Tracking moving objects using a camera network

• US 9,615,064 B2
• Filed: 12/30/2010
• Issued: 04/04/2017
• Est. Priority Date: 12/30/2010
• Status: Active Grant

• Current Assignee: Pelco (Schneider Electric SE)
• Original Assignee: Pelco (Schneider Electric SE)
• Inventors: Millar, Greg, Aghdasi, Farzin, Wang, Lei
• Primary Examiner(s): SENFI, BEHROOZ M
• Application Number:
  US12/982,138
• Publication Number:
  US 20120169882A1
• Time in Patent Office: 2,287 Days
• Field of Search: 348169, 348214, 348152, 348143, 348155, 348172, 348 47, 348144, 348208, 348269, 348153, 348158, 348167, 348159, 348135, 348701, 34820711, 382190, 382224, 382165, 382219, 382218, 382103
• CPC Class Codes: G08B 13/19608 Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

Techniques are described for tracking moving objects using a plurality of security cameras. Multiple cameras may capture frames that contain images of a moving object. These images may be processed by the cameras to create metadata associated with the images of the objects. Frames of each camera'"'"'s video feed and metadata may be transmitted to a host computer system. The host computer system may use the metadata received from each camera to determine whether the moving objects imaged by the cameras represent the same moving object. Based upon properties of the images of the objects described in the metadata received from each camera, the host computer system may select a preferable video feed containing images of the moving object for display to a user.

Claims

1. A method for tracking an object with a plurality of cameras, the method comprising:

capturing, using a first camera, a first set of frames, wherein;

the plurality of cameras comprises the first camera;

the first set of frames comprises a first set of images of the object; and

the first set of frames is captured from a first point of view;

capturing, using a second camera, a second set of frames, wherein;

the plurality of cameras comprises the second camera;

the second set of frames comprises a second set of images of the object;

and

the second set of frames is captured from a second point of view;

calibrating the first camera and the second camera using a calibration process based on physical locations known to be within a field of view of both the first camera and the second camera;

determining, using the first camera, a presence of the object in the first set of frames;

linking, by the first camera, metadata to the presence of the object, wherein the metadata indicates at least one characteristic of the first set of images of the object;

transmitting the metadata from the first camera to a computing system; and

identifying, by the computing system, based at least in part on the metadata received from the first camera, that the second set of images captured by the second camera represents the same object as the object in the first set of images in the first set of frames; and

selecting, by the computing system, the first set of frames or the second set of frames for display to a user based on respective locations of the object in the first set of frames and the second set of frames relative to centers of fields of view of the first camera and the second camera, respectively.

2. The method of claim 1, wherein the selecting selects whichever of the first set of frames or the second set of frames has the object being closer to the respective center of the frames by at least a threshold amount.

3. The method of claim 2, wherein the selecting occurs substantially in real time, wherein real time refers to frames being displayed that represent a current location of the object.

4. The method of claim 2, wherein the selecting occurs at least an hour after the first set of frames and the second set of frames were captured.

5. The method of claim 2, wherein the selecting selects whichever of the first set of frames or the second set of frames has the object being larger.

6. The method of claim 1, further comprising receiving, by the computing system, a selection from the user, wherein the selection indicates to track the object using frames captured by the plurality of cameras.

7. The method of claim 1, wherein the at least one characteristic comprises two-dimensional coordinates of a location of the object in a two-dimensional coordinate system associated with the first camera.

8. The method of claim 7, further comprising converting, by the computing system, the two-dimensional coordinates of the location to three-dimensional coordinates.

9. The method of claim 1, wherein a first field of view associated with the first point of view and a second field of view associated with the second point of view at least partially overlap.

10. The method of claim 1 wherein a first field of view associated with the first point of view and a second field of view associated with the second point of view do not overlap.

11. The method of claim 1, further comprising:

receiving, by the computing system, a first set of coordinates that corresponds to a first location in a first field of view of the first camera;

receiving, by the computing system, a second set of coordinates that corresponds to the first location in a second field of view of the second camera; and

mapping, by the computing system, using the first set of coordinates and the second set of coordinates, a first two-dimensional coordinate system linked with the first camera and a second two-dimensional coordinate system linked with the second camera to a three-dimensional coordinate system.

23. The method of claim 1, where calibrating the first camera and the second camera using the calibration process based on the physical locations known to be within the field of view of both the first camera and the second camera further comprises:

presenting a first frame captured by the first camera on a user interface;

presenting a second frame captured by the second camera on the user interface;

receiving a first input identifying a first location of a known object within the first frame;

receiving a second input identifying a second location of the known object within the second frame; and

generating a set of calibration parameters based on the first input and the second input.

12. A system for identifying an object in frames captured by a plurality of cameras, the system comprising:

the plurality of cameras, wherein;

the plurality of cameras comprises a first camera and a second camera;

the first camera is configured to capture a first set of frames from a first point of view with a first field of view;

the first camera is configured to identify a first set of images of a first object in the first set of frames;

the first camera is configured to determine a first set of metadata associated with the first object in the first set of frames;

the second camera is configured to capture a second set of frames from a second point of view with a second field of view;

the second camera is configured to identify a second set of images of a second object in the second set of frames; and

the second camera is configured to determine a second set of metadata associated with the second object in the second set of frames; and

a host computer system configured to;

receive the first set of metadata from the first camera;

receive the second set of metadata from the second camera;

receive the first set of frames from the first camera;

receive the second set of frames from the second camera;

calibrate the first camera and the second camera using a calibration process based on physical locations known to be within a field of view of both the first camera and the second camera;

determine, based at least in part on the first set of metadata received from the first camera and the second set of metadata received from the second camera, that the first set of images of the first object and the second set of images of the second object represent the same object; and

select the first set of frames or the second set of frames for display to a user based on respective locations of the object in the first set of frames and the second set of frames relative to centers of fields of view of the first camera and the second camera, respectively.

13. The system of claim 12, wherein to select the first set of frames or the second set of frames the host computer system is configured to select whichever of the first set of frames or the second set of frames has the object being closer to the respective center of the frames by at least a threshold amount or whichever of the first set of frames or the second set of frames has the object being larger.

14. The system of claim 12, wherein the host computer system is further configured to receive a selection from the user, wherein the selection indicates to track the first object.

15. The system of claim 12, wherein:

the first set of metadata comprises two-dimensional coordinates of a location of the object in a first two-dimensional coordinate system associated with the first camera; and

the second set of metadata comprises two-dimensional coordinates of the location in a second two-dimensional coordinate system associated with the second camera.

16. The system of claim 12, wherein the first camera is further configured to segment a foreground of the first set of frames from a background of the first set of frames, wherein:

the background comprises a first set of objects that substantially are not moving;

the foreground comprises a second set of objects that are moving;

the second set of objects comprises the first object; and

the foreground is configured to be segmented from the background using a Gaussian mixture model.

17. The system of claim 12, further comprising:

a slave camera, wherein;

the slave camera is configured to capture a third set of frames; and

the slave camera is configured to transmit the third set of frames to the host computer system;

wherein the host computer system is further configured to determine metadata associated with a third object in the third set of frames.

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

a first means for capturing a first set of frames, wherein;

the first set of frames comprises a first set of images of an object; and

the first set of frames is captured from a first point of view with a first field of view;

a second means for capturing a second set of frames, wherein;

the second set of frames comprises a second set of images of the object; and

the second set of frames is captured from a second point of view with a second field of view;

a third means for identifying a presence of the object in the first set of frames;

a fourth means for determining metadata associated with the first set of images of the object, wherein the metadata indicates at least one characteristic of the first set of images of the object;

a fifth means for identifying, based at least in part on the metadata, that the second set of images comprises the same object as the first set of images;

sixth means for selecting the first set of frames or the second set of frames for display to a user based on respective locations of the object in the first set of frames and the second set of frames relative to centers of fields of view of the first means for capturing and the second means for capturing, respectively; and

a seventh means for calibrating the first means for capturing and the second means for capturing using a calibration process based on physical locations known to be within the field of view of both the first means for capturing and the second means for capturing.

19. The apparatus for tracking the object of claim 18, wherein the metadata comprises:

a height measurement of the first set of images of the object; and

a width measurement of the first set of images of the object.

20. The apparatus of claim 18, further comprising:

an eighth means for receiving a selection from the user, wherein the selection indicates to track the object.

21. The apparatus of claim 18, wherein the metadata comprises two-dimensional coordinates of a location of the object in a two-dimensional coordinate system associated with the first means.

22. The apparatus of claim 18, wherein the sixth means are for selecting whichever of the first set of frames or the second set of frames has the object being closer to the respective center of the frames by at least a threshold amount or whichever of the first set of frames or the second set of frames has the object being larger.