公开(公告)号：US07400344B2

公开(公告)日：2008-07-15

申请号：US10736589

申请日：2003-12-17

申请人： Wataru Ito ,  Hirotada Ueda

发明人： Wataru Ito ,  Hirotada Ueda

IPC分类号： H04N7/18

CPC分类号： G06K9/00771 ,  G01S3/7864 ,  G06K9/00785 ,  G06K9/32 ,  G06T7/248 ,  G06T7/254 ,  G06T2207/10016 ,  G06T2207/30232 ,  H04N7/183

摘要： An object tracking method and an object tracking apparatus. Based on two or more frames of images acquired at different time points from an imaging unit, an image changing area is detected between the frames. Based on the image changing area thus detected, the position of an object is detected. The detected position of the object is set as a new detected position of the object in place of the present detected position of the object, thereby detecting and tracking an object intruding into a monitor area.

摘要翻译： 物体跟踪方法和物体跟踪装置。 基于从成像单元在不同时间点获取的两个或更多个图像帧，在帧之间检测图像改变区域。 基于如此检测的图像变化区域，检测物体的位置。 物体的检测位置被设定为物体的新的检测位置，而不是物体的当前检测位置，从而检测并跟踪侵入到监视区域中的物体。

公开(公告)号：US06754367B1

公开(公告)日：2004-06-22

申请号：US09671178

申请日：2000-09-28

申请人： Wataru Ito ,  Hirotada Ueda

发明人： Wataru Ito ,  Hirotada Ueda

IPC分类号： G06K934

CPC分类号： G06K9/00771 ,  G06K9/38 ,  G06T7/277 ,  G08B13/19602 ,  G08B13/19606

摘要： An intruding object detecting method and an intruding object detecting apparatus for judging whether an detected object is an intruding object or not even in the condition that there are shadows of moving objects other than target objects to be detected, such as shaking trees, leaves thereof, etc. An image signal is supplied from an image pickup device; a moving object is extracted from the image signal by a subtraction method; division is made between the image signal and a reference background image signal for every pixel so as to produce a ratio image; a histogram of luminance values (pixel values) is calculated on a part of the ratio image corresponding to the moving object extracted in the extracting step; a pixel value on the part of the ratio image corresponding to the extracted moving object is calculated in ratio representation from the calculated histogram; the calculated pixel value in ratio representation is estimated; and the extracted moving object is judged to be an intruding object or not, on the basis of the estimation of the pixel value in ratio representation. Thus, intruding objects are detected in the field of view to be monitored.

摘要翻译： 即使在存在除了要检测的目标物体以外的移动物体的阴影的情况下，例如抖动树，叶片，入侵物体检测方法和入侵物体检测装置，用于判断被检测物体是否是入侵物体， 从图像拾取装置提供图像信号; 通过减法方法从图像信号中提取移动物体; 在图像信号和每个像素的参考背景图像信号之间进行划分，以产生比率图像; 在对应于在提取步骤中提取的移动对象的比例图像的一部分上计算亮度值（像素值）的直方图; 根据所计算的直方图以比例表示法计算与所提取的运动对象相对应的比率图像的一部分上的像素值; 估计比率表示中计算的像素值; 并且基于比率表示中的像素值的估计，将所提取的运动对象判断为是入侵对象。 因此，在要监视的视野中检测入侵物体。

公开(公告)号：US07382896B2

公开(公告)日：2008-06-03

申请号：US10639740

申请日：2003-08-13

申请人： Wataru Ito ,  Hirotada Ueda ,  Shinya Ogura ,  Toshiaki Hirama

发明人： Wataru Ito ,  Hirotada Ueda ,  Shinya Ogura ,  Toshiaki Hirama

IPC分类号： G06K9/00 ,  H04N7/18

CPC分类号： G06K9/00771 ,  G06T7/0002 ,  G06T7/254 ,  G06T2200/24 ,  G08B13/19602 ,  G08B13/19606 ,  G08B13/19671 ,  G08B13/1968 ,  G08B13/19682 ,  G08B13/19691 ,  H04N7/188

摘要： Object detection method and apparatus, including an image-pickup unit picking up the image of a target region, a first recording device accumulating, as a reference image, an image signal from the image-pickup unit, a second recording device storing a table which defines surveillance information on the image signal, an object detection processing unit detecting a target object from the image signal and the reference image, a memory table storing a processing result from the processing unit, and a display unit. The image signal from the image-pickup unit is saved based on the table of the second recording device, and the processing result in the memory table is displayed on the display unit. The surveillance information in the table of the second recording device is modified based on the display of the processing result obtained by the object detection processing unit.

摘要翻译： 对象检测方法和装置，包括拾取目标区域的图像的图像拾取单元，作为参考图像累积来自图像拾取单元的图像信号的第一记录装置，存储表格的第二记录装置 定义关于图像信号的监视信息，从图像信号和参考图像检测目标对象的对象检测处理单元，存储来自处理单元的处理结果的存储表和显示单元。 来自图像拾取单元的图像信号基于第二记录装置的表保存，并且存储表中的处理结果被显示在显示单元上。 基于由对象检测处理单元获得的处理结果的显示来修改第二记录装置的表中的监视信息。

公开(公告)号：US07215827B2

公开(公告)日：2007-05-08

申请号：US10387433

申请日：2003-03-14

申请人： Wataru Ito ,  Shinya Ogura ,  Hirotada Ueda

发明人： Wataru Ito ,  Shinya Ogura ,  Hirotada Ueda

IPC分类号： G06K9/20 ,  G06K9/36 ,  G09G5/00 ,  H04N1/38

CPC分类号： H04N7/188

摘要： In object detection method and apparatus, a detection image related to a binary image obtained by subtracting a background image from an input image delivered from an image-pickup device is displayed on the display screen of a display unit, responsive to an operation done by an operator who determines that at least one object in the displayed detection image is a region to be excluded from object detection, the region of the object is set as a masking region automatically and thereafter, object detection is performed in respect of individual input images while performing masking in the masking region.

摘要翻译： 在物体检测方法和装置中，通过从显示单元的显示屏幕上显示从从图像摄取装置传送的输入图像中减去背景图像而获得的二进制图像相关的检测图像，响应于由 确定所显示的检测图像中的至少一个对象是要从对象检测中排除的区域的操作者，将对象的区域自动设置为掩蔽区域，然后在执行各个输入图像时执行对象检测 掩蔽掩蔽区域。

公开(公告)号：US07113616B2

公开(公告)日：2006-09-26

申请号：US10309231

申请日：2002-12-04

申请人： Wataru Ito ,  Shinya Ogura ,  Hirotada Ueda

发明人： Wataru Ito ,  Shinya Ogura ,  Hirotada Ueda

IPC分类号： G06K9/00

CPC分类号： G08B13/19602 ,  G06T7/248 ,  G06T7/254 ,  G06T2207/10016 ,  G06T2207/30196 ,  G08B13/19604 ,  G08B13/19608 ,  G08B13/19689 ,  G08B13/19691

摘要： An object is detected in comparison between an input image from an image pick-up device having a zoom mechanism and a template image stored in a manner that a first image within a view field of the image pick-up device is stored as a first as the template image, a power of the zoom mechanism to be changed is recorded, a second image to be detected is picked-up from the image pick-up device. Then, a size of either one of the template image and the second image is changed on the bases of the changed power of the zoom mechanism, and a template matching is performed between the template image and the second image to detect the object. This process makes it possible to track an object within the view field.

公开(公告)号：US07035430B2

公开(公告)日：2006-04-25

申请号：US09983831

申请日：2001-10-26

申请人： Wataru Ito ,  Hiromasa Yamada ,  Hirotada Ueda

发明人： Wataru Ito ,  Hiromasa Yamada ,  Hirotada Ueda

IPC分类号： G06K9/00

CPC分类号： G08B13/19606 ,  G06T7/254 ,  G06T2207/10016 ,  G06T2207/30232 ,  G08B13/19602 ,  G08B13/19691

摘要： A monitoring method and apparatus for detecting an intruding object within a monitoring field of view by applying a subtraction method to an image obtained from an imaging device. A differential image of luminance values between an input image from the imaging device and a reference background image stored in a storage device is generated. The differential image is binarized using a predetermined binarization threshold value and the bianrization threshold value is changed until a noise level of a bianrized image becomes not greater than a predetermined value and based on a binarization threshold value at which the noise level becomes not greater than the predetermined value, an intruding object is detected.

公开(公告)号：US06687386B1

公开(公告)日：2004-02-03

申请号：US09592996

申请日：2000-06-13

申请人： Wataru Ito ,  Hirotada Ueda

发明人： Wataru Ito ,  Hirotada Ueda

IPC分类号： G06K900

CPC分类号： G06K9/32 ,  G06K9/00785 ,  G06T7/248

摘要： A method and an apparatus for detecting an object in the image pickup field by template matching and tracking the detected object. An intruding object is detected from an image acquired by an image pickup device which takes the image of an image pickup field. A template image is formed from the detected object and is stored in a storing unit. A template matching is performed between a present input image of the image pickup field and the template image stored in the storing unit to detect the location of that part of the object which has a maximum degree of coincidence with the template image. An edge detection of the object is performed over a predetermined search area in the present input image which area includes the detected part of the object having a maximum degree of coincidence. Based on results of the edge detection, the detected part of the object is corrected and is determined as the present location of the object. A part of the present input image having the corrected location is a new template image with which the template image stored in the storing unit is updated. Instead of a single template image, a plurality of template images may be used for template matching to assure the tracking of the object with even higher accuracy and stability.

摘要翻译： 一种用于通过模板匹配和跟踪检测到的对象来检测图像拾取领域中的对象的方法和装置。 从拍摄图像拾取场的图像摄像装置获取的图像中检测入侵物体。 由检测对象形成模板图像，并存储在存储单元中。 在图像拾取场的当前输入图像和存储在存储单元中的模板图像之间执行模板匹配，以检测与模板图像具有最大一致性的对象的该部分的位置。 在当前输入图像中的预定搜索区域上执行对象的边缘检测，该区域包括具有最大一致性的被检测部分的检测部分。 基于边缘检测的结果，检测出的对象的部分被校正并被确定为对象的当前位置。 具有校正位置的当前输入图像的一部分是更新存储在存储单元中的模板图像的新模板图像。 代替单个模板图像，可以使用多个模板图像来进行模板匹配，以确保以更高的精度和稳定性跟踪对象。

公开(公告)号：US06445409B1

公开(公告)日：2002-09-03

申请号：US09362212

申请日：1999-07-28

申请人： Wataru Ito ,  Hirotada Ueda ,  Hiromasa Yamada

发明人： Wataru Ito ,  Hirotada Ueda ,  Hiromasa Yamada

IPC分类号： H04N718

CPC分类号： G08B13/19602 ,  G01S3/783 ,  G01S3/7865 ,  G08B13/19606 ,  G08B13/19608 ,  G08B13/1961 ,  H04N7/181

摘要： A moving object recognition method for recognizing a specified moving object in an input image signal in distinction from other objects, and a moving object tracking and monitoring apparatus using the method. One or more moving objects in the input image signal are sequentially detected by the subtraction method, the physical quantities of the detected moving objects are sequentially stored in a memory. Based on this physical quantities, one or more loci of the detected moving objects are determined. A group of physical quantities associated with each locus are stored in a memory as correlated information series of a moving object. Based on the information series thus stored, at least one of a plurality of classification methods is applied to each moving object for determining whether the moving object belongs to the specified moving object or other than the specified moving object. Thus, a detected moving object is recognized as to whether it is a specified moving object or not. A plurality of the classification methods include a method based on the continuity of the locus of a detected moving object, a method based on the smoothness of position change of the detected moving object and a method based on the size of the detected moving object.

摘要翻译： 一种移动物体识别方法，用于识别与其他物体不同的输入图像信号中的指定移动物体，以及使用该方法的移动物体跟踪和监测装置。 通过减法方法顺序地检测输入图像信号中的一个或多个运动对象，将检测到的运动对象的物理量依次存储在存储器中。 基于该物理量，确定检测到的移动物体的一个或多个轨迹。 与每个轨迹相关联的一组物理量作为移动物体的相关信息系列存储在存储器中。 基于这样存储的信息系列，将多个分类方法中的至少一个应用于每个移动对象，以确定移动物体是否属于指定的移动物体，或者不是指定的移动物体。 因此，检测到的移动物体是否被识别为是否是指定的移动物体。 多个分类方法包括基于检测到的移动物体的轨迹的连续性的方法，基于检测到的移动物体的位置变化的平滑度的方法和基于检测到的移动物体的尺寸的方法。

公开(公告)号：US06404455B1

公开(公告)日：2002-06-11

申请号：US09078521

申请日：1998-05-14

申请人： Wataru Ito ,  Hirotada Ueda ,  Toshimichi Okada ,  Miyuki Endo

发明人： Wataru Ito ,  Hirotada Ueda ,  Toshimichi Okada ,  Miyuki Endo

IPC分类号： H04N5225

CPC分类号： G08B13/19602 ,  G08B13/19604 ,  G08B13/19608 ,  G08B13/19628 ,  G08B13/19643 ,  G08B13/19689 ,  H04N7/181

摘要： A system for processing a tracking picture of an intruding object includes a first TV camera for outputting a video signal used for detecting the intruding object, a second TV camera for outputting a video signal used for monitoring a magnified tracking picture of the intruding object, and a picture processing device for processing and operating on the video signal inputted from the first TV camera and outputting a rotation control signal and a zooming control signal. The system detects a difference between the video signal inputted from the first TV camera and a reference background video signal, and a change of a detecting state from the change of the numbers of objects detected in the continuous input video signal.

摘要翻译： 用于处理入侵物体的跟踪图像的系统包括用于输出用于检测入侵物体的视频信号的第一TV摄像机，用于输出用于监视入侵物体的放大跟踪图像的视频信号的第二TV摄像机，以及 用于处理和操作从第一TV摄像机输入的视频信号并输出​​旋转控制信号和变焦控制信号的图像处理装置。 该系统检测从第一TV摄像机输入的视频信号与参考背景视频信号之间的差异，以及从连续输入视频信号中检测到的对象数量变化的检测状态的改变。

公开(公告)号：US07082209B2

公开(公告)日：2006-07-25

申请号：US09933164

申请日：2001-08-21

申请人： Wataru Ito ,  Hirotada Ueda ,  Toshimichi Okada

发明人： Wataru Ito ,  Hirotada Ueda ,  Toshimichi Okada

IPC分类号： G06K9/00

CPC分类号： G06T7/254

摘要： An object detecting method, object detecting apparatus and intruding object monitoring apparatus employing the object detecting method. A predetermined monitor area having no object to be detected is imaged by an imaging device and reference background sequential images are registered in advance in a storage unit. When monitoring, the predetermined monitor area is imaged by the imaging device while at the same time sequentially outputting the images frame by frame from the imaging device, a reference background image corresponding to the image from the imaging device is selected from the reference background sequential images, subtraction processing is carried out between the image from the imaging device and a corresponding reference background image, and the object detecting processing is carried out based on the result of subtraction processing.