System and method for managing moving surveillance cameras
First Claim
Patent Images
1. A computer system, comprising:
- at least one processing unit;
memory operably associated with the at least one processing unit;
a system for managing images generated from a movable camera that is storable in memory and executable by the at least one processing unit, the system for managing images comprising;
a background subtraction component configured to detect objects of interest that appear in a field of view of the camera, the background subtraction component including a background model to compare against incoming image frames of video generated from the camera to detect objects;
a point tracker component configured to generate point motion estimates from the image frames received from the camera while the background subtraction component performs a background subtraction operation, wherein the point motion estimates are based on points obtained from the image frames that correspond with points present in previous image frames;
a motion estimation component configured to determine camera motion based on the point motion estimates generated from the point tracker component, wherein the motion estimation component uses the point motion estimates to distinguish small camera motions from large camera motions in response to determining camera motion, wherein small camera motions are characterized by having a field of view of the camera largely overlap with an original field of view of the camera and large camera motions are characterized by having the field of view of the camera different from the original field of view of the camera, the motion estimation component comparing the point motion estimates to a predetermined threshold to distinguish small camera motions from large camera motions, the motion estimation component indicating small camera motions in response to determining that the point motion estimates are below the predetermined threshold and indicating large camera motions in response to determining that the point motion estimates are above the predetermined threshold, the motion estimation component further configured to estimate camera movement parameters in response to indicating large camera motions;
a motion compensation component configured to provide compensation to the image frames in response to a determination that the camera has moved in small camera motions, the compensation including transforming the image frames to match with image frames generated from the camera while in an unmoved position;
a camera operations component configured to control operations of the camera, wherein the camera operations component is configured to suspend movement of the camera, the background subtraction operation performed by the background subtraction component, the generation of point motion estimates by the point tracker component, and the camera motion estimates determined by the motion estimation component in response to a determination of large camera motions, wherein the motion estimation component is configured to estimate and record an extent of the large camera motions in response to the camera operations component suspending the movement of the camera, the background subtraction operation, the generation of point motion estimates, and the camera motion estimates, and wherein the camera operations component is configured to resume movement of the camera, the background subtraction operation, the point tracking and the camera motion estimates in response to a determination that the large camera motions have ceased, the resuming of the background subtraction operation including at least one of acquiring a new background model, detecting a camera position with respect to the existing background model, and initializing a new background model based on older background models; and
a camera motion alert component configured to generate an alert in response to a determination that the camera has moved or the camera has ceased moving.
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Abstract
An approach that manages moving surveillance cameras is described. In one embodiment, there is a system for managing images generated from a movable camera. In this embodiment, the system comprises a motion estimation component configured to determine camera motion. A camera motion alert component is configured to generate an alert in response to a determination that the camera has moved or the camera has ceased moving.
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Citations
23 Claims
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1. A computer system, comprising:
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at least one processing unit; memory operably associated with the at least one processing unit; a system for managing images generated from a movable camera that is storable in memory and executable by the at least one processing unit, the system for managing images comprising; a background subtraction component configured to detect objects of interest that appear in a field of view of the camera, the background subtraction component including a background model to compare against incoming image frames of video generated from the camera to detect objects; a point tracker component configured to generate point motion estimates from the image frames received from the camera while the background subtraction component performs a background subtraction operation, wherein the point motion estimates are based on points obtained from the image frames that correspond with points present in previous image frames; a motion estimation component configured to determine camera motion based on the point motion estimates generated from the point tracker component, wherein the motion estimation component uses the point motion estimates to distinguish small camera motions from large camera motions in response to determining camera motion, wherein small camera motions are characterized by having a field of view of the camera largely overlap with an original field of view of the camera and large camera motions are characterized by having the field of view of the camera different from the original field of view of the camera, the motion estimation component comparing the point motion estimates to a predetermined threshold to distinguish small camera motions from large camera motions, the motion estimation component indicating small camera motions in response to determining that the point motion estimates are below the predetermined threshold and indicating large camera motions in response to determining that the point motion estimates are above the predetermined threshold, the motion estimation component further configured to estimate camera movement parameters in response to indicating large camera motions; a motion compensation component configured to provide compensation to the image frames in response to a determination that the camera has moved in small camera motions, the compensation including transforming the image frames to match with image frames generated from the camera while in an unmoved position; a camera operations component configured to control operations of the camera, wherein the camera operations component is configured to suspend movement of the camera, the background subtraction operation performed by the background subtraction component, the generation of point motion estimates by the point tracker component, and the camera motion estimates determined by the motion estimation component in response to a determination of large camera motions, wherein the motion estimation component is configured to estimate and record an extent of the large camera motions in response to the camera operations component suspending the movement of the camera, the background subtraction operation, the generation of point motion estimates, and the camera motion estimates, and wherein the camera operations component is configured to resume movement of the camera, the background subtraction operation, the point tracking and the camera motion estimates in response to a determination that the large camera motions have ceased, the resuming of the background subtraction operation including at least one of acquiring a new background model, detecting a camera position with respect to the existing background model, and initializing a new background model based on older background models; and a camera motion alert component configured to generate an alert in response to a determination that the camera has moved or the camera has ceased moving. - View Dependent Claims (2, 3, 4, 5, 6, 7, 20)
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8. A method for managing images generated from a movable camera, comprising:
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performing a background subtraction operation to detect objects of interest that appear in a field of view of the camera, the background subtraction operation using a background model to compare against incoming image frames of video generated from the camera to detect objects; tracking the objects of interest that appear in the field of view of the camera; generating point motion estimates from the image frames received from the camera while tracking the objects and performing the background subtraction operation, wherein the point motion estimates are based on points obtained from the image frames that correspond with points present in previous image frames; determining whether the camera has moved based on the point motion estimates; in response to determining camera motion, using the point motion estimates to distinguish small camera motions from large camera motions, wherein small camera motions are characterized by having a field of view of the camera largely overlap with an original field of view of the camera and large camera motions are characterized by having the field of view of the camera different from the original field of view of the camera, the distinguishing of small camera motions from large camera motions including comparing the point motion estimates to a predetermined threshold, wherein small camera motions are indicated in response to determining that the point motion estimates are below the predetermined threshold and large camera motions are indicated in response to determining that the point motion estimates are above the predetermined threshold; estimating camera movement parameters in response to indicating large camera motions; providing motion compensation to the image frames in response to a determination that the camera has moved in small camera motions, the motion compensation including transforming the image frames to match with image frames generated from the camera while in an unmoved position; suspending movement of the camera, the background subtraction operation, the tracking, and the generation of the camera motion estimates in response to a determination of large camera motions; estimating and recording an extent of the large camera motions in response to suspending the movement of the camera, the background subtraction operation, the tracking, and the generation of point motion estimates; resuming movement of the camera, the background subtraction operation, the tracking and the generation of the camera motion estimates in response to a determination that the large camera motions have ceased, the resuming of the background subtraction operation including at least one of acquiring a new background model, detecting a camera position with respect to the existing background model, and initializing a new background model based on older background models; and generating an alert in response to a determination that the camera has moved or ceased moving. - View Dependent Claims (9, 10, 11, 12, 13, 21)
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14. A computer-readable storage device storing computer instructions, which when executed, enables a computer system to manage images generated from a movable camera, the computer instructions comprising:
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performing a background subtraction operation to detect objects of interest that appear in a field of view of the camera, the background subtraction operation using a background model to compare against incoming image frames of video generated from the camera to detect objects; tracking the objects of interest that appear in the field of view of the camera; generating point motion estimates from the image frames received from the camera while tracking the objects and performing the background subtraction operation, wherein the point motion estimates are based on points obtained from the image frames that correspond with points present in previous image frames; determining whether the camera has moved based on the point motion estimates; in response to determining camera motion, using the point motion estimates to distinguish small camera motions from large camera motions, wherein small camera motions are characterized by having a field of view of the camera largely overlap with an original field of view of the camera and large camera motions are characterized by having the field of view of the camera different from the original field of view of the camera, the distinguishing of small camera motions from large camera motions including comparing the point motion estimates to a predetermined threshold, wherein small camera motions are indicated in response to determining that the point motion estimates are below the predetermined threshold and large camera motions are indicated in response to determining that the point motion estimates are above the predetermined threshold; estimating camera movement parameters in response to indicating large camera motions; providing motion compensation to the image frames in response to a determination that the camera has moved in small camera motions, the motion compensation including transforming the image frames to match with image frames generated from the camera while in an unmoved position; suspending movement of the camera, the background subtraction operation, the tracking, and the generation of the camera motion estimates in response to a determination of large camera motions; estimating and recording an extent of the large camera motions in response to suspending the movement of the camera, the background subtraction operation, the tracking, and the generation of point motion estimates; resuming movement of the camera, the background subtraction operation, the tracking and the generation of the camera motion estimates in response to a determination that the large camera motions have ceased, the resuming of the background subtraction operation including at least one of acquiring a new background model, detecting a camera position with respect to the existing background model, and initializing a new background model based on older background models; and generating an alert in response to a determination that the camera has moved or ceased moving. - View Dependent Claims (15, 16, 17, 18, 22)
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19. A method for deploying a tool for use in a computer system that manages images generated from a movable camera, comprising:
providing a computer infrastructure operable to; perform a background subtraction operation to detect objects of interest that appear in a field of view of the camera, the background subtraction operation using a background model to compare against incoming image frames of video generated from the camera to detect objects; track the objects of interest that appear in the field of view of the camera; generate point motion estimates from the image frames received from the camera while tracking the objects and performing the background subtraction operation, wherein the point motion estimates are based on points obtained from the image frames that correspond with points present in previous image frames; determine whether the camera has moved based on the point motion estimates; in response to determining camera motion, use the point motion estimates to distinguish small camera motions from large camera motions, wherein small camera motions are characterized by having a field of view of the camera largely overlap with an original field of view of the camera and large camera motions are characterized by having the field of view of the camera different from the original field of view of the camera, the distinguishing of small camera motions from large camera motions including comparing the point motion estimates to a predetermined threshold, wherein small camera motions are indicated in response to determining that the point motion estimates are below the predetermined threshold and large camera motions are indicated in response to determining that the point motion estimates are above the predetermined threshold; estimate camera movement parameters in response to indicating large camera motions; provide motion compensation to the image frames in response to a determination that the camera has moved in small camera motions, the motion compensation including transforming the image frames to match with image frames generated from the camera while in an unmoved position; suspend movement of the camera, the background subtraction operation, the tracking, and the generation of the camera motion estimates in response to a determination of large camera motions; estimate and record an extent of the large camera motions in response to suspending the movement of the camera, the background subtraction operation, the tracking, and the generation of point motion estimates; resume movement of the camera, the background subtraction operation, the tracking and the generation of the camera motion estimates in response to a determination that the large camera motions have ceased, the resuming of the background subtraction operation including at least one of acquiring a new background model, detecting a camera position with respect to the existing background model, and initializing a new background model based on older background models; and generate an alert in response to a determination that the camera has moved or ceased moving. - View Dependent Claims (23)
Specification