Method of tracking moveable objects by combining data obtained from multiple sensor types

A method of automatically estimating locations of a plurality of different objects that are capable of being moved by a plurality of different actors, said method comprising:

• using a set of first sensors and at least one processor to track and store in memory approximate paths over time of said plurality of different actors, thereby determining actor path data;
• wherein said set of first sensors comprise a set of video sensors;
• and
• further using said at least one processor and computer vision algorithms to determine the approximate paths over time of said plurality of different actors;
• using a set of second sensors and said at least one processor to track and store in memory approximate locations over time of said plurality of different objects, thereby determining object location over time data;
• wherein said different objects are tagged with RFID tags, and said set of second sensors comprise a set of RFID sensors;
• wherein said first sensors and said second sensors need not be the same types of sensors, and at least said set of second sensors is only able to approximately determine the locations over time of said plurality of different objects;
• using said at least one processor to use both said actor path data and said object location over time data to determine if the location of a given object and the path of a given actor correlate over time, thereby determining at least one tentative association probability between said given object and said given actor;
• wherein using said at least one processor to use both said actor path data and said object location over time data to determine if the location of a given object and the path of a given actor correlate over time, thereby determining at least one tentative association probability between said given object and said given actor further comprises the steps of:
• using said at least one processor to minimize noise induced errors by combining and filtering data from at least some second sensors in said set of second sensors;
• using said at least one processor to determine if the location of a given object and the path of a given actor correlate over time by computing likely proximity between said given object and said path of said given actor over a plurality of time points;
• using said at least one processor to compute a likely track of said given object over said plurality of time points, and compute if said likely track of said given object over time correlates with said path of said given actor over said plurality of time points;
• wherein the probability that an object, once moved by an actor, remains associated with said actor, is less than or equal to 1, and changing a tentative association probability between an object and an actor is assigned at least one penalty cost parameter;
• and
• using said at least one processor, said actor path data, said object location over time data, said at least one tentative association probability between said given object and said given actor, and said at least one penalty cost parameter to determine the at least one of a probable location of said given object at one or more times and the association probability between said given object and said given actor at one or more times;
• wherein at least some of said actors are further tagged with a unique ID wireless device carried by said actors, further using a set of third wireless device sensors and said at least one processor to associate said unique ID with at least some of said actors;
• and
• further using said at least one processor to determine association probability between said given object and said given actor at one or more times, wherein said given actor is also associated with said unique ID;
• wherein said unique ID wireless device is a Smartphone, and wherein said unique ID is supplied by at least one of an app running on said Smartphone;
• or
• wherein said Smartphone additionally comprises a WiFi transceiver with a WiFi address, and said unique ID is supplied by said Smartphone's WiFi address;
• or
• wherein said Smartphone additionally comprises a Bluetooth transceiver with a Bluetooth address, and unique ID is supplied by said Smartphone's Bluetooth address.

A method of automatically estimating locations of a plurality of different objects that are capable of being moved by a plurality of different actors, said method comprising:

• using a set of first sensors and at least one processor to track and store in memory approximate paths over time of said plurality of different actors, thereby determining actor path data;
• wherein said set of first sensors comprise a set of video sensors;
• and
• further using said at least one processor and computer vision algorithms to determine the approximate paths over time of said plurality of different actors;
• using a set of second sensors and said at least one processor to track and store in memory approximate locations over time of said plurality of different objects, thereby determining object location over time data;
• wherein said different objects are tagged with RFID tags, and said set of second sensors comprise a set of RFID sensors;
• wherein at least some of said actors are further tagged with a unique ID wireless device carried by said actors, further using a set of third wireless device sensors and said at least one processor to associate said unique ID with at least some of said actors;
• and
• wherein said unique ID wireless device is a Smartphone, and wherein said unique ID is supplied by at least one of an app running on said Smartphone;
• or
• wherein said Smartphone additionally comprises a WiFi transceiver with a WiFi address, and said unique ID is supplied by said Smartphone's WiFi address;
• or
• wherein said Smartphone additionally comprises a Bluetooth transceiver with a Bluetooth address, and unique ID is supplied by said Smartphone's Bluetooth address;
• wherein said first sensors and said second sensors need not be the same types of sensors, and at least said set of second sensors is only able to approximately determine the locations over time of said plurality of different objects;
• using said at least one processor to use both said actor path data and said object location over time data to determine if the location of a given object and the path of a given actor correlate over time, thereby determining at least one tentative association probability between said given object and said given actor;
• wherein using said at least one processor to use both said actor path data and said object location over time data to determine if the location of a given object and the path of a given actor correlate over time, thereby determining at least one tentative association probability between said given object and said given actor further comprises the steps of:
• using said at least one processor to minimize noise induced errors by combining and filtering data from at least some second sensors in said set of second sensors;
• using said at least one processor to determine if the location of a given object and the path of a given actor correlate over time by computing likely proximity between said given object and said path of said given actor over a plurality of time points;
• using said at least one processor to compute a likely track of said given object over said plurality of time points, and compute if said likely track of said given object over time correlates with said path of said given actor over said plurality of time points;
• wherein the probability that an object, once moved by an actor, remains associated with said actor, is less than or equal to 1, and changing a tentative association probability between an object and an actor is assigned at least one penalty cost parameter;
• and
• using said at least one processor, said actor path data, said object location over time data, said at least one tentative association probability between said given object and said given actor, and said at least one penalty cost parameter to determine the at least one of a probable location of said given object at one or more times and the association probability between said given object and said given actor at one or more times;
• further using said at least one processor to determine association probability between said given object and said given actor at one or more times, wherein said given actor is also associated with said unique ID;
• further using said at least one processor to determine identity or demographic information pertaining to said given actor associated with said unique ID;
• and
• storing said association probability between said given object and said identity or demographic information pertaining to said given actor associated with said unique ID in a computer database.