Video tracking system and method

• US 9,876,993 B2
• Filed: 09/30/2011
• Issued: 01/23/2018
• Est. Priority Date: 11/27/2002
• Status: Expired due to Fees

• Current Assignee: Bosch Security Systems Incorporated (Robert Bosch GmbH), Robert Bosch GmbH
• Original Assignee: Bosch Security Systems Incorporated (Robert Bosch GmbH), Robert Bosch GmbH
• Inventors: Sablak, Sezai, Katz, David N., Trajkovic, Miroslav, Bolotine, Michael D., Lyons, Damian M.
• Primary Examiner(s): Pasiewicz, Daniel M
• Application Number:
  US13/249,536
• Publication Number:
  US 20120081552A1
• Time in Patent Office: 2,307 Days
• Field of Search: 348143, 348152, 348155, 348169-172, 3482071, 34820711, 34820814, 34821199, 3482114-2118
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/611 where the recognised objects include parts of the human body
• CPC Class Codes: H04N 23/62 Control of parameters via user interfaces
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 5/77 between a recording apparatus and a television camera
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A video tracking system and method are provided for tracking a target object with a video camera.

Claims

1. A video tracking system comprising:

a video camera having a field of view, said camera being selectively adjustable wherein adjustment of said camera varies the field of view of said camera; and

at least one processor operably coupled to said camera wherein said processor automatically and continuously acquires video images acquired by said camera and continuously selectively adjusts said camera;

said processor programmed to;

detect a moving target object in said video images, said video images including a first image and a second image;

detect a second moving target object in said video images;

estimate a distance between the moving target object and the video camera;

determine sizes of the moving target object and the second moving target object;

determine a velocity for only the moving target object when the moving target object is at least a 20% larger size than the second moving target object based on positions of the moving target object in the first and second images and the distance between the moving target object and the video camera;

determine a velocity for only the second moving target when the second moving target object is at least a 20% larger size than the moving target object;

randomly select either the moving target object or the second moving target to determine a velocity for either the moving target object or the second moving target object when the size differences of the moving target object and the second moving are within 20%;

select a first adjustment rate, said first adjustment rate being a function of said determined velocity;

adjust said camera at said first adjustment rate;

wherein after selecting the first adjustment rate the processor automatically receives a subsequent image and performs said process again based on a comparison of the subsequent image and at least one of the first image and the second image to select a second adjustment rate, the camera being continuously moved at the first adjustment rate until being commanded to move at the second adjustment rate, where after the camera is continuously moved at the second adjustment rate without a stationary interval between the continuous movement at the first adjustment rate and the continuous movement at the second adjustment rate.

2. The video tracking system of claim 1 wherein said camera is selectively adjustable at a variable rate in adjusting at least one of a panning orientation of said camera and a tilt orientation of said camera.

3. The tracking system of claim 1 wherein selective adjustment of said camera includes selective panning movement of said camera, said panning movement defining an x-axis, selective tilting movement of said camera, said tilting movement defining a y-axis, and selective focal length adjustment of said camera, adjustment of the focal length defining a z-axis, said x, y and z axes oriented mutually perpendicular.

4. The tracking system of claim 3 wherein said processor adjusts said camera at a selected panning rate, said selected panning rate being a function of the determined velocity along said x-axis and said processor adjusts said camera at a selected tilting rate, said selected tilting rate being a function of the determined velocity along said y-axis.

5. The tracking system of claim 1 wherein said first image is acquired by said camera adjusted to define a first field of view and said second image is acquired by said camera adjusted to define a second field of view.

6. The tracking system of claim 5 wherein said first and second fields of view are partially overlapping and wherein selection of said adjustment rate by said processor includes identifying and aligning at least one common feature represented in each of said first and second images.

7. The tracking system of claim 5 wherein said camera is continuously adjusted at the first selected adjustment rate until said processor selects the second adjustment rate and communicates said second adjustment rate to said camera, wherein the camera is adjusted at the second adjustment rate upon the processor communicating the second adjustment rate to the camera.

8. The tracking system of claim 7 wherein said camera defines a third field of view as said camera is adjusted at said first selected adjustment rate and wherein the subsequent image is acquired by said camera when defining said third field of view, said first, second and third images being consecutively analyzed by said processor.

9. The tracking system of claim 1 wherein said camera has a selectively adjustable focal length and said processor selects the focal length of said camera as a function of the distance of the target object from said camera.

10. The tracking system of claim 1 further comprising a display device and an input device operably coupled to said system wherein an operator may view said video images on said display device and input commands or data into said system through said input device, said display device and input device being positionable remote from said camera.

11. The video tracking system of claim 1, wherein to determine the velocity of the moving target object, said processor uses at least one of:

a rotation matrix method and a homography matrix method.

12. The video tracking system of claim 1, wherein the time interval between images acquired by said processor is substantially constant.

13. The video tracking system of claim 1, said processor being further programmed to:

determine the moving target object is no longer detected; and

send a signal to the video camera to zoom out in response to determining the moving object is no longer detected for a predetermined amount of time.