner.

19. An intruding object monitoring system according to claim 17, wherein each of said intruding object monitoring apparatus changes the monitoring mode from the detecting mode to the following mode when the intruding object monitoring apparatus detects an intruding object in the detecting mode or when a following request is received from another intruding object monitoring apparatus.

20. An intruding object monitoring system according to claim 17, wherein when one intruding object monitoring apparatus becomes impossible to perform the following of an intruding object, another intruding object monitoring apparatus takes over the following of the intruding object.

21. An intruding object monitoring system according to claim 17, wherein each of said intruding object monitoring apparatus further includes a wide angle mode and monitors an area broader than said predetermined monitor area in the wide angle mode.

22. An intruding object monitoring system according to claim 21, wherein when one intruding object monitoring apparatus transits to the following mode, another intruding object monitoring apparatus transits to the wide angle mode in order to cover the monitor area of said one intruding object monitoring apparatus.

23. An intruding object monitoring system comprising:

a first intruding object monitoring apparatus having a first camera for picking up images of a monitor area and acquiring first information including position information of an intruding object in the monitor area;

at least one second intruding object monitoring apparatus having a second camera for capturing the intruding object in accordance with said position information acquired by said first intruding object monitoring apparatus, and outputting second information of said captured intruding object and performing a following of the captured intruding object based on said second information from said second intruding object monitoring apparatus,

wherein said first intruding object monitoring apparatus includes an intruding object monitoring unit, said second intruding object monitoring apparatus includes an intruding object monitoring unit separated from the intruding object monitoring unit of said first intruding object monitoring apparatus, and said second intruding object monitoring apparatus performs the following of the captured intruding object based on said second information from said second intruding object monitoring apparatus.

24. An intruding object monitoring system comprising:

a first intruding object monitoring apparatus for picking up images of a monitor area and acquiring first information of an intruding object in the monitor area; and

at least one second intruding object monitoring apparatus for capturing the intruding object in accordance with said first information acquired by said first intruding object monitoring apparatus, and performing a following of the captured intruding object based on information other tan said first information of said first intruding object monitoring apparatus,

wherein when said second intruding object monitoring apparatus captures the newly detected intruding object, said second intruding object monitoring apparatus performs the following of the newly detected intruding object.

25. An intruding object monitoring apparatus comprising:

a camera having a zoom lens;

an image processing unit for detecting an intruding object from image signals supplied from said camera;

a pan/tilt head of said camera;

a pan/tilt controller;

a zoom controller;

a communication unit for communication with at least another intruding object monitoring apparatus;

a display for displaying an intruding object monitoring result; and

a control unit for controlling to switch among a plurality of monitoring modes of the intruding object monitoring apparatus and said another intruding object monitoring apparatus,

wherein if a view field magnification is requested from an adjacent other intruding object monitoring apparatus, the monitoring mode of the intruding object monitoring apparatus is switched to a wide angle mode and monitors an area which is broader than the monitor area in a normal mode and includes at least a part of the monitor area in the normal mode of the adjacent other intruding object monitoring apparatus.

26. An intruding object monitoring apparatus comprising:

a camera having a zoom lens;

an image processing unit for detecting an intruding object from image signals supplied from said camera;

a pan/tilt head of said camera;

a pan/tilt controller;

a zoom controller;

a communication unit for communication with at least another intruding object monitoring apparatus;

a display for displaying an intruding object monitoring result; and

a control unit for controlling to switch among a plurality of monitoring modes of the intruding object monitoring apparatus and said another intruding object monitoring apparatus,

wherein if the monitoring mode of the intruding object monitoring apparatus is a normal mode for monitoring a predetermined monitor area and if said image processing unit detects an intruding object, a view field magnification request is transmitted to an adjacent other intruding object monitoring apparatus and the monitoring mode of the intruding object monitoring apparatus is switched to a following mode.

27. An intruding object monitoring apparatus comprising:

a camera having a zoom lens;

an image processing unit for detecting an intruding object from image signals supplied from said camera;

a pan/tilt head of said camera;

a pan/tilt controller;

a zoom controller;

a communication unit for communication with at least another intruding object monitoring apparatus;

a display for displaying an intruding object monitoring result; and

a control unit for controlling to switch among a plurality of monitoring modes of the intruding object monitoring apparatus and said another intruding object monitoring apparatus,

wherein when the intruding object under a following by the intruding object monitoring apparatus enters a blind area of said camera, a following take-over request is transmitted to another intruding object monitoring apparatus having the monitor area including said blind area.