Tracking at least one object

• US 9,607,214 B2
• Filed: 09/16/2015
• Issued: 03/28/2017
• Est. Priority Date: 08/06/2012
• Status: Active Grant

• Current Assignee: Cloudparc, Inc.
• Original Assignee: Cloudparc, Inc.
• Inventors: Nerayoff, Steven David, Wong, Thompson S.
• Primary Examiner(s): Anderson, II, James M
• Application Number:
  US14/856,484
• Publication Number:
  US 20160004906A1
• Time in Patent Office: 559 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06Q 20/02 involving a neutral party, e.g. certification authority, notary or trusted third party [TTP]
• CPC Class Codes: G06Q 20/145 Payments according to the detected use or quantity
• CPC Class Codes: G06Q 30/0284 Time or distance, e.g. usage of parking meters or taximeters
• CPC Class Codes: G06Q 30/04 Billing or invoicing
• CPC Class Codes: G06Q 50/265 Personal security, identity or safety
• CPC Class Codes: G06Q 50/40 Business processes related to the transportation industry shipping G06Q10/083
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/292 Multi-camera tracking
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/90 Determination of colour characteristics
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G06V 20/54 of traffic, e.g. cars on the road, trains or boats
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/593 Recognising seat occupancy
• CPC Class Codes: G06V 20/62 Text, e.g. of license plates, overlay texts or captions on TV images
• CPC Class Codes: G06V 20/625 : License plates
• CPC Class Codes: G06V 30/224 : of printed characters having additional code marks or containing code marks
• CPC Class Codes: G06V 40/23 : Recognition of whole body movements, e.g. for sport training
• CPC Class Codes: G07B 15/00 : Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points handling coins or valuable papers, e.g. banknotes, G07D; apparatus for vending or hiring articles or services activated by coins, credit cards, paper currency or the like G07F7/00, G07F17/00
• CPC Class Codes: G07B 15/02 : taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems G07B15/06 takes precedence; taximeters G07B13/00; parking meters per se G07F17/24; car rental systems per se G07B15/00
• CPC Class Codes: G07F 17/24 : for parking meters
• CPC Class Codes: G08G 1/00 : Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/017 : identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/0175 : by photographing vehicles, e.g. when violating traffic rules
• CPC Class Codes: G08G 1/052 : with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/056 : with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/133 : within the vehicle ; Indicators inside the vehicles or at stops
• CPC Class Codes: G08G 1/14 : indicating individual free spaces in parking areas
• CPC Class Codes: G08G 1/142 : external to the vehicles
• CPC Class Codes: G08G 1/143 : inside the vehicles
• CPC Class Codes: G08G 1/144 : on portable or mobile units, e.g. personal digital assistant [PDA]
• CPC Class Codes: G08G 1/146 : where the parking area is a limited parking space, e.g. parking garage, restricted space
• CPC Class Codes: G08G 1/148 : Management of a network of parking areas
• CPC Class Codes: H04N 23/62 : Control of parameters via user interfaces
• CPC Class Codes: H04N 23/66 : Remote control of cameras or camera parts, e.g. by remote control devices
• CPC Class Codes: H04N 23/69 : Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 23/80 : Camera processing pipelines; Components thereof
• CPC Class Codes: H04N 23/90 : Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources

Abstract

Tracking at least one object is disclosed. Initially, four or more first images are received showing a first object. First static and dynamic characteristics and second static and dynamic characteristics of the first object are determined. The second static characteristic is compared to the first static characteristic and the second dynamic characteristic is compared to the first dynamic characteristic. It is then determined that the first object is moving.

Claims

1. A method of tracking at least one object, the method comprising:

receiving four or more first images showing a first object;

determining, based on one of the four or more first images, a first static characteristic of the first object;

determining, based on another of the four or more first images, a second static characteristic of the first object;

determining, based on two of the four or more first images, a first dynamic characteristic of the first object;

determining, based on another two of the four or more first images, a second dynamic characteristic of the first object;

comparing the second static characteristic to the first static characteristic;

determining, in response to the comparison of the second static characteristic and the first static characteristic, that the second static characteristic is approximately equal to the first static characteristic;

comparing the second dynamic characteristic to the first dynamic characteristic;

determining, in response to the comparison of the second dynamic characteristic and the first dynamic characteristic, that the second dynamic characteristic is approximately equal to the first dynamic characteristic; and

determining, in response to the approximate equivalence between the second static characteristic and the first static characteristic and the approximate equivalence between the second dynamic characteristic and the first dynamic characteristic, that the first object is moving, wherein;

the first static characteristic and the second static characteristic are characteristics of the first object that are constant over time,

the first dynamic characteristic is one or more of a first speed of travel and a first direction of travel of the first object,

the second dynamic characteristic is one or more of a second speed of travel and a second direction of travel of the first object, and

the steps of receiving, determining and comparing are performed by one or more processors.

2. The method of claim 1, wherein:

the four or more first images also show a roadway or a walkway, and

the roadway or walkway is a street, a highway, a parking garage, a parking lot, an intersection, a crosswalk, a sidewalk, a pedestrian crossing, a driveway, an island, a median, or a bicycle lane.

3. The method of claim 1, wherein at least one of the four or more first images is received from a first camera having a first field of view.

4. The method of claim 3, wherein at least one other of the four or more first images is received from a second camera having a second field of view different from the first field of view and partially overlapping with the first field of view.

5. The method of claim 1, further comprising providing real-time tracking of the first object to a law enforcement or security system.

6. The method of claim 5, wherein providing real-time tracking of the first object to law enforcement or security system comprises forwarding a location of the first object to the law enforcement or security system.

7. The method of claim 1, wherein:

the first static characteristic is one or more of a color, an outline, a size, and a dimension of the first object; and

the second static characteristic is one or more of a color, an outline, a size, and a dimension of the first object.

8. The method of claim 1, wherein:

the first static characteristic comprises two or more first static characteristics of the first object; and

the second static characteristic comprises two or more second static characteristics of the first object.

9. The method of claim 1, wherein:

the first dynamic characteristic comprises two or more first dynamic characteristics of the first object; and

the second dynamic characteristic comprises two or more second dynamic characteristics of the first object.

10. The method of claim 1, wherein each of the four or more first images includes a visual timestamp indicating a time at which the respective image was captured.

11. The method of claim 1, wherein the first object is a first pedestrian.

12. The method of claim 2, wherein determining that the first object is moving comprises determining that the object is traversing a portion of the roadway or the walkway.

13. The method of claim 1, wherein the first object is a first wheeled transportation apparatus.

14. The method of claim 13, wherein the first wheeled transportation apparatus is a first vehicle.

15. The method of claim 13, wherein the first wheeled transportation apparatus is a first two-wheeled transportation apparatus or a first four-wheeled transportation apparatus.

16. The method of claim 1, wherein the first dynamic characteristic and the second dynamic characteristic are a direction of travel of the first object.

17. The method of claim 11, wherein the first pedestrian is an occupant of a vehicle.

18. The method of claim 11, wherein the four or more first images also show a first vehicle, the method further comprising:

determining, based on at least two of the four or more first images, that the first pedestrian is walking to or from the first vehicle; and

associating the first pedestrian with the first vehicle.

19. The method of claim 18, further comprising:

receiving a unique identifier of the first vehicle,

wherein associating the first pedestrian with the first vehicle comprises associating the first pedestrian with the unique identifier of the first vehicle.

20. The method of claim 19, wherein the unique identifier of the first vehicle is a license plate number, a one-dimensional bar code, or a matrix bar code associated with the first vehicle.

21. The method of claim 19, wherein receiving the unique identifier of the first vehicle comprises determining the unique identifier of the first vehicle based on at least one of the four or more first images.

22. The method of claim 19, wherein the four or more first images are received from a first camera having a first field of view.

23. The method of claim 22, further comprising:

receiving one or more second images from a second camera having a second field of view that is different from the first field of view,

wherein receiving the unique identifier of the first vehicle comprises determining the unique identifier of the first vehicle based on the one or more second images.

24. The method of claim 23, wherein the second camera is included in an unmanned air vehicle that is configured to be autonomously operated.

25. The method of claim 18, wherein:

the four or more first images also show a payment station of a third-party parking payment system, and

determining that the first pedestrian is walking to or from the first vehicle comprises determining that the first pedestrian traveled between the first vehicle and the payment station of the third-party parking payment system.

26. The method of claim 25, further comprising receiving, from the third-party parking payment system, payment information specifying a period of time that was received by the third-party parking payment system,

wherein associating the first pedestrian with the first vehicle comprises associating, in response to the determination that the first pedestrian traveled between the first vehicle and the payment station of the third-party parking payment system, the period of time with the first vehicle.

27. The method of claim 25, wherein the third-party parking payment system is a third-party pay-by-space parking payment system, a third-party pay-and-display parking payment system, or a third-party curbside parking meter payment system.

28. The method of claim 1, wherein the four or more first images also show a second object that is different from the first object, the method further comprising:

determining, based on one of the four or more first images, a first static characteristic of the second object;

determining, based on another of the four or more first images, a second static characteristic of the second object;

determining, based on two of the four or more first images, a first dynamic characteristic of the second object;

determining, based on another two of the four or more first images, a second dynamic characteristic of the second object;

comparing the second static characteristic of the second object to the first static characteristic of the second object;

determining, in response to the comparison of the second static characteristic of the second object and the first static characteristic of the second object, that the second static characteristic of the second object is approximately equal to the first static characteristic of the second object;

comparing the second dynamic characteristic of the second object to the first dynamic characteristic of the second object;

determining, in response to the comparison of the second dynamic characteristic of the second object and the first dynamic characteristic of the second object, that the second dynamic characteristic of the second object is approximately equal to the first dynamic characteristic of the second object; and

determining, in response to the approximate equivalence between the second static characteristic of the second object and the first static characteristic of the second object and the approximate equivalence between the second dynamic characteristic of the second object and the first dynamic characteristic of the second object, that the second object is also moving.

29. A system for tracking at least one object, the system comprising one or more processors connected to at least one storage device, the system being configured to:

receive four or more first images showing a first object;

determine, based on one of the four or more first images, a first static characteristic of the first object;

determine, based on another of the four or more first images, a second static characteristic of the first object;

determine, based on two of the four or more first images, a first dynamic characteristic of the first object;

determine, based on another two of the four or more first images, a second dynamic characteristic of the first object;

compare the second static characteristic to the first static characteristic;

determine, in response to the comparison of the second static characteristic and the first static characteristic, that the second static characteristic is approximately equal to the first static characteristic;

compare the second dynamic characteristic to the first dynamic characteristic;

determine, in response to the comparison of the second dynamic characteristic and the first dynamic characteristic, that the second dynamic characteristic is approximately equal to the first dynamic characteristic; and

determine, in response to the approximate equivalence between the second static characteristic and the first static characteristic and the approximate equivalence between the second dynamic characteristic and the first dynamic characteristic, that the first object is moving, wherein;

the first static characteristic and the second static characteristic are characteristics of the first object that are constant over time,

the first dynamic characteristic is one or more of a speed of travel and a direction of travel of the first object, and

the second dynamic characteristic is one or more of a speed of travel and a direction of travel of the first object.

30. A method of tracking at least one pedestrian, the method comprising:

receiving four or more first images showing a first pedestrian, a first vehicle, and a payment station of a third-party parking payment system;

determining, based on one of the four or more first images, a first static characteristic of the first pedestrian;

determining, based on another of the four or more first images, a second static characteristic of the first pedestrian;

determining, based on two of the four or more first images, a first dynamic characteristic of the first pedestrian;

determining, based on another two of the four or more first images, a second dynamic characteristic of the first pedestrian;

comparing the second static characteristic to the first static characteristic;

determining, in response to the comparison of the second static characteristic and the first static characteristic, that the second static characteristic is approximately equal to the first static characteristic;

comparing the second dynamic characteristic to the first dynamic characteristic;

determining, in response to the comparison of the second dynamic characteristic and the first dynamic characteristic, that the second dynamic characteristic is approximately equal to the first dynamic characteristic; and

determining, in response to the approximate equivalence between the second static characteristic and the first static characteristic and the approximate equivalence between the second dynamic characteristic and the first dynamic characteristic, that the first pedestrian traveled between the first vehicle and the payment station of the third-party parking payment system, wherein;

the first static characteristic and the second static characteristic are characteristics of the first pedestrian that are constant over time,

the second dynamic characteristic are characteristics of the first pedestrian that change over time, and

the steps of receiving, determining and comparing are performed by one or more processors.