US5473369A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Object tracking apparatus
Assignee: Sony Corp
•
Filing: 1994-02-23
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Granted: 1995-12-05
•
Expires: 2014-02-23
Abstract
Abstract An object detecting and tracking apparatus detects a tracking target object from a moving image photographed by a television camera and tracks the same, wherein the movement of the object is detected reliably and with high accuracy to automatically track the target object. When tracking is started after putting the target object in a region designating frame "WAKU" displayed on a screen in such a way as to be variable in size and position, a video signal input from a photographic optical system is Y/C-separated. After that, the target object is specified from a tracking region histogram, and movement vectors are obtained from a color-time-space image, color-time-space differential image, and/or luminance-time-space image thereof, thereby making it possible to more reliably detect even the movement of varied objects as compared with the conventional block matching.
Inventors
- 👤 Keiko Abe
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-02 09:56
CPC Classifications
G; G01; G01S; G01S17/00; G06; G06T; G06T7/00; G06T7/20; G01S3/00; G01S3/78; G01S3/782; G01S3/785; G01S3/786; G01S3/7864
Claims Analysis
Total Claims: 46
Claim 1
Independent Claim
79 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image.
Claim 2
Dependent Claim
79 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image.
Claim 3
Dependent Claim
32 words
An object tracking apparatus according to claim 1, wherein: said control means controls the zooming of said photographing means based on the change of width of the locus of said time-space image.
Claim 4
Dependent Claim
32 words
An object tracking apparatus according to claim 1, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue.
Claim 5
Dependent Claim
53 words
An object tracking apparatus according to claim 1, further comprising: hue detecting means for detecting the hue of said video signal; and a color filter for filtering for said hue, wherein: said time-space image processing means calculates said time-space image with respect to the colors until upper n-th of said color filter output.
Claim 6
Dependent Claim
30 words
An object tracking apparatus according to claim 1, wherein: said control means judges crossing of target objects or disappearance from the screen, based on the locus of said time-space image.
Claim 7
Dependent Claim
54 words
An object tracking apparatus according to claim 5, wherein: said control means performs pattern-matching with the pattern of a target object region and the present screen, if occurred crossing of said target objects or disappearance from the screen, and judges re-appearance of said target object on the basis of the error of said pattern-matching.
Claim 8
Dependent Claim
42 words
An object tracking apparatus according to claim 1, wherein: said control means detects the first moving amount based on the locus of said time-space image, and controls said photographing means in the photographing direction on the basis of said first moving amount.
Claim 9
Dependent Claim
108 words
An object tracking apparatus according to claim 7, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue and the histogram of a luminance; said time-space image processing means generates a luminance-time-space image and a color-time-space image, with respect to the ranges having respectively higher frequency of the histogram of said hue and the histogram of said luminance; and said control means detects the second and third moving amounts based on the locus of said luminance-time-space image and color-time-space image, to detect said first moving amount corresponding to said second and third moving amounts.
Claim 10
Dependent Claim
98 words
An object tracking apparatus according to claim 7, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue; said time-space image processing means generates a color-time-space image and a color-time-space differential image, with respect to the range having higher frequency of the histogram of said hue; and said control means detects the second and third moving amounts based on the locus of said color-time-space image and said color-time-space differential image, to determine said first moving amount corresponding to said second and third moving amounts.
Claim 11
Dependent Claim
67 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image.
Claim 12
Dependent Claim
67 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image.
Claim 13
Dependent Claim
33 words
An object tracking apparatus according to claim 10, wherein: said control means controls the size of said designating region on the basis of change of width of the locus of said time-space image.
Claim 14
Dependent Claim
32 words
An object tracking apparatus according to claim 10, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue.
Claim 15
Dependent Claim
52 words
An object tracking apparatus according to claim 10, further comprising: hue detecting means for detecting the hue of said video signal; and a color filter for filtering for said hue, wherein: said time-space image processing means calculates said time-space image with respect to colors until upper n-th of said color filter output.
Claim 16
Dependent Claim
30 words
An object tracking apparatus according to claim 10, wherein: said control means judges crossing of target objects and disappearance from the screen, based on the locus of said time-space image.
Claim 17
Dependent Claim
54 words
An object tracking apparatus according to claim 14, wherein: said control means performs pattern-matching with the pattern of a target object region and the present screen, if occurred crossing of said target objects or disappearance from the screen, and judges re-appearance of said target object on the basis of the error of said pattern-matching.
Claim 18
Dependent Claim
36 words
An object tracking apparatus according to claim 10, wherein: said control means detects the first moving amount based on the locus of said time-space image, and moves said designating region corresponding to said first moving amount.
Claim 19
Dependent Claim
108 words
An object target apparatus according to claim 16, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histograms of said hue and the histogram of a luminance; said time-space image processing means generates a luminance-time-space image and a color-time-space image, with respect to the ranges having higher frequency respectively, of the histogram of said Hue and the histogram of said luminance; and said control means detects the second and third moving amounts based on the loci of said luminance-time-space image and color-time-space image, to determine said first moving amount corresponding to said second and third moving amounts.
Claim 20
Dependent Claim
98 words
An object target apparatus according to claim 16, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue; said time-space image processing means generates a color-time-space image and a color-time-space differential image, with respect to the range having higher frequency of the histogram of said hue; and said control means detects the second and third moving amounts based on the loci of said color-time-space image and said color-time-space differential image, to determine said first moving amount corresponding to said second and third moving amounts.
Claim 21
Dependent Claim
113 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; wherein said control means detects the first moving amount based on the locus of said time-space image, and controls said photographing means in the photographing direction on the basis of said first moving amount.
Claim 22
Dependent Claim
113 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; wherein said control means detects the first moving amount based on the locus of said time-space image, and controls said photographing means in the photographing direction on the basis of said first moving amount.
Claim 23
Dependent Claim
109 words
An object tracking apparatus according to claim 19, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue and the histogram of a luminance; said time-space image processing means generates a luminance-time-space image and a color-time-space image, with respect to the ranges having respectively higher frequency of the histogram of said hue and the histogram of said luminance; and said control means detects the second and third moving amounts based on the locus of said luminance time-space image and color-time-space image, to detect said first moving amount corresponding to said second and third moving amounts.
Claim 24
Dependent Claim
98 words
An object tracking apparatus according to claim 19, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue; said time-space image processing means generates a color-time-space image and a color-time-space differential image, with respect to the range having higher frequency of the histogram of said hue; and said control means detects the second and third moving amounts based on the locus of said color-time-space image and said color-time-space differential image, to determine said first moving amount corresponding to said second and third moving amounts.
Claim 25
Dependent Claim
103 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; wherein said control means controls the zooming of said photographing means based on the change of width of the locus of said time-space image.
Claim 26
Dependent Claim
103 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; wherein said control means controls the zooming of said photographing means based on the change of width of the locus of said time-space image.
Claim 27
Dependent Claim
102 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; and hue detecting means for detecting the hue of said video signal, wherein said histogram processing means calculates the histogram of said hue.
Claim 28
Dependent Claim
102 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; and hue detecting means for detecting the hue of said video signal, wherein said histogram processing means calculates the histogram of said hue.
Claim 29
Dependent Claim
101 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; wherein said control means judges crossing of target objects or disappearance from the screen, based on the locus of said time-space image.
Claim 30
Dependent Claim
101 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; and control means for controlling said photographing means based on the locus of said time-space image; wherein said control means judges crossing of target objects or disappearance from the screen, based on the locus of said time-space image.
Claim 31
Dependent Claim
54 words
An object tracking apparatus according to claim 24, wherein: said control means performs pattern-matching with the pattern of a target object region and the present screen, if occurred crossing of said target objects or disappearance from the screen, and judges re-appearance of said target object on the basis of the error of said pattern-matching.
Claim 32
Dependent Claim
121 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; control means for controlling said photographing means based on the locus of said time-space image; hue detecting means for detecting the hue of said video signal; and a color filter for filtering for said hue, wherein said time-space image processing means calculates said time-space image with respect to the colors until upper n-th of said color filter output.
Claim 33
Dependent Claim
121 words
An object tracking apparatus for tracking a target object within a designated region, comprising: photographing means for photographing an object, and generating a video signal; histogram processing means for calculating the histogram of said video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency of said histogram; control means for controlling said photographing means based on the locus of said time-space image; hue detecting means for detecting the hue of said video signal; and a color filter for filtering for said hue, wherein said time-space image processing means calculates said time-space image with respect to the colors until upper n-th of said color filter output.
Claim 34
Dependent Claim
95 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image; wherein said control means detects the first moving amount based on the locus of said time-space image, and moves said designating region corresponding to said first moving amount.
Claim 35
Dependent Claim
95 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image; wherein said control means detects the first moving amount based on the locus of said time-space image, and moves said designating region corresponding to said first moving amount.
Claim 36
Dependent Claim
108 words
An object tracking apparatus according to claim 27, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histograms of said hue and the histogram of a luminance; said time-space image processing means generates a luminance-time-space image and a color-time-space image, with respect to the ranges having higher frequency respectively, of the histogram of said hue and the histogram of said luminance; and said control means detects the second and third moving amounts based on the loci of said luminance-time-space image and color-time-space image, to determine said first moving amount corresponding to said second and third moving amounts.
Claim 37
Dependent Claim
98 words
An object tracking apparatus according to claim 27, further comprising: hue detecting means for detecting the hue of said video signal, wherein: said histogram processing means calculates the histogram of said hue; said time-space image processing means generates a color-time-space image and a color-time-space differential image, with respect to the range having higher frequency of the histogram of said hue; and said control means detects the second and third moving amounts based on the loci of said color-time-space image and said color-time-space differential image, to determine said first moving amount corresponding to said second and third moving amounts.
Claim 38
Dependent Claim
92 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image; wherein said control means controls the size of said designating region on the basis of change of width of the locus of said time-space image.
Claim 39
Dependent Claim
92 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image; wherein said control means controls the size of said designating region on the basis of change of width of the locus of said time-space image.
Claim 40
Dependent Claim
89 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; control means for controlling said designating region based on the locus of said time-space image; and hue detecting means for detecting the hue of said video signal, wherein said histogram processing means calculates the histogram of said hue.
Claim 41
Dependent Claim
89 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; control means for controlling said designating region based on the locus of said time-space image; and hue detecting means for detecting the hue of said video signal, wherein said histogram processing means calculates the histogram of said hue.
Claim 42
Dependent Claim
89 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image; wherein said control means judges crossing of target objects and disappearance from the screen, based on the locus of said time-space image.
Claim 43
Dependent Claim
89 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; and control means for controlling said designating region based on the locus of said time-space image; wherein said control means judges crossing of target objects and disappearance from the screen, based on the locus of said time-space image.
Claim 44
Dependent Claim
54 words
An object tracking apparatus according to claim 32, wherein: said control means performs pattern-matching with the pattern of a target object region and the present screen, if occurred crossing of said target objects or disappearance from the screen, and judges re-appearance of said target object on the basis of the error of said pattern-matching.
Claim 45
Dependent Claim
108 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; control means for controlling said designating region based on the locus of said time-space image; hue detecting means for detecting the hue of said video signal; and a color filter for filtering for said hue, wherein said time-space image processing means calculates said time-space image with respect to colors until upper n-th of said color filter output.
Claim 46
Dependent Claim
108 words
An object tracking apparatus for tracking a target object within designated region, comprising: histogram processing means for calculating the histogram of a video signal within designated region on the initial screen; time-space image processing means for obtaining a time-space image with respect to the range having higher frequency in said histogram; control means for controlling said designating region based on the locus of said time-space image; hue detecting means for detecting the hue of said video signal; and a color filter for filtering for said hue, wherein said time-space image processing means calculates said time-space image with respect to colors until upper n-th of said color filter output.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-12-04 | 1999-06-05 | 1999-12-05 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-12-04 | 2003-06-05 | 2003-12-05 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-12-04 | 2007-06-05 | 2007-12-05 | $7700.00 | Window Closed / Lapsed |