KR102029741B1 - Method and system of tracking object - Google Patents

Method and system of tracking object Download PDF

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Publication number
KR102029741B1
KR102029741B1 KR1020120147734A KR20120147734A KR102029741B1 KR 102029741 B1 KR102029741 B1 KR 102029741B1 KR 1020120147734 A KR1020120147734 A KR 1020120147734A KR 20120147734 A KR20120147734 A KR 20120147734A KR 102029741 B1 KR102029741 B1 KR 102029741B1
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South Korea
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image information
information
tracking
location
position coordinates
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KR1020120147734A
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Korean (ko)
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KR20130139152A (en
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양회성
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한국전자통신연구원
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • 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

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

Abstract

According to an embodiment of the present invention, an object in an image is tracked by displaying a combination of position coordinates acquired through a position tracking device held by the object, thereby enabling tracking to a point to which the object is to be moved. To a method and system.

Description

Method and system for tracking objects {METHOD AND SYSTEM OF TRACKING OBJECT}

According to an embodiment of the present invention, an object in an image is tracked by displaying a combination of position coordinates obtained through a position tracking device held by the object, thereby enabling tracking of the movement of the object in the image. To a method and system.

The object tracking model using a conventional camera is a method of comparing and analyzing data of a previous frame and data of a current frame collected from a camera in real time, extracting the degree of change, and tracking the position of an object through image processing. .

However, the conventional object tracking model has a limitation that requires a great deal of calculation processing to process the information in real time. In addition, the conventional object tracking model has a problem that it is virtually impossible to separate and track the object when the object overlaps in the image or the size of the object is small.

Therefore, there is an urgent need for a technology that can accurately track the position of an object from the video information of a plurality of objects moving in real time.

In one embodiment of the present invention, by receiving the position-related information of the object from the location tracking device attached to the object, and applying it to the image information of the object, to accurately track the position of the object in the image moving For that purpose.

In addition, an object of the present invention is to make it possible to quickly recognize the current position of the object by combining the video information of the camera and the real-time movement information of the object including the location tracking device.

In addition, the present invention, in order to solve the conventional problem that it is difficult to track the position of a plurality of objects due to the problem of overlap between the objects in the image information, receives the position-related information of the object from the position tracking device attached to the object, It aims to map the location of each object by mapping with the object of the video information.

In order to achieve the above object, a method for tracking an object comprises: extracting an object from image information, receiving a position coordinate regarding the extracted object, and information about the extracted object; Combining the position coordinates, it may include the step of tracking the integrated position information for the object.

In addition, the object tracking system according to the present invention, the object extraction unit for extracting the object from the image information, the position information receiving unit for receiving the position coordinates of the extracted object, the information about the extracted object and the reception Combining the position coordinates, it may include an object tracking unit for tracking the integrated position information for the object.

According to an embodiment of the present invention, by receiving the position-related information of the object from the position tracking device attached to the object, and applying it to the image information photographed by the object, it is possible to accurately track the position of the object movement have.

In addition, according to the present invention, by combining the image information of the camera and the real-time movement information of the object including the location tracking device, it is possible to quickly recognize the current position of the object.

In addition, according to the present invention, by receiving the position-related information of the object from the position tracking device attached to the object, and mapping the object with the information of the image information, the position tracking for the plurality of objects due to the overlapping problem between the objects in the image information This difficulty of the conventional problem can be solved.

1 is a block diagram illustrating an object tracking system according to an embodiment of the present invention.
2 is a diagram illustrating an example of mapping the position coordinates of an object to a coordinate system according to the present invention.
3 is a diagram illustrating an example of tracking an object in image information according to the present invention.
4 is a flowchart illustrating a method of tracking an object in detail according to an embodiment of the present invention.

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings and the contents described in the accompanying drawings, but the present invention is not limited or limited to the embodiments.

As used herein, the term 'object' may refer to an external object in which a gaze focus of the camera is formed, such as an object such as a human or an animal or a moving moving object. In particular, in the present specification, an object included in the image information and having information value may mean the object.

For example, the object in the image information generated by the camera photographing the urban landscape may be a city citizen walking the street of the city while occupying a certain area in the image information. Street trees, street lamps, and the like, which occupy a small area in the video information and are fixed to a distant background, are not referred to as objects.

The image information generated by the camera may include, in addition to the main object to be mainly captured, a sub-object photographed together with the main object.

In consideration of this, the object tracking system of the present invention, regardless of the main object and the sub-object, receives the position coordinates from the individual object equipped with the position tracking device, and analyzes the environment, thereby tracking the path that each object moves To make it possible.

1 is a block diagram illustrating an object tracking system according to an embodiment of the present invention.

Referring to FIG. 1, the object tracking system 100 may include an object extractor 110, a location information receiver 120, and an object tracker 130. In addition, the object tracking system 100 may further include a control processor 140 according to an embodiment.

First, the object extractor 110 extracts an object from the image information. That is, the object extracting unit 110 functions to identify an object included in the image information from the image information generated by the camera.

For example, from the image information generated by being photographed based on the urban citizen A who walks on the street in the background of the urban landscape, the object extractor 110 faces the urban citizen A, the urban citizen B who is accompanied by the urban citizen A, and the urban citizen A. You can extract the walking people C and the like as an object. In this case, the object extractor 110 may determine that the object occupied by the image information has a small area and a fixed position, such as a street lamp and a roadside tree, as an object having no information value and may be excluded from the extraction object.

The technique of extracting an object from image information may include an extraction method using contour information of the object, an extraction method using main feature points of the object, a 3D model-based or region-based extraction method, and the like. 110 effectively extracts the object from the image information by utilizing the known techniques effectively.

The location information receiver 120 receives location coordinates of the extracted object. A method of receiving location information from a location tracking device is, for example, a method of calculating absolute coordinates of coordinate information in the location tracking device itself and sending the coordinate information, and the location tracking device generates only a signal and generates a plurality of generated signals. There may be a method of receiving a signal from a receiver (at least one) and calculating a position at the receiver using a surveying method (e.g. triangulation method-time, angle, signal strength, etc., or a combination of the above). Can be.

In addition, the method for requesting location information may include, for example, a method of requesting and receiving an event and a method of transmitting a signal at a predetermined time interval by the location tracking device.

Hereinafter, a description will be given of requesting an event and sending an absolute coordinate from the location tracking device. However, this is for convenience of description and does not limit the configuration of obtaining location information.

For example, the location information receiving unit 120 receives a plurality of times of location-related information from a location tracking device mounted on an object for a predetermined time, and the object tracking unit 130 described below provides information about the extracted object (object Information) and the position information of the position information receiver to map the movement of the object over time.

The reception time may be freely set by the practitioner of the present invention and may be set at a predetermined periodic interval after the generation of the object tracking request.

The location tracking device may be a device that tracks a location using an algorithm capable of tracking the location, including wireless communication.

The position tracking device may be held and mounted on an object, and calculate the position coordinates of the object, for example, according to the occurrence of the object tracking request in the object tracking system of the present invention.

As an example of receiving the position coordinates of an object, the location information receiver 120 transmits an event signal to a location tracking device held in the object as the reception time arrives, and responds to the location signal in response to the event signal. Received, the position coordinates for the object, or the location tracking device may transmit the location information at regular time intervals.

In addition, the location tracking apparatus may further include generating a signal and detecting the signal in the location information receiver 120 to calculate location information. That is, the location information receiving unit 120 functions to obtain location related information on the point where the object is located.

For example, with respect to the image information related to the above-described urban landscape, the location information receiver 120 directly receives location information from a location tracking device of A, B, or C, which is a city extracted as an object, or receives a signal transmitted from the location tracking device. By detecting the position coordinates can be calculated. In addition, the object tracking unit 130, using the object information extracted from the object extraction unit 110 and the received position coordinates, tracks the integrated position information for the object. That is, the object tracking unit 130 searches for the installation position where the camera is installed in the camera database 135 as the camera position coordinate, and sets a coordinate system based on the retrieved camera position coordinate as the reference point on the image information. In addition, in the coordinate system, location information of the object extracted by the object extraction unit 110 is set, and the location coordinates received by the location information receiver 120 are mapped.

The camera database 135 is a means for storing the position coordinates registered as the camera is installed. For example, the camera database 135 may receive and store the position coordinates corresponding to the identification information of the corresponding camera from the facility company which installed the camera.

The coordinate system may be a coordinate system that divides the plane of the image information, for example, horizontally and vertically by n (where n is a natural number), and assigns arbitrary coordinate values to each of the contacts formed according to the equality, so that the position can be specified. have. For example, the object tracking unit 130 may create a two-dimensional coordinate system by creating a plurality of horizontal and vertical equal lines using the camera position coordinates of the camera as the origin. This is not limited to the two-dimensional coordinate system can be expanded to a three-dimensional coordinate system.

In the above description, the reference point of the coordinate system is referred to as an installation position where a camera is installed. However, according to an exemplary embodiment, the object tracking unit 130 may refer to a singular point (eg, landmark, etc.) in the image information or any one point of the generated coordinate system. Can be determined.

In addition, the object tracking unit 130 may track the integrated location information for the object by mapping the object and the location information in a coordinate system. That is, the object tracking unit 130 may track the object moving in the image by allocating and mapping the location coordinates of the location information receiver to the extracted object information, and in addition, the object using the received location information. Can calculate the actual moving direction and speed.

In the step of extracting an object from the image information, a plurality of object information in which a position calculation is performed in the image information by combining an object from the plurality of image information and position coordinates of the extracted plurality of objects. In the case of mapping, a wide area image may be configured for the plurality of objects.

In the tracking of the integrated location information of the object, a multi-dimensional image may be formed by combining the information about the extracted object and the location coordinates.

2 is a diagram illustrating an example of mapping the position coordinates of an object to a coordinate system according to the present invention.

In Fig. 2, A, B, and C, which are object illustrations, are extracted from the video information, and the reception time # 1 and the reception time # are extracted by the position information receiving unit 120 from each of the position tracking devices of the A, B, and C holdings, respectively. 2 illustrates a case where two position coordinates are sequentially received at predetermined time intervals.

As shown in FIG. 2, the object tracking unit 130 is divided into horizontal lines (equivalent lines) and vertical lines (north lines) with reference to the camera position coordinates (N 34:00, E125: 00), which are the camera installation positions. The coordinate system can be created on the video information.

For A, which is an object city, the object tracking unit 130 maps the position coordinates (N 33:05 and E124: 06) received at the reception time # 1 to the coordinate system. Thereafter, the object tracking unit 130 may track the movement state of the object through the image by tracking the position coordinates (N 33:06 and E124: 05) received at the reception time # 2. In addition, it is possible to draw a trajectory for the city A through the position coordinate information and the time received in the reception time # 1 and the reception time # 2, and calculate a moving direction and a moving speed.

Thereafter, the object tracking unit 130 may track a position where the city A moves in a northwest direction at a constant speed (moving change amount / time interval) through a plurality of position coordinates associated with the city A, which is mapped to a coordinate system. Can be.

Similarly, for the object city B that accompanies the object city A, the object tracking unit 130 receives the position coordinates (N 33:04, E124: 05) received at the reception time # 1, and the position received at the reception time # 2. Coordinates (N 33:05, E124: 04) are mapped to the coordinate system.

Subsequently, the object tracking unit 130 tracks a position where the city B moves in the same direction and at the same speed as the city A through a plurality of position coordinates associated with the city B, which is mapped to a coordinate system. can do.

In the video information, for the object city C, which is located opposite to the city A, the object tracking unit 130 receives the position coordinates (N 33:07, E123: 09) received at the reception time # 1, and the reception time #. The positional coordinates (N 33:05, E123: 09) received at 2 are mapped to the coordinate system.

Subsequently, the object tracking unit 130 moves through the plurality of position coordinates associated with the city C, which is mapped to the coordinate system, to the object tracking unit 130 in a south direction, at a faster speed than the cities A and C. You can track the location.

Through this, the object tracking system of the present invention receives the position-related information of the object from the position tracking device attached to the object, and applies it to the image information of the object, thereby accurately correcting the position of the object currently moving Can be traced

According to an exemplary embodiment, the object tracking system 100 may further include a control processor 140 as shown in FIG. 1.

The control processor 140 displays the received position coordinate in the image information in association with the object. That is, the control processor 140 may include the position coordinates received from the location tracking system in the image information to be displayed together with the object. Through this, the control processor 140 may allow the location related information of the object to be provided to the user viewing the image information in real time.

In addition, the control processor 140 may display the tracked integrated location information in a separate symbol or picture (eg, arrow) on the image information in association with the object. That is, the control processor 140 may display the tracked position of the object in the image information. This may also allow the user to easily recognize the tracked location for a particular object.

3 is a diagram illustrating an example of tracking an object in image information according to the present invention.

3A illustrates a process of extracting an object from the image information 302 generated by the camera 301. The object tracking system 100 extracts the main object 303 of the moving object to be photographed and the sub-object 304 of the fixed object from the image information 302, and generates object image information 305 indicating only the extracted object. can do.

In FIG. 3B, a process of receiving the position coordinates of the main object 303 from the position tracking device 306 held by the main object 303 and mapping the plurality of position coordinates to the coordinate system 307. To illustrate. The object tracking system 100 may set a coordinate system 307 based on a camera position coordinate at which the camera 301 is installed, and map the plurality of received position coordinates on the coordinate system 307. The reference point is not limited to the camera position coordinates only.

Thereafter, the object tracking system 100 analyzes a plurality of position coordinates mapped to the coordinate system 307, tracks the position of the main object 303, and displays the tracking result by the arrow 308.

In FIG. 3C, the image information 309 including the position tracking result which is a combination of the image information 302 and the position tracking result for the main object 303 is illustrated.

Accordingly, the object tracking system 100 extracts and coordinates the moving object in the initial frame of the image information collected by the camera, combines the coordinates of the object and the position coordinates obtained from the position tracking device, and then the position It is possible to track the object of the image information according to the movement coordinates obtained from the tracking device.

Hereinafter, the workflow of the object tracking system according to an embodiment of the present invention will be described in detail.

4 is a flowchart illustrating a method of tracking an object in detail according to an embodiment of the present invention.

The method for tracking an object according to the present embodiment may be performed by the object tracking system 100 described above.

The object tracking system 100 extracts an object from the image information (410). This step 410 is a process of identifying an object included in the image information from the image information generated by the camera.

The technique for extracting an object from the image information, which can be used in this step 410, may be an extraction method using contour information of the object, an extraction method using main feature points of the object, a 3D model-based or region-based extraction method, and the like. have.

Next, the object tracking system 100 receives the location information from the location tracking device of the object (420). This step 420 is a process of receiving location related information from a location tracking device mounted on an object. In particular, the object tracking system 100 in this step 420 receives the position-related information a plurality of times at predetermined time intervals so that the movement of the object over time can be confirmed.

In relation to receiving the position coordinates of the object, the object tracking system 100 transmits an event signal to a location tracking device held in the object as the reception time arrives, and responds to the location tracking device in response to the event signal. Received, the position coordinates for the object, or the location tracking device may transmit the location information at regular time intervals. In addition, the location tracking apparatus may further include generating a signal and detecting the signal in the location information receiver 120 to calculate location information. That is, the location information receiving unit 120 functions to obtain location related information on the point where the object is located. In addition, the object tracking system 100 tracks the integrated position information of the object by using the camera position coordinates of the camera generating the image information and the received plurality of position coordinates (430). In the step 430, the installation location where the camera is installed in the camera database 135 is searched as the camera position coordinates, and a coordinate system based on the retrieved camera position coordinates as a reference point is set on the image information. The process of mapping the plurality of received position coordinates on a coordinate system. The reference coordinates are not limited to the position coordinates of the camera.

In addition, the object tracking system 100 may analyze the plurality of position coordinates mapped to the coordinate system, calculate at least one of the moving direction and the moving speed of the object to track the integrated position information of the object.

That is, the object tracking system 100 in this step 430 may calculate the direction and speed at which the object actually moves through the position change and the position change amount of the position coordinates are mapped on the coordinate system.

In an extended embodiment, the object tracking system 100 may display the received position coordinates in the image information in association with the object. That is, the object tracking system 100 may include the position coordinates received from the location tracking system in the image information to be displayed together with the object. Through this, the object tracking system 100 may allow the location related information of the object to be provided to the user viewing the image information in real time.

In addition, the object tracking system 100 may display the tracked integrated location information as a separate symbol or figure (eg, an arrow) on the image information in association with the object. That is, the object tracking system 100 may display the tracked position of the object in the image information. This may also allow the user to easily recognize the tracked location for a particular object.

According to the present invention, by receiving the position-related information of the object from the position tracking device attached to the object, and applying it to the image information photographed by the object, precisely track the position of the current movement and the position to be moved can do.

In addition, according to the present invention, by combining the real-time movement information of the object including the location tracking device with the image information of the camera, it is possible to quickly recognize the current position of the object.

In addition, according to the present invention, by receiving the position-related information of the object from the position tracking device attached to the object, and mapping the object with the information of the image information, the position tracking for the plurality of objects due to the overlapping problem between the objects in the image information This difficulty of the conventional problem can be solved.

The method according to the embodiment may be embodied in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the media may be those specially designed and constructed for the purposes of the embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described by the limited embodiments and the drawings as described above, various modifications and variations are possible to those skilled in the art from the above description. For example, the described techniques may be performed in a different order than the described method, and / or components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different form than the described method, or other components. Or even if replaced or substituted by equivalents, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and equivalents to the claims are within the scope of the claims that follow.

100: Object Tracking System
110: object extraction unit 120: location information receiver
130: object tracking unit 135: camera database
140: control processing unit

Claims (20)

Extracting an object from the image information;
Receiving a position coordinate with respect to the extracted object;
Retrieving an installation location where a camera for generating the image information from the camera database is installed, as camera location coordinates;
Setting a coordinate system using the retrieved camera position coordinates as a reference point on the image information; And
Mapping the received position coordinates on the coordinate system to track integrated position information for the object.
How to track the object in the image information comprising a. The method of claim 1,
Extracting a plurality of objects from the plurality of image information; And
Composing a wide-area image for the plurality of objects in combination with the coordinates of the extracted plurality of objects;
How to track the object in the image information further comprising. The method of claim 1,
Composing a multi-dimensional image by combining the information about the extracted object and the received position coordinates;
How to track the object within the image information, including more. delete delete The method of claim 1,
Setting a coordinate system having a singular point in the image information as a reference point on the image information, and mapping the received position coordinates on the coordinate system;
How to track the object in the image information further comprising. The method of claim 1,
Tracking integrated location information for the object,
Tracking integrated position information on the object by calculating at least one of a moving direction and a moving speed of the object.
How to track the object in the image information comprising a. The method of claim 1,
Receiving the position coordinates,
Receiving, as the position coordinates, coordinates for the object calculated in association with the position tracking device held in the object.
How to track the object in the image information comprising a. The method of claim 1,
Displaying the received position coordinates on the image information in association with the object.
How to track the object in the image information further comprising. The method of claim 1,
Displaying the tracked integrated location information on at least one of a symbol and a picture in the image information in association with the object.
How to track the object in the image information further comprising. An object extracting unit extracting an object from the image information;
A location information receiver configured to receive location coordinates of the extracted object; And
In the camera database, an installation position where a camera for generating the image information is installed is searched as a camera position coordinate, and a coordinate system whose reference point is the retrieved camera position coordinate is set on the image information, and on the coordinate system, An object tracking unit that maps position coordinates and tracks integrated position information of the object.
Object tracking system comprising a. The method of claim 11,
When a plurality of objects are extracted from a plurality of image information by the object extracting unit,
The object tracking unit,
Combining the position coordinates of the extracted plurality of objects, to form a wide image for the plurality of objects
Object tracking system. The method of claim 11,
The object tracking unit,
Combining the information about the extracted object and the received position coordinates to form a multi-dimensional image
Object tracking system. delete delete The method of claim 11,
The object tracking unit,
A coordinate system having a singular point in the image information as a reference point is set on the image information, and the received position coordinates are mapped onto the coordinate system.
Object tracking system. The method of claim 11,
The object tracking unit,
Computing at least one of the moving direction and the moving speed of the object to track the integrated position information for the object
Object tracking system. The method of claim 11,
The location information receiver,
Receiving, as the position coordinates, coordinates for the object calculated in association with the location tracking device held in the object.
Object tracking system. The method of claim 11,
A control processor configured to display the received position coordinates on the image information in association with the object;
Object tracking system further comprising. The method of claim 11,
A control processor configured to display the tracked integrated position information on at least one of a symbol and a picture in the image information in association with the object;
Object tracking system further comprising.
KR1020120147734A 2012-06-12 2012-12-17 Method and system of tracking object KR102029741B1 (en)

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