Object tracking within video images
First Claim
Patent Images
1. A method for tracking objects in a sequence of video images, comprising the steps of:
- storing object models relating to objects detected in previous video images of the sequence, the object models comprising values of characteristic features of the detected objects and variances of those values;
receiving a further video image of the sequence to be processed;
detecting objects in the received video image;
determining characteristic features of the detected objects;
calculating a distance measure between each detected object and each object model on the basis of the respective characteristic features using a distance function which takes into account at least the variance of the characteristic features;
matching the detected objects to the object models on the basis of the calculated distance measures; and
updating the object models using the characteristic features of the respective detected objects matched thereto.
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Abstract
This invention provides an object tracking method and system for tracking objects in video frames which takes into account the scaling and variance of each matching feature. This provides for some latitude in the choice of matching feature, whilst ensuring that as many matching features as possible can be used to determine matches between objects, thus giving increased accuracy in the matching thus determined. A parallel matching approach is used, and heuristic rules employed to account for occlusions between objects.
61 Citations
24 Claims
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1. A method for tracking objects in a sequence of video images, comprising the steps of:
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storing object models relating to objects detected in previous video images of the sequence, the object models comprising values of characteristic features of the detected objects and variances of those values;
receiving a further video image of the sequence to be processed;
detecting objects in the received video image;
determining characteristic features of the detected objects;
calculating a distance measure between each detected object and each object model on the basis of the respective characteristic features using a distance function which takes into account at least the variance of the characteristic features;
matching the detected objects to the object models on the basis of the calculated distance measures; and
updating the object models using the characteristic features of the respective detected objects matched thereto. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for tracking objects in a sequence of video images, comprising:
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storage means for storing object models relating to objects detected in previous video images of the sequence, the object models comprising values of characteristic features of the detected objects and variances of those values;
means for receiving a further video image of the sequence to be processed; and
processing means arranged in use to;
detect one or more objects in the received video image;
determine characteristic features of the detected objects;
calculate a distance measure between each detected object and each object model on the basis of the respective characteristic features using a distance function which takes into account at least the variance of the characteristic features;
match the detected objects to the object models on the basis of the calculated distance measures; and
update the stored object models using the characteristic features of the respective detected objects matched thereto. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification