WO2005120070A2 - Procede et systeme de surveillance - Google Patents

Procede et systeme de surveillance Download PDF

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Publication number
WO2005120070A2
WO2005120070A2 PCT/US2005/019242 US2005019242W WO2005120070A2 WO 2005120070 A2 WO2005120070 A2 WO 2005120070A2 US 2005019242 W US2005019242 W US 2005019242W WO 2005120070 A2 WO2005120070 A2 WO 2005120070A2
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WO
WIPO (PCT)
Prior art keywords
sensor
camera
ptz
module
detected object
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Application number
PCT/US2005/019242
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English (en)
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WO2005120070A3 (fr
Inventor
Keith J. Hanna
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Sarnoff Corporation
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Publication of WO2005120070A2 publication Critical patent/WO2005120070A2/fr
Publication of WO2005120070A3 publication Critical patent/WO2005120070A3/fr

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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
    • G08B13/19695—Arrangements wherein non-video detectors start video recording or forwarding but do not generate an alarm themselves
    • 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
    • G08B13/19639—Details of the system layout
    • G08B13/19641—Multiple cameras having overlapping views on a single scene
    • G08B13/19643—Multiple cameras having overlapping views on a single scene wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
    • 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
    • G08B13/19678—User interface
    • G08B13/19682—Graphic User Interface [GUI] presenting system data to the user, e.g. information on a screen helping a user interacting with an alarm system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position

Definitions

  • the present invention generally relates to image processing. More specifically, the invention relates to a surveillance system for detecting static or moving objects from a static or panning camera.
  • a method and system for performing surveillance includes receiving location information for a detected object via a first sensor and slewing a second sensor to the detected object in accordance with the location information provided by the first sensor.
  • the first sensor detects the presence of the object (which may or may not be moving), and the second sensor provides more refined or specific information about the detected object, such as a higher-resolution image of the detected object.
  • Figure 1 depicts a block diagram of a system for automatically detecting objects and controlling cameras based on detection status in accordance with the subject invention
  • Figure 2 depicts a flow chart of a method for manually initializing the object detection system of Figure 1 ;
  • Figure 3 is a flow chart of a method for automatically initializing the object detection system of Figure 1 ;
  • Figure 4 is a look-up table of camera coordinates that correlate to X,Y pixel coordinates of images captured by the camera;
  • Figure 5 is a detailed schematic diagram of the detection/PTZ control module of the subject invention.
  • Figure 6 is a flow chart depicting an image processing method for object detection in accordance with the subject invention
  • Figure 7 is a flow chart depicting a second image processing method for object detection in accordance with the subject invention
  • Figure 8 is a pictogram of a single frame of video processed by the method of Figure 2;
  • Figure 9 is a pictogram of a single frame of video processed by the method of Figure 3;
  • Figure 10 is a schematic representation of one embodiment of the subject invention cooperating with an existing surveillance system
  • Figure 11 is flow chart of a method for controlling cameras of a surveillance system in accordance with the subject invention.
  • Figure 12 is a flow diagram illustrating one embodiment of a method for detecting motion, according to the present invention.
  • FIG. 13 is a high level block diagram of the surveillance method that is implemented using a general purpose computing device.
  • the present invention is a method and system for performing surveillance, e.g., using a plurality of sensors, such as radar sensors or video cameras and PTZ cameras.
  • a plurality of sensors such as radar sensors or video cameras and PTZ cameras.
  • the false alarm rates associated with conventional surveillance systems e.g., systems relying one of the plurality of sensors functioning on its own
  • additional surveillance functionalities such as the ability to follow a moving object throughout a surveillance location, can be realized.
  • Figure 1 depicts a block diagram of an object motion detection system 100 in accordance with the subject invention.
  • the system 100 comprises a plurality of modules and interfaces that are interconnected in a manner so as to facilitate establishing a reference field of view for surveillance, obtaining and processing images from said surveillance area, automatically detecting moving objects in the surveillance area, displaying information regarding the status of the area under surveillance and selectively changing the mode of operation of the camera(s) connected to the system 100.
  • the system 100 comprises a camera pan/tilt zoom (PTZ) module 102 that controls the pan/tilt/zoom parameters of at least one imaging sensor 104 (e.g., a visible or infrared camera), a graphical user interface (GUI) set-up display 106, a detection/PTZ control module 108 and a GUI output display 110.
  • PTZ camera pan/tilt zoom
  • GUI graphical user interface
  • the function of each of these interconnected modules and interfaces (described in greater detail below) provides the system with the ability to process images from the camera PTZ module 102 while the camera is still, panning or zooming and compare the images to a reference so as to detect moving objects.
  • the camera/PTZ module 102 is coupled to one or more imaging sensors such as, for example, cameras 104 (as shown in Figure 1 and 10) that are capable of capturing and transmitting video signals to the system 100 generally (but not exclusively) in an NTSC signal format.
  • the camera 104 can be a visible light camera transmitting video signals at a rate of approximately 30 Hz in either a 720 x 488 progressive scan or a 720 x 244 interlaced format.
  • the video signals are in S-video format from a progressive scan camera and free of compression artifacts and transmission noise.
  • the camera(s) 104 can capture infrared (IR) information in an interlaced NTSC format, which is effective for nighttime surveillance of the area.
  • IR infrared
  • Such cameras can be hardwired into the system 100 or transmit signals via a wireless network via a series of antennas (not shown) attached to each module.
  • Direct connection of the camera(s) 104 to the system 100 can be, for example, by cable (e.g., RS 232) or by a fiber optic connection.
  • Such functions as focus, brightness, and contrast can all be adjusted on the camera 104 via the system 100 and particularly via the GUI set-up display 106 or the detection/PTZ control module 108 based on commands from an operator.
  • the video signals are processed by the system 100 to generate a set of image (or pixel) coordinates in two dimensions (X,Y).
  • a zoom lens is typically connected to each of the camera(s) 104 so as to facilitate selective detailed viewing of a particular object of the area.
  • Other camera functions such as aperture, signal gain and other such settings are likewise controlled by the detection/PTZ control module 108.
  • the camera/PTZ module 102 is physically mounted to a support structure such as a building or pole.
  • the camera/PTZ module 102 is controlled by sending pan, tilt and zoom commands from the detection/PTZ control module 108.
  • the commands (or signals) also known as Engineering Support Data (ESD) are passed between the camera/PTZ module 102 and the detection/PTZ control module 108 via cables or wireless link.
  • ESD Engineering Support Data
  • the ESD relayed from camera/PTZ module 102 is accurate to better than 1 ° pointing precision and updated at 10 Hz or better.
  • the detection/PTZ control module 108 sends commands such that the camera(s) 104 sweep across the surveillance area.
  • the detection/PTZ control module 108 can optionally send commands to zoom in on a particular object. Such commands may be manual on the part of a system operator or a guard, or automatically produced in response to an object being detected in the field of view of the camera.
  • the camera/PTZ module 102 provides a series of coordinates that the system 100 recognizes as particular camera position for a given video signal. Thus, it is possible to map the camera position in the real world (pan, tilt, zoom parameters that are herein defines as PTZ coordinates) to the captured images (image or pixel coordinates).
  • signals are passed between this module and the detection/PTZ control module 108 in the range of approximately 10 Hz.
  • video signals are coupled between the camera/PTZ module 102 and the rest of the system 100 at a rate of approximately 30 Hz. Since there is an appreciable difference between the transmission rates of the video signals and the PTZ control signals used in the system, such differences in the video and PTZ control signals should be accounted for so as to prevent misalignment of image or pixel coordinates and PTZ coordinates. Since the panning operation of the camera 104 is linear, it is acceptable to use a linear interpolation method to make assumptions or predictions of PTZ coordinates in between the transmission of actual PTZ coordinate information.
  • a closed loop system is established. Specifically, the X,Y pixel coordinates of a specific object on the screen is determined and powers a negative feedback loop. The feedback loop also contains the last received PTZ coordinates of the camera 104 when positioned on the specific object so as to generate a corrected PTZ coordinate for the object. For example, a given PTZ value is established by signals from the camera/PTZ module 102 and interpreted by the detection/PTZ control module 108. Additionally, an object in the field of view of the camera 104 is detected and its X,Y pixel coordinates are established by the system 100.
  • the X.Y pixel coordinates may be, for example, 100 pixels to the right of the PTZ coordinates which creates a slight error in the exact location of the object with respect to the PTZ coordinates currently in the system 100.
  • the PTZ coordinates are adjusted so as to center the object on the screen and provide a more accurate reading of the specific camera position; hence, real world position of the object.
  • adjustments between the PTZ coordinates and the image coordinates may be performed in a three-dimensional domain. That is, the system 100 can analyze the latitude and longitude coordinates of a detected object and place these coordinates into the feedback loop instead of the X,Y pixel coordinates.
  • One advantage of using the 3- D domain and method is that the height of the object can also be determined and assumptions can be made about the identity of the object based upon its size and relative speed. Consequently, an object's latitude, longitude and altitude can be determined.
  • the GUI set-up display 106 establishes a reference image (hereinafter referred to as a Zone Map) to establish a baseline of the area under surveillance. Specifically, the GUI set-up display 106 captures a series of images which may be segmented into a series of customized regions which are assigned various detection thresholds for detecting moving objects. Two-dimensional (X,Y) coordinates defining said regions form part of a look-up table of values that are mapped to PTZ coordinates. As such, when the camera/PTZ module 102 is in panning and scanning mode, the PTZ coordinates are coupled to the look-up table and a determination is made as to which detection threshold should be used to process panned and scanned images based on the Zone Map created by the system.
  • the details of the GUI set-up display 106 are described with respect to system initialization methods shown in Figures 2 and 3 and the corresponding pictograms of Figures 8 and 9 respectively. The reader is directed to these figures along with the following description.
  • Figure 2 depicts a series of method steps 200 which are used to manually establish a Zone Map for the object detection system 100. Specifically, the method starts at step 202 and proceeds to step 204 where an image capture operation is performed to capture a fixed location that is part of the complete area which is to be included in the surveillance. Such fixed location is captured or otherwise fully displayed on a monitor or operator view screen via the appropriate PTZ control signals entered by a system operator.
  • Figure 8 depicts a representation of such a displayed video image 800.
  • a system operator selects a customized region 804 that is of interest for surveillance. The PTZ coordinate 802 of the center of the customized region 804 is acquired (processed by the system 100).
  • the PTZ coordinates of the corners of the customized region 804 are predicted (as seen by the dashed diagonal lines 806) from the center PTZ coordinate 802. For example, since the PTZ coordinate of the center is known (as this is where the camera is looking) and the camera geometry is known, predictions can be made as to the coordinates of, for example, a rectangular, customized region based upon known imaging algorithms.
  • the operator instructs the system 100 to assign a certain sensitivity detection threshold level to the customized region 804.
  • a certain sensitivity detection threshold level For example, should the customized region 804 contain an image of a moving, yet benign, object (a body of water or a tree with leaves rustling in the wind, or the like), the operator can instruct system 100 to set the sensitivity detection threshold very high for such region or not at all. In this way, the likelihood of a false alarm triggered by movement in such customized regions is greatly reduced.
  • the operator instructs the system 100 to not process any motion in the customized region, there is no likelihood of an alarm being sent.
  • a second customized region 808 contain an image where nonbenign objects may be detected (a road where cars or people may travel along) the sensitivity detection threshold is set low. If the operator does not select a sensitivity detection threshold, the system 100 automatically selects a default threshold.
  • the PTZ coordinate of the customized region 804 is mapped to the specific X,Y pixel coordinates of the image.
  • a reference library i.e., the Zone Map
  • a first column 402 of the look-up table contains the PTZ coordinates as determined by the data provided by the camera/PTZ module 102 which is passed on to the detection/PTZ control module 108.
  • a second column 404 of the look-up table contains the X,Y image or pixel coordinates of the image that corresponds to the PTZ coordinates (camera position).
  • the PTZ coordinates are mapped to a latitude, longitude and altitude. This mapping is performed using a full 3D model of the scene imaged by the camera (i.e., the model comprises a terrain elevation map as well as a model of the scene contents such as buildings). Using such information, the system may predict the sight line between the camera and an object in the scene as well as the distance to the object. As such, the optimal camera view of an object can be automatically selected, e.g., a particular camera in a plurality of cameras can be selected, a particular set of pan/tilt/zoom parameters can be used to optimally image the object, or both.
  • the method 200 proceeds to step 214 where the next image representing a fixed location is captured, processed and mapped according to steps 204 through 212 as described above. When all of the images constituting the area under surveillance are so processed, the Zone Map is complete and the method ends at step 216.
  • FIG. 3 depicts a series of method steps 300 for auto-setup of the Zone Map.
  • Figure 9 depicts a representation of such a displayed video image 900.
  • the method starts at step 302 and proceeds to step 304 where the system 100 is instructed to pan the entire surveillance area (denoted by panning arrows 902). As the system pans the entire surveillance area, an operator or guard 904 passively ensures that there are no nonbenign moving objects existing in the scenery being panned.
  • the system 100 captures what is essentially an entire benign surveillance region regardless of any absolute motion (tree leaves rustling in the wind or shimmering detected by surface water or small animal movement or the like) to establish the reference image.
  • the system 100 automatically sets the sensitivity detection threshold at each PTZ coordinate that was scanned based on the fact that the operator has indicated that there was no (relative) motion in any of the captured reference images.
  • the method ends at step 308.
  • This alternate auto-setup mode has the advantage of removing the tedious steps of having to manually mark up and create customized regions on the part of a user. Since PTZ coordinates recall is repeatable and accurate with respect to the system 100, the ability to create a PTZ to pixel value correlation (i.e., the table of Figure 4 or other similar table) can be generated by mathematical calculations.
  • an image l-i, from one source (first camera C-i) is geo-located to an orthographic representation (i.e., surface map) of the surveillance area (by ascertaining the latitude and longitude coordinates) before the image data transmission responsibilities are handed off to a second source (second camera C 2 ).
  • the system 100 can then use the known coordinates of Ii and instruct camera 2 to point to those coordinates (i.e., via signals sent by the detection/PTZ control module 108) prior to transmitting image data l 2.
  • a seamless transition from camera 1 to camera 2 is performed and the surveillance area remains completely monitored during the hand-off period as ⁇ and l 2 are essentially the same image viewed from two different locations. If any uncertainty exists in the position estimate, the second camera can scan in the direction of the uncertainty, until the object is automatically detected.
  • the system 100 is using a moving camera (e.g., in an unmanned aero vehicle (UAV)), a more sophisticated coordinate system is necessary. Additionally, it should also be noted that the accuracy in the system is substantial enough to use solely the center PTZ coordinate for any given customized region. That is, the corner coordinates of a customized region can essentially be collapsed by mathematical algorithm into a center point which is represented by the center PTZ coordinate.
  • UAV unmanned aero vehicle
  • the detection/PTZ control module 108 can detect static or moving objects when the camera is static (a manual control mode), panning (an automated continuous scan mode) or a mix of both operations (a step/stare mode).
  • the module performs image alignment between video frames to remove image motion caused by the camera pan.
  • Methods for performing alignment have been performed previously, such as those described in "Hierarchical Model-based motion analysis” (Proceedings of European Conference on Computer Vision 1992, Bergen et al.). Residual motion after alignment indicates a moving object. However, and as discussed earlier, motion may occur for example by trees waving in the breeze. A number of sub- modules have been put in place to address this problem. Specifically, Fig.
  • FIG. 5 depicts a detailed schematic diagram of the detection/PTZ control module 108 that further comprises a Registration sub-module 502, a Normal flow sub-module 504, a Short- Term Temporal Filtering sub-module 506, a Flow Based Filtering sub-module 508 and a Final Object Tracking sub-module 510.
  • Each of the sub-modules provides a different image processing algorithm to access the probability that detected objects are actually of interest to the operator or guard.
  • Initial registration of the incoming video frames Fn into the detection/PTZ control module 108 essential allows the system to "see" one background through a given number of frames. By eliminating the motion of the background (caused by a panning camera) any truly moving objects can be identified. Such registration is performed by the Registration Sub-module 502 in accordance with a registration technique such as that seen and described in the above-identified reference to Bergen et al. For example, images are acquired from a panning or stationary camera over a period of 1-2 seconds. The pixel texture in the imagery is measured and if it is sufficient, then the images are aligned to each other.
  • a registration technique such as that seen and described in the above-identified reference to Bergen et al. For example, images are acquired from a panning or stationary camera over a period of 1-2 seconds. The pixel texture in the imagery is measured and if it is sufficient, then the images are aligned to each other.
  • the camera/PTZ module 102 is directed to stop so that new images can be acquired without image motion due to camera pan.
  • the result is a series of registered frames RF n that are passed on for further object detection processing. For example, and based upon predetermined system parameters, a plurality of frames beginning with the zeroth frame to an nth frame are registered to each other.
  • Such registration step eliminates portions of images between said frames that are not common to all frames. That is to say as the camera pans a certain area and passes images onto the system, fringe areas of the early frames and the later frames will not be common to all frames. The registration step removes such fringe areas.
  • a problem may occur during initial registration if an object in the frame is too large as the system may attempt to register future frames based on this object instead of the background (i.e., a large truck moving through a zoomed in camera location). To account for such a condition, the contrast of the initially captured image is increased so as to more highly identify the object. The system is subsequently instructed to register the incoming frames based upon low contrast areas (the background) and not high contrast area (moving object).
  • An alternate solution to registration improvement is to capture an initial image (with a large object) and mask the object to force registration based upon the background.
  • any detected pixel brightness changes are evaluated in three steps. First, the pan, tilt and zoom values are read and used to recall the expected size, shape and detection sensitivity for any pixel change in the region, given the customized region, size and classification parameters defined by the setup operator in the initialization step. Second, the actual size and shape of the brightness changes are measured and changes that do not match the expected criteria are rejected. These brightness changes may correspond to expected vehicle activity on a road, for example.
  • image correspondence algorithms are performed over the aligned image sequence, and the positions of the brightness changes are measured for every frame. If the measured displacement of each brightness change does not exceed a pre-determined value, then the brightness change is rejected.
  • the brightness change may be due to a tree blowing in the wind, for example. In all other cases, an alarm condition is declared.
  • the camera/PTZ module 102 is directed to stop scanning and the displacement of the brightness changes are measured in the newly captured imagery. If the measured displacement exceeds a second pre-set value over a period of time, then an alarm condition is declared. In this case, an alarm condition is not declared as quickly, since over short periods of time the pixel displacement of the brightness changes may be due to camera vibration and not intruder motion.
  • the Normal Flow sub-module 504 is a relatively low-level filter that detects a variety of different types of motions in a given image.
  • the Normal Flow Filter distinguishes between stable background and motion selected from the group consisting of trees and leaves, scintillation from surface water movement, shimmering of the background from heat, momentary camera defocusing or image blur and an object displaying characteristics of salient (consistent) motion between two points.
  • Normal Flow filtering is performed in accordance with the series of method steps 600 depicted in Figure 6.
  • the series of method steps 600 starts at step 602 and proceeds to step 604 where a series of registered input image frames RF n (for example, images F n captured by a camera/PTZ module 102 and coupled to a detection/PTZ control module 108) are obtained from the registration sub-module 502.
  • Step 605 performs a filtering of the zeroth and nth frames to account for any differences between the images which may not be directly caused by specific motion. For example, if the automatic gain control (AGC) were to momentarily vary, there would be differences between the zeroth and nth frames yet there is no specific motion.
  • AGC automatic gain control
  • the filtering step 605 accounts for such differences.
  • a warping step is performed to register the nth frame to the aligned or registered zeroth frame. It should be noted that steps 605 and 606 may be interchanged. That is, the warping of the nth to the zeroth frame and the filtering of said frames is interchangeable without any effect on the resultant ability to detect motion in said frames.
  • Normal flow sub-module 504 outputs a series of normal flow parameters (NF 0 , NF ⁇ ...NF n ) based on the normal flow processing method 600.
  • a comparison of the last frame analyzed in the series of frames is compared to the zeroth frame. Any differences between such two frames are considered of potential relevance for detection. Accordingly, a criterion must be established to determine the level of motion detected between the zeroth frame and the nth frame. Such determinations are made by calculating the change in the image between the zeroth and nth frame ( ⁇ I ⁇ ,) and a gradient of these same frames (vi ⁇ ) in step 608.
  • the ⁇ I accounts for relative motion changes in the images while the VI is a normalization to account for changes in contrast which are not necessarily motion changes (which is in furtherance to the filtering of step 605).
  • a mathematical operation is performed by comparing the ratio of ⁇ I to VI and determining whether it is greater than a constant C, which is a low-level motion detection threshold. If — is less than the VI detection threshold C, the method moves to step 612 where no moving object is detected and proceeds to step 616 to complete normal flow filtering. If — is greater
  • step 614 a possible moving object detected status is indicated.
  • the Short Term Temporal Filtering (STTF) sub-module 506 reduces false detects caused by random noise and blurs in an image. As such, this module represents a next order higher level of filtering by detecting consistent motion over a number of frames. In other words, if an object is "detected" by normal flow filtering, STTF will determine if the object was momentary (i.e., seen in one or two frames) or consistent over a long span of time.
  • the function of this module in described here and in accordance with a series of method steps 700 depicted in Figure 7.
  • the series of method steps 700 begins at step 702 and proceeds to step 704 where normal flow parameters (NF 0 , NFi ...) from the normal flow submodule 504 are obtained for further processing. Once these parameters are obtained, the method 700 proceeds to step 706 where the initial normal flow parameter from the zeroth frame (NFo ) is warped onto a predetermined final frame NF t . Such warping is performed in accordance with well-known image process algorithms.
  • step 708 the pixel area around a potential object in image frame NF 0 is expanded. This expansion of the pixel area allows for analysis of a slightly larger area than that of the potentially detected object as so as to determine if there is movement on a frame to frame basis.
  • steps 706 and step 708 are repeated for all normal flow parameters that are less than the normal flow parameter at time t so as to create a series of parameters that have image frames that are aligned to one another as well as contain expanded pixel areas around the potential object.
  • steps 712 and step 712 are performed to determine if motion has occurred across the entire expanded pixel area.
  • a decision operation is performed to determine if an object has been detected in all frames (by virtue of a logical one resulting from the AND operation of all normal flow parameters). If an object has been detected the method proceeds to step 718 which sets an object detected condition.
  • step 714 If the logical AND operation results in a logical zero, it is determined in decision step 714 that no object has been detected and the method moves to step 716 to set such condition.
  • the method ends at step 720.
  • Such method of processing the image frames and pixel information is considered highly efficient because it is not necessary to process an entire image frame. That is, at parameter value NF t only pixels which are highlighted as potentially being objects are of interest, and preceding image frames and the attendant normal flow parameters are processed to focus on such pixels of interest determined by NF t . As such, NF t determines the pixels of interest and the expanded pixel area and the invention essentially backtracks through previous frames and parameters to highlight, expand and then logical AND the same points of interest detected in NF t .
  • the output of the STTF sub-module 506 is a series of motion flow parameters (represented as MFi, MF 2 ...MF n ) which are essentially a "cleaner" representation of pixels that may constitute actual motion in a particular image.
  • Flow Based sub-module 508 contains the necessary components and algorithms to perform a connected component analysis of the motion flow parameters from the STTF sub-module 506.
  • the connected component analysis results in the creation of optical flow parameters which essentially isolate pixels that have motion and are to be studied further for a particular type of motion or saliency.
  • Flow-based motion tracking is then used to check that objects have moved a certain distance before being identified as a moving object.
  • a flow algorithm has been described previously in "Hierarchical Model-based motion analysis” (Proceedings of European Conference on Computer Vision 1992, Bergen et. al.). The flow is computed between frames, and then concatenated such that pixels can be tracked across the image. Essentially, the images are again realigned (to remove the background as a noise source) and the incremental motion of a particular pixel set is determined over a number of predetermined frames. If the object has moved by more than a pre-determined number of pixels, then a detection is declared. However, the motion of the object must also pass a second test to determine if the motion is erratic or consistent.
  • the final sub-module of the PTZ/Detection module 108 is a Final Object Tracking sub-module 510.
  • This sub-module performs a type of secondary short term filtering (similar in concept to the STTF sub-module 506). That is, Final Flow parameters (FF-i, FF 2 ,...FF n ) are generated by the Flow Based sub-module 508 and passed on to the Final Object Tracking sub-module 510.
  • Such parameters are processed via a much simpler algorithm than those processed by the STTF sub- module 506, but still result in parameters indicative of movement.
  • the centroids of two consecutive FF parameters (FF 2 and FF 3 ) are calculated.
  • the centroid of FF t is warped back onto FF t- ⁇ (in this particular example, the centroid of FF 3 is warped back to the centroid of FF ) and a determination is made as to whether the same object of interest seen in FF 2 is still seen in FF 3 .
  • This gives an indication of consistent motion of the SAME object through a pre-determined number of frames. Accordingly, object tracking is not only confirmed, but is also historically shown as the same object that was previously detected.
  • any number of frames can be processed or analyzed in the Final Object Tracking sub-module 510 and such predeterminations can be made by a system operator based on the known speed of objects desired to be tracked and identified.
  • the appropriate detection signals are forwarded to the GUI output display module 110.
  • motion detection signals such as those generated by decision block 610 and/or 714 of methods 600 and/or 700 respectively that have been subsequently confirmed as salient (consistently tracked) objects generate information that is provided to the GUI output display module 110 whereby a number of options are available to the user (i.e., guard).
  • an audible alarm may be sounded or other type of alert activated which changes the status of camera control from automatic to manual and is described in greater detail below.
  • the guard can then decide steps to be taken.
  • video of the moving object is stored and displayed. Video is stored and displayed before, during and after the detection of the object.
  • the video may be stored directly onto a computer as an AVI file, for example, or may be stored on a VDR (Video disk recorder) machine either as part of the GUI output display module 110 or at a remote location. A guard can then browse the video, checking the moving object even while the system is continuing to pan across the scene.
  • object data is displayed such as location in the Zone Map, approximate size, velocity of the object and its apparent classification. This object data facilitates confirmation of the object seen in the video.
  • the system stops the pan/tilt/zoom scan and directs the camera to point to the location derived from the image coordinates of the detection. This is performed using the look-up table ( Figure 4) that was determined in the initialization mode, and also by storing the pan/tilt/zoom values with the record of the moving object. These values can also be fed back into the GUI output display so that a user can click on an icon on the display, and the camera automatically points to the correct location.
  • the GUI output display module 110 also shows the detected object geo-located on an output map display. This is performed using the look-up table that was defined in the initialization mode that related real-world features in the scene to the pan/tilt/zoom values and the image location.
  • the knowledge of both types of data can be used in a single GUI output display to further enhance image identification. This is performed by feeding the coordinate information (i.e., the location of the object based upon GPS coordinates and pan/tilt zoom values and corresponding X,Y values) to the GUI display.
  • coordinate information i.e., the location of the object based upon GPS coordinates and pan/tilt zoom values and corresponding X,Y values
  • a basic pixel analysis X,Y coordinate information only
  • the relative speed of the object can be determined or at least the distance of the object from the camera. As such, it is much easier to identify the object based on the known characteristics of objects that are normally detected.
  • the GUI set-up module 106 may also be used to calibrate the GUI output display module 110.
  • the GUI output display module 110 may show an orthographic or other view of the scene. Since the camera is often looking at a shallow angle miles out into the distance, a small change in angle or small change in ground elevation results in the camera looking at a very different location on the ground.
  • the GUI output display is calibrated by having the orthographic or other (e.g., map view) shown on the display. A user then points the camera manually towards a feature in the scene that is recognizable in both the camera image and on the map display, for example, a building or a road junction. The user then clicks on the map and also the image and the correspondence between the two points is stored.
  • a planar 3D model of the world is fit to the points such that the plane passes through the bottom of the pole on which the camera is mounted.
  • Simple geometry relates the pan/tilt/zoom position of the camera to the position of a point on the plane.
  • this is the method for predicting the pan/tilt/zoom values required to point the camera at a particular map location.
  • the 3D points are interpolated to produce a smooth 3D surface between points.
  • DEM or map elevation data from a geographical survey is read into the system to work instead of or in addition to the methods described in the first and second methods. These methods can also be used to interpolate the regions of interest (e.g., polygons) that were highlighted to modify detection sensitivity across the scene.
  • the object detection system 100 is integrated into an existing surveillance system to form a variable control object detection and surveillance (VCODS) system 1000.
  • the VCODS system 1000 includes a motion detection analysis module 1002, a surveillance module 1004 and a plurality of camera/PTZ modules 102 mounted to a supporting structure 1006 (i.e., pole, ceiling beams or the like).
  • the surveillance module 1004 is a general purpose computer with various input/output devices 1010, 1008 with a central processing unit 1011 , a memory 1013 and supporting circuitry 1015 for maintaining and monitoring components of an existing surveillance system.
  • the surveillance module 1004 also generates a first set of camera control signals CCS1 to control the plurality of camera/PTZ modules 102 during manual control of the VCODS 1000. Such functions being performed by virtue of the CPU 1011 , memory 1013, support circuits 1015 and attendant I/O devices 1008 and 1010.
  • the motion detection analysis module 1002 is also a general purpose computer with various input/output devices 1012, 1014 with a central processing unit 1016, a memory 1017 and supporting circuitry 1019 for carrying out tasks for motion detection.
  • the motion detection analysis module 1002 is adapted to accept video images and ESD from each of the plurality of camera/PTZ modules 102.
  • video signals Video 1 and Video 2 are inputted from the camera/PTZ modules 102 to the motion detection analysis module 1002 for prediction of a moving object in the images captured by the cameras.
  • ESD pan, tilt and zoom coordinates
  • the motion detection analysis module 1002 is also a general purpose computer with various input/output devices 1012, 1014 with a central processing unit 1016, a memory 1017 and supporting circuitry 1019 for carrying out tasks for motion detection.
  • the motion detection analysis module 1002 is adapted to accept video images and ESD from each of the plurality of camera/PTZ modules 102.
  • video signals Video 1 and Video 2 are inputted from the camera/PTZ modules 102
  • the motion detection analysis module 1002 also generates camera control signals (i.e., a second set of camera control signals CCS2) to control the plurality of camera/PTZ modules 102.
  • camera control signals CCS2 are provided to the camera/PTZ modules 102 during automatic control of the VCODS 1000. All of such processing is performed by virtue of the CPU 1016, memory 1017, support circuits 1019 and attendant I/O devices 1012 and 1014.
  • the Detection/PTZ Control module 108 can be a physical device which is coupled to the CPU 1016 through a communication channel.
  • the Detection/PTZ Control module 108 can be represented by a software application which is loaded from a storage device and resides in the memory 1017.
  • the Detection/PTZ Control module 108 of the present invention can be stored on a computer readable medium.
  • Either computer can be coupled to its plurality of respective input and output devices, such as a keyboard, a mouse, a camera, a camcorder, a video monitor, any number of imaging devices or storage devices, including but not limited to, a tape drive, a floppy drive, a hard disk drive or a compact disk drive.
  • input and output devices such as a keyboard, a mouse, a camera, a camcorder, a video monitor, any number of imaging devices or storage devices, including but not limited to, a tape drive, a floppy drive, a hard disk drive or a compact disk drive.
  • System operation (and more specifically, the tasking of the Detection/PTZ Control module 108 and motion detection analysis module 1002 in general) is seen in Figure 11 as a series of method steps 1100 and described herein in detail.
  • the method starts at step 1102 and proceeds to step 1104 wherein system initialization is performed.
  • system initialization is performed for example by manual selection of the sensitivity thresholds performed in accordance with method 200 or by automatic initialization performed in accordance with method 300.
  • a system operator accesses the surveillance module 1004 to generate camera control signals CCS1 to point the camera(s) to a fixed location.
  • the system operator accesses the motion detection analysis module 1002 to customize the region that the camera(s) are fixed on.
  • the system user then accesses the surveillance module 1004 to generate additional camera control signals CCS1 to point the camera(s) to the next fixed location to be customized and repeats these steps until the entire surveillance area has been initialized.
  • system initialization is completed and the motion detection analysis module 1002 receives a "Begin Scan" signal.
  • the motion detection analysis module 1002 reacts to the Begin Scan signal and the VCODS system 1000 enters automatic control.
  • the camera(s) of the camera/PTZ modules 102 pan and scan the surveillance area based upon camera control signals CCS2 from the motion detection analysis module 1002. Accordingly, the camera/PTZ modules 102 pass video and ESD signals to the motion detection analysis module 1002. The video signals are subsequently analyzed by the Detection/PTZ Control module 108.
  • the user can study the detected object image and event data and generate camera control signals CCS1 to manually move the camera(s) to obtain more detailed images of the detected object, confirm the object's current location, verify its classification or other such steps necessary to ascertain possible threat and required response.
  • the alarm is reset at step 1112 and the VCODS system 1000 reverts back to automatic control.
  • a system user has identified the detected object and notified the appropriate authorities or otherwise ascertained that the object is not a threat.
  • the user sends a "Begin Scan" signal to the motion detection analysis module 1002.
  • the surveillance module 1004 sends a "Begin Scan Mode" signal to the motion detection analysis module 1002. In either scenario, the method returns to step 1108 to enter automatic control again.
  • the method ends at step 1114 when, for example, the motion detection analysis module 1002 is taken off line or otherwise interrupted.
  • the method 1100 may switch from automatic control of the cameras to manual mode.
  • the use of a camera control joystick by a user is automatically detected and the method stops automatic control of the cameras to allow the user to control the cameras.
  • the method may switch back into automatic camera control mode. Monitoring the joystick usage is only one possible method of detecting when a user desires to manually position the cameras.
  • the object detection system 100 and associated methods described herein may be implemented in a variety of configurations to provide improved surveillance in secure locations. For example, a combination of static or fixed cameras, PTZ cameras and other types of sensors may be deployed to detect moving objects in secure locations while minimizing false alarm rates.
  • Figure 12 is a flow diagram illustrating one embodiment of a method 1200 for detecting motion, according to the present invention.
  • the method 1200 represents one exemplary application of the object detection system 100.
  • the method 1200 may be implemented, for example, in the detection/PTZ control module 108 of the object detection system 100.
  • the method 1200 is initialized at step 1202 and proceeds to step 1204, where the method 1200 receives location information for a detected activity or object of interest via at least one first sensor.
  • this location information includes coordinates for the detected object (e.g., two- dimensional X,Y coordinates in an image captured by the first sensor).
  • this location information includes ESD relating to the position and status of the first sensor (e.g., PTZ coordinates of a PTZ camera).
  • the detected object of interest is a stationary or moving object such as a person, a vehicle or an animal.
  • the first sensor is any sort of sensor that is capable of detecting and generating an alert in response to the presence and/or movement of an object in the surveillance region, such as an imaging sensor (e.g., a fixed still or video camera, an infrared camera, a moving camera in a UAV, a PTZ camera or the like), a fence sensor or a radar sensor.
  • an imaging sensor e.g., a fixed still or video camera, an infrared camera, a moving camera in a UAV, a PTZ camera or the like
  • a fence sensor e.g., a radar sensor.
  • the method 1200 slews at least one second sensor to the detected object in accordance with the location information received in step 1204. That is, the method 1200 issues a control signal or ESD (e.g., to a camera/PTZ module 102) that causes the second sensor to adjust its field of view so that the field of view includes the detected object.
  • the second sensor is a sensor that is capable of providing a more refined or higher resolution representation of the detected object than the first sensor. In one embodiment, this adjustment includes zooming in on the detected object.
  • the second sensor is a PTZ camera, and the control signal causes the PTZ camera to pan, tilt and/or zoom such that the PTZ camera captures images of the detected object.
  • slewing of the second sensor to the detected object includes mapping the received location information to the three-dimensional (e.g., PTZ) coordinates of the detected object in the real world, e.g., using a calibration/look-up table as discussed above with respect to Figure 4.
  • slewing of the second sensor(s) in accordance with step 1206 may be performed automatically (e.g., in response to the information received in step 1204) or in response to a manual command from a system operator.
  • slewing of the second sensor(s) is performed only if the motion or activity detected in step 1204 at least meets a predefined threshold for motion or activity in the area of detection.
  • the method 1200 returns to step 1204 and proceeds as described above to process additional location information received from the first sensor(s).
  • the method 1200 is capable of continuously tracking the detected object as it moves about the surveillance location. That is, the first sensor(s) continues to provide location information to the method 1200 on a substantially continuous basis, and the method 1200 processes the location information as described above so that the position(s) of the second sensor(s) is adjusted or updated in accordance with the movement of the detected object.
  • the method 1200 thereby achieves motion detection and tracking functionality with a substantially lower false alarm rate than that associated with conventional methods.
  • the first sensor(s) may be deployed to provide initial detection of motion or activity in conditions under which the second sensor(s) may not function as well (e.g., environmental conditions such as fog), while the second sensor(s) may be deployed to provide refined information (e.g., a higher resolution visual image) about the detected motion or activity based on the first sensor(s)' alert.
  • refined information e.g., a higher resolution visual image
  • the first sensor comprises one or more fixed video cameras and the second sensor comprises one or more PTZ cameras.
  • Each fixed camera is configured to provide images of a field of view at a relatively low resolution.
  • each fixed camera may produce only a few pixels on an object as it is detected in the field of view, such that the images produced are not ideal for finer-scale visual assessment of a potential threat posed by the detected object.
  • the fixed camera may alert a control module (e.g., the detection/PTZ control module 108) to the presence and location of the detected object.
  • the control module then pans, tilts and/or zooms one of more of the PTZ cameras to the location of the detected object (e.g., in accordance with calibration information that maps the fixed camera's field of view to the PTZ camera's field of view).
  • the fixed cameras may continuously provide location information for the detected object as the detected object moves through the respective fields of view, so that as the detected object continuously moves, the PTZ cameras can continuously pan, tilt and/or zoom appropriately to track the movement.
  • the higher resolution, continuously tracked images are more suitable for close-range visual evaluation and threat assessment than the originally provided low-resolution images.
  • both the first and second sensors may comprise PTZ cameras, such that a plurality of PTZ cameras may be controlled to slew to the locations of objects detected by other PTZ cameras. In this manner, the plurality of PTZ cameras can essentially "follow" or track a detected object along all or part of its trajectory through the surveillance region.
  • the first sensor(s) may be a non-imaging sensor, such as a fence sensor (e.g., a sensor capable of detecting breach of a defined perimeter such as a motion detector, a photoelectric beam detector or light beam sensor) or a radar sensor, while the second sensor is an imaging sensor such as a PTZ camera.
  • the PTZ camera(s) may be controlled to automatically provide an image of an area in which the non-imaging sensor(s) detects activity or motion.
  • the location information provided by the non-imaging sensors may thus be, for example, coordinates corresponding to a specific location in a mapped surveillance region (e.g., where the coordinates indicate the placement of the non-imaging sensor or a location of the detected object as detected by the non-imaging sensor).
  • the PTZ camera(s) may subsequently be controlled as described above to continuously track the object(s) that is the cause of the detected motion or activity.
  • a visual icon representing a detected object may be segmented from a series of captured images and associated with radar-based tracks, such that the method 1200 is capable of locating and visually identifying tracked objects and marking with the images of the tracked objects the associated locations on a map display.
  • two or more tracking systems e.g., radar and PTZ tracking
  • a robust alert capability is provided that is substantially improved over the capabilities of the imaging and non- imaging sensors functioning alone.
  • the method 1200 has been described in the context of an application of the object detection system 100, those skilled in the art will appreciate that the method 1200 may be advantageously implemented in conjunction with any object detection system that includes a plurality of sensors for performing surveillance.
  • FIG. 13 is a high level block diagram of the surveillance method that is implemented using a general purpose computing device 1300.
  • a general purpose computing device 1300 comprises a processor 1302, a memory 1304, a surveillance module 1305 and various input output (I/O) devices 1306 such as a display, a keyboard, a mouse, a modem, and the like.
  • I/O devices 1306 such as a display, a keyboard, a mouse, a modem, and the like.
  • at least one I/O device is a storage device (e.g., a disk drive, an optical disk drive, a floppy disk drive).
  • the surveillance module 1305 can be implemented as a physical device or subsystem that is coupled to a processor through a communication channel.
  • the surveillance module 1305 can be represented by one or more software applications (or even a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC)), where the software is loaded from a storage medium (e.g., I/O devices 1306) and operated by the processor 1302 in the memory 1304 of the general purpose computing device 1300.
  • ASIC Application Specific Integrated Circuits
  • the surveillance module 1305 for performing surveillance in secure locations described herein with reference to the preceding Figures can be stored on a computer readable medium or carrier (e.g., RAM, magnetic or optical drive or diskette, and the like).
  • the present invention represents a significant advancement in the field of image processing.
  • a method and apparatus are provided that enable improved surveillance of secure locations by integrating the capabilities of a plurality sensors, such as radar sensors or video cameras and PTZ cameras.
  • a plurality sensors such as radar sensors or video cameras and PTZ cameras.
  • the false alarm rates associated with conventional surveillance systems e.g., systems relying one of the plurality of sensors functioning on its own
  • additional surveillance functionalities such as the ability to follow a moving object throughout a surveillance region, can be realized.

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  • General Physics & Mathematics (AREA)
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Abstract

La présente invention concerne un procédé et un système de surveillance consistant à recevoir des informations de position pour un objet détecté par l'intermédiaire d'un premier capteur puis à orienter un second capteur vers l'objet détecté en fonction des informations de position fournies par le premier capteur. Dans un mode de réalisation, le premier capteur détecte la présence de l'objet (qui peut être mobile ou fixe), et le second capteur fournit des informations plus précises ou spécifiques concernant l'objet détecté, telles qu'une image haute résolution de l'objet détecté.
PCT/US2005/019242 2004-06-01 2005-06-01 Procede et systeme de surveillance WO2005120070A2 (fr)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2377317A1 (fr) * 2008-12-17 2011-10-19 SkyHawke Technologies, LLC Montage d'images à horodatage pour relecture vidéo d'exécution de parcours
ITMI20121322A1 (it) * 2012-07-27 2014-01-28 Maurizio Ventura Dispositivo elettronico antifurto
EP4233003A4 (fr) * 2020-10-26 2024-04-17 Plato Systems, Inc. Système de suivi centralisé à capteurs fixes répartis

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Publication number Priority date Publication date Assignee Title
US6542249B1 (en) * 1999-07-20 2003-04-01 The University Of Western Ontario Three-dimensional measurement method and apparatus

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6542249B1 (en) * 1999-07-20 2003-04-01 The University Of Western Ontario Three-dimensional measurement method and apparatus

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2377317A1 (fr) * 2008-12-17 2011-10-19 SkyHawke Technologies, LLC Montage d'images à horodatage pour relecture vidéo d'exécution de parcours
EP2377317A4 (fr) * 2008-12-17 2012-12-05 Skyhawke Technologies Llc Montage d'images à horodatage pour relecture vidéo d'exécution de parcours
ITMI20121322A1 (it) * 2012-07-27 2014-01-28 Maurizio Ventura Dispositivo elettronico antifurto
EP4233003A4 (fr) * 2020-10-26 2024-04-17 Plato Systems, Inc. Système de suivi centralisé à capteurs fixes répartis
US11995766B2 (en) 2020-10-26 2024-05-28 Plato Systems, Inc. Centralized tracking system with distributed fixed sensors

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