Apparatus and method for tracking object

• US 9,373,034 B2
• Filed: 05/07/2013
• Issued: 06/21/2016
• Est. Priority Date: 07/23/2012
• Status: Active Grant

• Current Assignee: Hanwha Robotics Corporation
• Original Assignee: Hanwha Techwin Co., Ltd. (Hanwha Corporation)
• Inventors: Song, Moo-Kyung, Bae, Soon-Min, Chon, Je-Youl
• Primary Examiner(s): Natnael, Paulos M
• Application Number:
  US13/888,532
• Publication Number:
  US 20140022394A1
• Time in Patent Office: 1,141 Days
• Field of Search: 348169-172, 348/36, 348/222.1, 348/135, 348/143, 348/443
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 7/248 involving reference images or patches
• 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 of tracking an object includes obtaining an image captured by a camera, setting a plurality of patterns having various sizes, according to a distance from a horizon in the image to a plurality of pixels in the image, extracting an object matching one of the plurality of patterns having various sizes, while scanning the image using the plurality of patterns having various sizes, and displaying information about a position of the extracted object in the image.

Claims

1. A method of tracking an object, the method comprising:

setting a plurality of patterns having various sizes, according to a distance from a horizon in an image to a plurality of pixels corresponding to the plurality of patterns in the image captured by a camera;

extracting an object matching one of the plurality of patterns having various sizes, while scanning the image using the plurality of patterns having various sizes; and

displaying information about a position of the extracted object in the image,

wherein the setting the plurality of patterns comprises;

detecting the horizon from the image;

obtaining information about a height of the camera;

obtaining information about an actual size of the object; and

setting the plurality of patterns having various sizes to be used for scanning the image using the distance from the horizon in the image to the plurality of pixels in the image, the obtained information about the height of the camera, and the obtained information about the actual size of the object.

2. The method of claim 1, further comprising selecting an object to be tracked, from among a plurality of objects stored in a database, before the image is obtained.

3. The method of claim 2, wherein the plurality of objects are stored in the database in a histogram of gradient (HOG) form, which indicates brightness distribution orientations used as a feature vector.

4. The method of claim 1, wherein a size of at least one pattern in the plurality of patterns is set according to the equation:

5. The method of claim 1, wherein the extracting the object comprises:

obtaining the object matching one of the plurality of patterns having various sizes, while scanning the image using the plurality of patterns having various sizes; and

extracting an object to be tracked, from a plurality of objects stored in the database, by applying a support vector machine (SVM) to the obtained object.

6. The method of claim 1, further comprising transferring the information about the position of the extracted object and information about a size of at least one pattern in the plurality of patterns, according to the position of the extracted object in a next image,

wherein the image and the next image are each an image frame, and the next image is captured by the camera immediately after the image is captured by the camera.

7. The method of claim 1, further comprising:

obtaining a first image captured by a first camera; and

obtaining a second image captured by a second camera.

8. The method of claim 7, wherein, in the setting the plurality of patterns having various sizes, the various sizes of the plurality of patterns are set according to the distance from the horizon to the plurality of pixels in the first image.

9. The method of claim 8, wherein, in the extracting the object, the first object is matched with one of the plurality of patterns having various sizes, while scanning the first image using the plurality of patterns having various sizes.

10. The method of claim 9, wherein the displaying information about the position of the extracted object comprises:

displaying information about the position of an extracted first object on the first image; and

displaying the information about the position of the extracted first object on the second image.

11. The method of claim 10, further comprising storing the information about the position of the object and information about a size of at least one pattern in the plurality of patterns according to the position of the object, and transferring the information to a next first image when the first camera captures the next first image.

12. An apparatus for tracking an object, the apparatus comprising:

a pattern setting device which sets a plurality of patterns having various sizes, according to a distance from a horizon to a plurality of pixels corresponding to the plurality of patterns in an image captured by a camera;

an object extraction device which extracts an object matching one of the plurality of patterns having various sizes, while the image is scanned using the plurality of patterns having various sizes; and

an object tracking device which displays information about a position of the extracted object in the image,

wherein the pattern setting device sets the plurality of patterns having various sizes to be used for scanning the image by detecting the horizon in the image and obtaining information about a height of the camera and information about a size of the object.

13. The apparatus of claim 12, further comprising an object selection device which selects an object to be tracked, from among a plurality of objects stored in a database.

14. The apparatus of claim 12, wherein the object tracking device uses, for a next image, the information about the position of the extracted object and information about a size of at least one pattern in the plurality of patterns, according to the position of the extracted object.

15. An apparatus for tracking an object, the apparatus comprising:

a first camera which captures a first image;

a second camera which captures a second image;

an object selection device which selects an object to be tracked, from among a plurality of objects stored in a database;

a pattern setting device which sets a plurality of patterns having various sizes, according to a distance from a horizon to a plurality of pixels and based on the horizon in the first image;

a first object extraction device which extracts a first object matching one of the plurality of patterns having various sizes, while the first image is scanned using the plurality of patterns having various sizes;

a second object extraction device which extracts a second object using information about a position of the first object extracted from the first image and information about a size of at least one pattern in the plurality of patterns, according to the position of the first object extracted, to the second image;

a matching device which matches the first image and the second image with respect to areas where the first object and the second object are extracted; and

an object tracking device which displays information about the position of an extracted matched object in a matched image.

16. The apparatus of claim 15, wherein the pattern setting device sets the plurality of patterns having various sizes to be used for scanning the image by detecting the horizon from the first image and obtaining information about a height of the first camera and the second camera and information about a size of the object.

17. The apparatus of claim 15, wherein the object tracking device stores the information about the position of the first object extracted and the information about the size of the at least one pattern in the plurality of patterns according to the position, and transfers the information to a next first image when the first camera captures the next first image.

18. A non-transitory computer-readable recording medium having recorded thereon a program for executing a method of tracking an object, the method comprising:

setting a plurality of patterns having various sizes, according to a distance from a horizon to a plurality of pixels, based on the horizon in an image captured by a camera;

extracting an object matching one of the plurality of patterns having various sizes, while the image is scanned using the plurality of patterns having various sizes; and

displaying information about a position of the extracted object in the image,

wherein the setting the plurality of patterns comprises;

detecting the horizon from the image;

obtaining information about a height of the camera;

obtaining information about an actual size of the object; and

setting the plurality of patterns having various sizes to be used for scanning the image using the distance from the horizon in the image to the plurality of pixels in the image, the obtained information about the height of the camera, and the obtained information about the actual size of the object.