EP1485889A1 - Method for following at least one object in a scene - Google Patents

Method for following at least one object in a scene

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Publication number
EP1485889A1
EP1485889A1 EP03720139A EP03720139A EP1485889A1 EP 1485889 A1 EP1485889 A1 EP 1485889A1 EP 03720139 A EP03720139 A EP 03720139A EP 03720139 A EP03720139 A EP 03720139A EP 1485889 A1 EP1485889 A1 EP 1485889A1
Authority
EP
European Patent Office
Prior art keywords
scene
time
list
image
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03720139A
Other languages
German (de)
French (fr)
Other versions
EP1485889B1 (en
Inventor
Frank Rottmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1485889A1 publication Critical patent/EP1485889A1/en
Application granted granted Critical
Publication of EP1485889B1 publication Critical patent/EP1485889B1/en
Anticipated expiration legal-status Critical
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Classifications

    • 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
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • 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
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19604—Image analysis to detect motion of the intruder, e.g. by frame subtraction involving reference image or background adaptation with time to compensate for changing conditions, e.g. reference image update on detection of light level change
    • 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
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19608—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
    • 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
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19613—Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion

Definitions

  • the invention is based on a method for tracking at least one object in a scene according to the type of the independent claim.
  • the method according to the invention for tracking at least one object in a scene with the features of the independent claim has the advantage of generating signaling as a function of the length of time an object remains at a specific point.
  • an atypical behavior pattern is immediately recognized in a monitored scene in which there are usually moving objects. This can lead to faster alarms and therefore better monitoring. Lingering objects are created from a
  • the signaling that is generated as a function of the counter reading triggers an alarm. This means that an alarm is generated if the object stands still for a specified time.
  • the specified time represents a threshold value for the counter reading.
  • the movement of a respective object is described by a list or a matrix, the image coordinates of the object in the x direction being stored at different times for the respective images of an image sequence in one line and the y values, i.e. the values, in a second line vertical values, in the scene at these times.
  • the x and y values at a given point in time represent a motion vector, that is, in the direction in which the object is moving. If this motion vector is zero, then a standstill is recognized and the counter is incremented.
  • the list can be managed dynamically or, when a predetermined number of list positions has been processed, total values can be transferred to a new list for this object. This list representation makes it possible that several objects can be observed at the same time and can be tracked in this way.
  • a camera acts as the imager and generates the image sequence.
  • the images are generated here at relatively large intervals of, for example, half a second in order to be able to sensibly record the corresponding movements.
  • Such motion vectors in a list can also be generated between images that do not follow one another directly, for example with very slow movements. This enables a large resolution of the movement. This can be done dynamically, ie if no movement is detected, then a counter can be started, but at the same time a comparison continues up to a certain number of image sequences, from which a standstill is finally recognized and the counter reading is ultimately relevant.
  • the list can then be reinitialized each time a movement is reinserted. If values from a past list already exist for the object, which can be identified by various object recognition methods, these can be transferred to the new list. It is also possible to analyze an entire movement sequence. This is a very efficient method in terms of memory resources.
  • a reference image which if possible contains only the background of the scene without tracked objects. In principle, this is not obtained from any object present, for example from the penultimate picture. This image can then be used as a reference. This method works especially for a few objects that are only briefly in the scene. If, however, many objects are tracked over longer periods of time, a reference image is generated in such a way that, after the object positions in the current image have been determined, the reference image is adopted from the penultimate image in the remaining area. This is then referred to as local adaptation of the reference image.
  • the method according to the invention is used in particular in video surveillance, which has at least one image generator, a processor, a memory and also output means, with which signaling, for example an alarm, can then take place.
  • signaling for example an alarm
  • the signaling can also be used as a signal for other systems.
  • This video surveillance can be used in particular to monitor a parking space.
  • FIG. 1 shows a block diagram of the video surveillance according to the invention
  • FIG. 2 shows a flow diagram of the method according to the invention
  • FIG. 3 shows a first example of video surveillance
  • FIG. 4 shows a second example of video surveillance
  • FIG. 5 shows a third example of video surveillance.
  • Video sensors based on modern computer architectures are able to detect objects that move in the direction of image sequences of stationary cameras.
  • the approach of exceeding predetermined threshold values with regard to a distance or distance is usually followed. This exceeding is detected by changes in the image signal, for example by movement of objects such as people, and a corresponding signaling or image recording takes place. In this way, for example, the task of alerting unauthorized access is handled.
  • a person enters a scene that is monitored by an imaging device, for example a video sensor or another camera such as a thermal imaging camera. Since the evaluation of the video surveillance only recognizes movements, the object is not yet recognized in the first image sequence. This object was only identified at time 14 after motion was detected. At time 15, the object that is moving continuously has left the observed scene.
  • an imaging device for example a video sensor or another camera such as a thermal imaging camera.
  • Figure 4 shows a second scenario.
  • a person enters the scene at time 14 and is recognized as a moving object at time 14.
  • the method according to the invention now starting a counter in order to monitor the length of stay.
  • a signal is generated depending on the length of stay. This can mean an alarm, for example.
  • FIG. 5 shows a third scenario, further possibilities, which can occur with several objects.
  • An object 14 is recognized as being moved.
  • a split is carried out here, ie the object is split into two objects. This is recognized by different motion vectors that start from the same object.
  • Time 18 shows a so-called merge, i.e. a fusion of two objects, which can then lead to a split again. This merge is caused by another object 19 that was recognized as a moving object 20.
  • the first object leaves on Time 21 the scene, while at time 22 the second object comes to a standstill from the movement.
  • FIG. 1 now shows a block diagram of a video surveillance according to the invention.
  • An imager here a surveillance camera 1
  • a memory 3 is connected to the processor 2 via a data input / output.
  • the processor 2 is connected via a data line to a control 4, which is connected on the one hand to a loudspeaker 5 and on the other hand to a display 6.
  • the method according to the invention runs on the processor 2 and is now explained by the flow diagram shown in FIG. In method step 7, with the camera 1 and the processor 2, as shown in FIG. 3, a moving object is recognized on the basis of the motion vector. For this purpose, a list or matrix is drawn up, in which, for example, each column denotes a specific image in an image sequence, the image sequences being separated by time intervals, for example one second.
  • the list also has two lines that define the motion vector in one level. This is usually defined, for example, by the coordinates x and y. Below are two lists that illustrate this.
  • list 1 a motion vector with the x value 123 and the y value 12 at time 0 is recognized.
  • time 99 which corresponds to 50 seconds here
  • a standstill is counted that started at time 1, which corresponds to one second.
  • This is a list that is predefined, ie only new 100 entries are allowed. Therefore, the list is reinitialized when the time 99 is reached and the second list is adopted, which takes over the value. Shown here, values 123 and 12 are entered again at time 0 and standstill 0/0 at time 1. At time 2, however, the 50 seconds are now added and counting continues.
  • the object is followed by this list in method step 8. If a standstill is recognized in method step 9, specifically through the entries 0/0 in the list, then the counter is started in method step 10. If this is not the case, then the object is further tracked with the list. If, however, the counter was started in method step 10, then in method step 11 it is checked whether the threshold that is predetermined is reached. This threshold requires signaling when it is reached in method step 12. The signaling can take place here by means of the loudspeaker 5 or the display 6, ie for example the output of an alarm. However, if the threshold is not reached and the object moves again, then the process jumps back to step 8 and object tracking is resumed.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Image Analysis (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

Disclosed is a method for following at least one object in a scene, which is characterized by the fact that the time is counted during which an object is at a standstill once said object has stopped moving so as to generate a signaling according to the duration of the standstill position. The object is described by means of a list or a matrix in relation to the direction of movement and the time.

Description

Verfahren zur Verfolgung wenigstens eines Objekts in einer SzeneMethod for tracking at least one object in a scene
Stand der TechnikState of the art
Die Erfindung geht aus von einem Verfahren zur Verfolgung wenigstens eines Objekts in einer Szene nach der Gattung des unabhängigen Patentanspruchs .The invention is based on a method for tracking at least one object in a scene according to the type of the independent claim.
Vorteile der ErfindungAdvantages of the invention
Das erfindungsgemäße Verfahren zur Verfolgung wenigstens eines Objekts in einer Szene mit den Merkmalen des unabhängigen Patentanspruchs hat den Vorteil, in Abhängigkeit von der Verweildauer eines Objekts an einem bestimmten Punkt eine Signalisierung zu erzeugen. Dadurch wird in einer überwachten Szene, in der sich üblicherweise sich bewegende Objekte befinden, ein atypisches Verhaltensmuster sofort erkannt. Dies kann zu einer schnelleren Alarmierung und damit besseren Überwachung führen. Dabei werden verweilende Objekte, die aus einerThe method according to the invention for tracking at least one object in a scene with the features of the independent claim has the advantage of generating signaling as a function of the length of time an object remains at a specific point. As a result, an atypical behavior pattern is immediately recognized in a monitored scene in which there are usually moving objects. This can lead to faster alarms and therefore better monitoring. Lingering objects are created from a
Bewegung heraus zum Stillstand kommen, erkannt und führen dann zur Signalisierung.Motion come to a standstill, recognized and then lead to signaling.
Durch die in den abhängigen Ansprüchen aufgeführten Maßnahmen und Weiterbildungen sind vorteilhafte • Verbesserungen des im unabhängigen Patentanspruch angegebenen Verfahrens zur Verfolgung wenigstens eines Objekts in einer Szene möglich.The measures and further developments listed in the dependent claims are advantageous • Improvements to the method specified in the independent claim for tracking at least one object in a scene are possible.
Besonders vorteilhaft ist, daß die Signalisierung, die in Abhängigkeit von dem Zählerstand erzeugt wird, einen Alarm hervorruft. Das bedeutet, daß wenn das Objekt für eine vorgegebene Zeit stillsteht, ein Alarm erzeugt wird. Die vorgegebene Zeit stellt einen Schwellwert für den Zählerstand dar.It is particularly advantageous that the signaling that is generated as a function of the counter reading triggers an alarm. This means that an alarm is generated if the object stands still for a specified time. The specified time represents a threshold value for the counter reading.
Die Bewegung eines jeweiligen Objekts wird dabei durch eine Liste oder eine Matrix beschrieben, wobei in einer Zeile die Bildkoordinaten des Objekts in x-Richtung zu verschiedenen Zeitpunkten für die jeweiligen Bilder einer Bildfolge abgelegt werden und in einer zweiten Zeile die y-Werte, also die vertikalen Werte, in der Szene zu diesen Zeitpunkten. Der x- und der y-Wert zu einem vorgegebenen Zeitpunkt stellt einen Bewegungsvektor dar, also in der Richtung, in der sich das Objekt bewegt. Ist dieser Bewegungsvektor Null, dann wird ein Stillstand erkannt und der Zähler inkrementiert . Die Liste kann dynamisch verwaltet werden oder, wenn eine vorgegebene Anzahl von Listenplätzen abgearbeitet ist, können Summenwerte in eine neue Liste für dieses Objekt überführt werden. Diese Listenrepräsentation macht es möglich, daß gleichzeitig mehrere Objekte beobachtet werden können und auf diese Weise verfolgt werden können. Dies wird dann von einem Prozessor der Videoüberwachung und im zugehörigen Speicher verwaltet. Als Bildgeber wirkt dabei eine Kamera, die die Bildfolge erzeugt. Die Bilder werden hier in relativ großen Abständen von beispielsweise einer halben Sekunde erzeugt, um die entsprechenden Bewegungen sinnvoll erfassen zu können. Solche Bewegungsvektoren in einer Liste können auch zwischen Bildern erzeugt werden, die nicht direkt aufeinander folgen, beispielsweise bei sehr langsamen Bewegungen. Damit ist eine große Auflösung der Bewegung möglich. Dies kann dynamisch erfolgen, d.h. wird keine Bewegung erkannt, dann kann ein Zähler gestartet werden, aber gleichzeitig weiterhin ein Vergleich stattfinden bis zu einer bestimmten Bildfolgenzahl,- ab der dann endgültig auf einen Stillstand erkannt wird und der Zählerstand letztlich relevant ist.The movement of a respective object is described by a list or a matrix, the image coordinates of the object in the x direction being stored at different times for the respective images of an image sequence in one line and the y values, i.e. the values, in a second line vertical values, in the scene at these times. The x and y values at a given point in time represent a motion vector, that is, in the direction in which the object is moving. If this motion vector is zero, then a standstill is recognized and the counter is incremented. The list can be managed dynamically or, when a predetermined number of list positions has been processed, total values can be transferred to a new list for this object. This list representation makes it possible that several objects can be observed at the same time and can be tracked in this way. This is then managed by a video surveillance processor and in the associated memory. A camera acts as the imager and generates the image sequence. The images are generated here at relatively large intervals of, for example, half a second in order to be able to sensibly record the corresponding movements. Such motion vectors in a list can also be generated between images that do not follow one another directly, for example with very slow movements. This enables a large resolution of the movement. This can be done dynamically, ie if no movement is detected, then a counter can be started, but at the same time a comparison continues up to a certain number of image sequences, from which a standstill is finally recognized and the counter reading is ultimately relevant.
Die Liste kann dann jeweils bei einem Neueinsetzen einer Bewegung neu initialisiert werden. Liegen für das Objekt, das durch verschiedene Objekterkennungsmethoden identifiziert werden kann, bereits Werte aus einer vergangenen Liste vor, können diese in die neue Liste überführt werden. Damit ist es auch möglich, einen ganzen Bewegungsablauf zu analysieren. Dies stellt dann eine sehr effiziente Methode im Hinblick auf die Speicherressourcen dar.The list can then be reinitialized each time a movement is reinserted. If values from a past list already exist for the object, which can be identified by various object recognition methods, these can be transferred to the new list. It is also possible to analyze an entire movement sequence. This is a very efficient method in terms of memory resources.
Weiterhin ist es von Vorteil, daß ein Referenzbild erzeugt wird, um. ein Objekt auf einfache Weise zu erkennen. ZurIt is also advantageous that a reference image is generated in order to . to easily recognize an object. to
Generierung einer Zeit- und Objektmaske ist es notwendig, ein sogenanntes Referenzbild zu erhalten, das möglichst nur den Hintergrund der Szene ohne verfolgte Objekte enthält. Dies wird grundsätzlich bei keinem anwesenden Objekt aus beispielsweise dem vorletzten Bild gewonnen. Dieses Bild kann dann als Referenz übernommen werden. Dieses Verfahren funktioniert insbesondere für wenige Objekte, die sich auch nur kurzzeitig in der Szene befinden. Werden jedoch über größere Zeiträume viele Objekte verfolgt, dann wird ein Referenzbild in der Weise erzeugt, daß nach erfolgter Bestimmung der Objektpositionen im aktuellen Bild das Referenzbild in den übrigen Bereich aus dem vorletzten Bild übernommen wird. Dies wird dann als lokale Adaption des Referenzbildes bezeichnet. Das erfindungsgemäße Verfahren wird insbesondere in einer Videoüberwachung verwendet, die wenigstens einen Bildgeber, einen Prozessor, einen Speicher und auch Ausgabemittel aufweist, mit denen dann eine Signalisierung, beispielsweise ein Alarm, erfolgen kann. Die Signalisierung kann jedoch auch als Signal für andere Systeme verwendet werden. Diese Videoüberwachung kann insbesondere zur Überwachung eines Parkraumes verwendet werden.Generation of a time and object mask, it is necessary to obtain a so-called reference image, which if possible contains only the background of the scene without tracked objects. In principle, this is not obtained from any object present, for example from the penultimate picture. This image can then be used as a reference. This method works especially for a few objects that are only briefly in the scene. If, however, many objects are tracked over longer periods of time, a reference image is generated in such a way that, after the object positions in the current image have been determined, the reference image is adopted from the penultimate image in the remaining area. This is then referred to as local adaptation of the reference image. The method according to the invention is used in particular in video surveillance, which has at least one image generator, a processor, a memory and also output means, with which signaling, for example an alarm, can then take place. However, the signaling can also be used as a signal for other systems. This video surveillance can be used in particular to monitor a parking space.
Zeichnungdrawing
Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden in der nachfolgenden Beschreibung näher erläutert. Es zeigen Figur 1 ein Blockschaltbild der erfindungsgemäßen Videoüberwachung, Figur 2 ein Flußdiagramm des erfindungsgemäßen Verfahrens, Figur 3 ein erstes Beispiel einer Videoüberwachung, Figur 4 ein zweites Beispiel einer Videoüberwachung und Figur 5 ein drittes Beispiel einer Videoüberwachung.Exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the following description. FIG. 1 shows a block diagram of the video surveillance according to the invention, FIG. 2 shows a flow diagram of the method according to the invention, FIG. 3 shows a first example of video surveillance, FIG. 4 shows a second example of video surveillance and FIG. 5 shows a third example of video surveillance.
Beschreibungdescription
Videosensoren auf der Basis moderner Rechnerarchitekturen, sind in der Lage, Objekte, die sich gerichtet in Bildfolgen stationärer Kameras bewegen, zu detektieren. Üblicherweise wird der Ansatz des Überschreitens von vorgegebenen Schwellwerten bezüglich einer Streckendistanz oder -große verfolgt. Dabei wird dieses Überschreiten durch Änderungen im Bildsignal, beispielsweise durch Bewegung von Objekten wie Personen, erfaßt, und eine entsprechende Signalisierung bzw. Bildaufzeichnung erfolgt. Auf diese Weise wird beispielsweise die Aufgabe der Alarmierung eines unerlaubten Zutritts abgewickelt. Erfindungsgemäß ist es nun möglich, Objekte vollständig durch eine Szene zu verfolgen. Ein Objekt wird beim Betreten der Szene innerhalb kurzer Zeit als gerichtet bewegtes Objekt, erkannt und wieder durch die Szene verfolgt, was auch als Tracking bezeichnet wird, bis das Objekt das Bild wieder verläßt'. Dies wird in Figur 3 dargestellt. Am Ort 13 betritt eine Person eine Szene, die durch einen Bildgeber, also beispielsweise einen Videosensor oder eine andere Kamera wie eine Wärmebildkamera, überwacht wird. Da die Auswertung der Videoüberwachung nur Bewegungen erkennt, wird in der ersten Bildfolge das Objekt noch nicht erkannt. Erst zum Zeitpunkt 14, nachdem eine Bewegung erkannt wurde, wurde dieses Objekt identifiziert. Zum Zeitpunkt 15 hat das Objekt, das sich fortlaufend bewegt, die beobachtete Szene verlassen.Video sensors based on modern computer architectures are able to detect objects that move in the direction of image sequences of stationary cameras. The approach of exceeding predetermined threshold values with regard to a distance or distance is usually followed. This exceeding is detected by changes in the image signal, for example by movement of objects such as people, and a corresponding signaling or image recording takes place. In this way, for example, the task of alerting unauthorized access is handled. According to the invention, it is now possible to track objects completely through a scene. An object is when entering the scene in a short time as directed moving object detected and tracked back through the scene, which is also known as tracking until the object leaves the picture again. ' This is shown in Figure 3. At location 13, a person enters a scene that is monitored by an imaging device, for example a video sensor or another camera such as a thermal imaging camera. Since the evaluation of the video surveillance only recognizes movements, the object is not yet recognized in the first image sequence. This object was only identified at time 14 after motion was detected. At time 15, the object that is moving continuously has left the observed scene.
Figur 4 zeigt ein zweites Szenario. Auch hier betritt zum Zeitpunkt 14 eine Person die Szene und wird zum Zeitpunkt 14 als ein sich bewegendes Objekt erkannt. Zum Zeitpunkt 16 kommt jedoch die Person aus der Bewegung zum Stillstand, wobei nun das erfindungsgemäße Verfahren einen Zähler startet, um die Verweildauer zu überwachen. In Abhängigkeit von der Verweildauer wird eine Signalisierung erzeugt. Dies kann beispielsweise einen Alarm bedeuten.Figure 4 shows a second scenario. Here, too, a person enters the scene at time 14 and is recognized as a moving object at time 14. At time 16, however, the person comes to a standstill from the movement, the method according to the invention now starting a counter in order to monitor the length of stay. A signal is generated depending on the length of stay. This can mean an alarm, for example.
Figur 5 zeigt ein drittes Szenario, weitere Möglichkeiten,, die bei mehreren Objekten auftreten können. Ein Objekt 14 wird als bewegt erkannt. Zum Zeitpunkt 17 wird hier ein • Split, also ein Auftrennen des Objekts in zwei Objekte vorgenommen. Dies wird durch unterschiedliche Bewegungsvektoren, die von dem gleichen Objekt ausgehen, erkannt. Zeitpunkt 18 zeigt einen sogenannten Merge, also eine Verschmelzung von zwei Objekten, die dann wieder zu einem Split führen kann. Dieser Merge wird durch ein weiteres Objekt 19, das als bewegendes Objekt 20 erkannt wurde, hervorgerufen. Das ersten Objekt verläßt zum Zeitpunkt 21 die Szene, während das zweite Objekt zum Zeitpunkt 22 aus der Bewegung zum Stillstand kommt.FIG. 5 shows a third scenario, further possibilities, which can occur with several objects. An object 14 is recognized as being moved. At time 17, a split is carried out here, ie the object is split into two objects. This is recognized by different motion vectors that start from the same object. Time 18 shows a so-called merge, i.e. a fusion of two objects, which can then lead to a split again. This merge is caused by another object 19 that was recognized as a moving object 20. The first object leaves on Time 21 the scene, while at time 22 the second object comes to a standstill from the movement.
Figur 1 zeigt nun ein Blockschaltbild einer erfindungsgemäßen Videoüberwachung. Ein Bildgeber, hier eine Überwachungskamera 1, ist an einen Prozessor 2 angeschlossen. Über einen Datenein-/-ausgang ist ein Speicher 3 mit dem Prozessor 2 verbunden. Über eine Datenleitung ist der Prozessor 2 mit einer Ansteuerung 4 verbunden, die einerseits mit einem Lautsprecher 5 verbunden ist und andererseits mit einer Anzeige 6.Figure 1 now shows a block diagram of a video surveillance according to the invention. An imager, here a surveillance camera 1, is connected to a processor 2. A memory 3 is connected to the processor 2 via a data input / output. The processor 2 is connected via a data line to a control 4, which is connected on the one hand to a loudspeaker 5 and on the other hand to a display 6.
Beispielhaft ist hier nur eine Kamera 1 angegeben. Es können jedoch mehrere Kameras vorhanden sein, um mehrere Szenen gleichzeitig zu überwachen und von einem Prozessor 2 bedienen zu lassen. Weiterhin ist hier beispielhaft nur ein Lautsprecher 5 bzw. eine Anzeige 6 dargestellt, die zur Ausgabe eines Alarms dienen. Die Signalisierung, die vom Prozessor 2 zur Ansteuerung 4 übertragen wird, kann jedoch auch verwendet werden. Auf dem Prozessor 2 läuft das erfindungsgemäße Verfahren, das durch das in Figur 2 dargestellte Flußdiagramm nun erläutert wird. In Verfahrensschritt 7 wird mit der Kamera 1 und dem Prozessor 2, wie in Figur 3 dargestellt, ein sich bewegendes Objekt anhand des Bewegungsvektors erkannt. Dazu wird eine Liste oder Matrix aufgestellt, bei der beispielsweise jede Spalte ein bestimmtes Bild in einer Bildfolge bezeichnet, wobei die Bildfolgen durch Zeitintervalle, beispielsweise eine Sekunde, getrennt sind. Weiterhin hat die Liste zwei Zeilen, die den Bewegungsvektor in einer Ebene definieren. Dies wird beispielsweise durch die Koordinaten x und y üblicherweise definiert. Im Folgenden sind zwei Listen dargestellt, die dies illustrieren. In der- Liste 1 wird ein Bewegungsvektor mit dem x-Wert 123 und dem y-Wert 12 zum Zeitpunkt 0 erkannt. Zum Zeitpunkt 99, das entspricht hier 50 Sekunden, wird ein Stillstand gezählt, der bereits beim Zeitpunkt 1, das entspricht einer Sekunde, eingesetzt hat. Dies ist eine Liste, die vordefiniert ist, d.h. nur neue 100 Einträge erlaubt. Daher wird die Liste dann, bei Erreichen des Zeitpunkts 99, neu initialisiert, und man geht zur zweiten Liste über, die den Wert übernimmt. Hier dargestellt, wird zum Zeitpunkt 0 wieder der Wert 123 und 12 eingetragen und zum Zeitpunkt 1 der Stillstand 0/0. Zum Zeitpunkt 2 jedoch werden nun die 50 Sekunden hinzuaddiert, und es wird neu weitergezählt.As an example, only one camera 1 is specified here. However, several cameras can be present in order to monitor several scenes simultaneously and have them operated by a processor 2. Furthermore, only one loudspeaker 5 or one display 6 is shown here by way of example, which are used to output an alarm. However, the signaling that is transmitted from processor 2 to control 4 can also be used. The method according to the invention runs on the processor 2 and is now explained by the flow diagram shown in FIG. In method step 7, with the camera 1 and the processor 2, as shown in FIG. 3, a moving object is recognized on the basis of the motion vector. For this purpose, a list or matrix is drawn up, in which, for example, each column denotes a specific image in an image sequence, the image sequences being separated by time intervals, for example one second. The list also has two lines that define the motion vector in one level. This is usually defined, for example, by the coordinates x and y. Below are two lists that illustrate this. In list 1, a motion vector with the x value 123 and the y value 12 at time 0 is recognized. At time 99, which corresponds to 50 seconds here, a standstill is counted that started at time 1, which corresponds to one second. This is a list that is predefined, ie only new 100 entries are allowed. Therefore, the list is reinitialized when the time 99 is reached and the second list is adopted, which takes over the value. Shown here, values 123 and 12 are entered again at time 0 and standstill 0/0 at time 1. At time 2, however, the 50 seconds are now added and counting continues.
Liste 1 :List 1:
Zeitpkt 0 1 2 3 . . . . 99Time 0 1 2 3. , , , 99
X 123 1 2 0 . 0X 123 1 2 0. 0
Y 12 0 3 0 0Y 12 0 3 0 0
0 : 00 0 : : 01 0 : 02 0 : 03 0 : 500: 00 0:: 01 0: 02 0: 03 0: 50
Liste 1, Neuinitialisiert:List 1, reinitialized:
Zeitpkt 0 1 2 3 X 126 0 0 0Time 0 1 2 3 X 126 0 0 0
Y 15 0 0 0Y 15 0 0 0
0:00 0:03 0:51 0:520:00 0:03 0:51 0:52
Durch diese Liste wird im Verfahrensschritt 8 das Objekt verfolgt. Wird in Verfahrensschritt 9 ein Stillstand erkannt, und zwar durch die Einträge 0/0 in der Liste, dann wird in Verfahrensschritt 10 der Zähler gestartet. Ist das nicht der Fall, dann wird das Objekt weiter mit der Liste verfolgt. Wurde jedoch in Verfahrensschritt 10 der Zähler gestartet, dann wird in Verfahrensschritt 11 überprüft, ob die Schwelle, die vorgegeben ist, erreicht wird. Diese Schwelle bedingt bei ihrem Erreichen in Verfahrensschritt 12 eine Signalisierung. Die Signalisierung kann hier mittels des Lautsprechers 5 bzw. der Anzeige 6 erfolgen, also beispielsweise der Ausgabe eines Alarms. Wird jedoch die Schwelle nicht erreicht und das Objekt bewegt sich wieder, dann wird zu Verfahrensschritt 8 zurückgesprungen und die Objektverfolgung wieder aufgenommen. The object is followed by this list in method step 8. If a standstill is recognized in method step 9, specifically through the entries 0/0 in the list, then the counter is started in method step 10. If this is not the case, then the object is further tracked with the list. If, however, the counter was started in method step 10, then in method step 11 it is checked whether the threshold that is predetermined is reached. This threshold requires signaling when it is reached in method step 12. The signaling can take place here by means of the loudspeaker 5 or the display 6, ie for example the output of an alarm. However, if the threshold is not reached and the object moves again, then the process jumps back to step 8 and object tracking is resumed.

Claims

Ansprüche Expectations
1. Verfahren zur Verfolgung wenigstens eines Objekts in einer Szene, wobei das wenigstens eine Objekt mittels eines Bildgebers (1) in der Szene verfolgt wird, wobei der Bildgeber (1) eine Folge von Bildern von der Szene erzeugt, wobei dem wenigstens einen Objekt eine Bewegung in Abhängigkeit von aufeinanderfolgenden Bildern zuerkannt wird, wobei bei einem Stillstand des sich zuvor bewegenden Objekts ein Zähler gestartet wird und wobei in Abhängigkeit von einem Zählerstand eine Signalisierung erzeugt wird.1. A method for tracking at least one object in a scene, the at least one object being tracked in the scene by means of an image generator (1), the image generator (1) generating a sequence of images of the scene, the at least one object being one Movement depending on successive images is awarded, a counter being started when the previously moving object is at a standstill and signaling being generated as a function of a counter state.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die Signalisierung einen Alarm hervorruft.2. The method according to claim 1, characterized in that the signaling causes an alarm.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Bewegung des wenigstens einen Objekts durch eine jeweilige Liste bezüglich der Bewegungsrichtung und der Zeit beschrieben wird.3. The method according to claim 1 or 2, characterized in that the movement of the at least one object is described by a respective list with respect to the direction of movement and the time.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß nach einem Beginn einer Bewegung des wenigstens einen Objekts die Liste neu initialisiert wird. 4. The method according to claim 3, characterized in that after a start of a movement of the at least one object, the list is reinitialized.
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß ein. Referenzbild zur -Identifikation des wenigstens einen Objekts erzeugt wird.5. The method according to any one of the preceding claims, characterized in that a. Reference image for identification of the at least one object is generated.
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, daß das Referenzbild nach Identifikation des wenigstens einen Objekts durch Übernahme von übrigen Bereichen der Szene aus wenigstens einem vorhergehenden Bild erzeugt wird.6. The method according to claim 5, characterized in that the reference image is generated after identification of the at least one object by taking over other areas of the scene from at least one previous image.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß zwischen Bildern ein Zeitintervall von wenigstens einer halben Sekunde vorgesehen ist.7. The method according to any one of the preceding claims, characterized in that a time interval of at least half a second is provided between images.
8. Verwendung einer Videoüberwachung in einem Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß die Videoüberwachung wenigstens einen Bildgeber (1) zur Überwachung der Szene, einen Prozessor (2) , der mit dem Bildgeber (1) verbunden ist und Ausgabemittel (5, 6) , die mit dem Prozessor (2) verbunden sind, aufweist.8. Use of video surveillance in a method according to one of claims 1 to 7, characterized in that the video surveillance at least one image generator (1) for monitoring the scene, a processor (2) which is connected to the image generator (1) and output means (5, 6), which are connected to the processor (2).
9. Verwendung einer Videoüberwachung nach Anspruch 8 in einer Überwachung von einem Parkraum. 9. Use of video surveillance according to claim 8 in surveillance of a parking space.
EP03720139A 2002-03-13 2003-03-06 Method for following at least one object in a scene Expired - Lifetime EP1485889B1 (en)

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DE10210926A DE10210926A1 (en) 2002-03-13 2002-03-13 Device for tracking at least one object in a scene
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PCT/DE2003/000700 WO2003079306A1 (en) 2002-03-13 2003-03-06 Method for following at least one object in a scene

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EP1485889B1 (en) 2009-09-30
DE10210926A1 (en) 2003-10-16

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