Method and apparatus for tracking moving objects in a sequence of two-dimensional images using a dynamic layered representation
First Claim
1. Apparatus for tracking one or more moving objects in a sequence of video images comprising:
- a moving object detection processor that identifies at least one area in a plurality of images selected from the sequence of video images, the at least one identified area representing moving objects; and
a tracking system comprising;
means forsegmenting the at least one identified area in the images;
means for determining at least one respective motion parameter for the at least one identified area in the images; and
means for determining a respective appearance for the at least one identified area in the images by image wariping of pixel in teh at least one identified area based on the at least one determined respective motion parameter.
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Accused Products
Abstract
A system that tracks one or more moving objects in a sequence of video images employs a dynamic layer representation to represent the objects that are being tracked. The system concurrently estimates three components of the dynamic layer representation—layer segmentation, motion, and appearance—over time in a maximum a posteriori (MAP) framework. In order to enforce a global shape constraint and to maintain the layer segmentation over time, the subject invention imposes a prior constraint on parametric segmentation. In addition, the system uses a generalized Expectation-Maximization (EM) algorithm to compute an optimal solution. The system uses an object state that consists of representations of motion, appearance and ownership masks. The system applies a constant appearance model across multiple images in the video stream.
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Citations
24 Claims
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1. Apparatus for tracking one or more moving objects in a sequence of video images comprising:
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a moving object detection processor that identifies at least one area in a plurality of images selected from the sequence of video images, the at least one identified area representing moving objects; and
a tracking system comprising;
means forsegmenting the at least one identified area in the images;
means for determining at least one respective motion parameter for the at least one identified area in the images; and
means for determining a respective appearance for the at least one identified area in the images by image wariping of pixel in teh at least one identified area based on the at least one determined respective motion parameter. - View Dependent Claims (2, 5, 6, 7, 8, 9, 10)
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3. Apparatus for tracking one or more moving objects in a sequence of video images comprising:
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a moving object detection processor that identifies at least one area in a plurality of images selected from the sequence of video images, the at least one identified area representing moving objects; and
a tracking system compirising;
means for segmenting the at least one identified area in the images, including means for fitting an elliptical shape model to the identified area;
means for determining at least one respective motion parameter for the at least one identified area in the images; and
means for determining a respective appearance for the at least one identified area in the images. - View Dependent Claims (4)
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11. A method for tracking one or more moving objects in a sequence of video images comprising:
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the step of identifying at least one area in a plurality of images selected from the sequence of video images, the at least one identified area representing moving objects; and
the step of tracking the at least one identified area comprising the steps of;
segmenting the at least one identified area In the images;
determining at least one respective motion parameter for the at least one identified area in the imnages; and
determining a respective appearance for the at least one identified area in the images by image warping of pixels in the at least one identifled area based on the at least one determined resoective motion parameter. - View Dependent Claims (12, 15, 16, 17, 18, 19, 20)
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13. A method for tracking one or more moving objects in a sequence of video images comprising:
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the step of identlfying at least one area in a plurality Of r mages selected from the sequence of video images, the at least one identified area representina moving objects; and
the step of tracking the at least one identified area comprising the steps of;
segmenting the at least one identified area in the images, ineludes includino the act of fitting an elliptical shape model to the identified area;
determining at least one respective motion parameter for the at least one identified area in the images; and
determining a respective appearance for the at least one identified area in the images. - View Dependent Claims (14)
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21. An article of manufacture comprising a carrier including computer software that causes a computer to perform a method for tracking one or more moving objects in a sequence of video images, the method comprising:
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the step of identifying at least one area in a plurality of images selected from the sequence of video images, the at least one identified area representing moving objects; and
the step of tracking the at least one identified area comprising the steps of;
segmenting the at least one identified area in the Images;
determining at least one respective motion parameter for the at least one identified area in the Images; and
determining a respective appearance for the at least one Identified area in the images by imaae warping of pixels in the at least one identified area based on the at least one determined respective motion parameter. - View Dependent Claims (22, 24)
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23. An article of manufacture Icomprising a carrier including comouter software that causes a computer to perform a method for tracking one or more moving objects in a sequence of video images, the method comprising;
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the step of identifying at least one area in a pluralty of images select from the sequence of video images, the at least one identified area representing movina objects; and
the step of tracking the at least one identified area cotnorisino the steps of;
segmenting the at least one identified area in the images, including the act of fitting an elliptical shape model to the identified areas determining at least one respective motion parameter for the at least one identified area in the images; and
determnining a respective appearance for the atleast one identifled area in the images.
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Specification