System and method for tracking moving objects

• US 8,406,464 B2
• Filed: 06/22/2006
• Issued: 03/26/2013
• Est. Priority Date: 06/23/2005
• Status: Active Grant

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Karazi, Uri
• Primary Examiner(s): Abdi, Amara
• Application Number:
  US11/993,904
• Publication Number:
  US 20080267451A1
• Time in Patent Office: 2,469 Days
• Field of Search: 382/103, 382/168, 340/541, 348/143, 348/169, 348/699
• US Class Current: 382/103
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/20104 Interactive definition of region of interest [ROI]
• CPC Class Codes: G06T 2207/30212 Military
• 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: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69

Abstract

A method for tracking an object that is embedded within images of a scene, including: in a sensor unit that includes movable sensor, generating, storing and transmitting over a communication link a succession of images of a scene. In a remote control unit, receiving the succession of images. Receiving a user command for selecting an object of interest in a given image of the received succession of images and determining object data associated with the object and transmitting through the link to the sensor unit the object data. In the sensor unit, identifying the given image of the stored succession of images and the object of interest using the object data, and tracking the object in other image of the stored succession of images. The other image being later than the given image. In the case that the object cannot be located in the latest image of the stored succession of images, using information of at images in which the object was located to predict estimated real-time location of the object and generating direction command to the movable sensor for generating realtime image of the scene and locking on the object.

Claims

1. A method for tracking an object of interest that is embedded within images of a scene, comprising:

(a) in a sensor unit that includes movable sensor, generating, storing and transmitting over a communication link a succession of images of a scene;

(b) in a remote control unit, receiving the succession of images;

(c) receiving a user command for selecting the object of interest in a given image of said received succession of images or derivative thereof, determining object of interest data associated with said object of interest and transmitting through said link to said sensor unit at least said object of interest data;

(d) in the sensor unit;

identifying the given image of the stored succession of images and the object of interest using said object of interest data, and tracking the object of interest in at least one other image of said stored succession of images, said other image being later than said given image;

(e) in case that said object of interest cannot be located in the latest image of said stored succession of images, using information of at least two images in which said object of interest was located to predict estimated real-time location of the object of interest and generating direction command to the movable sensor for generating real-time image of the scene and locking on said object of interest.

2. The method according to claim 1, further comprising using real-time location data for controlling payload means.

3. The method according to claim 2, wherein said payload means includes a designator for illuminating said object of interest.

4. The method according to claim 2, wherein said payload means includes kill mechanism for killing the locked object of interest.

5. The method according to claim 2, wherein said payload means including data collection device for collecting data in respect of the object of interest.

6. The method according to claim 5, wherein said data is collected for intelligence applications.

7. The method according to claim 1, wherein said at least one other image include at least two images or derivative thereof starting from an image that follows said given image.

8. The method according to claim 7, wherein said at least two images are consecutive from among said succession of images or derivative thereof.

9. The method according to claim 1, wherein said given image being the first image in said succession of received images.

10. The method according to claim 1, wherein said succession of images being a sequence of video frames.

11. The method according to claim 1, wherein said data associated with said object of interest includes indication on said object of interest and at least one of the following:

location of the object of interest, speed of the object, acceleration of the object of interest, size of the object of interest, shape of the object of interest, color of the object of interest.

12. The method according to claim 1, wherein said object of interest is in motion and located in different locations in respective images of said succession of images, and wherein said method further comprising:

generating a derivative image including freezing an image or slowing down its rate, thereby facilitating the selection of said object of interest as if said object'"'"'s location in the images was stationary.

13. The method according to claim 12, further comprising:

pointing in the vicinity of said object of interest thereby zooming the image according to image boundaries substantially defined by said pointing, and selecting said object by pointing thereto on the zoomed image.

14. The method according to claim 13, further comprising enhancing the image before zooming the object of interest.

15. The method according to claim 1, further comprising identifying said object of interest.

16. The method according to claim 1, whereby said object of interest is located in real-time image, notwithstanding a time delay constituted by a timing difference between a first timing that an image is generated in said sensor and a second timing in which said object of interest is located in the real-time image.

18. A method for selecting a moving object within images of a scene, for use with the method of claim 1, the method comprising:

receiving through a communication link a succession of images;

freezing or slowing down a rate of a given image of said succession of images and selecting the object of interest in the frozen given image, as if said object of interest being stationary;

determining object data associated with said object of interest and transmitting through said link at least said object data.

17. A system for tracking an object of interest that is embedded within images in a scene, the system including a sensor unit that includes movable sensor, the sensor unit is configured to generate a succession of images of a scene, a remote control unit configured to communicate with the sensor unit through a communication link and receive through the link at least said succession of images, and in response to selection of the object of interest in an image, transmit through said link object of interest data that pertain to an object of interest that is embedded in images of the scene;

the system is configured to accomplish substantially real-time location of the object of interest notwithstanding a time delay constituted by a timing difference between a first timing that an image including the object of interest is generated in said sensor and a second timing in which said object of interest is located in real-time image, comprising;

in the control unit, determining object of interest data associated with the object of interest in a given image of said received succession of images or derivative thereof, and transmitting through said link to said sensor unit at least said object of interest data;

in the sensor unit, identifying the given image of the stored succession of images and the object of interest using said object of interest data, and in the case that the object of interest is not located in the latest image of said succession of images, estimating current location of the object of interest, and generating direction commands to said sensor for generating real-time image and locking on said object of interest.