DETECTED OBJECT TRACKER FOR A VIDEO ANALYTICS SYSTEM
Techniques are disclosed which provide a detected object tracker for a video analytics system. As disclosed, the detected object tracker provides a robust foreground object tracking component for a video analytics system which allow other components of the video analytics system to more accurately evaluate the behavior of a given object (as well as to learn to identify different instances or occurrences of the same object) over time. More generally, techniques are disclosed for identifying what pixels of successive video frames depict the same foreground object. Logic implementing certain functions of the detected object tracker can be executed on either a conventional processor (e.g., a CPU) or a hardware acceleration processing device (e.g., a GPU), allowing multiple camera feeds to be evaluated in parallel.
1 . A computer-implemented method for tracking foreground objects in a current video frame depicting a scene captured by a video camera, the method comprising:
for at least a first foreground object tracked in a prior video frame depicting the scene:
generating, via a location particle filter (LOPART), a plurality of locations in the current frame to search for the first foreground object, wherein the first foreground object has an associated geometry and has appearance values for a first plurality of pixels depicting the first foreground object in the prior video frame,
determining, for each generated location, a measure of similarity between the appearance values of the first plurality of pixels depicting the first foreground object in the prior frame and appearance values for a respective second plurality of pixels in the current frame, and
upon determining that one or more of the generated locations have an associated measure of similarity exceeding a given threshold, determining a location of the first foreground object in the current frame based on the determined one or more locations and updating the associated geometry of the first foreground object.
2 . The method of claim 1 , wherein updating the associated geometry of the first foreground object comprises:
generating a size and orientation for a plurality of ellipses using a size and orientation particle filter (SOPART); and
determining, from the generated plurality of ellipses, a size an orientation of an ellipse for a region of pixels in the current frame to bound the first foreground object positioned at the location determined by the location particle filter (LOPART).
3 . The method of claim 1 , wherein the first plurality of locations is generated based on at least motion data associated with the first foreground object and a measure of randomness.
4 . The method of claim 1 , wherein updating the associated geometry of the first foreground object comprises determining a size and orientation of an ellipse from the associated geometry of the first foreground object in at least the prior video frame depicting the scene.
5 . The method of claim 1 , wherein determining the measure of similarity between the appearance values of the first plurality of pixels depicting the first foreground object and the appearance values for a given one of the respective second plurality of pixels at a given one of the generated locations, comprises:
determining, for each of a first plurality of bins surrounding the generated location in the current frame, an average color value for each of one or more color channels;
determining, for each of a second plurality of bins surrounding a center pixel of an ellipse bounding the first foreground object in the prior frame an average color value for each of one or more color channels; and
determining the measure of similarity by comparing the average color values, per color channel, determined for each respective bin of the first plurality of bins with the corresponding average color value in the second plurality of bins.
6 . The method of claim 5 , wherein the first plurality of bins are defined using a log (r) coordinate system extending from the generated location and a generating angle.
7 . The method of claim 5 , wherein comparing the average color values, per channel, comprises:
representing an average of a first, a second, and a third color channel determined for a given one of the first plurality of bins as a first point in a three dimensional space;
representing an average of a first, a second, and a third color channel determined for a corresponding one of the second plurality of bins as a second point in the three dimensional space; and
determining a triangle inequality using the first point, the second point, and an origin of the dimensional space.
8 . The method of claim 7 , wherein the measure of similarity is determined based on at least on the triangle inequality determined for each of the first plurality of bins.
9 . A computer-readable storage medium containing a program, which when executed on a processor, performs an operation for tracking foreground objects in a current video frame depicting a scene captured by a video camera, the operation comprising:
for at least a first foreground object tracked in a prior video frame depicting the scene:
generating, via a location particle filter (LOPART), a plurality of locations in the current frame to search for the first foreground object, wherein the first foreground object has an associated geometry and has appearance values for a first plurality of pixels depicting the first foreground object in the prior video frame,
determining, for each generated location, a measure of similarity between the appearance values of the first plurality of pixels depicting the first foreground object in the prior frame and appearance values for a respective second plurality of pixels in the current frame, and
upon determining that one or more of the generated locations have an associated measure of similarity exceeding a given threshold, determining a location of the first foreground object in the current frame based on the determined one or more locations and updating the associated geometry of the first foreground object.
10 . The computer-readable storage medium of claim 9 , wherein updating the associated geometry of the first foreground object comprises:
generating a size and orientation for a plurality of ellipses using a size and orientation particle filter (SOPART); and
determining, from the generated plurality of ellipses, a size an orientation of an ellipse for a region of pixels in the current frame to bound the first foreground object positioned at the location determined by the location particle filter (LOPART).
11 . The computer-readable storage medium of claim 9 , wherein the first plurality of locations is generated based on at least motion data associated with the first foreground object and a measure of randomness.
12 . The computer-readable storage medium of claim 9 , wherein updating the associated geometry of the first foreground object comprises determining a size and orientation of an ellipse from the associated geometry of the first foreground object in at least the prior video frame depicting the scene.
13 . The computer-readable storage medium of claim 9 , wherein determining the measure of similarity between the appearance values of the first plurality of pixels depicting the first foreground object and the appearance values for a given one of the respective second plurality of pixels at a given one of the generated locations, comprises:
determining, for each of a first plurality of bins surrounding the generated location in the current frame, an average color value for each of one or more color channels;
determining, for each of a second plurality of bins surrounding a center pixel of an ellipse bounding the first foreground object in the prior frame an average color value for each of one or more color channels; and
determining the measure of similarity by comparing the average color values, per color channel, determined for each respective bin of the first plurality of bins with the corresponding average color value in the second plurality of bins.
14 . The computer-readable storage medium of claim 13 , wherein the first plurality of bins are defined using a log (r) coordinate system extending from the generated location and a generating angle.
15 . The computer-readable storage medium of claim 13 , wherein comparing the average color values, per channel, comprises:
representing an average of a first, a second, and a third color channel determined for a given one of the first plurality of bins as a first point in a three dimensional space;
representing an average of a first, a second, and a third color channel determined for a corresponding one of the second plurality of bins as a second point in the three dimensional space; and
determining a triangle inequality using the first point, the second point, and an origin of the dimensional space.
16 . The computer-readable storage medium of claim 15 , wherein the measure of similarity is determined based on at least on the triangle inequality determined for each of the first plurality of bins.
17 . A system, comprising:
a video input source configured to provide a sequence of video frames, each depicting a scene;
a central processing unit (CPU); and
a memory containing a program, which, when executed on the CPU is configured to perform an operation for tracking foreground objects in a current video frame depicting a scene captured by a video camera, the operation comprising:
for at least a first foreground object tracked in a prior video frame depicting the scene:
generating, via a location particle filter (LOPART), a plurality of locations in the current frame to search for the first foreground object, wherein the first foreground object has an associated geometry and has appearance values for a first plurality of pixels depicting the first foreground object in the prior video frame;
determining, for each generated location, a measure of similarity between the appearance values of the first plurality of pixels depicting the first foreground object in the prior frame and appearance values for a respective second plurality of pixels in the current frame; and
upon determining that one or more of the generated locations have an associated measure of similarity exceeding a given threshold,
determining a location of the first foreground object in the current frame based on the determined one or more locations and updating the associated geometry of the first foreground object.
18 . The system of claim 17 , wherein updating the associated geometry of the first foreground object comprises:
generating a size and orientation for a plurality of ellipses using a size and orientation particle filter (SOPART); and
determining, from the generated plurality of ellipses, a size an orientation of an ellipse for a region of pixels in the current frame to bound the first foreground object positioned at the location determined by the location particle filter (LOPART).
19 . The system of claim 17 , wherein the first plurality of locations is generated based on at least motion data associated with the first foreground object and a measure of randomness.
20 . The system of claim 17 , wherein updating the associated geometry of the first foreground object comprises determining a size and orientation of an ellipse from the associated geometry of the first foreground object in at least the prior video frame depicting the scene.
21 . The system of claim 17 , wherein determining the measure of similarity between the appearance values of the first plurality of pixels depicting the first foreground object and the appearance values for a given one of the respective second plurality of pixels at a given one of the generated locations, comprises:
determining, for each of a first plurality of bins surrounding the generated location in the current frame, an average color value for each of one or more color channels;
determining, for each of a second plurality of bins surrounding a center pixel of an ellipse bounding the first foreground object in the prior frame an average color value for each of one or more color channels; and
determining the measure of similarity by comparing the average color values, per color channel, determined for each respective bin of the first plurality of bins with the corresponding average color value in the second plurality of bins.
22 . The system of claim 21 , wherein the first plurality of bins are defined using a log (r) coordinate system extending from the generated location and a generating angle.
23 . The system of claim 21 , wherein comparing the average color values, per channel, comprises:
representing an average of a first, a second, and a third color channel determined for a given one of the first plurality of bins as a first point in a three dimensional space;
representing an average of a first, a second, and a third color channel determined for a corresponding one of the second plurality of bins as a second point in the three dimensional space; and
determining a triangle inequality using the first point, the second point, and an origin of the dimensional space.
24 . The system of claim 23 , wherein the measure of similarity is determined based on at least on the triangle inequality determined for each of the first plurality of bins.