Automatic tracking apparatus and automatic tracking method

• US 8,170,277 B2
• Filed: 01/30/2007
• Issued: 05/01/2012
• Est. Priority Date: 01/31/2006
• Status: Active Grant

• Current Assignee: I-Pro Company Limited
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: Michimoto, Yasuyuki, Ooyabu, Satoru
• Primary Examiner(s): Fitzpatrick, Atiba O
• Application Number:
  US12/162,823
• Publication Number:
  US 20090028386A1
• Time in Patent Office: 1,918 Days
• Field of Search: 382100-107, 348169-175, 356 27- 33, 73488-492
• US Class Current: 382/103
• CPC Class Codes: G01S 3/7865 using correlation of the live video image with a stored image
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06V 10/24 Aligning, centring, orientation detection or correction of the image
• CPC Class Codes: H04N 23/50 Constructional details
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

An automatic tracking apparatus is provided, which is capable of solving a failure occurred in an automatic tracking operation in connection with a zooming operation, and capable of tracking an object in a stable manner, while a zooming-up operation, or a zooming-down operation is carried out in a high speed.

The automatic tracking apparatus is equipped with: a first object detecting unit 52 for detecting an object from an image photographed by a camera and inputted; a first zooming control unit 53 for changing zooming magnification of the camera in such a case that a dimension of the detected object is smaller than a predetermined dimension on the image; a second object detecting unit 55 for detecting the object from an image again photographed by the camera after the zooming magnification has been changed; a template matching unit 56 for comparing the object detected by the second object detecting unit with the image photographed by the camera so as to specify a position of the object and to track the object on the image; and a second zooming control unit 57 for controlling the zooming magnification of the camera in such a manner that a dimension of the object to be tracked becomes a predetermined dimension on an image which is photographed by the camera.

Claims

1. An automatic tracking apparatus for tracking a moving object, comprising:

a first object detector that detects the object from an image photographed by a camera which is provided with a zooming mechanism and photographs at a predetermined image angle;

a first zooming controller that changes zooming magnification of the camera in such a case that a dimension of the detected object does not satisfy a predetermined condition on the image, wherein the first zooming controller changes the zooming magnification at a first speed;

a second object detector that detects the object from an image again photographed by the camera after the zooming magnification is changed;

a tracking unit that compares the object detected by the second object detector with the image photographed by the camera so as to specify a position of the object and to track the object on the image; and

a second zooming controller that controls the zooming magnification of the camera in such a manner that a dimension of the object to be tracked becomes a predetermined dimension on an image which is photographed by the camera, wherein the second zooming controller changes the zooming magnification at a slower speed than the first speed.

2. A non-transitory computer readable recording medium storing a program for causing a computer to function as the first object detector, the first zooming controller, the estimating unit, the first panning/tilting controller, the second object detector, the tracking unit, and the second zooming controller of the automatic tracking apparatus recited in claim 1.

3. The automatic tracking apparatus according to claim 1,

wherein, prior to commencing tracking of the object by template matching, the first zooming controller changes the zooming magnification, and

wherein, after commencing tracking of the object by template matching, the second zooming controller changes the zooming magnification.

4. The automatic tracking apparatus according to claim 3, further comprising:

a first panning/tilting controller that controls a panning angle and a tilting angle of the camera;

a second panning/tilting controller that controls the panning angle and the tilting angle of the camera in connection with movement of the object tracked by the tracking unit in such a manner that the object is not deviated from the image; and

an estimating unit that estimates a move destination at a first time instant or a second time instant, whichever is later, wherein changing of the zooming magnification by the first zooming controller is accomplished at the first time instant, and wherein controlling of the panning angle and the tilting angle by the first panning/tilting controller is accomplished at the second time instant,

wherein the first panning/tilting controller controls the panning angle and the tilting angle of the camera toward the estimated move destination of the object.

5. The automatic tracking apparatus according to claim 3, further comprising:

an estimating unit that estimates a move destination, to which the object is moved while the zooming magnification of the camera is changed by the first zooming controller.

6. The automatic tracking apparatus according to claim 5, further comprising:

a first panning/tilting controller that controls a panning angle and a tilting angle of the camera toward the estimated move destination of the object; and

a second panning/tilting controller that controls the panning angle and the tilting angle of the camera in connection with movement of the object tracked by the tracking unit in such a manner that the object is not deviated from the image.

7. The automatic tracking apparatus according to claim 6, wherein the second zooming controller controls the panning angle and the tilting angle at lower speeds, as compared with those of the first panning/tilting controller.

8. The automatic tracking apparatus according to claim 6, wherein the first panning/tilting controller controls the panning angle and the tilting angle of the camera toward the estimated move destination of the object prior to commencing tracking of the object by template matching.

9. An automatic tracking apparatus for tracking a moving object, comprising:

a camera having a zooming mechanism and a rotation table, for photographing at a predetermined image angle;

a first object detector that detects the object from an image photographed by the camera;

a first zooming controller that changes zooming magnification of the camera in such a case that a dimension of the detected object does not satisfy a predetermined condition on the image, wherein the first zooming controller changes the zooming magnification at a first speed;

a second object detector that detects the object from an image again photographed by the camera after the zooming magnification is changed;

a tracking unit that compares the object detected by the second object detector with the image photographed by the camera so as to specify a position of the object and to track the object on the image; and

a second zooming controller that controls the zooming magnification of the camera in such a manner that a dimension of the object to be tracked becomes a predetermined dimension on an image which is photographed by the camera, wherein the second zooming controller changes the zooming magnification at a slower speed than the first speed.

10. The automatic tracking apparatus according to claim 9,

wherein, prior to commencing tracking of the object by template matching, the first zooming controller changes the zooming magnification, and

wherein, after commencing tracking of the object by template matching, the second zooming controller changes the zooming magnification.

11. The automatic tracking apparatus according to claim 10, further comprising:

an estimating unit that estimates a move destination, to which the object is moved while the zooming magnification of the camera is changed by the first zooming controller.

12. An automatic tracking method for tracking a moving object comprising:

a first object detecting step including detecting the object from an image photographed by a camera which is equipped with a zooming mechanism and photographs at a predetermined image angle;

changing zooming magnification of the camera at a first speed, in such a case that a dimension of the object does not satisfy a predetermined condition on the image;

a second object detecting step including detecting the object from an image again photographed by the camera after the zooming magnification is changed;

comparing the object detected by the second object detecting step with the image photographed by the camera so as to specify a position of the object and to track the object on the image; and

controlling the zooming magnification of the camera in such a manner that a dimension of the object to be tracked becomes a predetermined dimension on an image which is photographed by the camera, wherein the zooming magnification changes at a slower speed than the first speed.

13. The automatic tracking method according to claim 12,

wherein, prior to commencing tracking of the object by template matching, the changing step is performed, and

wherein, after commencing tracking of the object by template matching, the controlling step is performed such that the zooming magnification changes at the slower speed.

14. The automatic tracking method according to claim 13, further comprising:

estimating a move destination, to which the object is moved while the zooming magnification of the camera is changed in the changing step.

15. The automatic tracking method according to claim 14, further comprising;

a first panning/tilting controlling step including controlling a panning angle and a tilting angle of the camera toward the estimated move destination of the object; and

a second panning/tilting controlling step including controlling the panning angle and the tilting angle of the camera in connection with movement of the object tracked in the comparing step in such a manner that the object is not deviated from the image.

16. The automatic tracking method according to claim 15, wherein, prior to commencing tracking of the object by template matching, the first panning/tilting controlling step is performed.