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1. 发明授权

US06546115B1 Method of updating reference background image, method of detecting entering objects and system for detecting entering objects using the methods 有权
标题翻译：更新参考背景图像的方法，检测输入对象的方法和使用该方法检测输入对象的系统
公开(公告)号：US06546115B1
公开(公告)日：2003-04-08
申请号：US09392622
申请日：1999-09-09
申请人： Wataru Ito , Hiromasa Yamada , Hirotada Ueda
发明人： Wataru Ito , Hiromasa Yamada , Hirotada Ueda
IPC分类号： G06K900
CPC分类号： G08B13/19602 , G08B13/19604 , G08B13/19691
摘要： A method of updating a reference background image used for detecting objects entering an image pickup view field based on the binary image generated from the difference between an input image and the reference background image of the input image. The image pickup view field is divided into a plurality of view field areas, and a reference background image corresponding to each of the fixed divided view field areas is updated. An entering object detection apparatus using this method has an input image processing unit including an image memory storing an input image from an image input unit, a program memory storing the program for activating the entering object detecting unit, a work memory and a central processing unit activating the entering object detecting unit in accordance with the program. The processing unit has an entering object detecting unit determining intensity difference for each pixel between the input image and the reference background image not including an entering object to be detected and detecting an area with the difference larger than a predetermined threshold as an entering object, a dividing unit dividing the image pickup view field of the image input unit into a plurality of view field areas, an image change detecting unit detecting the change of the image in each of the divided view field areas, and a reference background image updating unit updating each portion of the reference background image corresponding to each of the divided view field areas associated with the portion of the input image free of the image change, wherein the entering object detecting unit detects entering objects based on the updated reference background image.
摘要翻译：基于从输入图像和输入图像的参考背景图像之间的差产生的二进制图像，更新用于检测输入图像拾取视野的物体的参考背景图像的方法。图像拾取视野区域被划分为多个视野区域，并且更新与每个固定分割视野区域相对应的参考背景图像。使用该方法的进入对象检测装置具有输入图像处理单元，其包括存储来自图像输入单元的输入图像的图像存储器，存储用于激活输入对象检测单元的程序的程序存储器，工作存储器和中央处理单元根据程序激活进入对象检测单元。处理单元具有进入对象检测单元，其确定输入图像与不包括要检测的输入对象的参考背景图像之间的每个像素的强度差，并且检测具有大于预定阈值的区域的区域作为输入对象，分割单元将图像输入单元的图像拾取视野区域划分为多个视野区域，检测每个分割视野区域中的图像的变化的图像变化检测单元以及更新每个分割视野区域的参考背景图像更新单元所述参考背景图像的对应于与所述图像变化的所述输入图像的所述部分相关联的每个分割视野区域的部分，其中，所述进入对象检测单元基于所更新的参考背景图像来检测输入对象。

2. 发明授权

US07035430B2 Intruding object detection method and intruding object monitor apparatus which automatically set a threshold for object detection 有权
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.

3. 发明授权

US06445409B1 Method of distinguishing a moving object and apparatus of tracking and monitoring a moving object 有权
标题翻译：区分运动物体的方法和跟踪和监视移动物体的装置
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。

4. 发明授权

US07400344B2 Object tracking method and object tracking apparatus 失效
标题翻译：物体跟踪方法和物体跟踪装置
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。

5. 发明授权

US06754367B1 Method and apparatus for automatically detecting intrusion object into view of image pickup device 失效
标题翻译：将入侵物体自动检测到图像拾取装置的视图中的方法和装置
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。

6. 发明授权

US07082209B2 Object detecting method and object detecting apparatus and intruding object monitoring apparatus employing the object detecting method 有权
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.

7. 发明申请

US20050052533A1 Object tracking method and object tracking apparatus 审中-公开
标题翻译：物体跟踪方法和物体跟踪装置
公开(公告)号：US20050052533A1
公开(公告)日：2005-03-10
申请号：US10933390
申请日：2004-09-03
申请人： Wataru Ito , Hirotada Ueda
发明人： Wataru Ito , Hirotada Ueda
IPC分类号： H04N7/18 , H04N5/232
CPC分类号： G01S3/7865 , G08B13/19608
摘要： An object tracking method and an object tracking apparatus for tracking an object in an image based on an image signal obtained from an image pickup device. At least one of the feature amounts including the position, size and the moving distance of the object in the image is detected, and based on the detection result, the image pickup lens of the image pickup device is controlled thereby to track the object. At the same time, the range of a partial area of the image is set based on the detection result, and the image of the partial area thus set is enlarged to a predetermined size and displayed on a monitor.
摘要翻译：一种物体跟踪方法和物体跟踪装置，用于基于从图像拾取装置获得的图像信号来跟踪图像中的对象。检测包括图像中的物体的位置，尺寸和移动距离的特征量中的至少一个，并且基于检测结果，控制图像拾取装置的图像拾取透镜以跟踪对象。同时，基于检测结果设定图像的局部区域的范围，并且将如此设置的部分区域的图像放大到预定大小并显示在监视器上。

8. 发明授权

US06812835B2 Intruding object monitoring method and intruding object monitoring system 失效
标题翻译：入侵物体监测方法和入侵物体监测系统
公开(公告)号：US06812835B2
公开(公告)日：2004-11-02
申请号：US09791725
申请日：2001-02-26
申请人： Wataru Ito , Hirotada Ueda
发明人： Wataru Ito , Hirotada Ueda
IPC分类号： G08B1300
CPC分类号： G08B13/19689 , G08B13/19604 , G08B13/19608 , G08B13/19643 , G08B13/19693 , H04N7/181
摘要： An intruding object monitoring method using an intruding object monitoring system having a first intruding object monitoring apparatus for monitoring a monitor area by inputting images of the area and at least one second intruding object monitoring apparatus for performing a following of an intruding object. By this method, first intruding object monitoring apparatus acquires detection information of an object intruding into the monitor area, the second intruding object monitoring apparatus captures the intruding object in accordance with the detection information supplied from the first intruding object monitoring apparatus. After the intruding object is captured, the second intruding object monitoring apparatus performs the following of the captured intruding object independently of the first intruding object monitoring apparatus.
摘要翻译：一种侵入物体监视方法，其使用具有第一入侵物体监视装置的入侵物体监视系统，用于通过输入该区域的图像和至少一个第二入侵物体监视装置来监视监视区域，用于执行以下入侵物体。通过该方法，第一入侵物监视装置获取侵入监视区域的物体的检测信息，第二入侵物监视装置根据从第一入侵物监视装置提供的检测信息捕获入侵物体。在入侵对象被捕获之后，第二入侵物监视装置独立于第一入侵物体监视装置执行捕获的入侵物体的以下。

9. 发明授权

US6108033A Method and system monitoring video image by updating template image 失效
标题翻译：方法和系统通过更新模板图像来监控视频图像
公开(公告)号：US6108033A
公开(公告)日：2000-08-22
申请号：US862918
申请日：1997-05-23
申请人： Wataru Ito , Hirotada Ueda , Toshimichi Okada
发明人： Wataru Ito , Hirotada Ueda , Toshimichi Okada
IPC分类号： G08B13/194 , G08B13/196 , H04N7/18
CPC分类号： G08B13/19602 , G08B13/19604 , G08B13/19608 , G08B13/19691 , H04N7/183
摘要： A difference between an input image including images of a background image picked up by an image pick-up unit and an object to be monitored is produced as an image of the object, the image of the object is divided into a plurality of parts and the plurality of divided image of the object are produced as a plurality of templates. Each of the plurality of templates is matched with a new input image and images of a plurality of parts in the new input image which have highest degrees of matching with the plurality of templates are used to update the plurality of templates to output a plurality of new templates. Each of the plurality of new templates is matched with a further new input image and images of a plurality of parts in the further new input image which have highest degrees of matching with the plurality of new templates are used to update the plurality of new templates to output a plurality of further new templates. In this manner, the plurality of templates are sequentially updated for the new input images to trace the object.
摘要翻译：产生包括由摄像单元拍摄的背景图像的图像和被监视对象的输入图像之间的差异作为对象的图像，将对象的图像划分为多个部分，并且生成多个分割图像的多个模板。多个模板中的每一个与新的输入图像匹配，并且使用与多个模板具有最高匹配度的新输入图像中的多个部分的图像来更新多个模板以输出多个新的模板。多个新模板中的每一个与另一新的输入图像匹配，并且使用与多个新模板具有最高匹配程度的另一新输入图像中的多个部分的图像来将多个新模板更新为输出多个另外的新模板。以这种方式，对于新的输入图像依次更新多个模板以跟踪对象。

10. 发明授权

US6088468A Method and apparatus for sensing object located within visual field of imaging device 失效
标题翻译：用于感测位于成像装置视野内的物体的方法和装置
公开(公告)号：US6088468A
公开(公告)日：2000-07-11
申请号：US646018
申请日：1996-05-07
申请人： Wataru Ito , Hirotada Ueda
发明人： Wataru Ito , Hirotada Ueda
IPC分类号： G06T7/20 , G06K9/00
CPC分类号： G06K9/00785 , G06T7/2053
摘要： An apparatus for sensing an object within an imaging field of an image pickup device includes a memory for storing data of a reference background picture of the imaging field, a device for inputting picture data from the image pickup device, a device for comparing the inputted picture data with the stored reference background picture data to detect a difference value between the inputted picture data and the stored reference background picture data, and to detect a polarity of the difference value, a converter for converting the difference value into binarization data based on a difference threshold value which is changed in response to the polarity of the difference value so that an object within the imaging field can be distinguished from an area of increased brightness within the imaging field and an area of increased darkness within the imaging field, a calculator for calculating a similarity between the inputted picture data and the stored reference background picture data, and a detector for sensing whether an object is within the imaging field based on the polarity of the difference value and the similarity.
摘要翻译：一种用于感测图像拾取装置的成像领域内的物体的装置包括存储器，用于存储成像场的参考背景图像的数据，用于从图像拾取装置输入图像数据的装置，用于比较输入图像的装置数据与所存储的参考背景图像数据进行比较，以检测所输入的图像数据和存储的参考背景图像数据之间的差值，并检测差值的极性;转换器，用于根据差值将差分值转换为二值化数据阈值，其响应于差值的极性而改变，使得可以将成像场内的物体与成像场内的亮度增加的区域和成像场内的增加的黑暗区域区分开;计算器，用于计算所输入的图像数据和存储的参考背景图像数据之间的相似度，以及a 检测器，用于基于差值的极性和相似度来感测物体是否在成像场内。

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