Object tracking method and object tracking apparatus

• US 7,400,344 B2
• Filed: 12/17/2003
• Issued: 07/15/2008
• Est. Priority Date: 12/19/2002
• 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): RAO, ANAND SHASHIKANT
• Application Number:
  US10/736,589
• Publication Number:
  US 20040125984A1
• Time in Patent Office: 1,672 Days
• Field of Search: 348142-170
• US Class Current: 348/169
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06V 10/24 Aligning, centring, orientation detection or correction of the image
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G06V 20/54 of traffic, e.g. cars on the road, trains or boats
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

An object tracking method and an object tracking apparatus. Based on two or more frames of images acquired at different time points from an imaging unit, an image changing area is detected between the frames. Based on the image changing area thus detected, the position of an object is detected. The detected position of the object is set as a new detected position of the object in place of the present detected position of the object, thereby detecting and tracking an object intruding into a monitor area.

Claims

1. An object tracking method for detecting and tracking a moving object in a picked-up image based on an image signal acquired by an imaging unit, comprising the steps of:

a) producing a template image cut out from the image acquired from said imaging unit so as to include a part of said object;

b) conducting a template matching by calculating correlations between a present image from said imaging unit and said template image, detecting a position of a part of said present image matched with said template image, and updating a position of a current template image by said detected position;

c) detecting an image changing area between at least two frames of images picked up at different time points by said imaging unit;

d) correcting said detected position of said object to a new position in which said image changing area is detected in a manner different from the detecting of a position of the part of said present image matched with said template image according to said template matching of said step b; and

e) updating a template image by an image output as a new template image based on the updated position of said object, wherein said step b to said step e are repeatedly executed while tracking the object.

2. An object tracking method according to claim 1, wherein in said step c said image changing area is detected as an area having a greatest amount or an amount equal to or larger than a predetermined amount in accumulated value of a pixel different in the area.

3. An object tracking method according to claim 1, wherein said step c includes a sub-step of setting a search area for detecting image changing area near the position of said current template image.

4. An object tracking method according to claim 3, wherein said step d) includes a sub-step of enlarging or moving said set search area stepwise.

9. An object tracking method according to claim 3, wherein said search area is enlarged within predetermined pixels until any amount equal to or large than said predetermined amount is detected.

10. An object tracking method according to claim 3, wherein said new position is a position of an area having a same size as a size of said template image cut out in said step a.

11. An object tracking method according to claim 3, wherein said step d includes sub-steps of:

calculating inline-accumulated values of pixel differences projected on X or Y axis within said search area; and

calculating a sum of said inline-accumulated values over a range of width or height of said image changing area to be detected.

5. An object tracking apparatus for detecting and tracking a moving object in a picked-up image based on an image signal acquired by an imaging unit, comprising:

an image input unit which produces a template image cut out from the image acquired from said imaging unit so as to include a part of said object; and

a processing unit which conducts a template matching by calculating correlations between a present image from said image input unit and said template image, detects a position of a part of said present image matched with said template image, and updates a position of a current template image by said detected position,

wherein said processing unit further detects an image changing area between at least two frames of images picked up at different time points by said imaging unit, corrects said detected position of said object to a new position in which said image changing area is detected in a manner different from the detection of a position of the part of said present image matched with said template image, and updates a template image by an image output as a new template image based on the updated position of said object, and

wherein said processing unit repeatedly executes the template matching, detecting said position of said part, detecting said image changing area, correcting said detected position and updating said template image processings while tracking the object.

6. An object tracking apparatus according to claim 5, wherein said processing unit in said detecting said image changing area processing, said image changing area is detected as an area having a greatest amount or an amount equal to or larger than a predetermined amount in accumulated value of a pixel different in the area.

7. An object tracking apparatus according to claim 5, wherein said processing unit sets a search area for detecting the image changing area near the position of said current template image.

8. An object tracking apparatus according to claim 7, wherein said processing unit enlarges or moves said set search area stepwise.

12. An object tracking apparatus according to claim 5, wherein said search area is enlarged within predetermined pixels until any amount equal to or large than said predetermined amount is detected.

13. An object tracking apparatus according to claim 5, wherein said new position is a position of an area having a same size as a size of said template image cut out.

14. An object tracking apparatus according to claim 5, wherein said correcting said detected position processing performed by said processing units includes sub-steps of:

calculating inline-accumulated values of pixel differences projected on X or Y axis within said search area; and

calculating a sum of said inline-accumulated values over a range of width or height of said image changing area to be detected.