Method and system for estimating the position of moving objects in images

• US 7,277,558 B2
• Filed: 11/27/2001
• Issued: 10/02/2007
• Est. Priority Date: 11/27/2001
• Status: Expired due to Fees

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Sefcik, Jason
• Primary Examiner(s): Bella; Matthew C.
• Assistant Examiner(s): PERUNGAVOOR, SATHYANARAYA V
• Application Number:
  US09/993,735
• Publication Number:
  US 20030099375A1
• Time in Patent Office: 2,135 Days
• Field of Search: 382/103, 382/106, 382/107, 348169-172, 348/154, 348/155
• US Class Current: 382/103
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G08B 13/19602 Image analysis to detect motion of the intruder, e.g. by frame subtraction
• 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 13/19697 Arrangements wherein non-video detectors generate an alarm themselves

Abstract

A method and system are disclosed for estimating a position of moving objects in a set of image data. In accordance with exemplary embodiments of the present invention, a position of an object is identified in a first frame of image data acquired at a first time. The object is determined to be undetected in a second frame of image data acquired at a second time. Movement of the object is estimated to determine its estimated position in the second frame of image data using at least one of velocity and acceleration of the object and time between frames of image data. The estimated position is used to determine a position of the object in a third frame of image data acquired at a third time.

Claims

1. A method for estimating a position of moving objects in a set of image data, wherein the objects are occluded in at least a portion of the image data, the method comprising the steps of:

identifying a position of an object in a first frame of image data acquired at a first time based on first positional values of the object and first stabilization values of the object, the stabilization values being associated with movement in background of the image data;

determining that the object is undetected in a second frame of image data acquired at a second time;

associating second positional values of the object and second stabilization values of the object with the second frame of image data;

estimating movement of the object to determine its estimated position in the second frame of image data by compensating for image destabilization and by using at least one of velocity and acceleration of the object and time between frames of image data, wherein the estimating step includes calculating positional difference values of the object using the first and second positional values, calculating stabilization difference values of the object using the first and second stabilization values, subtracting stabilization difference values from positional difference values for each frame of image data to generate stabilized positional difference values;

using the estimated position to determine a position of the object in a third frame of image data acquired at a third time; and

calculating an actual movement of the object by adding the stabilization difference values to the estimated movement.

2. The method of claim 1, wherein the step of identifying comprises the step of:

maintaining a database of positional values of the object.

3. The method of claim 1, wherein the step of identifying comprises the step of:

maintaining a database of stabilization values of the object.

4. The method of claim 1, wherein the step of associating comprises the step of:

retrieving second positional values of the object from a database of positional values.

5. The method of claim 1, wherein the step of associating comprises the step of:

retrieving second stabilization values of the object from a database of stabilization values.

6. The method of claim 1, wherein the step of estimating comprises the step of:

determining a data time interval using a time between frames of image data.

7. The method of claim 6, wherein the step of estimating comprises the step of:

determining an absolute displacement of the object by summing the stabilized positional difference values over the data time interval.

8. The method of claim 7, wherein the step of estimating comprises the step of:

calculating a constant acceleration of the object during the data time interval using a predetermined acceleration function.

9. The method of claim 8, wherein the step of estimating comprises the step of:

calculating a current velocity of the object during the data time interval using a predetermined velocity function.

10. The method of claim 9, wherein the step of estimating comprises the step of:

calculating an estimated movement of the object from the constant acceleration and current velocity using a predetermined position function.

11. The method of claim 1, wherein the step of estimating comprises the step of:

calculating an estimated position of the object in the second frame of image data by adding the actual movement of the object to the position of the object in the first frame of image data.

12. A system for estimating a position of moving objects in a set of image data, wherein the objects are occluded in at least a portion of the image data, the system comprising:

a memory that stores steps of a computer program to;

identify a position of an object in a first frame of image data acquired at a first time based on positional values and stabilization values, the stabilization values being associated with movement in a background of the image data,

determine that the object is undetected in a second frame of image data acquired at a second time,

associating second positional values and second stabilization values with the second frame of image data;

estimate movement of the object to determine its estimated position in the second frame of image data by compensating for image destabilization and by using at least one of velocity and acceleration of the object and time between frames of image data, wherein to estimate movement the computer program calculates positional difference values using the first and second positional values, calculates stabilization difference values using the first and second stabilization values, and subtracts stabilization difference values from positional difference values for each frame of image data to generate stabilized positional difference values;

use the estimated position to determine a position of the object in a third frame of image data acquired at a third time,

calculate an actual movement of the object by adding the stabilization difference values to the estimated movement of the object; and

a processor for accessing the memory to execute the steps.

13. The system of claim 12, wherein the memory stores steps of a computer program to:

maintain a database of positional values of the object.

14. The system of claim 12, wherein the memory stores steps of a computer program to:

maintain a database of stabilization values of the object.

15. The system of claim 12, wherein for the associating step the memory stores steps of a computer program to:

retrieve second positional values of the object from a database of positional values.

16. The system of claim 12, wherein for the associating step the memory stores steps of a computer program to:

retrieve second stabilization values of the object from a database of stabilization values.

17. The system of claim 12, wherein the memory stores steps of a computer program to:

determine a data time interval using a time between frames of image data.

18. The system of claim 17, wherein the memory stores steps of a computer program to:

determine an absolute displacement of the object by summing the stabilized positional difference values over the data time interval.

19. The system of claim 18, wherein the memory stores steps of a computer program to:

calculate a constant acceleration of the object during the data time interval using a predetermined acceleration function.

20. The system of claim 19, wherein the memory stores steps of a computer program to:

calculate a current velocity of the object during the data time interval using a predetermined velocity function.

21. The system of claim 20, wherein the memory stores steps of a computer program to:

calculate an estimated movement of the object from the constant acceleration and current velocity using a predetermined position function.

22. The system of claim 16, wherein the memory stores steps of a computer program to:

calculate an estimated position of the object in the second frame of image data by adding the actual movement of the object to the position of the object in the first frame of image data.

23. A computer-readable storage medium containing a computer program that performs the steps of:

identifying a position of an object in a first frame of image data acquired at a first time based on first positional values of the object and first stabilization values of the object, the stabilization values being associated with movement of a background of the image data;

determining that the object is undetected in a second frame of image data acquired at a second time;

associating second positional values of the object and second stabilization values of the object with the second frame of image data

estimating movement of the object to determine its estimated position in the second frame of image data by compensating for image destabilization and by using at least one of velocity and acceleration of the object and time between frames of image data, wherein the estimating step includes calculating positional difference values using first and second positional values, calculating stabilization difference values the object the object using first and second stabilization values, and subtracting stabilization difference values from positional difference values for each frame of image data to generate stabilized positional difference values;

using the estimated position to determine a position of the object in a third frame of image data acquired at a third time; and

calculating an actual movement of the object by adding the stabilization difference values to the estimated movement of the object.

24. The computer-readable storage medium of claim 23, wherein the computer program performs the step of:

maintaining a database of positional values of the object.

25. The computer-readable storage medium of claim 23, wherein the computer program performs the step of:

maintaining a database of stabilization values of the object.

26. The computer-readable storage medium of claim 23, wherein for the associating step the computer program performs the step of:

retrieving second positional values of the object from a database of positional values.

27. The computer-readable storage medium of claim 23, wherein for the associating step the computer program performs the step of:

retrieving second stabilization values of the object from a database of stabilization values.

28. The computer-readable storage medium of claim 23, wherein the computer program performs the step of:

determining a data time interval using a time between frames of image data.

29. The computer-readable storage medium of claim 28, wherein the computer program performs the step of:

determining an absolute displacement of the object by summing the stabilized positional difference values over the data time interval.

30. The computer-readable storage medium of claim 29, wherein the computer program performs the step of:

calculating a constant acceleration of the object during the data time interval using a predetermined acceleration function.

31. The computer-readable storage medium of claim 30, wherein the computer program performs the step of:

calculating a current velocity of the object during the data time interval using a predetermined velocity function.

32. The computer-readable storage medium of claim 31, wherein the computer program performs the step of:

calculating an estimated movement of the object from the constant acceleration and current velocity using a predetermined position function.

33. The computer-readable storage medium of claim 23, wherein the computer program performs the step of:

calculating an estimated position of the object in the second frame of image data by adding the actual movement of the object to the position of the object in the first frame of image data.