EP2257828A1 - Correlation of position data that are determined by means of a video tracking system with a second localization system - Google Patents

Correlation of position data that are determined by means of a video tracking system with a second localization system

Info

Publication number
EP2257828A1
EP2257828A1 EP09724822A EP09724822A EP2257828A1 EP 2257828 A1 EP2257828 A1 EP 2257828A1 EP 09724822 A EP09724822 A EP 09724822A EP 09724822 A EP09724822 A EP 09724822A EP 2257828 A1 EP2257828 A1 EP 2257828A1
Authority
EP
European Patent Office
Prior art keywords
video
data
position data
objects
portable
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.)
Withdrawn
Application number
EP09724822A
Other languages
German (de)
French (fr)
Inventor
Walter Englert
Christian Holzer
Florian HÖFLINGER
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.)
Cairos Technologies AG
Original Assignee
Cairos Technologies AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Cairos Technologies AG filed Critical Cairos Technologies AG
Publication of EP2257828A1 publication Critical patent/EP2257828A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0605—Decision makers and devices using detection means facilitating arbitration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0025—Tracking the path or location of one or more users, e.g. players of a game
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/12—Absolute positions, e.g. by using GPS
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
    • A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30221—Sports video; Sports image

Abstract

The invention relates to a video tracking system which determines the position of objects, for examples players in a football match, by evaluating video image information. The video-tracking system according to the invention is characterized by an independent positioning system which preferably is used in instances when the video-based positioning is defective or fails. In an embodiment of the invention, the independent positioning system is GPS-based, every football player carrying a portable GPS module which transmits the position data to the system by radio. Additional data such as for example the heart rate or acceleration can also be transmitted.

Description

Korrelation von mittels eines Videotracking-Systems ermittelten Positionsdaten mit einem zweiten Lokalisierungssystem Correlation of positional data obtained by a video tracking system with a second location system
Die Erfindung betrifft allgemein Videotracking-Systeme und insbesondere solche Systeme, mit denen die Position eines oder mehrerer videoerfasster Objekte ermittelt wird.The invention relates generally to video tracking systems, and more particularly to such systems that determine the position of one or more video-detected objects.
Videotracking-Systeme werden beispielsweise in der deutschen Patentanmeldung DE 10 2007 032 259.5, der US-Patentanmeldung 60/949,075 und der internationalen Patentanmeldung PCT/EP2007/011128 beschrieben. Solche Vide- otracking-Systeme eignen sich beispielsweise dazu, das Spielfeld eines Fußballspieles mit einer oder mehreren Videokameras zu erfassen und die Spieler zu lokalisieren. Somit kann für jeden einzelnen Spieler auf dem Spielfeld die zugehörige Position zu jedem Zeitpunkt ermittelt werden.Video tracking systems are described, for example, in German patent application DE 10 2007 032 259.5, US patent application 60 / 949,075 and international patent application PCT / EP2007 / 011128. Such video tracking systems are suitable, for example, to detect the playing field of a soccer game with one or more video cameras and to locate the players. Thus, for each individual player on the field the corresponding position can be determined at any time.
Problematisch kann dies beispielsweise dann werden, wenn sich zwei Spieler auf dem Spielfeld begegnen und sich anschließend wieder voneinander entfernen. In diesen Fällen kann es vorkommen, dass das Videotracking-System die sich entfernenden Spieler nicht sicher den jeweiligen Spielern vor der Begegnung zuordnen kann. Es kann hierbei zu einem Identitätstausch kommen, der manuell korrigiert werden muss. Der Erfindung liegt daher die Aufgabe zugrunde, ein Videotracking-System bereitzustellen, bei dem die Verfolgung von Objekten auch dann ohne manuelle Korrektur sicher erfolgen kann, wenn sich Objekte in der Videodarstellung nähern.This can be problematic, for example, when two players meet on the field and then move away from each other again. In these cases, the video tracking system may not be able to safely assign the departing players to the respective players prior to the encounter. This can lead to an identity swap which has to be corrected manually. The invention is therefore based on the object to provide a video tracking system in which the tracking of objects can be done safely even without manual correction when approaching objects in the video presentation.
Diese Aufgabe wird durch die in den unabhängigen Patentansprüchen angege- bene Erfindung gelöst.This object is achieved by the invention specified in the independent patent claims.
Bevorzugte Ausgestaltungen sind in den Unteransprüchen angegeben.Preferred embodiments are specified in the subclaims.
Insbesondere schlägt die Erfindung vor, neben der Positionierung mithilfe des Videotracking-Systems eine zweite, davon unabhängige Positionsdetektierung vorzunehmen, die insbesondere dann zuhilfe genommen wird, wenn die Objekt- Verfolgung mittels der Videoaufnahmen nicht sicher durchgeführt werden kann. In dem Beispiel eines Fußballspieles, bei dem die einzelnen Fußballspieler die Objekte sind, kann beispielsweise eine GPS-Ortung durchgeführt werden (GPS: „Global Positioning System"). Hierzu trägt jeder Spieler ein GPS-Modul, das die Ortsdaten des Spielers an eine mit dem Videotracking-System verbundene Rechneranlage sendet. Kann das Videotracking-System anhand der Videoaufnahmen die Identität eines Spielers nicht sicher ermitteln (ist die videobasierte Positionsermittlung also fehlerhaft oder schlägt gar gänzlich fehl), so greift das System auf die GPS-Daten zurück und korreliert die Videopositionsdaten mithilfe der GPS-Daten, um so gegebenenfalls die Zuordnung von Videoobjekten zu Spielern zu korrigieren und einen etwaigen Identitätstausch rückgängig zu machen.In particular, the invention proposes, in addition to the positioning by means of the video tracking system, to carry out a second, independent position detection, which is used in particular when the object Tracking can not be performed safely using the video recordings. In the example of a football game in which the individual football players are the objects, for example, a GPS location can be performed (GPS: "Global Positioning System") .This is done by each player a GPS module, the player's location data to one with If the video tracking system can not reliably determine the identity of a player based on the video recordings (if the video-based position determination is therefore faulty or even fails completely), the system uses the GPS data and correlates them Video position data using the GPS data to correct, if necessary, the assignment of video objects to players and to reverse any identity swap.
In einer bevorzugten Ausgestaltung werden die GPS-Positionsdaten nur dann ausgewertet, wenn die Spielerlokalisierung mithilfe der Videoaufnahmen unsi- eher ist. In einer anderen Ausgestaltung wird die Korrelation ständig durchgeführt.In a preferred embodiment, the GPS position data are evaluated only if the player location using the video recordings is unsuccessful. In another embodiment, the correlation is performed constantly.
Erfindungsgemäß werden somit zwei getrennte, voneinander technisch unabhängige Lokalisierungsmechanismen verwendet, wobei die hohe Ortsgenauigkeit und die hohe Datenrate (Anzahl ermittelter Positionen pro Sekunde) der Video- positionsermittlung erhalten bleibt.According to the invention, two separate, technically independent localization mechanisms are thus used, the high position accuracy and the high data rate (number of determined positions per second) of the video position determination being retained.
In einer besonders bevorzugten Ausgestaltung wird das von den Spielern getragene GPS-Modul, welches die Ortsdaten an das System per Funk übermittelt, über einen Lithium-Polymer-Akku betrieben, der induktiv ladbar ist. Das vom Spieler zu tragende Modul verfügt vorzugsweise über einen Mikrocontroller mit einer Schnittstelle, über den das Modul programmierbar ist. In einer bevorzugten Ausgestaltung ist das Spielermodul fest vergossen und somit mechanisch besonders stabil.In a particularly preferred embodiment, the GPS module carried by the players, which transmits the location data to the system by radio, is operated via a lithium-polymer battery which can be charged inductively. The module to be supported by the player preferably has a microcontroller with an interface via which the module can be programmed. In a preferred embodiment, the player module is firmly encapsulated and thus mechanically very stable.
Eine weitere Ausführungsform sieht vor, dass das vom Spieler zu tragende Modul neben der Lokalisierungsfunktion weitere Aufgaben erfüllt. Beispielsweise kann das Modul über eine Kurzstreckenfunkverbindung Herzfrequenzdaten oder andere medizinische Daten von einem Brustgurt oder anderen körpernahen Detektoren empfangen und diese Daten an das Videotracking-System oder eine separate Rechnervorrichtung per Funk übermitteln. Die Kurzstreckenfunkverbindung erfolgt vorzugsweise in einem geeigneten Frequenzbereich, beispielsweise in einem ISM-Band bei 2,4 GHz. Bei der oben erwähnten Programmierschnittstelle kann es sich um dieselbe Kurzstreckenfunkverbindung handeln, die auch für die Datenübertragung verwendet wird.Another embodiment provides that the module to be supported by the player fulfills additional tasks in addition to the localization function. For example, the module may provide heart rate data via a short distance radio link or receive other medical data from a chest strap or other near-body detectors and transmit that data to the video tracking system or a separate computing device via radio. The short-range radio connection preferably takes place in a suitable frequency range, for example in an ISM band at 2.4 GHz. The programming interface mentioned above may be the same short-range radio connection as used for data transmission.
Alternativ oder zusätzlich können auch andersartige Sensordaten erfasst und per Funk an das System übertragen werden, wie etwa Beschleunigungsdaten. Die zugehörigen Sensoren können in einer Ausgestaltung der Erfindung ebenfalls über die Kurzstreckenfunkverbindung angesprochen werden. In einer anderen Ausgestaltung befinden sich die zugehörigen Sensoren fest verdrahtet innerhalb des (gegebenenfalls vergossenen) Spielermoduls.Alternatively or additionally, other types of sensor data can also be detected and transmitted to the system by radio, such as acceleration data. The associated sensors can also be addressed via the short-range radio link in one embodiment of the invention. In another embodiment, the associated sensors are hardwired within the (possibly potted) player module.
Anstelle des erwähnten GPS-Systems können auch andere satellitengestützte Positioniersysteme verwendet werden, beispielsweise Galileo, GLONASS, COMPASS oder IRNSS. In anderen Ausgestaltungen können auch Positioniersysteme verwendet werden, die nicht satellitengestützt sind. Solche Positionierungen können beispielsweise Signale mehrerer Mobilfunkbasisstationen (GSM, UMTS etc.) oder Schnurlosbasisstationen (WLAN, DECT etc.) zur Lokalisierung auswerten. Es können alternativ auch Ultraschallortungssysteme sowie proprietäre Funkortungssysteme zum Einsatz kommen.Instead of the mentioned GPS system, other satellite-based positioning systems can also be used, for example Galileo, GLONASS, COMPASS or IRNSS. In other embodiments, positioning systems that are not satellite-based can also be used. Such positioning can evaluate, for example, signals of several mobile radio base stations (GSM, UMTS, etc.) or cordless base stations (WLAN, DECT, etc.) for localization. Alternatively, ultrasonic location systems as well as proprietary radio location systems can be used.
Das Videotracking-System verfügt vorzugsweise ferner über die in den Anmeldungen DE 10 2007 032 259.5, US 60/949,075 und PCT/EP2007/011128 beschriebenen Eigenschaften. Der Offenbarungsgehalt dieser Anmeldungen wird durch Bezugnahme explizit in die vorliegende Anmeldung aufgenommen. The video tracking system preferably also has the properties described in the applications DE 10 2007 032 259.5, US 60 / 949,075 and PCT / EP2007 / 011128. The disclosure of these applications is explicitly incorporated by reference into the present application.

Claims

Patentansprüche claims
1. Videotracking-Vorrichtung zum Nachführen der Position von Objekten in Videobildern, dadurch gekennzeichnet, dassA video tracking device for tracking the position of objects in video images, characterized in that
ein von der videobildbasierten Positionsermittlung unabhängiges Lokalisierungssystem wenigstens zeitweise eingesetzt wird, um die durch die videobasierte Positionsermittlung ermittelten Positionen zu verifizieren oder Positionsdaten zu erlangen, wenn die videobasierte Positionsermittlung fehlerhaft ist oder ausfällt.a localization system independent of the video image-based position determination is at least temporarily used to verify the positions determined by the video-based position determination or to obtain position data if the video-based position determination is faulty or fails.
2. Videotracking-Vorrichtung nach Anspruch 1 , wobei das unabhängige Lokalisierungssystem zur Ermittlung von Objektpositionen herangezogen wird, wenn sich mindestens zwei Objekte in der Videodarstellung so nähern, dass eine sichere Identifizierung der Objekte nicht möglich ist.2. Video tracking device according to claim 1, wherein the independent localization system is used for determining object positions when at least two objects in the video presentation approach so that a secure identification of the objects is not possible.
3. Videotracking-Vorrichtung nach Anspruch 1 oder 2, wobei das unabhängige Lokalisierungssystem GPS-basiert ist.The video tracking device of claim 1 or 2, wherein the independent location system is GPS based.
4. Tragbares Lokalisierungsgerät, umfassend:4. Portable localization device, comprising:
einen Detektor zum Ermitteln der aktuellen Position des tragbaren Lokalisierungsgeräts; unda detector for detecting the current position of the portable location device; and
eine Sendeeinrichtung zum Senden der ermittelten Position an eine Videotracking-Vorrichtung.a transmitting device for transmitting the determined position to a video tracking device.
5. Tragbares Lokalisierungsgerät nach Anspruch 4, ferner umfassend:5. The portable location device of claim 4, further comprising:
einen Datenempfänger zum Empfangen von Nichtpositionsdaten,a data receiver for receiving non-positional data,
wobei das tragbare Lokalisierungsgerät eingerichtet ist, auch die Nichtpo- sitionierungsdaten mittels der Sendeeinrichtung zu senden. wherein the portable localization device is arranged to also transmit the non-positioning data by means of the transmitting device.
6. Tragbares Lokalisierungsgerät nach Anspruch 5, wobei der Datenempfänger ein Kurzstreckenfunkempfänger ist.6. The portable location device of claim 5, wherein the data receiver is a short-range radio receiver.
7. Tragbares Lokalisierungsgerät nach Anspruch 6, wobei der Kurzstreckenfunkempfänger im 2,4-GHz-Band arbeitet.The portable location device of claim 6, wherein the short-range radio receiver operates in the 2.4 GHz band.
8. Verfahren zum Betreiben eines Videotracking-Systems, umfassend:8. A method of operating a video tracking system, comprising:
Ermitteln erster Positionsdaten wenigstens eines videoerfassten Objektes durch Analyse von Videobildinformationen;Determining first positional data of at least one video-captured object by analyzing video image information;
Ermitteln zweiter Positionsdaten des wenigstens einen videoerfassten Objektes unter Verwendung eines nicht videogestützten Lokalisierungssys- tems; undDetermining second position data of the at least one video-captured object using a non-video-based location system; and
Korrelieren der ersten Positionsdaten mit den zweiten Positionsdaten zur Ermittlung von Positionsinformationen des wenigstens einen videoerfassten Objektes.Correlating the first position data with the second position data to determine position information of the at least one video-detected object.
9. Verfahren nach Anspruch 8, wobei erste und zweite Positionsdaten we- nigstens zweier videoerfasster Objekte ermittelt werden und der Schritt des Korrelierens umfasst:9. The method of claim 8, wherein first and second position data of at least two video-detected objects are determined and the step of correlating comprises:
Korrigieren einer fehlerhaften Zuordnung erster Positionsdaten zu entsprechenden videoerfassten Objekten durch Auswerten der zweiten Positionsdaten. Correcting an erroneous assignment of first position data to corresponding video-captured objects by evaluating the second position data.
EP09724822A 2008-03-28 2009-03-13 Correlation of position data that are determined by means of a video tracking system with a second localization system Withdrawn EP2257828A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008016200A DE102008016200A1 (en) 2008-03-28 2008-03-28 Correlation of positional data obtained by a video tracking system with a second location system
PCT/EP2009/001850 WO2009118109A1 (en) 2008-03-28 2009-03-13 Correlation of position data that are determined by means of a video tracking system with a second localization system

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EP2257828A1 true EP2257828A1 (en) 2010-12-08

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EP09724822A Withdrawn EP2257828A1 (en) 2008-03-28 2009-03-13 Correlation of position data that are determined by means of a video tracking system with a second localization system

Country Status (4)

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US (1) US20120002055A1 (en)
EP (1) EP2257828A1 (en)
DE (1) DE102008016200A1 (en)
WO (1) WO2009118109A1 (en)

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Publication number Priority date Publication date Assignee Title
WO2012029058A1 (en) * 2010-08-30 2012-03-08 Bk-Imaging Ltd. Method and system for extracting three-dimensional information

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US5363297A (en) * 1992-06-05 1994-11-08 Larson Noble G Automated camera-based tracking system for sports contests
DE10039384A1 (en) * 2000-08-11 2002-02-21 Buech Multimedia Kg Method and device for determining position data of moving objects, for evaluating events and / or for determining the relations between moving objects
JP2004112615A (en) * 2002-09-20 2004-04-08 Victor Co Of Japan Ltd Automatic tracking video camera system
DE10338620B4 (en) * 2003-08-22 2007-11-22 Cairos Technologies Ag ball sensor
US7925549B2 (en) * 2004-09-17 2011-04-12 Accenture Global Services Limited Personalized marketing architecture
US8471910B2 (en) * 2005-08-11 2013-06-25 Sightlogix, Inc. Methods and apparatus for providing fault tolerance in a surveillance system
FR2905470A1 (en) * 2006-09-06 2008-03-07 France Telecom Target e.g. firefighter, locating system for telemonitoring system, has locating device independent to cameras and comprising sensor to provide coordinates of targets, and indicator device to determine position of targets from coordinates
EP2036045A1 (en) 2007-07-11 2009-03-18 Cairos technologies AG Video tracking method and appartus arrangement for performing the method

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US20120002055A1 (en) 2012-01-05
DE102008016200A1 (en) 2009-10-01

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