公开(公告)号：US06005610A

公开(公告)日：1999-12-21

申请号：US12393

申请日：1998-01-23

申请人： Sarma VGK Pingali

发明人： Sarma VGK Pingali

IPC分类号： G01S3/786 ,  G01S3/808 ,  H04N5/225

CPC分类号： G01S3/808 ,  G01S3/7864

摘要： A method for integrated audio-visual localizing and tracking of at least one object. The method includes the steps of capturing and transmitting an image of a video scene using a camera at an instant of time, identifying an object contained in the image having a preselected visual feature, and estimating a location of the object by determining an angular orientation relative to the image plane of the camera of an imaginary line extending from an optical center of the camera to a point on the image plane of the camera representing a portion of the object. The method further includes the steps of converting acoustic waves from an audio source into audio signals using at least two microphones at substantially the same time, identifying the audio source by determining a locus of points representing an estimate of the location of the audio source on the basis of the audio signals. An improved estimate of the location of the object is computed by determining the location of a region of intersection between the imaginary line and the locus.

摘要翻译： 一种用于集成的视听定位和跟踪至少一个对象的方法。 该方法包括以下步骤：使用相机在时刻捕获和发送视频场景的图像，识别包含在具有预先选择的视觉特征的图像中的对象，以及通过确定角度定向相对值来估计对象的位置 到从相机的光学中心延伸到表示对象的一部分的相机的图像平面上的点的假想线的相机的图像平面。 该方法还包括以下步骤：基本上同时使用至少两个麦克风将来自音频源的声波转换为音频信号，通过确定表示音频源位置的估计的点的轨迹来识别音频源 音频信号的基础。 通过确定假想线和轨迹之间的交叉区域的位置来计算对象位置的改进的估计。

公开(公告)号：US5764283A

公开(公告)日：1998-06-09

申请号：US586012

申请日：1995-12-29

申请人： Sarma VGK Pingali ,  Jakub Segen

发明人： Sarma VGK Pingali ,  Jakub Segen

IPC分类号： G01S11/12 ,  G06T7/20 ,  H04N5/225 ,  H04N5/14

CPC分类号： G06T7/2033 ,  G01S11/12

摘要： A method and apparatus for tracking moving objects, such as people, in real time by grouping existing feature paths from a current video frame with preexisting clusters from current video frames. Grouping is accomplished by selecting, as a candidate cluster to a specified feature path, the cluster having the closest relative distance to the specified feature path. The relative distance is calculated according to a function having a first component and a second component. The first component is representative of a maximum displacement between the select feature path and the candidate cluster, and the second component is representative of the difference between velocity vectors defining the select feature path motion and velocity vectors defining the candidate cluster motion. The method and apparatus also provide for updating the candidate cluster with parameters obtained from the select feature path and for merging overlapping clusters.

摘要翻译： 通过将来自当前视频帧的现有特征路径与来自当前视频帧的预先存在的聚类分组来实时跟踪诸如人的移动对象的方法和装置。 通过将具有与指定特征路径最近的相对距离的集群选择为指定特征路径的候选集群来实现分组。 根据具有第一分量和第二分量的函数来计算相对距离。 第一分量代表选择特征路径和候选聚类之间的最大位移，第二分量代表定义选择特征路径运动的速度向量与定义候选聚类运动的速度向量之间的差异。 所述方法和装置还提供用从选择特征路径获得的参数来更新候选群集并且用于合并重叠群集。

公开(公告)号：US06233007B1

公开(公告)日：2001-05-15

申请号：US09102071

申请日：1998-06-22

申请人： Ingrid B. Carlbom ,  Yves D. Jean ,  Sarma VGK Pingali

发明人： Ingrid B. Carlbom ,  Yves D. Jean ,  Sarma VGK Pingali

IPC分类号： H04N718

CPC分类号： G06K9/32 ,  G01S3/7865 ,  G06T7/248 ,  G06T7/254 ,  G06T2207/10021 ,  G06T2207/10024 ,  G06T2207/20036 ,  G06T2207/30224 ,  G06T2207/30241 ,  H04N7/18 ,  H04N13/10 ,  H04N13/221 ,  H04N13/239 ,  H04N13/243 ,  H04N2013/0081 ,  H04N2013/0085 ,  H04N2013/0092

摘要： A method and apparatus for tracking objects used in connection with athletic activities or sporting events, especially, balls, pucks, and the like. The method includes the steps of differencing present and previous frames of a video image including the, for example, ball to obtain motion regions, converting the motion regions to HSV color space, extracting the region corresponding to the ball based on empirical color data about the ball, obtaining a motion vector based on the motion of the ball region from a previous frame to the current frame, and updating the ball trajectory based on the newest motion vector obtained. The method also preferably includes a step of identifying completed trajectories based on preset constraints. The method is preferably expanded on by using at least one pair of cameras to provide a three-dimensional trajectory, and sometimes preferable expanded on by using a plurality of cameras, especially a plurality of pairs of cameras. An apparatus according to the present invention includes at least one camera connected to a computer which operates to difference previous and current frames, compute the ball track, convert ball regions to HSV color space and output the tracking and video information. In a case where one or more pairs of cameras are used, the computer is preferably also provided with a stereo matching device or module for matching the tracking results from respective cameras and/or respective pairs of cameras.

摘要翻译： 用于跟踪与运动活动或体育赛事特别是球，冰球等相关的物体的追踪方法和装置。 该方法包括以下步骤：对包括例如球的视频图像的当前帧和先前帧进行区分以获得运动区域，将运动区域转换为HSV颜色空间，基于关于球体的经验色彩数据提取与球对应的区域 基于球区域从前一帧到当前帧的运动获得运动矢量，并且基于获得的最新运动矢量来更新球轨迹。 该方法还优选地包括基于预设约束来识别完成轨迹的步骤。 优选地，通过使用至少一对照相机来扩展该方法以提供三维轨迹，并且有时优选地通过使用多个照相机，特别是多对照相机进行展开。 根据本发明的装置包括连接到计算机的至少一个照相机，其操作以区分先前和当前帧，计算球轨道，将球区域转换为HSV颜色空间并输出跟踪和视频信息。 在使用一对或多对相机的情况下，计算机还优选地还设置有用于匹配来自各个相机和/或相应的相机对的跟踪结果的立体匹配装置或模块。

公开(公告)号：US6130706A

公开(公告)日：2000-10-10

申请号：US149372

申请日：1998-09-08

申请人： Arthur Clifford Hart, Jr. ,  Matthew A. Kordys ,  Vishvjit Singh Nalwa ,  Sarma VGK Pingali

发明人： Arthur Clifford Hart, Jr. ,  Matthew A. Kordys ,  Vishvjit Singh Nalwa ,  Sarma VGK Pingali

IPC分类号： B60R21/00 ,  B60T8/172 ,  B60T8/66 ,  G01C3/06 ,  G01P3/38 ,  G01P13/04 ,  H04N7/18

CPC分类号： G06K9/00791 ,  B60T8/172 ,  G01P13/045 ,  G01P3/38

摘要： A process for determining at least one dynamic of a vehicle, particularly slip angle, during travel. The process involves optically monitoring, in real time and from the vehicle itself, the movement in one or more camera images of surface features as the vehicle passes over the surface. The direction in which the surface features are moving at any given time indicates the actual direction of vehicle movement with respect to the orientation of the optical monitoring equipment. From this actual direction of movement, in combination with the known orientation of the optical monitoring equipment and the direction in which the vehicle is being steered, it is possible to calculate the slip angle in real time.

摘要翻译： 用于在行驶期间确定车辆的至少一个动态特别是滑移角的过程。 该过程涉及当车辆经过表面时实时地和从车辆本身光学地监测表面特征的一个或多个相机图像中的运动。 表面特征在任何给定时间移动的方向表示相对于光学监视设备的取向的车辆移动的实际方向。 根据该实际的运动方向，结合光学监视装置的已知取向以及车辆的转向方向，可以实时计算滑移角。