# US 11,029,710 B2 · Method and system for real-time tracking of a moving target object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,710 B2 - Document ID: US11029710B2 - Status: Granted - Kind: B2 - Application number: 16/275,519 - Filed: 2019-02-14 - Published: 2020-07-02 - Granted: 2021-06-08 - Earliest claimed: 2018-12-31 - Assignees: Wipro Limited - Applicants: Wipro Limited - Inventors: Ramakrishna Kashikar - Web page: https://patentgrep.com/patent/US11029710B2 ## CPC - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/12: Target-seeking control - G06V 10/273: {removing elements interfering with the pattern to be recognised} - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G06V 40/20: Movements or behaviour, e.g. gesture recognition (recognition of facial expressions G06V40/16) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Embodiments of present disclosure relates to method and system for real-time tracking of moving target object. Initially, occlusion in view of real-time tracking of moving target object is detected. Occlusion comprises one of complete occlusion and partial occlusion in the view. Further, upon detection and until moving target object is retraced by overcoming the occlusion, at least one subsequent movement of object tracking system for retracing the moving target object and direction of movement of the object tracking system is varied based on at least one subsequent movement. The at least one subsequent movement is determined based on at least one of one or more potential locations associated with moving target object, one or more preceding movements and one or more preceding positions of real-time tracking of moving target object, or movement data associated with occlusion. The present disclosure provisions dynamic retracing of moving target object with presence of occlusion. ## Claims ### Claim 1 A method of real-time tracking of a moving target object in an environment, the method comprising: detecting, by an object tracking system, an occlusion in a view of real-time tracking of a moving target object, wherein the occlusion comprises one of a complete occlusion and a partial occlusion in the view of the real-time tracking; and performing, by the object tracking system, upon the detection and until the moving target object is retraced by overcoming the occlusion, the steps of: determining, by the object tracking system, at least one subsequent movement of the object tracking system for retracing the moving target object, (i) based on predefined number of potential locations associated with the moving target object, during the complete occlusion, wherein the potential locations are historic data indicative of nearest locations visited by the moving target object from a current location in the environment; and (ii) based on one or more preceding movements and one or more preceding positions of the real-time tracking of the moving target object, and movement data associated with the occlusion, during the partial occlusion, wherein the one or more preceding movements and the one or more preceding positions of the moving target object are determined using Visual Simultaneous Localization and Mapping (VSLAM) technique that logs one or more paths and one or more locations associated with the moving target object, before the detection of occlusion; and varying, by the object tracking system, direction of movement of the object tracking system based on the at least one subsequent movement, for the real-time tracking of the moving target object. ### Claim 2 (depends on 1) The method as claimed in claim 1 further comprising determining, by the object tracking system, one or more subsequent locations associated with the moving target object, based on the direction of movement, wherein the one or more subsequent locations are used as the potential locations for the real-time tracking. ### Claim 3 (depends on 1) The method as claimed in claim 1, wherein during the complete occlusion, the at least one subsequent movement is determined based on the potential locations for varying the direction of movement of the object tracking system. ### Claim 4 (depends on 1) The method as claimed in claim 1, wherein when the partial occlusion is greater than a predefined threshold value, the at least one subsequent movement is determined based on the movement data associated with the occlusion, for varying the direction of movement of the object tracking system. ### Claim 5 (depends on 1) The method as claimed in claim 1, wherein when the partial occlusion is lesser than a predefined threshold value, the at least one subsequent movement is determined based on at least one of the one or more preceding positions and the one or more preceding movements, for varying the direction of movement of the object tracking system. ### Claim 6 An object tracking system for real-time tracking of a moving target object, the object tracking system comprising: a processor; and a memory communicatively coupled to the processor, wherein the memory stores processor-executable instructions, which, on execution, cause the processor to: detect an occlusion in a view of real-time tracking of a moving target object, wherein the occlusion comprises one of a complete occlusion and a partial occlusion in the view of the real-time tracking; and perform upon the detection and until the moving target object is retraced by overcoming the occlusion, the steps of: determining at least one subsequent movement of the object tracking system for retracing the moving target object, (i) based on potential locations associated with the moving target object, during the complete occlusion, wherein the potential locations are historic data indicative of nearest locations visited by the moving target object from a current location in the environment; and (ii) based on one or more preceding movements and one or more preceding positions of the real-time tracking of the moving target object, and movement data associated with the occlusion, during the partial occlusion, wherein the one or more preceding movements and the one or more preceding positions of the moving target object are determined using Visual Simultaneous Localization and Mapping (VSLAM) technique that logs one or more paths and one or more locations associated with the moving target object, before the detection of occlusion; and varying direction of movement of the object tracking system based on the at least one subsequent movement, for the real-time tracking of the moving target object. ### Claim 7 (depends on 6) The object tracking system as claimed in claim 6, the processor is further configured to determine one or more subsequent locations associated with the moving target object, based on the direction of movement, wherein the one or more subsequent locations are used as the potential locations for the real-time tracking. ### Claim 8 (depends on 6) The object tracking system as claimed in claim 6, wherein during the complete occlusion, the at least one subsequent movement is determined based on the potential locations for varying the direction of movement of the object tracking system. ### Claim 9 (depends on 6) The object tracking system as claimed in claim 6, wherein when the partial occlusion is greater than a predefined threshold value, the at least one subsequent movement is determined based on the movement data associated with the occlusion, for varying the direction of movement of the object tracking system. ### Claim 10 (depends on 6) The object tracking system as claimed in claim 6, wherein when the partial occlusion is lesser than a predefined threshold value, the at least one subsequent movement is determined based on at least one of the one or more preceding positions and the one or more preceding movements, for varying the direction of movement of the object tracking system. ### Claim 11 A non-transitory computer readable medium including instructions stored thereon that when processed by at least one processor cause a device to perform operations comprising: detecting an occlusion in a view of real-time tracking of a moving target object, wherein the occlusion comprises one of a complete occlusion and a partial occlusion in the view of the real-time tracking; and performing upon the detection and until the moving target object is retraced by overcoming the occlusion, the steps of: determining at least one subsequent movement of the object tracking system for retracing the moving target object, (i) based on potential locations associated with the moving target object, during the complete occlusion, wherein the potential locations are historic data indicative of nearest locations visited by the moving target object from a current location in the environment; and (ii) based on one or more preceding movements and one or more preceding positions of the real-time tracking of the moving target object, and movement data associated with the occlusion, during the partial occlusion, wherein the one or more preceding movements and the one or more preceding positions of the moving target object are determined using Visual Simultaneous Localization and Mapping (VSLAM) technique that logs one or more paths and one or more locations associated with the moving target object, before the detection of occlusion; and varying direction of movement of the object tracking system based on the at least one subsequent movement, for the real-time tracking of the moving target object. ### Claim 12 (depends on 11) The medium as claimed in claim 11 further comprising determining one or more subsequent locations associated with the moving target object, based on the direction of movement, wherein the one or more subsequent locations are used as the potential locations for the real-time tracking. ### Claim 13 (depends on 11) The medium as claimed in claim 11, wherein during the complete occlusion, the at least one subsequent movement is determined based on the potential locations for varying the direction of movement of the object tracking system. ### Claim 14 (depends on 11) The medium as claimed in claim 11, wherein when the partial occlusion is greater than a predefined threshold value, the at least one subsequent movement is determined based on the movement data associated with the occlusion, for varying the direction of movement of the object tracking system. ### Claim 15 (depends on 11) The medium as claimed in claim 11, wherein when the partial occlusion is lesser than a predefined threshold value, the at least one subsequent movement is determined based on at least one of the one or more preceding positions and the one or more preceding movements, for varying the direction of movement of the object tracking system.