# US 12,592,078 B2 · Video monitoring device, video monitoring system, video monitoring method, and storage medium storing video monitoring program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,592,078 B2 - Document ID: US12592078B2 - Status: Granted - Kind: B2 - Application number: 18/215,428 - Filed: 2023-06-28 - Published: 2023-10-26 - Granted: 2026-03-31 - Earliest claimed: 2021-02-22 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Jun Minagawa; Kohei Okahara; Kento Yamazaki - Web page: https://patentgrep.com/patent/US12592078B2 ## CPC - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G06T 7/292: Multi-camera tracking - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 10/26: Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion - G06V 10/761: {Proximity, similarity or dissimilarity measures} - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G06T 2207/10024: Color image - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06V 2201/07: Target detection - G08B 13/19608: {Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS ## Abstract A video monitoring device includes processing circuitry to acquire position information indicating a position of a mobile object; to command image capturing directions of a plurality of movable cameras provided at predetermined positions; to evaluate a viewability level of the mobile object in a video captured by each of the plurality of movable cameras based on the position of the mobile object and the positions of the plurality of movable cameras; to select a movable camera for use for image capturing of the mobile object from the plurality of movable cameras based on the viewability level; and to display the video of the mobile object captured by the selected movable camera, wherein the viewability level is evaluated based on an angular speed of swiveling of each of the plurality of movable cameras necessary for each of the plurality of movable cameras to keep sight of the mobile object. ## Claims ### Claim 1 A video monitoring device comprising: processing circuitry to acquire position information indicating a position of a mobile object as a moving target object; to command image capturing directions of a plurality of movable cameras provided at predetermined positions; to evaluate a viewability level of the mobile object in a video captured by each of the plurality of movable cameras based on the position of the mobile object and the positions of the plurality of movable cameras; to automatically select a movable camera for use for image capturing of the mobile object from the plurality of movable cameras based on the viewability level; to automatically control the selected movable camera so that the movable camera is directed toward the mobile object; and to display the video of the mobile object captured by the selected movable camera on a monitor screen, wherein the viewability level is evaluated based on an angular speed of swiveling of each of the plurality of movable cameras necessary for each of the plurality of movable cameras to keep sight of the mobile object, and wherein the processing circuitry automatically selects and controls the movable camera, based on the angular speed of swiveling of each of the plurality of movable cameras. ### Claim 2 (depends on 1) The video monitoring device according to claim 1, wherein the viewability level is evaluated based on the angular speed, and the viewability level increases with a decrease in the angular speed. ### Claim 3 (depends on 1) The video monitoring device according to claim 1, wherein the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on the angular speed and a distance between the position of the mobile object and the position of each of the plurality of movable cameras. ### Claim 4 (depends on 1) The video monitoring device according to claim 1, wherein the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on the angular speed and a feature level of the mobile object included in the video captured by each of the plurality of movable cameras, and the feature level is calculated as a similarity level between a vector of a desired image capturing direction and a vector of the image capturing direction of each of the plurality of movable cameras. ### Claim 5 (depends on 1) The video monitoring device according to claim 1, wherein the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on the angular speed, a distance between the position of the mobile object and the position of each of the plurality of movable cameras, and a feature level of the mobile object included in the video captured by each of the plurality of movable cameras, and the feature level is determined based on a predetermined part or a part designated by a user in the mobile object. ### Claim 6 (depends on 1) The video monitoring device according to claim 1, wherein the viewability level is evaluated based on the angular speed and an occlusion occurrence level corresponding to an occurrence time of occlusion occurring when each of the plurality of movable cameras keeps track of the mobile object for a predetermined time, and the viewability level increases with a decrease in the angular speed and with a decrease in the occlusion occurrence level. ### Claim 7 (depends on 6) The video monitoring device according to claim 6, wherein the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on the angular speed, the occlusion occurrence level, and a distance between the position of the mobile object and the position of each of the plurality of movable cameras. ### Claim 8 (depends on 6) The video monitoring device according to claim 6, wherein the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on the angular speed, the occlusion occurrence level, and a feature level of the mobile object included in the video captured by each of the plurality of movable cameras, and the feature level is calculated as a similarity level between a vector of a desired image capturing direction and a vector of the image capturing direction of each of the plurality of movable cameras. ### Claim 9 (depends on 6) The video monitoring device according to claim 6, wherein the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on the angular speed, the occlusion occurrence level, a distance between the position of the mobile object and the position of each of the plurality of movable cameras, and a feature level of the mobile object included in the video captured by each of the plurality of movable cameras, and the feature level is calculated as a similarity level between a vector of a desired image capturing direction and a vector of the image capturing direction of each of the plurality of movable cameras. ### Claim 10 (depends on 1) The video monitoring device according to claim 1, wherein a desired image capturing direction is determined and the viewability level of the mobile object in the video captured by each of the plurality of movable cameras is evaluated based on an operation performed on a user operation unit having a display function of displaying a model simulating the mobile object and an operation function of rotating the model according to a user operation. ### Claim 11 (depends on 1) A video monitoring system comprising: the video monitoring device according to claim 1; and the plurality of movable cameras. ### Claim 12 A video monitoring method executed by a computer, the method comprising: acquiring position information indicating a position of a mobile object as a moving target object; commanding image capturing directions of a plurality of movable cameras provided at predetermined positions; evaluating a viewability level of the mobile object in a video captured by each of the plurality of movable cameras based on the position of the mobile object and the positions of the plurality of movable cameras; automatically selecting a movable camera for use for image capturing of the mobile object from the plurality of movable cameras based on the viewability level; automatically controlling the selected movable camera so that the movable camera is directed toward the mobile object; and displaying the video of the mobile object captured by the selected movable camera on a monitor screen, wherein the viewability level is evaluated based on an angular speed of swiveling of each of the plurality of movable cameras necessary for each of the plurality of movable cameras to keep sight of the mobile object, and wherein the method further comprises automatically selecting and controlling the movable camera, based on the angular speed of swiveling of each of the plurality of movable cameras. ### Claim 13 (depends on 12) A non-transitory computer readable medium storing a video monitoring program that causes a computer to execute the video monitoring method according to claim 12.