Object-Tracking System

A positioning system, comprising:

• a camera, wherein the camera is oriented in accordance with a current pan, tilt, and/or zoom (PTZ) configuration, and wherein the camera is configured to capture an image while oriented in accordance with the current PTZ configuration;
• a processor configured to process the image using a computer vision technique;
• a controller configured to receive a current PTZ configuration from the camera, develop a new PTZ configuration, and communicate the new PTZ configuration to the camera;
• a detector configured to detect a moveable object within the image, wherein the moveable object is detected using a bounding box and a detection algorithm selected from a library of object detection algorithms, wherein the selection is based on a type of object being detected, and wherein the detector is configured to deactivate a detection algorithm if it is no longer compatible with the type of object being detected;
• and
• a state estimator configured to store a current estimated position of a user and calculate a new estimated position of the user based on the type of object, an estimated location of the moveable object, and a stored map, wherein the stored map includes the estimated location of the moveable object relative to the current estimated position.

A method for visually localizing an individual, the method comprising the steps of:

• capturing an image via a camera using a first pan, tilt, and/or zoom (PTZ) configuration;
• processing the image to determine an appropriate detection algorithm;
• selecting the appropriate detection algorithm from a library of detection algorithms;
• detecting an object within the image using the detection algorithm, wherein the detection algorithm circumscribes the object with a bounding box;
• determining whether the object is moving or stationary;
• in response to determining the object is stationary:
• estimating a position of the object in relation to one of a user or other objects, wherein the position is estimated using a Kalman filter and inertial measurements from an inertial measurement unit (IMU), and
• storing the position of the object in a map memory;
• determining a second PTZ configuration;
• and
• orientating the camera in accordance with the second PTZ configuration.