CN101501564B - video surveillance system and method with combined video and audio recognition - Google Patents
video surveillance system and method with combined video and audio recognition Download PDFInfo
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- CN101501564B CN101501564B CN2006800555140A CN200680055514A CN101501564B CN 101501564 B CN101501564 B CN 101501564B CN 2006800555140 A CN2006800555140 A CN 2006800555140A CN 200680055514 A CN200680055514 A CN 200680055514A CN 101501564 B CN101501564 B CN 101501564B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/16—Actuation by interference with mechanical vibrations in air or other fluid
- G08B13/1654—Actuation by interference with mechanical vibrations in air or other fluid using passive vibration detection systems
- G08B13/1672—Actuation by interference with mechanical vibrations in air or other fluid using passive vibration detection systems using sonic detecting means, e.g. a microphone operating in the audio frequency range
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Business, Economics & Management (AREA)
- Computing Systems (AREA)
- Emergency Management (AREA)
- Closed-Circuit Television Systems (AREA)
- Burglar Alarm Systems (AREA)
- Alarm Systems (AREA)
Abstract
A novel video surveillance system is made up of video and audio compression engine, a storage device and, a video and audio recognition engine. The video recognition engine detects such events as face recognition, motion detection etc, whereas audio recognition engine detects voice and other sound signatures indicating a potential alarm situation, e.g., panic voices such as screaming and yelling, or sounds such as gun shots, explosions. Combined recognition of audio and video signals provides for higher true alarm generation and lower false alarms level of the surveillance system. Additionally, the audio recognition engine provides information for directing video cameras in the direction of interest allowing better capture of an interesting scene.
Description
Technical field
Invention relates generally to surveillance and the method that is used to provide security, more particularly, relates to a kind of new online (in real time) video and the audio recognition systems and the processing that is used for surveillance that are used for surveillance.
Background technology
Conventional video monitoring system does not generally comprise any function or the measure of monitor audio; That is, surveillance does not comprise the audio frequency input.At most, typical video monitoring system is recorded when such as the video monitoring system of description in United States Patent(USP) No. 6724421 and 6175382 visual information and audio-frequency information being provided.In two kinds of video monitoring systems in these lists of references, describing, video data is analyzed by the intelligent surveillance engine, and is compressed so that carry out stored digital.These engines are realized various recognizers, such as recognition of face, and motion detection, the panic detection assassinated (stabbing) motion detection or the like.For example, when keeping watch on the inlet of skyscraper, a kind of alarm condition relates to the unexpected rapid movement of a people towards another people, means possible plundering, hit or analogous action.In this case, the intelligent surveillance engine will be discerned (success ratio is less than 100%) motion suddenly fast, and produce alarm at monitoring station.Because the result who reports to the police, police strength can be sent monitored position.Obviously, motion suddenly fast possibly run to its father and mother/friend by children and produce, and in this case, the alarm of generation becomes false alarm, and this can waste sending of police strength.Another consequence of intelligent surveillance engine erroneous detection is in emergency circumstances real, does not produce alarm.For example, when there is more than one man-hour at the scene this situation possibly appear.When real emergency condition takes place, but not sending police strength is another defective of present surveillance.
The surveillance of having only video of prior art has been described among Fig. 1.Video camera array 10 is sent into video compression engine 12 to video information through video links 11.Video information is compressed, and issues memory storage 14 so that long preservation through link 16.In addition, video information is fed to video recognition engine 13 through identical video links 11.Video recognition engine 13 is carried out video recognition tasks, such as recognition of face, motion detection or the like, and produces incident and the alarm that sends to event database 15 and monitoring station 18 through link 17.Monitoring station 18 can comprise manned monitoring station, thereby the operator carries out the real-time vision monitoring of the video camera of specific quantity.When the emergency condition of thinking as the operator takes place, whether send police strength or his/her decision is depended in other emergency response troop to monitored district.According to top description, obviously do not utilize audio-frequency information, although can obtain such audio-frequency information usually in monitored district.
Represented to record the existing video monitoring system that has among Fig. 2.Video camera array 20 is sent into video and audio compression engine 22 to video information through video links 21.Simultaneously, audio-frequency information is admitted to video and audio compression engine 22 from microphone array 29 through voice frequency link 30.Video and audio-frequency information are compressed, and are issued memory storage 24 so that long preservation through link 26.Similarly, video information is admitted to video recognition engine 23 through identical video links 21.Video recognition engine 23 is carried out video recognition tasks, such as recognition of face, motion detection or the like, and produces the incident and the alarm of issuing database 25 and monitoring station 28 through link 27.Monitoring station 28 is manned monitoring stations, thereby the operator carries out the vision monitoring of the video camera of specific quantity.When the emergency condition of thinking as the operator takes place, whether send police strength or his/her decision is depended in other emergency response troop to monitored district.According to top description, obviously do not extract Useful Information, although can in the sound signal that monitored district obtains, obtain such information usually from the audio frequency input.
As stated, second kind of surveillance be recorded video and audio-frequency information simultaneously, and realizes being used for the intelligent surveillance engine of various video recognition tasks.At present, in these systems, audio-frequency information is compressed and records, and is not analyzed.
When analysis video was imported, present surveillance was not utilized quite valuable audio-frequency information.Obviously, this audio-frequency information is useful, and under many surveillance scenarios, can be widely used.
Thereby; It is desirable to very much introduce the use of audio-frequency information in the video monitoring system; The use of expection audio-frequency information will reduce the number of the false alarm of surveillance generation, and improves the percent of detected true alarm, and the people who reports to the police to assessment simultaneously provides more information.Utilize video information can not find that some incidents are opposite in addition and only, utilize Voice & Video information can find these incidents.
Summary of the invention
Thereby, an object of the present invention is to provide a kind of video monitoring system and method, comprise and using and the video information that combines from the audio-frequency information that obtained by surveillance zone.
Surveillance of the present invention had both comprised the vision signal input, comprised the sound signal input again.Vision signal is derived from numeral or analog video camera, and the audio frequency input is received from the microphone that is installed in monitored district.Video and audio-frequency information are compressed and send to digital memeory device.The quantity of the stored digital that the whole video cameras realized in order to practice thrift and microphone are required, preferably compressed audio and video information.With record side by side; Video and audio frequency input are admitted to smart recognition engine; Smart recognition engine is carried out video identification, audio identification; And carry out the instantaneous of result that is derived from video-audio identification and be correlated with, so that detection/recognition is represented one group of particular event of panic situation, such as high pitch birdie, blast, gunslinging etc.The alarm that smart recognition engine generates can be sent out to monitoring station, and at monitoring station, whether operator's decision sends police or emergency personnel to monitored district.
According to one aspect of the present invention, smart recognition engine is carried out the available video recognizer, such as recognition of face, motion detection or the like, and the audio/speech recognizer that is used for the specific vocabulary of speech recognition (" help ", " robbery " etc.).Audio recognition engine can be trained, and to discern special sound signal, such as gunslinging, blast etc., and representative is reported to the police or the high-pitched tone and other phonetic feature (signature) of emergency condition.
Through utilizing the microphone array of arranging along specific orientation, can confirm the direction of sound.Directed audio-frequency information can be delivered to camera control unit subsequently, so that one/a plurality of cameras oriented are to interested direction.So can carry out further video/audio recognition with better efficient.Thereby, for example, utilizing the microphone array in the monitored district, audio recognition engine can detect explosive sound.As a result, will make cameras oriented arrive the blast direction, and will in video engine, carry out subsequent action---to monitoring station warning scene Recognition/understanding.At once be used to the result who is derived from video and audio identification to instruct the further assessment of the Voice & Video of recording; And instruct the improvement of new video and audio frequency input to record; Advantageously improved the accuracy that detects; Shortened the used time of character of definite alarm, and more information is provided to the operator of assessment situation.
The output of video recognition engine and audio recognition engine is by mutual recognition engine analysis, and the result generates final alarm and is transmitted to monitoring station.
In order to realize these and other purpose, according to a preferred aspect of the present invention, a kind of surveillance and method are provided, and computer program, wherein said system comprises:
Generate the device of real time video signals, said real time video signals is included in the video information that receives acquisition in the surveillance zone;
Obtain the device of real-time audio signal, said real-time audio signal comprises the audio-frequency information that receives surveillance zone from said;
Receive said vision signal and sound signal simultaneously, therefrom confirm relevant video and audio identification information, and real-time audio and video information are relative to each other with the device of the possibility occurrence of definite particular event; With
According to the generation of particular event, produce the device of alarm condition.
Description of drawings
According to following explanation, additional claim and accompanying drawing, with the further feature of understanding structure of the present invention and method better, aspect and advantage, wherein:
Fig. 1 graphic extension is according to the surveillance of having only video of prior art;
Fig. 2 graphic extension is according to the video monitoring system with audio recording ability of prior art;
Fig. 3 graphic extension is according to the video monitoring system with video and audio identification of the present invention; And
Fig. 4 graphic extension is according to the details of smart recognition engine of the present invention.
Embodiment
Fig. 3 graphic extension is according to the video monitoring system with video and audio identification of the present invention.As shown in Figure 3; Comprise one or more colours or monochromatic still life or video electronic video camera; For example CCD or cmos camera, the video camera array 40 that perhaps has the equivalent combinations of taking the assembly that receives surveillance zone is sent into digital video and audio compression engine 42 to vision signal through video communication link 41.For example under computing machine and/or software control, the motion of each camera system of video camera array 40 and operation can be by the control signal controls that receives.In addition, the operating parameter of each video camera in the video camera array 40 comprises panorama (pan)/pitching (tilt) mirror, lens combination, focusing motor, panorama motor and pitching motor control by the control signal control that receives, and is said more in detail as follows.Before the output digital video signal, can use many signal processing technologies for example to reduce noise or filtering/image enhancement technique is provided.
Simultaneously, setting comprises the microphone array 49 that can convert acoustic pressure to the microphone sensor devices (microphone of omnidirectional and/or high orientation) of electric signal, to send into digital video and audio compression engine 42 to audio-frequency information through voice communication link 50.Those skilled in the art is known; The directivity degree of microphone array changes with sound frequency; So that can consider required frequency range capability, confirm the number of microphone and the distance between the microphone, so that the directivity of any given extent can be provided.For example; Can under software control, be controlled at the microphone realized in the array to realize these targets; And the microphone of in array, realizing comprises transducer, and said transducer is configured to have obviously is partial to the for example pickup mode of each frequency reception in scopes such as human speech, blast, gunslinging.Like this, thus guarantee that microphone array is the sound field with higher accuracy response sound event of susceptible.Can use other sound signal regulation technology, the simulated audio signal that for example utilizes the A/D converter digitizing to obtain, and provide for example gain control, noise reduction/filter to make an uproar.Digitized video and audio-frequency information be by digital compression, and issued memory storage 44 so that long preservation through link 46, for example, and database; Hard disk drive, magnetic medium or optical medium include, but is not limited to: CD-ROM, DVD; Tape, disk, disk array or the like.The output of each video camera of video camera array 40 is with compressed format, and such as MPEG1, MPEG2 etc. are stored in the storage medium.In addition, the output of each video camera of video camera array 40 can be stored in ad-hoc location related with this video camera on the storage medium, is perhaps preserved together corresponding to the indication of which video camera with the output of each preservation.
Shown in further among Fig. 3, identical video information and audio-frequency information are sent into smart recognition engine 43 through corresponding video links 41 with voice frequency link 50 in addition simultaneously.Should be understood that the communication link 41 and 50 between corresponding video camera array and audio microphone array and video and audio compression engine 42 and the smart recognition engine 43 can be hard-wired, perhaps can adopt Radio Link.In addition, these communication links are taked cable, satellite, RF and microwave transmission, optical fiber or the like form also within the scope of the invention.
Said more in detail as follows, as shown in Figure 4, smart recognition engine 43 comprises video recognition engine 62, audio recognition engine 63, mutual recognition engine and warning generation module 64.Smart recognition engine 43 realizes control computer equipment completion execution video identification algorithm and the method for face recognition algorithms and the software of process.These algorithms can and motion detection algorithm (for example, following the tracks of each point) with known (patch) relevant or track algorithm of the motion of characteristic in the estimated image stream wait execution together.In addition, smart recognition engine 43 realizes control computer equipment completion execution audio identification and the method for speech recognition algorithm and the software of process.The speech recognition algorithm that is embodied as computer-readable instruction, data structure, program module etc. can be used to discern the specific spoken words (" help ", " robbery " etc.) of representing emergency potentially or answering alarm condition.
The audio recognition engine 63 that comprises computer-readable instruction, data structure, program module or other data can be trained; Special audio signal with identification such as gunslinging, blast; And higher pitch sounds; For example, scream, cry in fear, and relevant other sound and the voice characteristics of incident of reporting to the police with known possibly causing.But be appreciated that according to the present invention and can adopt the various recognizers that do not require training in advance.
The computing equipment of realizing comprises the general purpose computing device such as PC, laptop devices, mobile device; Have and include, but is not limited to processing unit, system storage and system bus at interior assembly, said system bus coupling comprises that each system component of system storage is to handling the unit.Computer equipment is realized these assemblies; Be kept at smart recognition engine and the audio recognition engine on the known computer-readable medium so that carry out; Said computer-readable medium comprises and can be comprised detachable media, on-dismountable medium, Volatile media and non-volatile media by any usable medium of computer equipment visit.Computer readable recording medium storing program for performing can for example concentrate on a position, perhaps be dispersed in the computer system that connects through network, and the computer-readable recognizer can be stored in the computer readable recording medium storing program for performing, and be performed according to the mode of disperseing.
Return Fig. 3, through utilize specific towards microphone array 49, the direction of sound is confirmable.Relate to by the directional information of the audio event of sensing and be passed to camera microphone control module 52 through wired or wireless communication link 53.Video camera/microphone control module 52 comprises realization by control signal 54, and one/a plurality of video cameras of aligned array 40 are controlled necessary whole software with the motor position of the position of control microphone array 49.For example, control signal can be transfused to video camera array 40, with adjustment or control video camera panorama/tilt mirrors, lens combination, focusing motor, panorama motor and pitching motor assembly and subsystem.These control signals are used to the being seen visual field of automatic aligned with camera in addition, so that obtain image better placed in the middle about the more information of actual alarm or alert event, and that perhaps amplify more, that focus on or distinct image more.In a non-limitative example, the audio identification of the gunslinging sound signal of response smart recognition engine can generate this scene of one or more camera video camera array, with the control signal of " attention " gunslinging direction.If according to the audio identification of gunslinging, make video camera array aim at the scene of a crime, owing to can obtain the more information about gunslinging, the situation of " crime dramas " identification can be better so.Alternatively or in addition, can produce these control signals as to be used for the adjusting orientation of microphone and the distance between the microphone automatically, so that receive subsidiary audio-frequency information better.In addition, consider the sound signal that detects required frequency range, the directivity of any given degree perhaps is provided, can adjust microphones orientation.Thereby, for example, the response video recognition event, one or more microphones can be redirected, so that " intercepting " specific direction.
More particularly, as shown in Figure 4, analyze by mutual recognition engine 64, handling video and the audio identification information of receiving simultaneously, and finally determine whether to exist alarm condition from the output of video recognition engine 62 and audio recognition engine 63.In this way, can generate the alarm that is transmitted to manned monitoring station 48 through communication link 47.That is, in mutual recognition engine 64, use, the identifying that adopts as computer-readable instruction, data structure, program module etc. is usually based on pattern match and/or hypothesis evaluation.In evaluation stage, confirm the estimator of the probability of variety of event.This can be through confirming between the subsidiary speech of the video scene of each identification and identification or audio frequency characteristics, to exist the correlativity of which kind of degree to realize according to real-time video identifying information and sound signal.In an example recognition event, in order to discern the assassination activity, video information is used to manage to assess the probability of each video scene.If known such scene can be with higher pitch sounds (scream etc.), from the audio frequency input, detect so high-pitched tone can increase its for as the result's of the assassination activity of in vision signal, catching probability.The resolution that police or emergency personnel are depended on the operator is sent to the monitoring area in the specific region that operator's vision monitoring video camera array 40 is kept watch on, and report to the police when indicating when the alarm generation unit provides whether.According to top description, obviously exist from the audio frequency input and extract useful information, through combining with video recognition event, this has improved the whole operation of surveillance.
In addition as shown in Figure 4, the communication link 60 between video recognition engine 62 and the mutual recognition engine 64 is two-way, just as the communication link 61 between audio recognition engine 63 and the mutual recognition engine 64. Link 60 and 61 amphicheirality allow video and audio recognition algorithm as described above mode influence each other, thereby, identification video and audio frequency better, and possibly realize detecting up to now can not detected particular event.
Although represent in detail and the present invention be described about illustrative and embodiment that realize of the present invention; But those skilled in the art understands and can make aforementioned aspect form and the details and other variation; And not breaking away from the spirit and scope of the present invention, the spirit and scope of the present invention only should be limited the scope of additional claim.
Claims (15)
1. surveillance of utilizing video and audio identification comprises:
Generate the device of real time video signals, said real time video signals is included in the video information that receives acquisition in the surveillance zone, and the device of wherein said generation real time video signals comprises one or more camera systems;
Obtain the device of real-time audio signal, said real-time audio signal comprises the audio-frequency information that receives surveillance zone from said;
Receive said vision signal and sound signal simultaneously, therefrom confirm relevant video and audio identification information, and said Voice & Video identifying information is relative to each other with the device of the possibility occurrence of definite particular event;
According to the generation of said particular event, produce the device of alarm condition; And
The said device that the Voice & Video identifying information is relative to each other with the possibility occurrence of confirming particular event also is configured in response to the generation that identifies this particular event according to the said audio identification of particular event, generates control signal and catches vision signals with the one or more directions in this particular event in the guiding camera system.
2. according to the described system of claim 1; Said said vision signal and the sound signal of receiving simultaneously; Therefrom confirm relevant video and audio identification information; And the device that said Voice & Video identifying information is relative to each other with the possibility occurrence of confirming particular event comprises first recognition engine, is used to handle said vision signal, to be used for confirming said video identification information.
3. according to the described system of claim 2; Said said vision signal and the sound signal of receiving simultaneously; Therefrom confirm relevant video and audio identification information; And the device that said Voice & Video identifying information is relative to each other with the possibility occurrence of confirming particular event comprises second recognition engine, is used to handle said sound signal, to be used for confirming said audio identification information.
4. according to the described system of claim 1, wherein each said camera system comprises the said control signal of response one or more with in one or more panorama/tilt mirrors, lens combination, focusing motor, panorama motor and the pitching motor assembly in the panorama of adjustment camera system, pitching, convergent-divergent, rotation, passing, the translation controlled variable.
5. according to the described system of claim 1; The device of wherein said acquisition real-time audio signal comprises one or more microphone apparatus; Said make said Voice & Video identifying information be relative to each other device with the possibility occurrence of confirming particular event also comprise response according to the said video identification of particular event identify maybe incident generation; Generate control signal guiding said one or more microphone apparatus, thereby can catch the device of sound signal in the direction of this particular event.
6. according to the described system of claim 5, wherein each said microphone apparatus responds said control signal, considers the orientation of the said microphone apparatus of the automatic adjustment of the sound signal that detects required frequency range.
7. according to the described system of claim 5, wherein each said microphone apparatus responds said control signal, considers the orientation of adjusting said microphone apparatus with the directivity received audio signal of any given degree automatically.
8. according to the described system of claim 1, also comprise the device of preserving said Voice & Video signal.
9. according to the described system of claim 8, also be included in be kept at said Voice & Video signal in the device of the said Voice & Video signal of said preservation before, compress the device of said Voice & Video signal.
10. a method for monitoring that utilizes video and audio identification comprises the steps:
Treating apparatus receives real time video signals and real-time audio signal simultaneously; Said real time video signals is included in the video information that receives acquisition in the surveillance zone; Said real-time audio signal comprises the audio-frequency information that receives surveillance zone from said, and wherein said real time video signals is provided by one or more camera systems;
Confirm relevant video identification and audio identification information from the video and audio signal of said reception;
Real-time audio and video identification information are relative to each other, to confirm the possibility occurrence of particular event;
In response to the generation that identifies this particular event according to the said audio identification of particular event, generate control signal and catch vision signal to guide the one or more directions in the said camera system in this particular event; And
Generation according to said particular event produces alarm condition.
11. according to the described method for monitoring of claim 10, wherein said treating apparatus comprises first recognition engine, said first recognition engine realizes confirming said video identification information processing step from said vision signal.
12. according to the described method for monitoring of claim 11, wherein said treating apparatus comprises second recognition engine, said second recognition engine realizes confirming said audio identification information processing step from said sound signal.
13. according to the described method for monitoring of claim 10, each in wherein said one or more camera systems comprises one or more in one or more panorama/tilt mirrors, lens combination, focusing motor, panorama motor and the pitching motor assembly in the panorama, pitching, convergent-divergent, rotation, passing, translation controlled variable of the said control signal of response adjustment camera system.
14., also comprise being kept at the step in the data storage device to said Voice & Video signal according to the described method for monitoring of claim 10.
15. it is, further comprising the steps of: as before being kept at the Voice & Video signal in the said data storage device, to compress said Voice & Video signal according to the described method for monitoring of claim 14.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/US2006/030560 WO2008016360A1 (en) | 2006-08-03 | 2006-08-03 | Video surveillance system and method with combined video and audio recognition |
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| Publication Number | Publication Date |
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| CN101501564A CN101501564A (en) | 2009-08-05 |
| CN101501564B true CN101501564B (en) | 2012-02-08 |
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| CN2006800555140A Active CN101501564B (en) | 2006-08-03 | 2006-08-03 | video surveillance system and method with combined video and audio recognition |
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| JP (1) | JP5043940B2 (en) |
| CN (1) | CN101501564B (en) |
| BR (1) | BRPI0621897B1 (en) |
| CA (1) | CA2656268A1 (en) |
| MX (1) | MX2009001254A (en) |
| WO (1) | WO2008016360A1 (en) |
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- 2006-08-03 JP JP2009522745A patent/JP5043940B2/en not_active Expired - Fee Related
- 2006-08-03 CN CN2006800555140A patent/CN101501564B/en active Active
- 2006-08-03 WO PCT/US2006/030560 patent/WO2008016360A1/en active Application Filing
- 2006-08-03 BR BRPI0621897-0A patent/BRPI0621897B1/en active IP Right Grant
- 2006-08-03 MX MX2009001254A patent/MX2009001254A/en active IP Right Grant
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Also Published As
| Publication number | Publication date |
|---|---|
| BRPI0621897A2 (en) | 2011-03-29 |
| WO2008016360A1 (en) | 2008-02-07 |
| MX2009001254A (en) | 2009-02-11 |
| CA2656268A1 (en) | 2008-02-07 |
| JP2009545911A (en) | 2009-12-24 |
| JP5043940B2 (en) | 2012-10-10 |
| CN101501564A (en) | 2009-08-05 |
| BRPI0621897B1 (en) | 2018-03-20 |
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