Delayed video tracking

• US 7,184,574 B1
• Filed: 01/31/2000
• Issued: 02/27/2007
• Est. Priority Date: 02/03/1999
• Status: Expired due to Fees

• Current Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Original Assignee: Elbit Systems Limited
• Inventors: Zahavi, Dov
• Primary Examiner(s): Mancuso; Joseph
• Assistant Examiner(s): GORADIA, SHEFALI DINESH
• Application Number:
  US10/182,555
• Time in Patent Office: 2,584 Days
• Field of Search: 382/103, 348/169
• US Class Current: 382/103
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: H04N 23/66 Remote control of cameras or camera parts, e.g. by remote control devices

Abstract

A tracking apparatus including a sensor tracker and a control tracker (60). The sensor tracker is connected to a sensor which senses a scene having at least one object therein, the sensor tracker provides sensor movement instructions to the sensor, enabling it track a selected object. The control tracker is located remotely from and communicates with the sensor tracker. Additionally, the control tracker takes measurements regarding the selected object and provides tracking instructions to the sensor tracker. The sensor tracker then utilizes the tracking instructions to adjust the sensor movement instructions, when necessary.

Claims

1. A tracking apparatus for tracking an object within images, the tracking apparatus comprising:

a control station, said control station selects an object to be tracked in an image and determines object information, and

a sensing unit having an image sensor, said sensing unit captures a series of images in a scene having at least one object over a period of time, and tracks said object based on said object information, said sensing unit being remotely located from and communicating with said control station by means of a communication link,

wherein said sensing unit retains in memory and transmits said series of images to said control station,

wherein said control station provides said object information to said sensing unit, according to an earlier image from said series of images, and

wherein said sensing unit identifies and locates said object in said earlier image using said object information, scans through subsequent images of said series of images retained in memory, and locates said object in each of said subsequent images, locates said object in a latest available image and directs said image sensor according to the location of said object in said latest available image.

2. Apparatus according to claim 1, and wherein said object information comprises at least one of the following:

object location, object dynamics, object attributes, object parameters, object speed, object acceleration, object size and object shape.

3. Apparatus according to claim 1, and wherein said control station includes image processing means for generating said object information from said images.

4. Apparatus according claim 1, and wherein said object information includes per a selected image, said selected image with object information associated therewith.

5. Apparatus according to claim 1, and wherein said object information includes per a selected image, a reference to a copy of said selected image with object information associated therewith.

6. A method for tracking an object within images comprising the steps of:

generating, by an image sensor in a sensor unit, a series of images in a scene having at least one object, over a period of time;

transmitting said series of images from said sensing unit to a control station and retaining said series of images in a memory of said sensing unit, said sensing unit being remotely located from and communicating with said control station by means of a communication link;

selecting in said control station an object to be tracked in an earlier image of said series of images and determining in said control station object information of said object with respect to said earlier image;

transmitting said object information from said control station to said sensing unit;

identifying and locating said object in said earlier image using said object information, at said sensing unit;

scanning through subsequent images of said series of images retained in said memory, and locating said object in each of said subsequent images, at said sensing unit;

locating said object in a latest available image at said sensing unit; and

directing said image sensor according to the location of said object in said latest available image.