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WO2002017235A2 - Procede et appareil pour suivre un objet presentant un interet dans une image numerique - Google Patents

Procede et appareil pour suivre un objet presentant un interet dans une image numerique Download PDF

Info

Publication number
WO2002017235A2
WO2002017235A2 PCT/EP2001/009448 EP0109448W WO0217235A2 WO 2002017235 A2 WO2002017235 A2 WO 2002017235A2 EP 0109448 W EP0109448 W EP 0109448W WO 0217235 A2 WO0217235 A2 WO 0217235A2
Authority
WO
WIPO (PCT)
Prior art keywords
minor
camera
view
field
rotating
Prior art date
Application number
PCT/EP2001/009448
Other languages
English (en)
Other versions
WO2002017235A3 (fr
Inventor
Daphna Weinshall
Damian M. Lyons
Original Assignee
Koninklijke Philips Electronics N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics N.V. filed Critical Koninklijke Philips Electronics N.V.
Priority to JP2002521225A priority Critical patent/JP2004507189A/ja
Priority to KR1020027005304A priority patent/KR20020068330A/ko
Priority to EP01974195A priority patent/EP1314137A2/fr
Publication of WO2002017235A2 publication Critical patent/WO2002017235A2/fr
Publication of WO2002017235A3 publication Critical patent/WO2002017235A3/fr

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture

Definitions

  • the present invention relates to methods and apparatus for producing panoramic images, and more particularly, to a method and apparatus for tracking an object of interest in such panoramic images and zooming into desired portions of such panoramic images.
  • panoramic images have a field of view between 180 and 360 degrees.
  • Most techniques for generating panoramic images utilize a number of overlapping images that are aligned using well-known image processing techniques to create a single, integrated image.
  • image processing techniques see, for example, P. Anandan and P.J. Burt, "Image Stabilization by Registration to a Reference Mosaic," ARPA94(I:425-434), BibRef 9400, or P.
  • a number of techniques have been proposed or suggested for capturing the plurality of overlapping images that are used to generate the panoramic image.
  • a number of systems employ multiple cameras to record the multiple images. The multiple images are then processed to create the desired panoramic image. Since the relationship between the various cameras is typically fixed, the relationship between the images is also known. The problem with a multiple camera arrangement, of course, is the additional expense relative to a single camera implementation.
  • a number of systems obtain the plurality of images using a single camera.
  • International Patent Application Number WO 99/62252 discloses a video camera that rotates at a constant speed to capture video images of a panoramic scene of interest. The digital video file can then be processed to create the desired panoramic image.
  • Japanese Patent Application Number 11004373 obtains a 360-degree panoramic image using a fixed camera and a rotating mirror.
  • the mirror is mounted above the camera with a predefined tilt, such that the field of view of the mirror captures the desired panoramic scene as the mirror is rotated about an optical axis of the camera.
  • the individual overlapping images are then processed to create the desired panoramic image.
  • a number of techniques have been proposed or suggested for tracking objects in digital images, including panoramic images.
  • direct tracking is typically performed using a low-resolution image due to computational issues, and the portion of the image of interest can be magnified using a higher resolution image.
  • the tracking task maintains the target in the field of view of the camera so the operator can monitor the object of interest. In this manner, the operator can switch between a high resolution with a smaller field of view and a low resolution with a larger field of view, as desired.
  • the higher resolution image is typically obtained using a moving part, such as an additional mirror or camera, whose motion is controlled during a zoom operation, to magnify the region of interest.
  • Mitsubishi Electric America provides an omnidirectional vision system utilizing two mirrors.
  • a method and apparatus for tracking an object of interest in a digital image having at least one high resolution portion.
  • a shaped rotating mirror magnifies at least one portion of the field of view so that a stationary camera obtains a higher resolution image corresponding to the magnified region.
  • two stationary cameras with varying resolution are focused on a flat rotating mirror.
  • a first stationary camera having lower resolution produces the overall panoramic image
  • the second stationary camera having higher resolution produces the higher resolution image with a smaller field of view.
  • a rotating minor contains one magnifying region that magnifies a portion of the field of view, and one or more additional region(s) that reduce the remaining portions of the field of view.
  • the rotating minor is curved to produce regions of variable magnifying resolution.
  • the magnifying region that magnifies a portion of the field of view has a generally concave shape while reduction regions that reduce the remaining portions of the field of view have a convex shape.
  • a 360-degree panoramic image can be obtained using a first stationary camera and a flat rotating minor.
  • the flat rotating minor rotates about an optical axis of the camera.
  • the minor is mounted above the camera with a predefined tilt, such that the field of view of the minor captures the desired panoramic scene as the minor rotates.
  • a second camera having a higher resolution or higher zoom than the first camera is also utilized.
  • a second, semi-reflective minor is positioned along the optical axis. The semi-reflective minor transmits a predefined percentage of the reflected light to the first camera and reflects a predefined percentage of the reflected light to the second camera.
  • FIG. 1 illustrates a panoramic image tracking system in accordance with one embodiment of the present invention
  • FIGS. 2 A and 2B illustrate a front elevation view and a top elevation view, respectively, of one embodiment of the rotating minor of FIG. 1;
  • FIG. 3 illustrates a panoramic image tracking system in accordance with a two camera embodiment of the present invention
  • FIG. 4 is a flow chart describing an exemplary panorama tracking process incorporating features of the present invention.
  • FIG. 1 illustrates a panoramic image tracking system 100 in accordance with one embodiment of the present invention.
  • the present invention obtains a 360-degree panoramic image using a stationary camera 120 and a rotating mirror 200, discussed further below in conjunction with FIG. 2.
  • the stationary camera 120 is suspended in a room, defined by a ceiling 110 and two walls 115 a, 115b.
  • the rotating minor 200 rotates about an optical axis 130 of the camera 120.
  • the minor 200 is rotated using a passive, non-controllable motor that rotates about 360 degrees at a fixed speed.
  • the minor 200 is mounted above the camera 120 with a predefined tilt, such that the field of view 140 of the minor 200 captures the desired panoramic scene as the minor 200 is rotated about the camera 120.
  • the panoramic image tracking system 100 processes a sequence of images that can be processed using well-known image processing techniques to create the desired panoramic image.
  • the present invention provides a panoramic image having at least one high- resolution portion. According to one feature of the present invention, tracking is performed in a panoramic image without controllable moving hardware.
  • a shaped rotating minor 200 magnifies at least one portion of the field of view so that the stationary camera 120 obtains a higher resolution image conesponding to the magnified region.
  • two stationary cameras 120 with varying resolution are focused on a flat rotating minor 200.
  • a first stationary camera 120-1 having lower resolution produces the overall panoramic image
  • the second stationary camera 120-2 having higher resolution produces the higher resolution image with a smaller field of view. .
  • FIG. 2A is a front elevation view of an illustrative rotating minor 200 in accordance with the present invention.
  • the illustrative rotating minor 200 contains one magnifying region 220 that magnifies a portion of the field of view, and two regions 210a, 210b that reduce the remaining portions of the field of view.
  • the illustrative rotating minor 200 shown in FIG. 2A rotates along the horizontal axis, and the magnifying region 220 produces a vertical high-resolution band in each image.
  • FIG. 2B is a top elevation view of the illustrative rotating minor 200 of FIG. 2A.
  • the rotating mirror 200 is curved to produce regions of variable magnifying resolution.
  • the magnifying region 220 that magnifies a portion of the field of view has a generally concave shape while reduction regions 210a, 210b that reduce the remaining portions of the field of view, have a convex shape.
  • the magnifying region 220 is a high-resolution area that is obtained by magnifying the horizontal dimension and projecting a portion 240 of the field of view to an image strip wider than the field of view portion 240.
  • the reduction regions 210a, 210b are low resolution areas that are obtained by shrinking the horizontal dimension and projecting the corresponding portions 230a, 230b of the field of view to an image strip nanower than the field of view portions 230a, 230b.
  • the horizontal resolution in the image of portions 230a, 230b will be f/a pixels per panoramic degree
  • the horizontal resolution in the image of portion 240 will be fb pixels per panoramic degree, where f is a constant and both a and b are greater than one.
  • the stationary camera 120 captures the plurality of images that are used to generate the desired panoramic image.
  • Each image captures the entire field of view 140 (shown in FIGS. 1 and 2B), comprised of a high- resolution portion 240 and two low resolution portions 230a, 230b.
  • the high resolution portion 240 is sub-sampled to achieve the same resolution as the two low resolution portions 230a, 230b. Specifically, the high resolution portion 240 is sub-sampled by a factor of 1/ab.
  • the desired panoramic image is obtained as a low resolution image.
  • moving objects appear and may be tracked in the single low-resolution image.
  • tracking of objects of interest in a low-resolution image see, for example, D. Gutchess et al., "Automatic Surveillance Using Omni-Directional and Active Cameras” Proc. Asian Conference on Computer Vision 2000 (2000), or C. Wren et al., "Pfinder: Real-Time Tracking of the Human Body", IEEE. Trans. PAMI, 19(7) (1997), each incorporated by reference herein.
  • the rotation speed of the minor 200 and the horizontal width of the vertical band 240 are coordinated for a given implementation, such that a high resolution image is obtained for each portion of the overall field of view 140 for each rotation cycle of the minor 200. In this manner, the panoramic image is updated with each cycle of the minor rotation. A low resolution version of the entire panorama is maintained, as well as each of the adjacent high resolution vertical bands 240 conesponding to full panorama.
  • the conesponding high resolution vertical strip 240 is retrieved, and super-imposed on the low resolution image of the entire panorama. It is noted that the present invention allows any resolution between the low-resolution image and the high-resolution image by sub-sampling the high-resolution image to the desired resolution.
  • the field of view, however, for anything above the low resolution image is the smaller field of view of the high resolution image.
  • FIG. 3 illustrates a panoramic image tracking system 300 in accordance with the two-camera embodiment of the present invention.
  • the two-camera embodiment obtains a 360-degree panoramic image using a first stationary camera 320-1 and a flat rotating minor 325.
  • the first stationary camera 320-1 is suspended in a room, defined by a ceiling 310 and two walls 315 a, 315b.
  • the flat rotating minor 325 rotates about an optical axis 330 of the camera 320-1.
  • the minor 325 is rotated using a passive, non- controllable motor that rotates about 360 degrees at a fixed speed.
  • the minor 325 is mounted above the camera 320-1 with a predefined tilt, such that the field of view 340 of the minor 325 captures the desired panoramic scene as the minor 325 is rotated about the camera 320- 1.
  • the panoramic image tracking system 300 processes a sequence of images that can be processed using well-known image processing techniques to create the desired panoramic image.
  • a second camera 320-2 having a higher resolution or higher zoom than the first camera 320-1 is also utilized.
  • a second, semi-reflective minor 345 such as a half-silvered minor, is positioned along the optical axis 330.
  • the semi-reflective mirror 345 transmits a predefined percentage of the reflected light from minor 325 to camera 320-1 and reflects a predefined percentage of the reflected light from minor 325 to camera 320-2.
  • the first camera 320-1 captures a series of overlapping low-resolution images that can be integrated to obtain the panoramic image.
  • the second camera 320-2 captures a series of higher resolution images that can be utilized to zoom into a desired area of interest.
  • the higher resolution images captured by the second camera 320-2 are vertical bands, in a similar manner to the shaped minor embodiment discussed above.
  • FIG. 4 is a flow chart describing an exemplary panorama tracking process 400 incorporating features of the present invention.
  • the panorama tracking process 400 continuously captures a panoramic image with low resolution and strips of high resolution using the shaped minor or two camera embodiments discussed above during step 410.
  • the panorama tracking process 400 retrieves the corresponding high-resolution vertical strip 240 during step 420.
  • the retrieved high-resolution vertical strip 240 is then super-imposed during step 430 on the low-resolution image of the entire panorama.
  • the present invention allows any resolution between the low-resolution image and the high-resolution image by sub-sampling the high-resolution image to the desired resolution.
  • Program control then returns to step 410 to continue updating the panoramic image in real-time, until a new magnification region is selected.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Input (AREA)
  • Image Processing (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

L'invention concerne un procédé et un appareil permettant de suivre un objet présentant un intérêt dans une image numérique présentant au moins une partie à haute résolution. Dans un 'mode de réalisation à miroir profilé', un miroir rotatif profilé agrandit au moins une partie de l'angle de champ de telle sorte qu'une caméra fixe obtient une image à plus haut niveau de résolution correspondant à la région agrandie. Dans un 'mode de réalisation à deux caméras', deux caméras fixes de résolution différente sont focalisées sur un miroir rotatif plat. Une première caméra fixe de moindre résolution produit l'image panoramique d'ensemble et la seconde caméra fixe présentant un plus haut niveau de résolution produit l'image à plus haut niveau de résolution avec un angle de champ plus petit. Dans le mode de réalisation à miroir profilé, un miroir rotatif comprend une région grossissante qui agrandit une partie de l'angle de champ et des régions additionnelles qui réduisent les autres parties de l'angle de champ. Dans ce mode de réalisation, donné comme exemple, le miroir rotatif est bombé pour produire des régions à résolution d'agrandissement variable. Dans le mode de réalisation à deux caméras, donné comme exemple, une image panoramique couvrant 360 degrés est obtenue au moyen d'une première caméra fixe et d'un miroir rotatif plat. Une seconde caméra fixe présentant un plus haut niveau de résolution ou de zoom que la première caméra est également utilisée. Un miroir semi-réfléchissant transmet un pourcentage prédéfini de la lumière réfléchie à la première caméra et réfléchit un pourcentage prédéfini de la lumière réfléchie à la seconde caméra.
PCT/EP2001/009448 2000-08-25 2001-08-16 Procede et appareil pour suivre un objet presentant un interet dans une image numerique WO2002017235A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2002521225A JP2004507189A (ja) 2000-08-25 2001-08-16 デジタル画像における関心のある対象を追尾する方法及び装置
KR1020027005304A KR20020068330A (ko) 2000-08-25 2001-08-16 디지털 이미지 내의 관심 객체를 추적하기 위한 방법 및장치
EP01974195A EP1314137A2 (fr) 2000-08-25 2001-08-16 Procede et appareil pour suivre un objet presentant un interet dans une image numerique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US64810800A 2000-08-25 2000-08-25
US09/648,108 2000-08-25

Publications (2)

Publication Number Publication Date
WO2002017235A2 true WO2002017235A2 (fr) 2002-02-28
WO2002017235A3 WO2002017235A3 (fr) 2002-07-11

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PCT/EP2001/009448 WO2002017235A2 (fr) 2000-08-25 2001-08-16 Procede et appareil pour suivre un objet presentant un interet dans une image numerique

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EP (1) EP1314137A2 (fr)
JP (1) JP2004507189A (fr)
KR (1) KR20020068330A (fr)
CN (1) CN1404682A (fr)
WO (1) WO2002017235A2 (fr)

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FR2861525A1 (fr) * 2003-10-24 2005-04-29 Winlight System Finance Procede et dispositif de capture d'une image grand champ et d'une region d'interet de celle-ci
WO2005046240A1 (fr) * 2003-10-24 2005-05-19 Winlight System Finance Procede et dispositif de capture d'une image grand champ et d'une region d'interet de celle-ci
US7168618B2 (en) 2004-08-12 2007-01-30 International Business Machines Corporation Retail store method and system
EP1517545A3 (fr) * 2003-09-17 2008-09-17 Matsushita Electric Industrial Co., Ltd. Caméra de surveillance vidéo
CN100496122C (zh) * 2005-11-03 2009-06-03 中国科学院自动化研究所 利用单个摄像机进行主从视频跟踪的方法
US8019661B2 (en) 2007-11-26 2011-09-13 International Business Machines Corporation Virtual web store with product images
US8065200B2 (en) 2007-11-26 2011-11-22 International Business Machines Corporation Virtual web store with product images
US8253727B2 (en) 2008-03-14 2012-08-28 International Business Machines Corporation Creating a web store using manufacturing data
US8639563B2 (en) 2007-04-03 2014-01-28 International Business Machines Corporation Generating customized marketing messages at a customer level using current events data
US8775238B2 (en) 2007-04-03 2014-07-08 International Business Machines Corporation Generating customized disincentive marketing content for a customer based on customer risk assessment
US8812355B2 (en) 2007-04-03 2014-08-19 International Business Machines Corporation Generating customized marketing messages for a customer using dynamic customer behavior data
US8831972B2 (en) 2007-04-03 2014-09-09 International Business Machines Corporation Generating a customer risk assessment using dynamic customer data
US9031857B2 (en) 2007-04-03 2015-05-12 International Business Machines Corporation Generating customized marketing messages at the customer level based on biometric data
US9031858B2 (en) 2007-04-03 2015-05-12 International Business Machines Corporation Using biometric data for a customer to improve upsale ad cross-sale of items
US9092808B2 (en) 2007-04-03 2015-07-28 International Business Machines Corporation Preferred customer marketing delivery based on dynamic data for a customer
US9361623B2 (en) 2007-04-03 2016-06-07 International Business Machines Corporation Preferred customer marketing delivery based on biometric data for a customer
US9626684B2 (en) 2007-04-03 2017-04-18 International Business Machines Corporation Providing customized digital media marketing content directly to a customer
US9685048B2 (en) 2007-04-03 2017-06-20 International Business Machines Corporation Automatically generating an optimal marketing strategy for improving cross sales and upsales of items
US9846883B2 (en) 2007-04-03 2017-12-19 International Business Machines Corporation Generating customized marketing messages using automatically generated customer identification data
CN113596410A (zh) * 2021-08-24 2021-11-02 清华大学深圳国际研究生院 目标监控识别与跟踪摄像装置及方法

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CN103297661A (zh) * 2013-06-04 2013-09-11 四川艾普视达数码科技有限公司 具有定点细化摄像功能的红外监控装置
CN103676405A (zh) * 2013-12-02 2014-03-26 宇龙计算机通信科技(深圳)有限公司 光学成像装置、光学系统和移动终端
CN109729273A (zh) * 2019-01-21 2019-05-07 上海体育学院 图像采集方法、系统、装置、计算机设备和存储介质
US11948372B2 (en) * 2020-11-27 2024-04-02 Nissan Motor Co., Ltd. Vehicle assist method and vehicle assist device

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JPH114373A (ja) * 1997-06-11 1999-01-06 Nippon Telegr & Teleph Corp <Ntt> 全周パノラマ画像構成方法及び装置

Cited By (21)

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Publication number Priority date Publication date Assignee Title
EP1517545A3 (fr) * 2003-09-17 2008-09-17 Matsushita Electric Industrial Co., Ltd. Caméra de surveillance vidéo
US7649547B2 (en) 2003-09-17 2010-01-19 Panasonic Corporation Surveillance video camera with a plurality of sensitivity enhancing units
FR2861525A1 (fr) * 2003-10-24 2005-04-29 Winlight System Finance Procede et dispositif de capture d'une image grand champ et d'une region d'interet de celle-ci
WO2005046240A1 (fr) * 2003-10-24 2005-05-19 Winlight System Finance Procede et dispositif de capture d'une image grand champ et d'une region d'interet de celle-ci
US7168618B2 (en) 2004-08-12 2007-01-30 International Business Machines Corporation Retail store method and system
CN100496122C (zh) * 2005-11-03 2009-06-03 中国科学院自动化研究所 利用单个摄像机进行主从视频跟踪的方法
US8775238B2 (en) 2007-04-03 2014-07-08 International Business Machines Corporation Generating customized disincentive marketing content for a customer based on customer risk assessment
US9361623B2 (en) 2007-04-03 2016-06-07 International Business Machines Corporation Preferred customer marketing delivery based on biometric data for a customer
US9846883B2 (en) 2007-04-03 2017-12-19 International Business Machines Corporation Generating customized marketing messages using automatically generated customer identification data
US8639563B2 (en) 2007-04-03 2014-01-28 International Business Machines Corporation Generating customized marketing messages at a customer level using current events data
US9685048B2 (en) 2007-04-03 2017-06-20 International Business Machines Corporation Automatically generating an optimal marketing strategy for improving cross sales and upsales of items
US8812355B2 (en) 2007-04-03 2014-08-19 International Business Machines Corporation Generating customized marketing messages for a customer using dynamic customer behavior data
US8831972B2 (en) 2007-04-03 2014-09-09 International Business Machines Corporation Generating a customer risk assessment using dynamic customer data
US9031857B2 (en) 2007-04-03 2015-05-12 International Business Machines Corporation Generating customized marketing messages at the customer level based on biometric data
US9031858B2 (en) 2007-04-03 2015-05-12 International Business Machines Corporation Using biometric data for a customer to improve upsale ad cross-sale of items
US9092808B2 (en) 2007-04-03 2015-07-28 International Business Machines Corporation Preferred customer marketing delivery based on dynamic data for a customer
US9626684B2 (en) 2007-04-03 2017-04-18 International Business Machines Corporation Providing customized digital media marketing content directly to a customer
US8065200B2 (en) 2007-11-26 2011-11-22 International Business Machines Corporation Virtual web store with product images
US8019661B2 (en) 2007-11-26 2011-09-13 International Business Machines Corporation Virtual web store with product images
US8253727B2 (en) 2008-03-14 2012-08-28 International Business Machines Corporation Creating a web store using manufacturing data
CN113596410A (zh) * 2021-08-24 2021-11-02 清华大学深圳国际研究生院 目标监控识别与跟踪摄像装置及方法

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Publication number Publication date
JP2004507189A (ja) 2004-03-04
CN1404682A (zh) 2003-03-19
EP1314137A2 (fr) 2003-05-28
WO2002017235A3 (fr) 2002-07-11
KR20020068330A (ko) 2002-08-27

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