Method and apparatus for detecting and tracking vehicles
AssigneeSRI International
InventorsJiangjian Xiao, Harpreet Singh Sawhney, Hui Cheng
Life of this patent
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Abstract
The present invention relates to a method and apparatus for detecting and tracking vehicles. One embodiment of a system for detecting and tracking an object (e.g., vehicle) in a field of view includes a moving object indication stage for detecting a candidate object in a series of input video frames depicting the field of view and a track association stage that uses a joint probabilistic graph matching framework to associate an existing track with the candidate object.
Claims19
A system for detecting and tracking a moving object in a field of view, the system comprising:
- a moving object indication stage for detecting a candidate object in a series of input video frames depicting the field of view, wherein the moving object indication stage comprises:
- a short-term change detector for detecting fast-moving objects in the series of input video frames;
- and
- a long-term change detector for detecting slow-moving and stopped objects in the series of input video frames;
- and
- a track association stage that uses a joint probabilistic graph matching framework to associate an existing track with the candidate object based on analysis of a first set of matching probability terms and a different second set of matching probability terms, and wherein the existing track represents a trajectory of the candidate object, wherein the track association stage comprises:
- a repository for storing the existing track;
- and
- a graph matching processor for matching the candidate object to the existing track using at least one of:
- a vertex matching feature and a pairwise spatial matching feature.
A method for detecting and tracking a moving object in a field of view, the method comprising:
- detecting a candidate object in a series of input video frames depicting the field of view, wherein the detecting comprises:
- identifying one or more fast-moving objects depicted in the series of input video frames;
- identifying one or more slow-moving or stopped objects in the series of input video frames;
- and
- identifying the candidate object in accordance with the one or more fast-moving objects and the one or more slow-moving objects;
- and
- associating an existing track with the candidate object in accordance with a joint probabilistic graph matching framework based on analysis of a first set of matching probability terms and a different second set of matching probability terms, and wherein the existing track represents a trajectory of the candidate object wherein the track association stage comprises:
- a repository for storing the existing track;
- and
- a graph matching processor for matching the candidate object to the existing track using at least one of:
- a vertex matching feature and a pairwise spatial matching feature.
A non-transitory computer readable storage device containing an executable program for detecting and tracking a moving object in a field of view, where the program performs steps comprising:
- detecting a candidate object in a series of input video frames depicting the field of view, wherein the detecting comprises:
- identifying one or more fast-moving objects depicted in the series of input video frames;
- identifying one or more slow-moving or stopped objects in the series of input video frames;
- and
- identifying the candidate object in accordance with the one or more fast-moving objects and the one or more slow-moving objects;
- and
- associating an existing track with the candidate object in accordance with a joint probabilistic graph matching framework based on analysis of a first set of matching probability terms and a different second set of matching probability terms, and wherein the existing track represents a trajectory of the candidate object, wherein the track association stage comprises:
- a repository for storing the existing track;
- and
- a graph matching processor for matching the candidate object to the existing track using at least one of:
- a vertex matching feature and a pairwise spatial matching feature.
Dependencies are inferred from the claim text.