Robust stereo-driven video-based surveillance
First Claim
Patent Images
1. A method of tracking an object comprising:
- providing a plurality of cameras;
determining an image from each camera;
determining a common plane in the images;
determining a parallax for scene points across the images;
incorporating the parallax as a feature in a background model;
determining a change in the background model incorporating the parallax; and
tracking the object according to the change, wherein the change in the background model incorporating the parallax corresponds to the object, wherein the tracking of the object according to the change further comprises,obtaining a measure from the parallax that is invariant to motion of the object through the image, andtracking the object relative to the invariant measure.
3 Assignments
0 Petitions
Accused Products
Abstract
A method of tracking an object comprises providing a plurality of cameras, determining an image from each camera, and determining a common plane in the images. The method further comprises determining a parallax for scene points across the images, incorporating the parallax as a feature in a background model, and estimating a change in the scene using the background model. A camera can be a pan-tilt-zoom camera. A camera can be uncalibrated.
-
Citations
20 Claims
-
1. A method of tracking an object comprising:
-
providing a plurality of cameras; determining an image from each camera; determining a common plane in the images; determining a parallax for scene points across the images; incorporating the parallax as a feature in a background model; determining a change in the background model incorporating the parallax; and tracking the object according to the change, wherein the change in the background model incorporating the parallax corresponds to the object, wherein the tracking of the object according to the change further comprises, obtaining a measure from the parallax that is invariant to motion of the object through the image, and tracking the object relative to the invariant measure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
-
-
16. A program storage device readable by machine, tangibly embodying a program of instructions executable by the machine to perform method steps for tracking an object, the method steps comprising:
-
providing a plurality of cameras; determining an image from each camera; determining a common plane in the images; determining a parallax for scene points across the images; incorporating the parallax as a feature in a background model; and determining a change in the background model incorporating the parallax; and tracking the object according to the change, wherein the change in the background model incorporating the parallax corresponds to the object, wherein the tracking of the object according to the change further comprises, obtaining a measure from the parallax that is invariant to motion of the object through the image, and tracking the object relative to the invariant measure.
-
-
17. A system for tracking an object comprising:
-
a plurality of cameras capturing images including the object; a memory device storing a plurality of instructions embodying an object tracker; a processor in communication with the memory device and the plurality of cameras for receiving the images including the object and executing the object tracker to perform a method comprising; determining a common plane in the images; determining a parallax for scene points across the images; incorporating the parallax as a feature in a background model; determining a change in the background model incorporating the parallax; and tracking the object according to the change, wherein the change in the background model incorporating the parallax corresponds to the object, wherein the tracking of the object according to the change further comprises, obtaining a measure from the parallax that is invariant to motion of the object through the image, and tracking the object relative to the invariant measure. - View Dependent Claims (18, 19, 20)
-
Specification