Confined motion detection for pan-tilt cameras employing motion detection and autonomous motion tracking

• US 9,041,800 B2
• Filed: 02/12/2010
• Issued: 05/26/2015
• Est. Priority Date: 12/30/2009
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Bell, Mark Steven
• Primary Examiner(s): Parry, Chris
• Assistant Examiner(s): Chou, Alan S
• Application Number:
  US12/704,876
• Publication Number:
  US 20110157358A1
• Time in Patent Office: 1,929 Days
• Field of Search: 348/143, 348/144, 348/148, 348/150, 348/170, 382/103
• US Class Current: 348/143
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G08B 13/19606 Discriminating between target movement or movement in an area of interest and other non-signicative movements, e.g. target movements induced by camera shake or movements of pets, falling leaves, rotating fan
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A method of operating a surveillance system includes capturing a sequence of images of a field-of-view. A source of localized motion is disposed within at least one of a plurality of segments of the field-of-view. Provided to an operator is means to enable or disable, for at least one of the segments of the field-of-view, a localized motion identification and notification function wherein localized motion in the segment is automatically identified and distinguished from transient motion, and the operator is automatically notified about the presence of the localized motion.

Claims

1. A method of operating a surveillance system, the method including:

capturing a sequence of images of a field-of-view, a source of localized motion being disposed within at least one of a plurality of segments of the field-of-view;

providing to an operator means to enable or disable, for at least one of the segments of the field-of-view, a localized motion identification and notification function wherein localized motion in the segment is automatically identified and distinguished from transient motion, and the operator is automatically notified about the presence of the localized motion;

upon detection of motion that results in initiation of tracking, of;

filling a first history buffer with pan angles; and

filling a second history buffer with camera Angle of Views;

entering a working state after the first and second history buffers are filled;

determining a maximum deviation of all the pan angles in the first history buffer relative to an oldest said pan angle in the first history buffer; and

identifying localized motion only if the maximum deviation is less than a threshold percentage of an oldest said camera Angle of View in the second history buffer.

2. The method of claim 1 wherein the disablement of the localized motion identification and notification function causes tracking of localized motion to cease after the localized motion has been occurring for an operator-specified time interval.

3. The method of claim 1 comprising the further step of identifying the localized motion based upon detected motion being confined to at least one of the segments for more than a threshold period of time.

4. A method of operating a surveillance system, the method including:

capturing a sequence of images of a field-of-view, a source of localized motion being disposed within at least one of a plurality of segments of the field-of-view;

detecting the motion in the field-of-view;

identifying the motion as localized motion when the motion is confined to at least one of the plurality of segments of the field-of-view for more than a predetermined time;

notifying an operator of the localized motion;

providing to an operator means to enable or disable, for the at least one of the segments of the field-of-view, a localized motion identification function, wherein localized motion in the segment is automatically identified and distinguished from transient motion,

upon detection of motion that results in initiation of tracking, of;

filling a first history buffer with pan angles;

filling a second history buffer with camera Angle of Views;

entering a working state after the first and second history buffers are filled;

determining a maximum deviation of all the pan angles in the first history buffer relative to an oldest said pan angle in the first history buffer; and

identifying localized motion only if the maximum deviation is less than a threshold percentage of an oldest said camera Angle of View in the second history buffer.

5. The method of claim 4 comprising the further step of providing a localized motion notification function, wherein the operator is automatically notified about the presence of the localized motion.

6. The method of claim 4 comprising the further step of displaying at least one said image of the field-of-view to the operator.

7. The method of claim 4 wherein the disablement of the localized motion identification function causes tracking of localized motion to cease after the localized motion has been occurring for an operator-specified time interval.

8. The method of claim 4 wherein the notifying step includes transmitting a video signal based upon at least one of the captured images to a remote location for viewing by the operator.

9. A method of operating a security system, comprising the steps of:

using a video camera in the security system to capture images in a field of view of a monitored area, the field of view including a plurality of segments;

identifying localized motion in at least one of the plurality of segments of the captured images;

transmitting at least one of the captured images to an operator disposed at a location remote from the monitored area;

displaying the at least one captured image to the operator, the display including an indication of an area where at least one of the segments in which the localized motion has been identified in the at least one captured image;

disabling continued identification of the localized motion in the images of the monitored area that are captured at later times, the disabling step being in response to a command from the operator, wherein the disabling of the continued identification of the localized motion causes tracking of localized motion to cease only after the localized motion has been occurring for an operator-specified time interval in the segment;

upon detection of motion that results in initiation of tracking, of;

filling a first history buffer with pan angles; and

filling a second history buffer with camera Angle of Views;

entering a working state after the first and second history buffers are filled; and

determining a maximum deviation of all the pan angles in the first history buffer relative to an oldest said pan angle in the first history buffer, wherein the localized motion is identified only if the maximum deviation is less than a threshold percentage of an oldest said camera Angle of View in the second history buffer.

10. The method of claim 9 wherein the step of identifying the localized motion is based upon detected motion being confined to at least one of the segments of a field-of-view for more than a threshold period of time.

11. The method of claim 9 comprising the further step of automatically notifying the operator about the presence of the localized motion.

12. A method of operating a surveillance system, comprising the steps of:

using a video camera in the surveillance system to capture images in a field of view of a monitored area, the field of view including a plurality of segments;

identifying localized motion in one of the plurality of segments of the captured images;

identifying a transient motion across the plurality of segments;

transmitting at least one of the captured images to an operator disposed at a location remote from the monitored area;

displaying the at least one captured image to the operator, the display including an indication of an area where one of the segments in which the localized motion has been identified in the at least one captured image;

displaying the at least one captured image corresponding to a transient motion; and

disabling continued identification of the localized motion in the images of the monitored area that are captured at later times, the disabling step being in response to a command from the operator, wherein the disabling of the continued identification of the localized motion causes tracking of localized motion to cease only after the localized motion has been occurring for an operator-specified time interval in the segment;

upon detection of motion that results in initiation of tracking, of;

filling a first history buffer with pan angles; and

filling a second history buffer with camera Angle of Views;

entering a working state after the first and second history buffers are filled; and

determining a maximum deviation of all the pan angles in the first history buffer relative to an oldest said pan angle in the first history buffer.

13. The method of claim 12, wherein ceasing tracking of the localized motion enables the surveillance system to enter a looking state.

14. The method of claim 12, comprising the step of:

identifying localized motion only if the maximum deviation is less than a threshold percentage of an oldest said camera Angle of View in the second history buffer.