US 12,591,980 B2 · Ground plane filtering of video events

Abstract

Methods, systems, and apparatus for ground plane filtering of video events are disclosed. A method includes obtaining a first set of images of a scene from a camera; determining a ground plane from the first set of images of the scene; obtaining a second set of images of the scene after the first set of images of the scene is obtained; determining that movement shown by a group of pixels in the second set of images of the scene satisfies motion criteria; determining that the ground plane corresponds with at least a portion of the group of pixels; and in response to determining that movement shown by the group of pixels in the second set of images of the scene satisfies motion criteria, and that the ground plane corresponds with at least a portion of the group of pixels, classifying the group of pixels as showing ground plane based motion.

Claims20

Dependent claims

A computer-implemented method comprising:

identifying a plurality of moving objects depicted in a set of images captured by a camera, the identifying comprising:
performing optical flow analysis on the set of images;
and
based on the optical flow analysis, identifying a plurality of pixel groups each having an optical flow magnitude that satisfies a threshold optical flow magnitude,
wherein each moving object of the plurality of moving objects is represented by a corresponding pixel group of the plurality of pixel groups;
identifying, from the plurality of moving objects:
a first subset of moving objects that are each represented by a pixel group that overlaps at least in part with a depiction of a surface in the set of images;
and
a second subset of moving objects that are each represented by a pixel group that does not overlap with the depiction of the surface in the set of images;
tracking, in subsequent images captured by the camera, motion of the first subset of moving objects;
and
determining not to track, in the subsequent images captured by the camera, motion of second subset of moving objects.

9 more elements

One or more non-transitory computer-readable media storing software comprising instructions executable by one or more computers which, upon such execution, cause the one or more computers to perform operations comprising:

identifying a plurality of moving objects depicted in a set of images captured by a camera, the identifying comprising:
performing optical flow analysis on the set of images;
and
based on the optical flow analysis, identifying a plurality of pixel groups each having an optical flow magnitude that satisfies a threshold optical flow magnitude,
wherein each moving object of the plurality of moving objects is represented by a corresponding pixel group of the plurality of pixel groups;
identifying, from the plurality of moving objects:
a first subset of moving objects that are each represented by a pixel group that overlaps at least in part with a depiction of a surface in the set of images;
and
a second subset of moving objects that are each represented by a pixel group that does not overlap with the depiction of the surface in the set of images;
tracking, in subsequent images captured by the camera, motion of the first subset of moving objects;
and
determining not to track, in the subsequent images captured by the camera, motion of second subset of moving objects.

9 more elements

A system comprising:

one or more computers and one or more computer storage media storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
identifying a plurality of moving objects depicted in a set of images captured by a camera, the identifying comprising:
performing optical flow analysis on the set of images;
and
based on the optical flow analysis, identifying a plurality of pixel groups each having an optical flow magnitude that satisfies a threshold optical flow magnitude,
wherein each moving object of the plurality of moving objects is represented by a corresponding pixel group of the plurality of pixel groups;
identifying, from the plurality of moving objects:
a first subset of moving objects that are each represented by a pixel group that overlaps at least in part with a depiction of a surface in the set of images;
and
a second subset of moving objects that are each represented by a pixel group that does not overlap with the depiction of the surface in the set of images;
tracking, in subsequent images captured by the camera, motion of the first subset of moving objects;
and
determining not to track, in the subsequent images captured by the camera, motion of second subset of moving objects.

10 more elements

Dependencies are inferred from the claim text.

Ground plane filtering of video events

Life of this patent

Ground plane filtering of video events

Life of this patent

Abstract

Claims20