Claims
- 1. A method of tracking an object comprising:
providing a plurality of cameras; determining an image from each camera; determining a common plane in the images; determining a parallax for scene points across the images; incorporating the parallax as a feature in a background model; and estimating a change in the scene using the background model.
- 2. The method of claim 1, wherein at least one camera is a pan-tilt-zoom camera.
- 3. The method of claim 1, wherein at least one camera is uncalibrated.
- 4. The method of claim 2, further comprising:
providing a pan-tilt-zoom camera; determining a mosaic for the pan-tilt-zoom camera from images captured from the pan-tilt-zoom camera; and registering the mosaic and the images from the pan-tilt-zoom camera and the plurality of cameras according to a common plane in the scene.
- 5. The method of claim 2, further comprising inter-frame registration of images captured from the pan-tilt-zoom camera.
- 6. The method of claim 1, wherein the background model comprises a feature.
- 7. The method of claim 6, wherein the feature is one of an intensity and an edge.
- 8. The method of claim 1, further comprising determining the background model by one of a mixture-of-Gaussians and a non-parametric kernel.
- 9. The method of claim 1, further comprising determining a change according to the background model.
- 10. The method of claim 1, further comprising obtaining a height from the parallax that is invariant to the motion of the object through the scene.
- 11. The method of claim 1, further comprising providing a control strategy for controlling the cameras such that a probability of the object being visible in a next image is maximized.
- 12. The method of claim 8, wherein an error associated with object detection and velocity is propagated to determine a maximum possible zoom at which an image of the desired region of the object may be acquired.
- 13. The method of claim 1, further comprising obtaining a relationship between observations from different cameras via a homography relationship for the common registered plane.
- 14. The method of claim 1, further comprising providing a control strategy for acquiring user defined relevant information for a plurality number of objects in a scene.
- 15. The method of claim 14, wherein providing the control strategy further comprises:
providing a probability density function for the object; and providing a model for object motion.
- 16. The method of claim 14, wherein providing the control strategy further comprises providing a user specification.
- 17. The method of claim 16, further comprising controlling the cameras according to the user specification and the change in the scene.
- 18. A system for tracking an object, comprising:
two or more cameras; a registration module for aligning a common plane in an image obtained from each camera; a parallax module for determining a parallax between views of each camera; and a detection module for determining an object in a scene defined by the views of the cameras according to the parallax and a predetermined background model.
- 19. The system of claim 18, wherein the parallax is determined between views of two cameras.
- 20. The system of claim 18, wherein at least one camera is uncalibrated.
- 21. The system of claim 18, wherein at least one camera is a pan-tilt-zoom camera.
- 22. The system of claim 20, further comprising control strategy means for tracking the object with the pan-tilt-zoom camera.
- 23. A program storage device readable by machine, tangibly embodying a program of instructions executable by the machine to perform method steps for tracking an object, the method steps comprising:
providing a plurality of cameras; determining an image from each camera; determining a common plane in the images; determining a parallax for scene points across the images; incorporating the parallax as a feature in a background model; and estimating a change in the scene using the background model.
Parent Case Info
[0001] This application claims the benefit of U.S. Provisional Application No. 60/400,185, filed Aug. 1, 2002, which is incorporated by reference herein in its entirety.
Provisional Applications (1)
|
Number |
Date |
Country |
|
60400185 |
Aug 2002 |
US |