System and method for real-time 3-D object tracking and alerting via networked sensors
First Claim
Patent Images
1. An object detection and tracking system of a three-dimensional (3-D) space, the system comprising:
- a network for interconnecting components of the system;
a common reference clock connected to the network and configured to provide time stamps to the components of the system;
two or more spatially separated two-dimensional (2-D) sensors connected to the network and having overlapping fields of view of the 3-D space for detecting and 3-D tracking of one or more moving objects in the 3-D space through concurrent time-stamped 2-D observations, each point in the 3-D space being observable by at least two of the 2-D sensors;
at least one image processor connected to the network and for converting each 2-D sensor'"'"'s time-stamped 2-D observations into time-stamped 2-D spatial characteristics and for extracting 2-D feature data of the one or more moving objects;
at least one tracking processor connected to the network and for combining the time-stamped 2-D spatial characteristics and the 2-D feature data from respective said 2-D sensors into time-stamped 3-D spatial characteristics through triangulation and then fusing the time-stamped 3-D spatial characteristics and the 2-D feature data from the respective 2-D sensors into 3-D tracks comprising 3-D kinematic data, and into 3-D feature data of the one or more moving objects; and
at least one behavior analysis and alert processor connected to the network and for analyzing the 3-D kinematic and feature data and generating appropriate alerts corresponding to 3-D behaviors of interest.
1 Assignment
0 Petitions
Accused Products
Abstract
The invention is an integrated system consisting of a network of two-dimensional sensors (such as cameras) and processors along with target detection, data fusion, tracking, and alerting algorithms to provide three-dimensional, real-time, high accuracy target tracks and alerts in a wide area of interest. The system uses both target kinematics (motion) and features (e.g., size, shape, color, behavior, etc.) to detect, track, display, and alert users to potential objects of interest.
-
Citations
20 Claims
-
1. An object detection and tracking system of a three-dimensional (3-D) space, the system comprising:
-
a network for interconnecting components of the system; a common reference clock connected to the network and configured to provide time stamps to the components of the system; two or more spatially separated two-dimensional (2-D) sensors connected to the network and having overlapping fields of view of the 3-D space for detecting and 3-D tracking of one or more moving objects in the 3-D space through concurrent time-stamped 2-D observations, each point in the 3-D space being observable by at least two of the 2-D sensors; at least one image processor connected to the network and for converting each 2-D sensor'"'"'s time-stamped 2-D observations into time-stamped 2-D spatial characteristics and for extracting 2-D feature data of the one or more moving objects; at least one tracking processor connected to the network and for combining the time-stamped 2-D spatial characteristics and the 2-D feature data from respective said 2-D sensors into time-stamped 3-D spatial characteristics through triangulation and then fusing the time-stamped 3-D spatial characteristics and the 2-D feature data from the respective 2-D sensors into 3-D tracks comprising 3-D kinematic data, and into 3-D feature data of the one or more moving objects; and at least one behavior analysis and alert processor connected to the network and for analyzing the 3-D kinematic and feature data and generating appropriate alerts corresponding to 3-D behaviors of interest. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. An object detection and tracking method of a three-dimensional (3-D) space, the method comprising:
-
spatially separating two or more two-dimensional (2-D) sensors having overlapping fields of view of the 3-D space, each point in the 3-D space being observable by at least two of the 2-D sensors; interconnecting the 2-D sensors, a common reference clock, and at least one processor to a network, the common reference clock being configured to provide time stamps to the 2-D sensors; and detecting and 3-D tracking, by the at least one processor, of one or more moving objects in the 3-D space, comprising; collecting concurrent time-stamped 2-D observations from the 2-D sensors; converting each sensor'"'"'s time-stamped 2-D observations into time-stamped 2-D spatial characteristics and extracting 2-D feature data of the one or more moving objects; combining the time-stamped 2-D spatial characteristics and the 2-D feature data from respective said 2-D sensors into time-stamped 3-D spatial characteristics through triangulation; fusing the time-stamped 3-D spatial characteristics and the 2-D feature data from the respective 2-D sensors into 3-D tracks comprising 3-D kinematic data, and into 3-D feature data of the one or more moving objects; and analyzing the 3-D kinematic and feature data, and generating appropriate alerts corresponding to 3-D behaviors of interest. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
-
Specification