System and method for camera control in a surveillance system

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First Claim
1. A computerimplemented method for calibrating at least one camera, the system including at least one camera, the method comprising:
 displaying a video feed from the at least one camera, the at least one camera having an orientation characterized by pan, zoom, and tilt coordinates;
displaying a map of an area, the map being characterized by geospatial coordinates;
allowing a user to select at least three pairs of points using at least one input device, a first point of the pair being selected in the map and a second point of the pair being selected from the video feed, the first point and the second point corresponding to the same geographic location;
converting, in a computer process, the at least three points selected in the map from geospatial coordinates into Cartesian coordinates in three dimensions defined by a first threedimensional coordinate system;
converting, in a computer process, the at least three points selected in the video feed from pan, zoom, and tilt coordinates into Cartesian coordinates in three dimensions defined by a second threedimensional coordinate system; and
determining, in a computer process, a mathematical rotation between the first threedimensional coordinate system and the second threedimensional coordinate system based upon the Cartesian coordinates for the at least three pairs of points.
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Abstract
A method and a system for calibrating a camera in a surveillance system. The method and system use a mathematical rotation between a first coordinate system and a second coordinate system in order to calibrate a camera with a map of an area. In some embodiments, the calibration can be used to control the camera and/or to display a view cone on the map.
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24 Claims
 1. A computerimplemented method for calibrating at least one camera, the system including at least one camera, the method comprising:
displaying a video feed from the at least one camera, the at least one camera having an orientation characterized by pan, zoom, and tilt coordinates; displaying a map of an area, the map being characterized by geospatial coordinates; allowing a user to select at least three pairs of points using at least one input device, a first point of the pair being selected in the map and a second point of the pair being selected from the video feed, the first point and the second point corresponding to the same geographic location; converting, in a computer process, the at least three points selected in the map from geospatial coordinates into Cartesian coordinates in three dimensions defined by a first threedimensional coordinate system; converting, in a computer process, the at least three points selected in the video feed from pan, zoom, and tilt coordinates into Cartesian coordinates in three dimensions defined by a second threedimensional coordinate system; and determining, in a computer process, a mathematical rotation between the first threedimensional coordinate system and the second threedimensional coordinate system based upon the Cartesian coordinates for the at least three pairs of points.  View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
 15. Apparatus comprising at least one nontransitory computer readable medium encoded with instructions which when loaded on at least one computer, establish processes for calibrating at least one camera orientation characterized by pan, zoom, and tilt coordinates, the processes including:
allowing a user to select at least three pairs of points using at least one input device, a first point of the pair being selected in a map characterized by geospatial coordinates and a second point of the pair being selected from a video feed from the at least one camera, the first point and the second point corresponding to the same geographic location; converting the at least three points selected in the map from geospatial coordinates into Cartesian coordinates in three dimensions defined by a first threedimensional coordinate system; converting the at least three points selected in the video feed from pan, zoom, and tilt coordinates into Cartesian coordinates in three dimensions defined by a second threedimensional coordinate system; and determining a mathematical rotation between the first threedimensional coordinate system and the second threedimensional coordinate system based upon the Cartesian coordinates for the at least three pairs of points.  View Dependent Claims (16, 17, 18)
 19. A surveillance system comprising:
at least one camera having an orientation characterized by pan, zoom and tilt coordinates; a processor in communication with the at least one camera; at least one display in communication with the processor, the at least one display displaying a video feed from the at least one camera and a map of an area, the map being characterized by geospatial coordinates; at least one input device in communication with the processor allowing a user to select points on the video feed and the map; a memory storing instructions executable by the processor to perform processes that include; converting points selected in the map from the geospatial coordinates into Cartesian coordinates in three dimensions defined by a first threedimensional coordinate system; converting points selected in the video feed from pan, zoom, and tilt coordinates into Cartesian coordinates in three dimensions defined by a second threedimensional coordinate system; and determining a mathematical rotation between the first threedimensional coordinate system and the second threedimensional coordinate system based upon the Cartesian coordinates for at least three pairs of points, a first point of the pair having been selected in the map and a second point of the pair having been selected from the video feed.  View Dependent Claims (20, 21, 22, 23, 24)
1 Specification
The present application is a continuation of U.S. patent application Ser. No. 12/946,413, filed Nov. 15, 2010, now U.S. Pat. No. 8,193,909, which is a continuation of PCT Application No. PCT/US 10/56691, filed Nov. 15, 2010, the full disclosures of which are incorporated by reference herein in their entirety.
The present invention relates to methods of camera control, and more particularly to methods of camera control in a surveillance system.
Surveillance systems use cameras to survey areas of interest. The cameras produce video feeds that can be displayed to a user. In this manner, the user can remotely observe an area of interest. In some cases, the cameras in the surveillance system are fixed and the user cannot change their field of view. In other cases, however, the cameras and their field of views can be adjusted through user control. Typically, the control is performed using a manual control, such as a joystick. Thus, if the video feed includes a moving object, the user manually controls the camera to follow the moving object. This manual control of the camera is not very efficient, particularly if the user has a limited time period to capture and/or respond to the moving object. These problems are further compounded if the camera is not accurately and properly mounted (e.g., to be level with the ground). In another example, image analysis is used to automatically control the camera to follow an object within the field of view. The shortcoming with this approach is that the image analysis cannot be performed unless the object is within the field of view of the camera. If the moving object is not within the field of view, the user must manually guide the camera to capture the moving object within its field of view.
Illustrative embodiments of the present invention are directed to a method, a system, and a computer readable medium encoded with instructions for calibrating a surveillance system. Illustrative embodiments of the present invention include displaying a video feed from a camera that has an orientation characterized by pan, zoom, and tilt coordinates. Exemplary embodiments further include displaying a map of an area that is characterized by geospatial coordinates. A user selects at least three pairs of points using an input device. A first point of the pair is selected in the map and a second point of the pair is selected from the video feed. The first point and the second point correspond to the same geographic location. The three points selected in the map are converted from geospatial coordinates into Cartesian coordinates defined by a first coordinate system. The three points selected in the video feed are converted from pan, zoom, and tilt coordinates into Cartesian coordinates defined by a second coordinate system. A mathematical rotation between the first coordinate system and the second coordinate system is then determined based upon the Cartesian coordinates for the three pairs of points.
Various embodiments of the present invention also include allowing the user to select at least one point in the map using the input device. The geospatial coordinates for the selected point are converted into Cartesian coordinates defined by the first coordinate system and the mathematical rotation is applied to those Cartesian coordinates to determine Cartesian coordinates defined by the second coordinate system. The Cartesian coordinates defined by the second coordinate system are then further converted into pan and tilt coordinates for the selected point. Orientation instructions are then provided to the camera based upon the pan and tilt coordinates for the selected point.
In additional or alternative embodiments of the present invention, coordinates from a sensor for a target are received and, if the coordinates for the target are not Cartesian coordinates defined by the first coordinate system, then they are converted into Cartesian coordinates defined by the first coordinate system. The mathematical rotation is applied to the Cartesian coordinates defined by the first Cartesian coordinate system to determine Cartesian coordinates defined by the second Cartesian coordinate system. The Cartesian coordinates defined by the second Cartesian coordinate system are converted into pan and tilt coordinates and orientation instructions are provided to the camera based upon the pan and tilt coordinates.
In another illustrative embodiment of the present invention, the video feed has upper left, upper right, lower left, and lower right corners. Exemplary embodiments of the invention further include determining effective pan and tilt angles for at least the lower left and lower right corners of the video feed based upon the pan, zoom, and tilt coordinates for the camera orientation. The effective pan and tilt angles for at least the lower left and lower right corners of the video feed are converted into Cartesian coordinates defined by the second coordinate system. The mathematical rotation is applied to the Cartesian coordinates defined by the second coordinate system to determine Cartesian coordinates defined by the first coordinate system for at least the lower left and lower right corners of the video feed. A view cone is determined using the Cartesian coordinates defined by the first coordinate system for at least the lower left and lower right corners of the video feed and based upon the upper left and upper right corners of the video feed. The view cone is displayed on the map.
Illustrative embodiments of the present invention are directed to a method, a system, and a computer readable medium encoded with instructions for controlling a camera that has an orientation characterized by pan, zoom, and tilt coordinates. Exemplary embodiments of the invention include displaying a map of an area that is characterized by geospatial coordinates. A user selects at least one point in the map using the input device. The geospatial coordinates for the selected point are converted into Cartesian coordinates defined by a first coordinate system that characterizes the map. A mathematical rotation is applied to the Cartesian coordinates for the selected point to determine Cartesian coordinates defined by a second coordinate system that characterizes a video feed from the camera. The mathematical rotation provides a conversion between the first coordinate system and the second coordinate system. The Cartesian coordinates defined by the second coordinate system are converted into pan and tilt coordinates for the selected point and orientation instructions are provided to the camera based upon at least the pan and tilt coordinates for the selected point. The video feed from the camera is then displayed according to the pan and tilt coordinates.
Illustrative embodiments of the present invention are directed to a method, a system, and a computer readable medium encoded with instructions for prioritizing video feeds from a plurality of cameras that have locations characterized by coordinates. Exemplary embodiment of the invention include receiving coordinates for a point of interest and determining whether the point of interest is within the viewing range of any of the plurality of the cameras. If more than one camera is within viewing range of the point of interest, the distances between the cameras and the point of interest are determined. Various embodiments of the present invention further include determining which of the cameras is the least distant from the point of interest. Orientation instructions are provided to the least distant camera based upon the coordinates of the point of interest and a video feed is displayed from the least distant camera.
Illustrative embodiments of the present invention are directed to a method, a system, and a computer readable medium encoded with instructions for tracking at least one target using a sensor and a camera that has an orientation characterized by pan, zoom, and tilt coordinates. Exemplary embodiments of the invention include receiving coordinates from the sensor for the target. If the coordinates for the target are not Cartesian coordinates defined by a first coordinate system characterizing the map, then the coordinates are converted into Cartesian coordinates defined by the first coordinate system. A mathematical rotation is applied to the Cartesian coordinates defined by the first coordinate system in order to determine Cartesian coordinates defined by a second coordinate system that characterizes a video feed from the camera. The mathematical rotation provides a conversion between the first coordinate system and the second coordinate system. The Cartesian coordinates defined by the second Cartesian coordinate system are converted into pan and tilt coordinates and orientation instructions are provided to the camera based upon the pan and tilt coordinates. The video feed from the camera is then displayed according to the pan and tilt coordinates.
Illustrative embodiments of the present invention are directed to a method, a system, and a computer readable medium encoded with instructions for displaying a view cone for a camera that has an orientation characterized by pan, zoom, and tilt coordinates. Exemplary embodiments of the present invention include displaying a map of an area, determining the view cone based upon the pan, zoom, and tilt coordinates for the camera, and displaying the view cone on the map.
Illustrative embodiments of the present invention are directed to a method, a system, and a computer readable medium encoded with instructions for displaying a view cone for a camera that has an orientation characterized by pan, zoom, and tilt coordinates. Exemplary embodiments of the present invention include displaying a map of an area that is characterized by geospatial coordinates. Effective pan and tilt angles are determined for at least the lower left and lower right corners of the video feed based upon the pan, zoom, and tilt coordinates for the camera orientation. The effective pan and tilt angles for at least the lower left and lower right corners of the video feed are converted into Cartesian coordinates defined by a second coordinate system that characterizes the video feed. A mathematical rotation is applied to the Cartesian coordinates for at least the lower left and lower right corners of the video feed to determine Cartesian coordinates defined by a first coordinate system that characterizes the map. The mathematical rotation provides a conversion between the first coordinate system and the second coordinate system. A view cone is then determined based upon the Cartesian coordinates, defined by the first coordinate system, for at least the lower left and lower right corners and based upon the upper left and upper right corners of the video feed. The view cone is then displayed on the map.
When the tilt coordinate for the camera is below the horizon, determining the view cone based upon the upper left and upper right corners of the video feed further includes determining effective pan and tilt angles for the upper left and upper right corners of the video feed based upon the pan, zoom, and tilt coordinates for the camera orientation. The effective pan and tilt angles for the upper left and upper right corners of the video feed are converted into Cartesian coordinates defined by the second coordinate system. The mathematical rotation is applied to the Cartesian coordinates to determine Cartesian coordinates defined by the first coordinate system for the upper left and upper right corners of the video feed. The view cone is determined based upon the Cartesian coordinates, defined by the first coordinate system, for the upper left, upper right, lower left and lower right corners.
When the tilt coordinate for the camera is above the horizon, determining the view cone based upon the upper left and upper right corners of the video feed includes determining effective tilt angles for the upper left and upper right corners of the video feed based upon the pan, zoom, and tilt coordinates for the camera. Coordinates, defined by the first coordinate system, for the upper left and upper right corners of the video feed are determined based upon a resolvable distance of the camera. The view cone is determined based upon the Cartesian coordinates, defined by the first coordinate system, for the upper left, upper right, lower left and lower right corners.
In further exemplary embodiments, the view cone is a polygon and the Cartesian coordinates, defined by the first coordinate system, for the upper left, upper right, lower left and lower right corners are the vertices of the polygon.
Illustrative embodiments of the present invention are directed to a method, a calibrated system, and a computer readable medium encoded with instructions for controlling a camera. Exemplary embodiments of the present invention include displaying a map of an area and determining Cartesian coordinates for a point of interest. The Cartesian coordinates are defined by a first coordinate system characterizing the map. Exemplary embodiments further include applying a mathematical rotation to the Cartesian coordinates for the point of interest to determine Cartesian coordinates defined by a second coordinate system that characterizes a video feed from the camera. The mathematical rotation provides a conversion between the first coordinate system and the second coordinate system. The Cartesian coordinates defined by the second coordinate system are converted into at least pan and tilt coordinates for the point of interest and orientation instructions are provided to the camera based upon at least the pan and tilt coordinates for the point of interest. The video feed from the camera is displayed according to the orientation instructions.
In all or some of the above described embodiments, the geospatial coordinates are latitude, longitude, and altitude coordinates. The input device is one or more of a mouse, a cursor, a crosshair, a touch screen, and a keyboard. The sensor is one or more of a camera, a radar, and a motion detector.
Furthermore, in all or some of the above described embodiments, the map of an area is displayed and the map is characterized by geospatial coordinates. In some embodiments, the location of at least one camera is displayed on the map. In additional or alternative embodiments, the location of at least one sensor is displayed on the map. Also, in some embodiments, the location of at least one target is displayed on the map.
In all or some of the above described embodiments, the mathematical rotation is determined by displaying a map of an area that is characterized by geospatial coordinates. A user selects at least three pairs of points using an input device. The first point of the pair is selected in the map and a second point of the pair being selected from the video feed. The first point and the second point corresponding to the same geographic location. The three points selected in the map are converted from geospatial coordinates into Cartesian coordinates defined by the first coordinate system. The at least three points selected in the video feed are converted from pan, zoom, and tilt coordinates into Cartesian coordinates defined by the second coordinate system. The mathematical rotation between the first coordinate system and the second coordinate system is determined based upon the Cartesian coordinates for the at least three pairs of points. In some embodiments, the mathematical rotation is a matrix.
The foregoing features of the invention will be more readily understood by reference to the following detailed description, taken with reference to the accompanying drawings, in which:
Illustrative embodiments of the present invention are directed to a surveillance system.
In illustrative embodiments, the surveillance system also includes a geographic information system 116. The geographic information system 116 includes a database of maps of geographic areas (e.g., building floor plans and/or outdoor terrains). Each map includes geospatial coordinates definable by a geographic coordinate system (e.g., latitude, longitude, and altitude). In additional or alternative embodiments, the geospatial coordinates are definable a Cartesian Coordinate system.
In some embodiments, the processor 108 itself includes the geographic information system 116, however, in other embodiments, the geographic information system may be in communication with the processor via the communications network (e.g., internet) 110. The display device 112 is used to display the map and the input device 114 is used to select a points on the map. In various exemplary embodiments, a first display device may be used to display video feeds from the cameras 102, 104, 106 and a second display device is used to display the map. Additionally or alternatively, the surveillance system 100 may include at least one sensor 118 such as a camera, a radar, and/or a motion detector. The sensor 118 is in electronic communication with the processor 108 via, for example, the computer network 110.
Calibration
Illustrative embodiments of the present invention are directed to a method for calibrating a surveillance system (such as the one shown in
The method also includes using the display device to display a map of an area 204.
Illustrative embodiments of the map 300 also show the location of a camera on the map using a camera icon 302. In this manner, a user can view the map 300 and understand the vantage point and perspective of the video feed from the camera. In
The map 300 also displays an input device 304 so that the user can select points on the map 300. In
Illustrative embodiments of the calibration method allow the user to select at least three pairs of points using the input device 304, 206. A first point of the pair is selected in the map 300 using the input device 304. In
Once the first pair of points is selected, the user selects a second pair of points. In
Once the second pair of points is selected, the user selects a third pair of points. In illustrative embodiments of the present invention, the user selects three pairs of points, however, in other exemplary embodiments, the user may selects 4, 5, or more pairs of points for the calibration. In some exemplary embodiments, using more pairs of points results in a more accurate calibration because any error within the coordinates of one point is averaged over a greater number of points.
In illustrative embodiments of the present invention, as described above, the user selects the first point of the pair in the map 300 and then the second point of the pair in the video feed 400. Once the first pair of points is selected, the user then selects the next pair of points. The embodiments of the present invention, however, are not limited to this particular order. In fact, the points can be selected in any order so long as there are at least three pairs of points selected. For example, in one illustrative embodiment, the user first selects a point of the pair in the video feed 400 and then selects the other point of the pair in the map 300. In yet another illustrative embodiment, the user first selects all three points in the video feed 400 and then selects corresponding points in the map 300.
In various embodiments of the calibration method, the pan, tilt, and zoom orientation of the camera for each point in the video feed are converted into effective pan and tilt angles for the points themselves. The processor initially registers the orientation of the camera itself, but these initial pan and tilt angles are representative of the center of the video feed. When a user selects points away from the center of the video feed 400, the effective pan and tilt angles for the points will be different from the pan and tilt orientation of the camera itself. To determine the effective pan and tilt angles for the points, a horizontal angular field of view (H_{FOV}) and vertical angular field of view (V_{FOV}) is determined using Equations 1 and 2:
The effective pan angle (θ) can be calculated using Equation 3,
wherein H_{D }is the horizontal distance (e.g., in pixels) from the center of the video feed 400 to the point, and W_{Videofeed }is the width of the video feed (e.g., in pixels). Also, the effective tilt angle (φ) can be calculated using Equation 4,
wherein V_{D }is the vertical distance (e.g., in pixels) from the center of the video feed 400 to the point, and H_{Videofeed }is the height of the video feed (e.g., in pixels).
Illustrative embodiments of the calibration method also include converting the at least three points selected in the video feed 400 from effective pan and tilt angles to Cartesian coordinates defined by a Cartesian coordinate system 210. In various embodiments of the calibration method, the effective pan and tilt angles are converted to unit vectors on a “camera” Cartesian coordinate system that has its origin at the camera'"'"'s location. The effective pan and tilt angles can be converted into Cartesian coordinates using Equations 5, 6, and 7:
u=cos(φ)×sin(θ) (5)
v=cos(φ)×cos(θ) (6)
w=sin(φ) (7)
In this manner, Cartesian coordinates are calculated for the effective pan (θ) and tilt (φ) angles of each point selected in the video feed 400.
Illustrative embodiments of the calibration method further include converting the three points selected in the map 300 from geospatial coordinates into Cartesian coordinates defined by a coordinate system 208. The coordinate system can be created using a geospatial location for a point (P_{lat}, P_{lon}, P_{alt}) and a geospatial location for the camera (C_{lat}, C_{lon}, C_{alt}). The origin of the “map” Cartesian coordinate system is set as the location of the camera. In illustrative embodiments, the xaxis of the coordinate system points east, the yaxis points north, and the zaxis points in a direction away from and normal to the Earth.
The distance from the camera to the point along the xaxis can be calculated using Equation 8:
X_{P}=R_{E}×sin(P_{lat}−C_{lat})+(R_{E}×cos(P_{lat}))×(1−cos(P_{lon}×C_{lon}))×sin(C_{lat}) (8)
The distance from the camera to the point along the yaxis can be calculated using Equation 9:
Y_{P}=R_{E}×cos(P_{lat}))×sin(P_{lon}−C_{lon})) (9)
The distance from the camera to the point along the zaxis can be calculated using Equation 10:
Z_{P}=−C_{alt}=−P_{alt} (10)
In each of Equations 8, 9, and 10, R_{E }is the semimajor axis of the earth, which can be calculated according to Equation 11,
R_{E}=(1−K_{flat})×sin^{2}(P_{lat})×R_{a} (11)
wherein K_{flat }is the Earth flatness constant, which is approximately 1/298.257, and R_{a }is the radius of the Earth, which is approximately 6,378,137 meters. Accordingly, using Equations 8, 9, and 10, the Cartesian coordinates for the point are (X_{P}, Y_{P}, Z_{P}) and the Cartesian coordinates for the camera are (0, 0, 0).
In illustrative embodiments, the three points selected from the video feed are then converted into unit vectors. The unit vectors can be determined using Equations 12, 13, and 14:
u=X_{P}/√{square root over (X_{P}^{2}Y_{P}^{2}Z_{P}^{2})} (12)
v=Y_{P}/√{square root over (X_{P}^{2}Y_{P}^{2}Z_{P}^{2})} (13)
w=Z_{P}/√{square root over (X_{P}^{2}Y_{P}^{2}Z_{P}^{2})} (14)
Accordingly, each of the three points selected from the map is defined as a unit vector (u, v, w) of the “map” Cartesian coordinate system.
In the illustrative embodiments discussed above, the map 300 is characterized by geospatial coordinates such as latitude, longitude, and altitude. In other embodiments, however, the map is already characterized by a Cartesian coordinate system (before the above described calibration process) and, therefore, a conversion from geospatial coordinates to a Cartesian coordinate system may not be necessary.
Illustrative embodiments of the present invention further include determining a mathematical rotation between the “map” coordinate system and the “camera” coordinate system based upon the Cartesian coordinates for the at least three pairs of points selected from the map and the video feed 212. The mathematical rotation provides a conversion from points in the “map” coordinate system to corresponding points in the “camera” coordinate system. The transform of the rotation provides a conversion from points in the “camera” coordinate system to corresponding points in the “map” coordinate system. Or vice versa, a transform of the mathematical rotation provides a conversion from points in the “camera” coordinate system to corresponding points in the “map” coordinate system, and its transform provides a conversion from points in the “map” coordinate system to corresponding points in the “camera” coordinate system. As used in the present application, the term “rotation” also includes a transform of the rotation.
It is known in the art how to develop a mathematical rotation (and its transform) between a first Cartesian coordinate system and a second Cartesian Coordinate system. For example, in various embodiments, the mathematical rotation is a fourbyfour matrix that is applied to unit vectors that define a point in one of the “camera” and “map” coordinate systems. The fourbyfour rotation is determined by developing an initial fourbyfour matrix. The initial fourbyfour matrix is developed according to, for example, Section 4 of Berthold K. P. Horn, “Closedform Solution of Absolute Orientation Using Unit Quaternions” 4 Journal of the Optical Society of America 629 (April 1987). The Horn article is hereby incorporated by reference in its entirety. Eigenvectors for the initial fourbyfour matrix are then calculated using a Jacobi Eigenvalue algorithm as known in the art. The calculation of the Eigenvalues can be software coded as disclosed in, for example, Section 11.1 of William H. Press et al., “Numerical Recipes in C” (Cambridge University Press 2d ed.) (1992). Section 11.1 of that book is also hereby incorporated by reference. Once the eigenvectors are calculated, an eigenvector corresponding to the most positive eigenvalue is selected as the rotation matrix. In illustrative embodiments, the rotation matrix is stored by the processor as a quaternion.
Illustrative embodiments of the present invention are advantageous over many prior art systems because there is no need for the camera to be accurately aligned with other reference points. For example, many prior art systems require panzoomtilt cameras to be level with the ground when installed and/or to be properly aligned with a particular coordinate system. If not properly aligned, the camera will not accurately shift and capture points of interest. The inventors have overcome this problem by calibrating the camera using a mathematical rotation between a first Cartesian coordinate system and a second Cartesian coordinate system. In illustrative embodiments of the present invention, the inventors discovered that the above disclosed calibration accounts for any misalignment of the camera with the ground or coordinate system. In the past, calibration of a camera with a map of an area was not approached as a problem that could be solved through the use of a mathematical rotation between two Cartesian coordinate systems, perhaps, because latitudelongitude coordinates and the motion of a panzoomtilt camera does not correspond with a Cartesian coordinate system.
Camera Control Using the Map
Illustrative embodiments of the present invention are also directed to a computerimplemented method for controlling a camera in a surveillance system (such as the system shown in
In illustrative embodiments, once the user selects the point on the map, a processor converts the geospatial coordinates for the selected point into Cartesian coordinates defined by a coordinate system 606. In exemplary embodiments, the conversion is performed using Equations 8, 9, 10, 11, 12, 13, and 14, as described in the “Calibration” section of present application. Accordingly, the geospatial coordinates for the point are defined as unit vectors of a “map” Cartesian coordinate system. The processor 108 then applies a mathematical rotation to the “map” Cartesian coordinates for the selected point to determine Cartesian coordinates defined by a “camera” Cartesian coordinate system 608. The “camera” coordinate system characterizes a video feed from the camera and a mathematical rotation (or its transform) provides a conversion between the “map” coordinate system and the “camera” coordinate system. In illustrative embodiments, the mathematical rotation is developed according to the method described in the “Calibration” section of the present application.
The Cartesian coordinates for the selected point (e.g., unit vectors u, v, w) are then defined in terms of pan, zoom, and tilt coordinates (e.g., pan (θ) and tilt (φ)) 610. The Cartesian coordinates (defined by the “camera” coordinate system) can be converted to pan and tilt angles using Equations 15 and 16:
Accordingly, the selected point is defined in terms of a pan and tilt angles of the camera. Based on these pan and tilt angles, the processor can provide orientation instructions to the camera so that the camera shifts to view the selected point and the video feed of the selected point is thus displayed to the user 612, 614.
Target Tracking
Illustrative embodiments of the present invention are also directed to a computerimplemented method for tracking a target using at least one camera and at least one sensor (e.g., such as those shown in
The method for target tracking also includes applying a mathematical rotation (or its transform) to the “map” Cartesian coordinates for the target to determine Cartesian coordinates defined by a “camera” Cartesian coordinate system 806. The “camera” coordinate system defines a video feed from the camera and the mathematical rotation provides a conversion between the “map” coordinate system and the “camera” coordinate system. In illustrative embodiments, the mathematical rotation is developed according to the method described in the “Calibration” section of the present application.
The Cartesian coordinates for the target (u, v, w) are then defined in terms of pan, zoom, and tilt coordinates (e.g., pan “θ” and tilt “φ”) for the camera 808. In various illustrative embodiments, the Cartesian coordinates are converted to pan and tilt angles using Equations 15 and 16, as described in the “Camera Control Using the Map” section of present application. Accordingly, the target is defined in terms of a pan and tilt angles of the camera. Based on these pan and tilt angles, the processor provides orientation instructions to the camera so that the camera shifts to view the target 810, 812.
In illustrative embodiments, the processor continuously receives coordinates from the sensor and iteratively determines camera instructions based upon the new coordinates. In this manner, the processor and the camera automatically track the target as it moves through the area.
Illustrative embodiments of the target tracking method may also display a map that shows the location of the sensor using a sensor icon. Furthermore, in additional or alternative embodiments, the map displays the location of the target in the area using a target icon. The processor can use the geospatial and/or “camera” Cartesian coordinates for the sensor and/or target to display them on the map. By displaying the target, sensor, and cameras on the map, the user can better understand the location of the target in relation to the sensors and cameras.
Prioritization of Cameras
Illustrative embodiments of the present invention are also directed to a computerimplemented method for prioritizing video feeds from a plurality of cameras (such as the ones shown in
Illustrative embodiments of the method include receiving geospatial coordinates for a point of interest 1010, 902. In the embodiment shown in
Various exemplary embodiments of the prioritization method include determining whether the point of interest 1010 is within the viewing range of any of the cameras 1002, 1004, 1006, 1008, 904. In some exemplary embodiments, the method also includes determining which cameras 1002, 1004, 1006, 1008 are available for viewing the point of interest (e.g., some cameras may be tracking a different target or the user may not have permission to use certain cameras).
In various exemplary embodiments, the viewing range for each camera is defined by the user. To this end, in illustrative embodiments, the user can use an input device to outline the viewing range 1100 for the camera 1102 within a displayed map, as shown in
In exemplary embodiments, to determine whether the point of interest 1010 is within the viewing range of any of the cameras 1002, 1004, 1006, 1008, the method determines whether the point of interest appears within the polygonal viewing range of each of the cameras. To this end, illustrative embodiments of the present invention use various pointinpolygon algorithms known in the art. In one example of such an algorithm, the method assumes a horizontal line starting at the point of interest and continuing across the map. If the assumed horizontal line intersects the line segments of the polygon an even number of times (e.g., 0, 2, 4), then the point of interest is outside the polygon. If the assumed line intersects the polygon an odd number of times (e.g., 1, 3, 5), then the point of interest is within the polygon. In another example, the sum of the angles made between the point of interest and each vertex (or point) making up the polygon are computed. If the sum is 360 degrees (e.g., 2π), then the point of interest is interior to the polygon. If the sum is 0 degrees, then the point of interest is exterior to the polygon and, therefore, also exterior to the viewing range of the camera. Further details of pointinpolygon algorithms can be found in the reference: Paul Bourke, “Determining If a Point Lies on the Interior of a Polygon” (November 1987) (accessible at http://local.wasp.uwa.edu.au/˜pbourke/geometry/insidepoly/), which is hereby incorporated by reference in its entirety.
In one exemplary case, if only one camera has the viewing range to capture the point of interest, the processor provides orientation instructions to that camera to capture the point of interest. In another example, if there are at least two cameras with the viewing range to capture the point of interest, the processor determines the distances between the two cameras and the point of interest 906. If the camera locations and the point of interest are both defined in terms of a Cartesian coordinate system (e.g., the “map” Cartesian coordinate system an/or the “camera” Cartesian coordinate system discussed above), then the distance between the cameras and the point of interest can be calculated according to Equation 17,
D=√{square root over ((X_{C}−X_{P})^{2}+(Y_{C}−Y_{P})^{2}+(Z_{C}−Z_{P})^{2})}{square root over ((X_{C}−X_{P})^{2}+(Y_{C}−Y_{P})^{2}+(Z_{C}−Z_{P})^{2})}{square root over ((X_{C}−X_{P})^{2}+(Y_{C}−Y_{P})^{2}+(Z_{C}−Z_{P})^{2})} (17)
wherein (X_{C}, Y_{C}, Z_{C}) are the Cartesian coordinates for the camera and (X_{P}, Y_{P}, Z_{P}) are the Cartesian coordinates for the point of interest. Equation 17 is particularly accurate for use with surveillance systems that do not need to account for the curvature of the earth (e.g., surveillance systems within buildings). If the camera locations and the point of interest are both defined in terms of a geospatial coordinate system (e.g., latitude, longitude, and altitude), then the Cartesian distance can be calculated using Equations 8, 9, 10, and 11 as described in the “Calibration” section of the present application. The distance can then be calculated using Equation 17 as described in this section. The benefit of using Equations 8, 9, 10, and 11 is that they account for the curvature of the Earth and, thus, provide better accuracy for surveillance systems that survey, for example, outdoor terrains. Further details of calculating distances between geospatial coordinates can be found in the reference: Ivan S. Ashcroft, “Projecting an Arbitrary Latitude and Longitude onto a Tangent Plane” Brigham Young University (Jan. 21, 1999), which is hereby incorporated by reference in its entirety.
Once the distances between the point of interest and the cameras are determined, the processor determines which of the cameras is the least distance from the point of interest 908. In illustrative embodiments of the present invention, the least distance camera is then provided with orientation instruction based upon the coordinates of the point of interest and the video feed from the least distance camera is displayed on a display device 910.
Illustrative embodiments of the present invention are particularly beneficial when a surveillance system includes a plurality of cameras but only has a limited bandwidth and/or a limited number of display devices to display video feeds. In this case, exemplary embodiments of the present invention allow the system to prioritize the cameras and display the video feed from the camera that is closest to the point of interest and has the best view of the point of interest.
Furthermore, illustrative embodiments of the present invention no longer rely on the user'"'"'s manual control to capture a point of interest or a moving object. For example, if a target is walking in a field and suddenly hides behind a wall, then the target might not be within the viewing range of a camera located in front of the wall, but the target might still be within the viewing range of another camera located behind the wall. In some prior art systems, the user would need to manually toggle between the two cameras in order to capture the target behind the wall. Illustrative embodiments of the present invention, however, automatically prioritize and display video feeds based on the camera'"'"'s range of view and distance from the target.
View Cone
Illustrative embodiments of the present invention are also directed to a computerimplemented method for displaying a view cone for a camera.
In illustrative embodiments of the present invention, the view cone is created by transposing the effective coordinates of the upper left, upper right, lower left, and lower right corners of a video feed onto a map.
In illustrative embodiments of the present invention, the effective coordinates of the upper left 1504, upper right 1506, lower left 1508, and lower right corners 1510 of the video feed 1500 are determined from the orientation of the camera (e.g., the pan, zoom, and tilt coordinates for the camera). For each of the upper left 1504, upper right 1506, lower left 1508, and lower right corners 1510 of the video feed 1500, effective pan and tilt angles are calculated 1204. To determine the effective pan and tilt angles for the points, a horizontal angular field of view (H_{FOV}) 1520 and vertical angular field of view (V_{FOV}) 1522 is determined using, for example, Equations 1 and 2, as described in the “Calibration” section of the present application. Next, the effective pan and tilt angles (θ, φ) for each of the corners 1504, 1506, 1508, and 1510 is determined using, for example, Equations 3 and 4 as described above in the “Calibration” section of the application.
In exemplary embodiments of the present invention, the effective pan and tilt angles (θ, φ) for the corners 1504, 1506, 1508, and 1510 are converted to Cartesian coordinates defined by a Cartesian coordinate system 1206. In various embodiments of the method, the effective pan and tilt angles are converted to unit vectors (u, v, w) on a “camera” Cartesian coordinate system that has its origin at the camera'"'"'s location. The effective pan and tilt angles can be converted into Cartesian coordinates using Equations 5, 6, and 7, as described in the “Calibration” section of the present application.
To transpose the corners 1504, 1506, 1508, and 1510 of the video feed 1502 to corners 1512, 1514, 1516, and 1512 of the view cone 1500 on the map, a mathematical rotation (or its transform) is applied to the “camera” Cartesian coordinates for the corners 1504, 1506, 1508, and 1510, 1208. The mathematical rotation (or its transform) determines unit vectors (u, v, w) defined by a “map” Cartesian coordinate system. The “map” coordinate system defines the map and the mathematical rotation provides a conversion between the “camera” coordinate system and the “map” coordinate system. In illustrative embodiments, the mathematical rotation is developed according to the method described in the “Calibration” section of the present application. After the mathematical rotation, the unit vectors (u, v, w) are converted to scaled Cartesian coordinates using Equations 18, 19, and 20:
X_{P}=u×ScalingFactor (18)
Y_{P}=v×ScalingFactor (19)
Z_{P}=w×ScalingFactor (20)
In various embodiments of the present invention, the scaling factor can be determined using Equation 21,
wherein, in various embodiments, C_{alt }is the altitude of the camera above the ground. In illustrative embodiments of the present invention, the scaled “map” Cartesian coordinates (X_{P}, Y_{P}, Z_{P}) for the corners 1504, 1506, 1508, and 1510 are used to determine the view cone 1500 and the view cone is then displayed on the map 1210, 1212. In more specific illustrative embodiments, as shown in
In yet another embodiment of the present invention, the scaled “map” Cartesian coordinates (X_{P}, Y_{P}, Z_{P}) for the corners 1504, 1506, 1508, and 1510 are converted into geospatial coordinates (P_{lat}, P_{lon}, P_{alt}). In various exemplary embodiments, the “map” Cartesian coordinates (X_{P}, Y_{P}, Z_{P}) can be converted into geospatial coordinates (P_{lat}, P_{lon}, P_{alt}) by determining deltas for longitude and latitude using Equations 22 and 23,
wherein C_{lat }is the known latitudinal geospatial coordinate for the camera, R_{E }can be calculated from Equation 11 above, and R_{lon }is unknown, but can be estimated as approximately equal to the longitudinal coordinate of the camera “C_{lon}”. Further details for converting Cartesian coordinates into geospatial coordinates can be found in the reference: Ivan S. Ashcroft, “Projecting an Arbitrary Latitude and Longitude onto a Tangent Plane” Brigham Young University (Jan. 21, 1999).
In illustrative embodiments of the present invention, once the deltas “Δ_{lat }and Δ_{lat}” are determined, they can be used to determine the geospatial coordinates (P_{lat}, P_{lon}, P_{alt}) for the corners 1504, 1506, 1508, and 1510 using Equations 24, 25, and 26,
P_{lat}=C_{lat}+Δ_{lat} (24)
P_{lon}=C_{lon}+Δ_{lon} (25)
P_{alt}=C_{alt} (26)
wherein (C_{lat}, C_{lon}, C_{alt}) are the known geospatial coordinates of the camera. Accordingly, in such an embodiment, the geospatial coordinates (P_{lat}, P_{lon}, P_{alt}) for the corners 1504, 1506, 1508, and 1510 are used to determine the view cone 1500 and the view cone is then displayed on the map. In more specific illustrative embodiments, the view cone is a polygon and the geospatial coordinates for the corners 1504, 1506, 1508, and 1510 are used to define the vertices 1512, 1514, 1516, and 1512 of the view cone 1500.
In further illustrative embodiments of the present invention, the upper left 1512 and upper right vertices 1514 of the view cone 1500 are determined in a different manner. In some cases, when the tilt angle for the camera (or the effective tilt angle for at least one of the corners of the video feed) is above the horizon (e.g., φ is greater than 0), the transposition of the corners onto the map is not possible because the effective tilt angles for at least some of the corners never intersect the ground.
One illustrative method of resolving this issue, is to determine the upper left 1512 and upper right vertices 1514 of the view cone 1500 based upon a resolvable distance of the camera. The resolvable distance can be calculated using the resolution of the camera. Such an approach is advantageous because it better represents the true view field of the camera. In one illustrative embodiment, the view cone 1500 is displayed so that objects within the view cone can be identified in the video feed (e.g., objects within the resolvable distance), while objects beyond the view cone cannot be distinguished from the background (e.g., objects beyond the resolvable distance). In one illustrative embodiment, the resolvable distance corresponds to a distance at which a 4 meter long object (approximately the size of a vehicle) corresponds to two pixels on the display. In one embodiment, the resolvable distance is determined using Equation 27,
wherein W is the width of the video feed in pixels, R is the resolution of the camera in meters per pixel, and Θ is the horizontal angular field of view (H_{FOV}) 1520 divided by two. In some embodiments, the width of the video feed is communicated to a processor by the camera. In other illustrative embodiments, the width of the video feed is a fixed number, such as 320 pixels.
In one illustrative embodiment, the resolvable distance is projected along the effective pan angles (θ) for the upper left 1504 and upper right 1506 corners of the video feed. The “map” Cartesian coordinate (X_{P}, Y_{P}, Z_{P}) for the upper left 1512 and upper right 1514 vertices can be determined according to Equations 28, 29 and 30,
X_{P}=(sin(θ)×D)+X_{C} (28)
Y_{P}=(cos(θ)×D)+Y_{C} (29)
Z_{P}=Z_{C} (30)
wherein (X_{C}, Y_{C}, Z_{C}) are the “map” Cartesian coordinates for the camera. In illustrative embodiments of the present invention, the “map” Cartesian coordinates (X_{P}, Y_{P}, Z_{P}) for upper left 1512 and upper right 1514 vertices are then used to determine and display the view cone on the map. In other illustrative embodiments, these “map” Cartesian coordinates are converted into geospatial coordinates (e.g., using Equations 2226) and then used to determine and display the view cone on the map.
In another illustrative embodiment, instead of projecting the resolvable distance along the effective pan angles (θ) for the corners 1504 and 1506, the resolvable distance is projected along the pan angle (θ) of the camera to a resolvable point. In some embodiments, the resolvable point is the center of the most distant edge of the view cone 1502.
X_{R}=(sin(θ)×D)+X_{C} (31)
Y_{R}=(cos(θ)×D)+Y_{C} (32)
Z_{R}=Z_{C} (33)
The resolvable point (X_{R}, Y_{R}, Z_{R}) is then rotated left and right by half the horizontal field of view (H_{FOV}) 1520 to determine the “map” Cartesian coordinates (X_{P}, Y_{P}, Z_{P}) for upper left 1804 and upper right 1806 vertices of the view cone. For the sake of computational efficiency in the processor, a matrix can be used to rotate the resolvable point. The “map” Cartesian coordinates (X_{P}, Y_{P}, Z_{P}) for upper left 1804 and upper right 1806 vertices are then used to determine and display the view cone on the map. In other illustrative embodiments, however, the “map” Cartesian coordinates are converted into geospatial coordinates and then used to determine and display the view cone on the map.
In yet further illustrative embodiments, the projections discussed in Equations 2833 of this section are performed in the “camera” Cartesian Coordinate system and are then converted into the “map” Cartesian coordinate system using a mathematical transformation (or its transform).
Illustrative embodiments of the present invention are not limited for use with cameras that are characterized by pan, zoom, and tilt coordinates (e.g., panzoomtilt cameras). For example, illustrative embodiments of the present invention may also be used with fixed cameras or other cameras that have a limited range of motion. Indeed, the above described methods of calibration and prioritization apply similarly to fixed cameras. Also, according to illustrative embodiments of the present invention, the view cone of the fixed camera can be modified as its zoom changes. Various embodiments of the present invention also have applicability to other types of cameras, such as cameras that are unable to shift their tilt orientation.
It should be noted that terms such as “system”, “processor”, “server”, “input device”, “display device”, “communications network”, and “database” may be used herein to describe devices that may be used in certain embodiments of the present invention and should not be construed to limit the present invention to any particular device type or system unless the context otherwise requires. Thus, a system may include, without limitation, a client, server, computer, appliance, or other type of device. Such devices typically include one or more network interfaces for communicating over a communication network (e.g., computer network) and a processor (e.g., a microprocessor with memory and other peripherals and/or applicationspecific hardware) configured accordingly to perform device and/or system functions. Communication networks generally may include public and/or private networks; may include localarea, widearea, metropolitanarea, storage, and/or other types of networks; and may employ communication technologies including, but in no way limited to, analog technologies, digital technologies, optical technologies, wireless technologies, networking technologies, and internetworking technologies.
It should also be noted that devices may use communication protocols and messages (e.g., messages created, transmitted, received, stored, and/or processed by the system), and such messages may be conveyed by a communication network or medium. Unless the context otherwise requires, the present invention should not be construed as being limited to any particular communication message type, communication message format, or communication protocol. Thus, a communication message generally may include, without limitation, a frame, packet, datagram, user datagram, cell, or other type of communication message. Unless the context requires otherwise, references to specific communication protocols are exemplary, and it should be understood that alternative embodiments may, as appropriate, employ variations of such communication protocols (e.g., modifications or extensions of the protocol that may be made from timetotime) or other protocols either known or developed in the future.
It should also be noted that logic flows may be described herein to demonstrate various aspects of the invention, and should not be construed to limit the present invention to any particular logic flow or logic implementation. The described logic may be partitioned into different logic blocks (e.g., programs, modules, interfaces, functions, or subroutines) without changing the overall results or otherwise departing from the true scope of the invention. Often times, logic elements may be added, modified, omitted, performed in a different order, or implemented using different logic constructs (e.g., logic gates, looping primitives, conditional logic, and other logic constructs) without changing the overall results or otherwise departing from the true scope of the invention.
The present invention may be embodied in many different forms, including, but in no way limited to, computer program logic for use with a processor (e.g., a microprocessor, microcontroller, digital signal processor, or general purpose computer), programmable logic for use with a programmable logic device (e.g., a Field Programmable Gate Array (FPGA) or other PLD), discrete components, integrated circuitry (e.g., an Application Specific Integrated Circuit (ASIC)), or any other means including any combination thereof. In a typical embodiment of the present invention, predominantly all of the described logic is implemented as a set of computer program instructions that is converted into a computer executable form, stored as such in a computer readable medium, and executed by a microprocessor under the control of an operating system.
Computer program logic implementing all or part of the functionality previously described herein may be embodied in various forms, including, but in no way limited to, a source code form, a computer executable form, and various intermediate forms (e.g., forms generated by an assembler, compiler, linker, or locator). Source code may include a series of computer program instructions implemented in any of various programming languages (e.g., an object code, an assembly language, or a highlevel language such as Fortran, C, C++, JAVA, or HTML) for use with various operating systems or operating environments. The source code may define and use various data structures and communication messages. The source code may be in a computer executable form (e.g., via an interpreter), or the source code may be converted (e.g., via a translator, assembler, or compiler) into a computer executable form.
The computer program may be fixed in any form (e.g., source code form, computer executable form, or an intermediate form) either permanently or transitorily in a tangible storage medium, such as a semiconductor memory device (e.g., a RAM, ROM, PROM, EEPROM, or FlashProgrammable RAM), a magnetic memory device (e.g., a diskette or fixed disk), an optical memory device (e.g., a CDROM), a PC card (e.g., PCMCIA card), or other memory device. The computer program may be fixed in any form in a signal that is transmittable to a computer using any of various communication technologies, including, but in no way limited to, analog technologies, digital technologies, optical technologies, wireless technologies, networking technologies, and internetworking technologies. The computer program may be distributed in any form as a removable storage medium with accompanying printed or electronic documentation (e.g., shrink wrapped software), preloaded with a computer system (e.g., on system ROM or fixed disk), or distributed from a server or electronic bulletin board over the communication system (e.g., the Internet or World Wide Web).
Hardware logic (including programmable logic for use with a programmable logic device) implementing all or part of the functionality previously described herein may be designed using traditional manual methods, or may be designed, captured, simulated, or documented electronically using various tools, such as Computer Aided Design (CAD), a hardware description language (e.g., VHDL or AHDL), or a PLD programming language (e.g., PALASM, ABEL, or CUPL).
Programmable logic may be fixed either permanently or transitorily in at least one tangible storage medium, such as a semiconductor memory device (e.g., a RAM, ROM, PROM, EEPROM, or FlashProgrammable RAM), a magnetic memory device (e.g., a diskette or fixed disk), an optical memory device (e.g., a CDROM), or other memory device. The programmable logic may be fixed in a signal that is transmittable to a computer using any of various communication technologies, including, but in no way limited to, analog technologies, digital technologies, optical technologies, wireless technologies (e.g., Bluetooth), networking technologies, and internetworking technologies. The programmable logic may be distributed as a removable storage medium with accompanying printed or electronic documentation (e.g., shrink wrapped software), preloaded with a computer system (e.g., on system ROM or fixed disk), or distributed from a server or electronic bulletin board over the communication system (e.g., the Internet or World Wide Web). Of course, some embodiments of the invention may be implemented as a combination of both software (e.g., a computer program product) and hardware. Still other embodiments of the invention are implemented as entirely hardware, or entirely software.
The embodiments of the invention described above are intended to be merely exemplary; numerous variations and modifications will be apparent to those skilled in the art. All such variations and modifications are intended to be within the scope of the present invention as defined in any appended claims.