KR101136366B1 - Auto object tracking system - Google Patents

Abstract

The present invention relates to an automatic object tracking system. More specifically, the object detected by the fixed camera is zoomed in using the dome camera and automatically tracked through image processing, and when the tracking range is exceeded, the object tracking continues by tracking information of the object to the neighboring dome camera. It's about the system.
The automatic object tracking system according to an embodiment of the present invention arranges at least one or more to communicate in a wired or wireless manner with a camera unit for tracking an object moving in the first area while capturing a first area in real time. It includes an object tracking unit that shares information about moving objects with each other, stores information about moving objects, and provides them to the control center.

Description

Object tracking system {Auto object tracking system}

The present invention relates to an automatic object tracking system. More specifically, the object detected by the fixed camera is zoomed in using the dome camera and automatically tracked through image processing, and when the tracking range is exceeded, the object tracking continues by tracking information of the object to the neighboring dome camera. It's about the system.

As the security camera tracks the object from a long distance as it sees a wide range, the image is small, and in case of illegal invaders, it is difficult to grasp the detailed action and responds to the tracking failure or deviation from the surveillance range caused by the terrain. Many problems have arisen.

The present invention automatically zooms in on an object detected by a fixed camera using a dome camera and automatically tracks it through image processing. The purpose is to provide.

In addition, another object of the present invention, and automatically performs the pan tilt function without a user manual operation, and automatically responds to tracking failure or deviation of the monitoring range by blind spots caused by the feature in the detailed tracking using the dome camera To provide an object tracking system.

The automatic object tracking system according to an embodiment of the present invention arranges at least one or more to communicate in a wired or wireless manner with a camera unit for tracking an object moving in the first area while capturing a first area in real time. It includes an object tracking unit that shares information about moving objects with each other, stores information about moving objects, and provides them to the control center.

In addition, the camera unit fixedly captures the first area in real time and compares the image data with the previous image data so as to first distinguish between the fixed camera and the first area which distinguish the static image without moving and the dynamic image among the first region. It may include a first dome camera to the ninth dome camera to take a photographed by dividing the sensing area to the ninth sensing area to control the size of the object while moving along the moving object.

In addition, when the moving object moves from the first sensing area to the neighboring second sensing area or the third sensing area, the first dome camera photographing the first sensing area is the second dome camera or third photographing the second sensing area. It may include providing information about the object to the third dome camera for photographing the sensing area.

Also, the first to ninth dome cameras may include controlling the moving object to be in the center of the screen through a pan tilt, zoom in or zoom out function.

The object tracking unit may include receiving image data of the first area provided from the fixed camera and providing the first dome camera to the ninth dome camera.

In addition, the object tracking unit may include tracking the object by one of the first dome camera to the ninth dome camera installed at the position closest to the position where the object is first detected from the fixed camera.

The object tracking unit may provide information about a dynamic image among image data of the first to ninth sensing regions to neighboring first to ninth dome cameras and store information on the dynamic image. It may include.

In addition, the position data of the object among the information on the dynamic image may include being calculated based on the image data provided by the fixed camera.

In addition, the object tracking unit analyzes information about the stored dynamic image when the object to be tracked is out of the first to ninth sensing areas or enters the blind area of the first area, and analyzes information on the stored dynamic image to be installed at the first dome camera to the nearest position. At least one of the nine dome cameras may include continuing tracking.

In addition, the object tracking unit may include terminating the tracking of the object when the object to be tracked leaves the first area.

According to the automatic object tracking system according to an embodiment of the present invention, the following effects can be obtained.

First, it has the effect of automatically tracking intruders entering the surveillance area.

Second, even if the object being tracked out of the surveillance range of the dome camera performing the detailed tracking has another effect, it can take over and respond to another dome camera.

1 is for explaining an automatic object tracking system according to an embodiment of the present invention.
2A to 2J illustrate the operation of the automatic object tracking system according to an embodiment of the present invention.
3 is for explaining the operation flow of the fixed camera according to an embodiment of the present invention.
4 is for explaining the operation flow of the dome camera according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The details of other embodiments are included in the detailed description and drawings. Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. Like reference numerals refer to like elements throughout.

1 is for explaining the automatic object tracking system according to an embodiment of the present invention, Figures 2a to 2j for explaining the operation of the automatic object tracking system according to an embodiment of the present invention, Figure 3 It is for explaining the operation flow of the fixed camera according to an embodiment of the present invention. 4 is for explaining the operation flow of the dome camera according to an embodiment of the present invention.

1, the automatic object tracking system according to an embodiment of the present invention includes a camera unit 100 and an object tracking unit 200.

The camera unit 100 is configured to track at least one or more moving objects in the first area A while photographing the first area A in real time. The camera unit 100 is configured to include a fixed camera 110 and the dome camera 120.

The fixed camera 110 and the 100 are fixedly photographing the first area A in real time and comparing the image data with the previous image data, thereby moving the static image without moving in the first region A and the moving image. To distinguish. The fixed camera 110 compares the image data with the previous image data, detects a static image without movement as a facility structure, a building, a road or a plant in the first area A, classifies it as a background image, and moves the dynamic image. Phosphorus image is detected by a moving means including a person, an animal, a vehicle, etc., and classified into an object. Here, the first area A is a surveillance area. That is, the first area A captured by the fixed camera 110 may be a surveillance area in which the fixed camera 110 captures a predetermined area. As such, the fixed camera that serves as a surveillance role may be installed to photograph the entire area in a fixed manner, or may be fixedly installed in a cultural property, a park, a bank, a building, or the like.

In addition, the fixed camera is electrically connected to the object tracking unit 200 by wire or wirelessly and transmits the image data for the first area (A) currently photographed to the object tracking unit 200, and detects a moving object Object data such as the position of the detected object is transmitted to the object tracking unit 200 in real time.

The dome camera 120 may include at least one, and may include the first dome camera 120a to the ninth dome camera 120i. The number of the dome cameras 120 is not limited thereto, and the number of the dome cameras 120 may be arranged according to the surveillance area which is the first area A captured by the fixed camera 110 or the rectangular area located in the first area A. FIG. That is, by placing the dome camera 120 at various angles and positions in the area where the fixed camera 110 is fixed and photographing, the rectangular area of the moving object can be minimized and the object can be monitored at various angles. Accordingly, more information and location information about the object can be secured.

The first dome camera 120a to the ninth dome camera 120i divide the first area A into the first detection area a to the ninth detection area i and photograph the first area A while moving along the moving object. To control the size. The first dome camera 120a to the ninth dome camera 120i are disposed near the fixed camera 110 around the fixed camera 110. That is, the first dome cameras 120a to ninth dome cameras 120i divide and detect the first area A captured by the fixed camera 110 into nine areas, and the first dome camera 120a includes the first dome camera 120a. The first sensing area a is detected, and the second dome camera 120b detects the second sensing area b,. The ninth dome camera 120i detects the ninth sensing region i.

In addition, the first dome camera (120a) to the ninth dome camera (120i) is electrically connected to the object tracking unit 200 by wire or wirelessly to the first sensing area (a) to the ninth sensing area (i). When the moving object is detected, the object data such as the position of the detected object may be transmitted to the object tracking unit 200 in real time.

The object tracking unit 200 communicates with at least one camera unit 100 by wire or wirelessly and shares information about moving objects with each other, stores information about moving objects, and provides the information to the control center 300. . The object tracking unit 200 is electrically connected to the fixed camera 110 and the first dome camera 120a to the ninth dome camera 120i by wire or wirelessly. Accordingly, the object tracking unit 200 receives and stores object data which is image data transmitted from the fixed camera 110 or image data transmitted from the first dome camera 120a to the ninth dome camera 120i. The fixed camera 110 or the first dome camera 120a to the ninth dome camera 120i may be provided to the fixed camera 110 or the first dome camera 120a to the ninth dome camera 120i. Can be. Accordingly, the object tracker 200 neighbors the first dome camera 120a to the ninth dome with information about a dynamic image among the image data of the first sensing area a to the ninth sensing area i. It is provided to the camera 120i, and stores information about the dynamic image. As such, through the object tracking unit 200, the fixed camera 110 and the neighboring first dome cameras 120a to ninth dome cameras 120i share information about the object with each other, thereby providing information on the object. Can be analyzed and predicted faster.

In addition, the object tracking unit 200 detects a second sensing contacting the first dome camera 120a with the first sensing area a when the first sensing area a and the second sensing area b are adjacent to each other. A part of the area b may be photographed, and the second dome camera 120b may be photographed at the same time as the first dome camera 120a and the second detection area b that contacts the first detection area a. . As such, the first dome camera 120a and the second dome camera 120b overlap and photograph a portion of the second sensing area b that contacts the first sensing area a at substantially the same time, thereby moving the object. You can get more information about, so you can track moving objects more accurately.

In addition, it can be provided in real time to the control center 300 so that the user can view the image data in real time.

Referring to Figure 2a to Figure 2j, it shows the operation of the automatic object tracking system according to an embodiment of the present invention. In other words, it describes the installation of the automatic object tracking system in Sungnyemun gate located in Seoul as an example.

First, FIG. 2A illustrates that the fixed camera 110 captures the surveillance area that is the first area A in a fixed manner. That is, the fixed camera 110 is fixedly photographed Sungnyemun Gate, which is the first area A located in Seoul, and the dome camera 120 is disposed throughout Sungnyemun Gate. At this time, the fixed camera 120 is to shoot the Sungnyemun fixed, and to provide the image data to the object tracking unit 200. In this case, the Sungnyemun without motion in the first area A becomes a static image.

In addition, the object tracking unit 200 receives and stores the image data, and transmits the image data to the first dome camera 120a to the ninth dome camera 120i and the control center 300. Accordingly, the fixed camera 110 and the first dome camera 120a to the ninth dome camera 120i may share image data with each other.

2B illustrates that the fixed camera 110 captures a surveillance area that is the first area A, detects a moving image by comparing image data with previous image data, and classifies the image into an object. Accordingly, in FIG. 2B, when a person approaches the Sungnyemun gate, the person is detected as a dynamic image. In other words, man becomes an object.

When the moving image is detected as such, the object is tracked. In this case, one of the first dome camera 120a to the ninth dome camera 120i disposed closest to the object may track the object. That is, the object tracking unit 200 provided with the image data includes one of the first dome camera 120a to the ninth dome camera 120i installed at the position closest to the position where the object is first detected from the fixed camera 110. To keep track of objects. In FIG. 2B, the first dome camera 120a installed at the position nearest to the object tracks the object. Accordingly, the positional data about the object is provided to the object tracking unit 200 in real time through the first dome camera 120a until the object leaves the first detection area a.

2C to 2H show that the object continues to move in the first area A. FIG. That is, the dome camera is provided with image data and continuously tracks the object until the object appears around the Sungnyemun from the outside, approaches the Sungnyemun, and goes out again through the Sungnyemun gate. In other words, when the moving object moves from the first sensing region a to the neighboring second sensing region b or the third sensing region c, the first dome camera 120a photographing the first sensing region a. ) Provides information about the object to the second dome camera 120b photographing the second sensing region b or the third dome camera 120c capturing the third sensing region c. At this time, the information about the object includes the position data of the object.

In addition, the first dome camera 120a to the ninth dome camera 120i control the moving object to be centered on the screen through a pan tilt, zoom in or zoom out function. That is, one of the first dome camera 120a to the ninth dome camera 120i disposed closest to the object while the object moves to Sungnyemun monitors the object and controls the moving object to be in the center of the screen. . In this way, by controlling the moving object to be in the center of the screen, the behavior of the object can be observed more closely. As a result, information about the object can be easily and accurately identified. In this case, the first dome camera 120a to the ninth dome camera 120i adjust the pan tilt, zoom in, or zoom out so that the object is in the center of the video screen where the object is photographed without a user's manual operation.

In addition, two dome cameras of the first dome camera 120a to the ninth dome camera 120i disposed at the closest distance to the object or the best position for monitoring the object while the object moves to Sungnyemun gate may be one object. You can shoot at the same time. That is, the third dome camera 120c and the fourth dome camera 120d disposed at different positions may simultaneously photograph the objects. As such, by simultaneously photographing an object moving in the first area A with the third dome camera 120c and the fourth dome camera 120d disposed at different positions, the object can be tracked at various angles. You can get more information. In addition, even when the object moves to a blind spot in the first area A or a sudden situation occurs in the object, the object can be quickly tracked to keep track of the object.

In addition, the position data of the object of the information on the dynamic image is calculated based on the image data provided by the fixed camera (110). As such, the position of the object is based on the fixed image data provided by the fixed camera 110 rather than the image data provided by the first dome camera 120a to the ninth dome camera 120i. Can be easily identified to share information faster. Accordingly, the moving object in the entire first area A can be more easily tracked.

2I and 2J analyze information about the stored dynamic image when the object to be tracked is out of the first sensing area (a) to the ninth sensing area (i) or enters the blind area of the first area (A). At least one of the first dome camera 120a to the ninth dome camera 120i provided at a close position continues to track. That is, when the object suddenly disappears, the object tracking unit 200 analyzes information about the dynamic image stored therein and at least one of the first dome camera 120a to the ninth dome camera 120i installed at the closest position. The dome camera 120 will continue to track the object. In this case, the object tracking unit 200 stops tracking the object when the object to be tracked leaves the first area A, but continues to monitor the object. That is, the object tracking unit 200 continuously attempts to track the object by analyzing and predicting information on the dynamic image stored therein until the object to be tracked leaves the first area A.

If the object leaves the surveillance area of the dome camera 120, the dome camera 120 stops tracking the object. If the object leaves the first area, the fixed camera 110 also stops tracking the object. Surveillance is to continue.

Referring to Figure 3, it shows the operation flow of the fixed camera according to an embodiment of the present invention as a block.

First, the object tracking unit 200 receives image data corresponding to the captured image of the surveillance area from the fixed camera (S100).

Thereafter, the image screen is corrected in a predetermined manner (S110). In other words, the video screen is input to preprocess the video screen. In this case, the received image data may be a black and white image or a color image. The preprocessing of the video screen can make the brightness of the video data uniform and remove the noise. Accordingly, it is possible to more easily detect a change to an object moving through the first dome camera 120a to the ninth dome camera 120i.

Thereafter, the static image and the dynamic image are distinguished (S120). That is, the corrected image screen may be compared with the image data which is the current frame photographed by the fixed camera of the previous image data which is the previous frame. In this case, the previous frame to be compared may be one or more starting from the previous one. The difference between the video screen shot in the previous frame and the video screen shot in the current frame is a changed part, which is divided into a dynamic image, and the unchanged part is processed as a static image. Accordingly, the static image may be a background image such as a road without movement and facility structures and plants around the road, and the dynamic image may be an object that is a means of transportation such as people, animals, and vehicles.

Then, it is determined whether the object is detected in the first area A (S130).

Afterwards, when the object is detected, the tracking is performed with the dome camera (S140). That is, when an object is detected in the first area A, detailed tracking is performed with the dome camera nearest to the position detected by the first fixed camera 110. At this time, the zoom-in function can be used by the dome camera to observe the behavior of the object in more detail.

Referring to Figure 4, it shows the operation flow of the dome camera according to an embodiment of the present invention as a block.

The dome camera receives the image data from the object tracking unit 200 to track (S200).

Then, the dome camera 120 is to provide information about the object to the object tracking unit 200 in real time (S210). That is, detailed tracking data of the object is transmitted from the dome camera to the object tracking unit 200.

In this case, the detailed tracking data of the object may be image data photographed by the dome camera. The object tracking unit 200 may analyze and record the feature data including the current position data of the object from the image data. At this time, the position data of the object is to calculate the position value of the object based on the first area A, which is the entire surveillance region, not the position in the image data photographed by the dome camera. Accordingly, the moving object in the entire first area A can be more easily tracked.

Thereafter, it may be determined whether the tracking object is out of the sensing area (S220).

Thereafter, it may be determined whether the tracking object is out of the first area A, which is the entire surveillance area, in operation S230.

When entering the rectangular area of the first area A, the dome camera 120 installed in the nearest position is analyzed and analyzed for information on the stored dynamic image (S240). That is, when the object suddenly disappears, the object tracking unit 200 analyzes the information on the dynamic image stored therein to continuously track the object with the dome camera 120 installed at the nearest position.

Thereafter, when the tracking object leaves the first area A, the tracking of the object is terminated (S250).

As described so far, the automatic object tracking system of the present invention continuously attempts to track an object by analyzing and predicting information on the dynamic image stored therein until the tracking object leaves the first area A.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

Rather, it will be apparent to those skilled in the art that many changes and modifications to the present invention are possible without departing from the spirit and scope of the appended claims.

Accordingly, all such suitable changes and modifications and equivalents should be considered to be within the scope of the present invention.

100: camera unit 110: fixed camera
120: dome camera 120a: first dome camera
120b: second dome camera 120c: third dome camera
120d: fourth dome camera 120e: fifth dome camera
120f: Sixth dome camera 120g: Seventh dome camera
120h: 8th dome camera 120i: 9th dome camera
200: object tracking unit 300: control center
A: first region
a: first sensing area b: second sensing area
c: third sensing region d: fourth sensing region
e: fifth sensing region f: sixth sensing region
g: seventh sensing area h: eighth sensing area
i: 9th detection area

Claims (10)

A camera unit for arranging at least one or more to capture a first area in real time while tracking an object moving in the first area; and
And an object tracking unit which shares information on the moving object while communicating with at least one of the camera units in a wired or wireless manner, stores information on the moving object, and provides the information to the control center.
The camera unit
A fixed camera for capturing the first region in real time and comparing the image data with previous image data to distinguish between a static image having no movement and a moving dynamic image among the first region;
And a first dome camera to a ninth dome camera configured to control the size of the object while photographing the first area divided into first to ninth sensing areas and moving along the moving object. delete The method according to claim 1,
When the moving object moves from the first sensing area to the neighboring second sensing area or the third sensing area, the first dome camera photographing the first sensing area is configured to photograph the second sensing area. 2. The automatic object tracking system for providing information about the object to the third dome camera photographing the dome camera or the third detection area. The method of claim 3,
The first dome camera to the ninth dome camera is an automatic object tracking system that controls the moving object through the pan tilt, zoom in or zoom out function to the center of the screen. The method according to claim 3 or 4,
The object tracking unit receives the image data for the first area provided from the fixed camera and provides the object dome camera to the first dome camera to the ninth dome camera. The method of claim 5,
And the object tracking unit tracks the object by one of the first dome camera or the ninth dome camera installed at a position closest to a position where the object is first detected from the fixed camera. The method of claim 6,
The object tracking unit provides information about a dynamic image among the image data of the first to the ninth sensing regions to the neighboring first dome camera to the ninth dome camera, and provides information on the dynamic image. Object tracking system that stores information about the system. The method of claim 7, wherein
The positional data of the object among the information on the dynamic image is calculated automatically based on the image data provided by the fixed camera object tracking system. The method of claim 8,
The object tracking unit analyzes the information on the stored dynamic image when the object to be tracked is out of the first to ninth sensing areas or enters the blind area of the first area, and analyzes the information on the stored dynamic image at the nearest position. At least one of the dome camera to the ninth dome camera continuously tracking object tracking system. 10. The method of claim 9,
The object tracking unit automatically tracks the object if the tracking object is out of the first area.

Images