Granted Patent B2

US 12,374,203 · App. 18/243,884 · Granted Jul 29, 2025

Inventors: Taichi Ohtsuji (Tokyo, JP); Kazushi Muraoka (Tokyo, JP); Hiroaki Aminaka (Tokyo, JP); Dai Kanetomo (Tokyo, JP); Norio Yamagaki (Tokyo, JP); Takashi Yoshinaga (Tokyo, JP)

Assignee: NEC CORPORATION

G08B13/19608G06T7/292G06V20/52G08B13/19613G08B13/19645G08B25/009G06T2207/30232

Abstract

Claims (42)

1. A tracking support apparatus comprising:

a receiver configured to receive position information of a plurality of terminals, each one of the plurality of terminals being carried by a tracker, and receive confirmation position information of a terminal of a tracker instructed to track a tracking target and a notification of a monitoring failure from the terminal of the tracker, the confirmation position information indicating a position where the tracker confirms the tracking target;

a tracker selecting section configured to select a takeover tracker instructed to search the tracking target, using the position information of the plurality of terminals and the confirmation position information indicating the position where the tracker confirms the tracking target last, when the notification of the monitoring failure is received; and

an information transmitting section configured to transmit a search request to search the tracking target to a takeover terminal of the takeover tracker,

wherein the receiver is configured to receive, from the terminal of the tracker, a notification that the tracker requests takeover of the tracking of the tracking target to a new tracker, independently from notification of the monitoring failure.

2. The tracking support apparatus according to claim 1 , wherein the receiver is configured to receive, from the takeover terminal, a discovery notification including the position information of the tracking target, and

wherein the information transmission section is further configured to, upon reception of the discovery notification by the receiver, transmit the position information of the tracking target included in the discovery notification to the terminal of the tracker.

3. The tracking support apparatus according to claim 2 , wherein the discovery information includes feature information of the tracking target.

4. The tracking support apparatus according to claim 2 , wherein the tracker selecting section is configured to select a new takeover tracker instructed to track the tracking target, using the position information of the plurality of terminals and the position information of the tracking target, when the discovery information is received and a position relation between the selected tracker and a target position is determined to be not appropriate, the target position being indicated by the position information of the tracking target included in the discovery notification.

5. The tracking support apparatus according to claim 1 , the apparatus further comprising a position calculating section configured to calculate a position of the tracking target using video images received from a plurality of cameras, the position calculating section being connected with the plurality of cameras arranged in a predetermined monitoring area to transmit video images taken by the plurality of cameras,

wherein the tracker selecting section is configured to select the tracker to be instructed to track the tracking target, using the position information of the plurality of terminals and the calculated position of the tracking target, and

wherein the information transmitting section is configured to transmit information of a distance between the tracking target and the terminal of the selected tracker during tracking of the tracking target to the terminal of the selected tracker.

6. A tracking support method by a tracking support apparatus, the method comprising:

receiving position information of a plurality of terminals, each one of the plurality of terminals being carried by a tracker;

receiving confirmation position information of a terminal of a tracker instructed to track a tracking target and a notification of a monitoring failure form the terminal of the tracker, the confirmation position information indicating a position where the tracker confirms the tracking target;

selecting a takeover tracker instructed to search the tracking target, using the position information of the plurality of terminals and the confirmation position information indicating the position where the tracker confirms the tracking target last, when the notification of the monitoring failure is received;

transmitting a search request to search the tracking target to a takeover terminal of the takeover tracker; and

receiving, from the terminal of the tracker, a notification that the tracker requests takeover of the tracking of the tracking target to a new tracker, independently from notification of the monitoring failure.

7. The tracking support method according to claim 6 , the method further comprising:

receiving, from the takeover terminal, a discovery notification including the position information of the tracking target; and

transmitting the position information of the tracking target included in the discovery notification to the terminal of the tracker.

8. The tracking support method according to claim 7 , wherein the discovery information includes feature information of the tracking target.

9. The tracking support method according to claim 7 , the method further comprising selecting a new takeover tracker instructed to track the tracking target, using the position information of the plurality of terminals and the position information of the tracking target, when the discovery information is received and a position relation between the selected tracker and a target position is determined to be not appropriate, the target position being indicated by the position information of the tracking target included in the discovery notification.

10. The tracking support method according to claim 6 , the method further comprising:

calculating a position of the tracking target using video images received from a plurality of cameras, the position calculating section being connected with the plurality of cameras arranged in a predetermined monitoring area to transmit video images taken by the plurality of cameras;

selecting the tracker instructed to track the tracking target, using the position information of the plurality of terminals and the calculated position of the tracking target; and

transmitting information of a distance between the tracking target and the terminal of the selected tracker during tracking of the tracking target to the terminal of the selected tracker.

11. A non-transitory computer readable medium storing a program causing a computer to execute processing comprising:

receiving position information of a plurality of terminals, each one of the plurality of terminals being carried by a tracker;

receiving confirmation position information of a terminal of a tracker instructed to track a tracking target and a notification of a monitoring failure form the terminal of the tracker, the confirmation position information indicating a position where the tracker confirms the tracking target;

selecting a takeover tracker instructed to search the tracking target, using the position information of the plurality of terminals and the confirmation position information indicating the position where the tracker confirms the tracking target last, when the notification of the monitoring failure is received;

transmitting a search request to search the tracking target to a takeover terminal of the takeover tracker; and

receiving, from the terminal of the tracker, a notification that the tracker requests takeover of the tracking of the tracking target to a new tracker, independently from notification of the monitoring failure.

12. The non-transitory computer readable medium according to claim 11 , storing the program causing the computer to execute processing comprising:

receiving, from the takeover terminal, a discovery notification including the position information of the tracking target; and

transmitting the position information of the tracking target included in the discovery notification to the terminal of the tracker.

13. The non-transitory computer readable medium according to claim 12 , wherein the discovery information includes feature information of the tracking target.

14. The non-transitory computer readable medium according to claim 12 , storing the program causing the computer to execute processing comprising selecting a new takeover tracker instructed to track the tracking target, using the position information of the plurality of terminals and the position information of the tracking target, when the discovery information is received and a position relation between the selected tracker and a target position is determined to be not appropriate, the target position being indicated by the position information of the tracking target included in the discovery notification.

15. The non-transitory computer readable medium according to claim 12 , storing the program causing the computer to execute processing further comprising:

calculating a position of the tracking target using video images received from a plurality of cameras, the position calculating section being connected with the plurality of cameras arranged in a predetermined monitoring area to transmit video images taken by the plurality of cameras;

selecting the tracker instructed to track the tracking target, using the position information of the plurality of terminals and the calculated position of the tracking target; and

transmitting information of a distance between the tracking target and the terminal of the selected tracker during tracking of the tracking target to the terminal of the selected tracker.

Continuity (5)

References Cited (50)