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(12) United States Patent ao) Patent No.: Us 7,684,592 B2
Paul et al. (45) Date of Patent: Mar. 23,2010
(54) REALTIME OBJECT TRACKING SYSTEM
(75) Inventors: George V. Paul, Belleville, MI (US);
Glenn J. Beach, Brooklyn, MI (US);
Charles J. Cohen, Ann Arbor, MI (US);
Charles J. Jacobus, Ann Arbor, MI (US)
(73) Assignee: Cybernet Systems Corporation, Ann
Arbor, MI (US)
( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 178 days.
(21) Appl.No.: 12/013,717
(22) Filed: Jan. 14, 2008
(65) Prior Publication Data
US 2009/0116692 Al May 7, 2009
Related U.S. Application Data
(63) Continuation of application No. 09/798,594, filed on Mar. 2,2001, now abandoned, which is a continuationin-part of application No. 09/371,460, filed on Aug. 10, 1999, now Pat. No. 6,681,031.
(60) Provisional application No. 60/096,126, filed on Aug. 10, 1998, provisional application No. 60/186,474, filed on Mar. 2, 2000.
A real-time computer vision system tracks one or more objects moving in a scene using a target location technique which does not involve searching. The imaging hardware includes a color camera, frame grabber and processor. The software consists of the low-level image grabbing software and a tracking algorithm. The system tracks objects based on the color, motion and/or shape of the object in the image. A color matching function is used to compute three measures of the target's probable location based on the target color, shape and motion. The method then computes the most probable location of the target using a weighting technique. Once the system is running, a graphical user interface displays the live image from the color camera on the computer screen. The operator can then use the mouse to select a target for tracking. The system will then keep track of the moving target in the scene in real-time.
11 Claims, 4 Drawing Sheets
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