Moving object tracking system, moving object tracking device, computer-readable recording medium, and moving object tracking method

Abstract

The system comprises: a selection unit (138) for selecting a target camera from a plurality of cameras (110) arranged in a monitoring area; a moving body detection device (120) for extracting features of a moving body detected from an image captured by the target camera; a checking unit (139) for identifying a tracking target moving body by checking the extracted features with features of the tracking target moving body; a tracking management unit (140) for tracking the movement of the tracking target moving body in the monitoring area according to the arrangement of the target camera and the time when an image containing the tracking target moving body is captured; and an elevator information acquisition unit (137) for acquiring elevator operation information indicating the operation status of the elevator from the elevator system. When the tracking target moving body takes the elevator, the selection unit (138) determines the floor where the tracking target moving body may get off the elevator as the target floor by referring to the elevator operation information, and selects at least one camera arranged on the target floor from the plurality of cameras as the target camera.

Description

Technical Field

[0001] The present disclosure relates to a moving object tracking system, a moving object tracking device, a computer-readable recording medium, and a moving object tracking method. Background Art

[0002] In recent years, there has been known a mobile object tracking system that automatically detects and tracks a suspicious person or the like from an image captured by a camera using image recognition technology in order to improve safety in a building or reduce the burden on surveillance personnel.

[0003] In order to track a moving object, a conventional moving object tracking system uses a plurality of cameras, extracts the moving object captured by each camera and its features, and determines whether each moving object is the same moving object by checking the features.

[0004] Here, when all features extracted from images captured by all cameras in a building are used as verification objects for recognition processing, the number of verification objects increases and the recognition accuracy decreases. In particular, when there are multiple moving objects with similar features in a building, it is difficult to distinguish and sometimes misidentification occurs.

[0005] Conventionally, there is known a system that calculates the moving path of a moving object, and performs recognition processing on the moving object and its features detected from the image captured by the camera on the moving path, thereby improving the tracking accuracy (for example, see Patent Document 1). In such a system, the moving direction and speed information of the moving object captured by the camera is used in the calculation of the moving path, and the moving object shown in the image captured by the camera on the calculated moving path is recognized. In addition, the expected arrival time at each camera is calculated based on the moving speed, and the recognition accuracy is improved by shortening the search time.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent No. 4759988 Summary of the invention

[0009] Problem that the invention aims to solve

[0010] In the case of using the previous system, it is important to improve the estimation accuracy of the moving path of each moving object. In the estimation of the moving path, the moving direction and speed information of the moving object reflected by the image are used. Therefore, if cameras are set up without blind spots in the monitoring area, the estimation accuracy of the moving path can be fully improved.

[0011] However, when considering the inter-floor movement of moving objects, most elevators, which are a means of inter-floor movement, are not equipped with cameras linked to the monitoring system. Therefore, when the object being tracked takes the elevator, it is impossible to know at which floor the object is getting off, and path estimation becomes difficult. As a result, there is a problem that when there are moving objects with similar features in the same monitoring area, misidentification occurs, and the object cannot be tracked smoothly.

[0012] Therefore, an object of one or more aspects of the present disclosure is to be able to track a tracking target even when the tracking target takes an elevator.

[0013] Means used to solve problems

[0014] A mobile object tracking system of one embodiment of the present invention tracks the movement of a tracking target mobile object in a monitoring area where multiple mobile objects are moving, and the tracking target mobile object is an object to be tracked. The mobile object tracking system is characterized in that it comprises: a selection unit, which selects at least one camera as a target camera from multiple cameras arranged in the monitoring area; a detection and extraction unit, which detects a mobile object from an image captured by the target camera and extracts features of the detected mobile object; a verification unit, which verifies the object features as the extracted features with the features of the tracking target mobile object, thereby identifying the tracking target mobile object from the multiple mobile objects; and a tracking management unit, which detects the object from the multiple cameras according to the features of the tracking target mobile object. The method further comprises the steps of: tracking the movement of the tracking target moving object within the monitoring area based on the configuration of the target camera and the moment when the image including the moving object identified as the tracking target moving object is captured; and an elevator information acquisition unit, which acquires elevator operation information indicating the operating status of the elevator from an elevator system, wherein the elevator system controls the operation of the elevator set in the monitoring area, and the selection unit, when the tracking target moving object takes the elevator, determines the floor where the tracking target moving object may get off the elevator as the target floor by referring to the elevator operation information, and selects at least one camera configured on the target floor among the multiple cameras as the target camera.

[0015] A mobile object tracking device of one embodiment of the present invention tracks the movement of a tracking target mobile object in a monitoring area where multiple mobile objects are moving, and the tracking target mobile object is an object to be tracked. The mobile object tracking device is characterized in that it comprises: a selection unit, which selects at least one camera as a target camera from multiple cameras arranged in the monitoring area; a verification unit, which identifies the tracking target mobile object from the multiple mobile objects by verifying the object feature with the feature of the tracking target mobile object, the object feature being a feature extracted as a feature of the mobile object detected from the image captured by the target camera; and a tracking management unit, which The device is configured to track the movement of the tracking target moving object within the monitoring area when the image of the moving object identified as the tracking target moving object is captured; and an elevator information acquisition unit, which acquires elevator operation information indicating the operating status of the elevator from an elevator system, wherein the elevator system controls the operation of the elevator set in the monitoring area, and the selection unit, when the tracking target moving object takes the elevator, determines the floor where the tracking target moving object may get off the elevator as the target floor by referring to the elevator operation information, and selects at least one camera configured on the target floor among the multiple cameras as the target camera.

[0016] A program in one aspect of the present disclosure enables a computer to function as a mobile object tracking device, which tracks the movement of a tracking target mobile object in a monitoring area where multiple mobile objects are moving, and the tracking target mobile object is an object to be tracked. It is characterized in that the program enables the computer to function as a selection unit, a verification unit, a tracking management unit, and an elevator information acquisition unit. The selection unit selects at least one camera as a target camera from multiple cameras arranged in the monitoring area, and the verification unit identifies the tracking target mobile object from the multiple mobile objects by verifying the object feature with the feature of the tracking target mobile object, and the object feature is a feature of the mobile object detected from the image captured by the target camera. The tracking management unit tracks the movement of the tracking target moving object in the monitoring area according to the configuration of the target camera and the time when the image including the moving object identified as the tracking target moving object is captured, the elevator information acquisition unit acquires elevator operation information indicating the operation status of the elevator from an elevator system, wherein the elevator system controls the operation of the elevator set in the monitoring area, and the selection unit determines, when the tracking target moving object takes the elevator, a floor from which the tracking target moving object may get off the elevator as the target floor by referring to the elevator operation information, and selects at least one camera configured on the target floor among the multiple cameras as the target camera.

[0017] A moving object tracking method according to one aspect of the present disclosure tracks movement of a tracking target moving object in a monitoring area where a plurality of moving objects are moving, the tracking target moving object being an object to be tracked, characterized in that at least one camera is selected as a target camera from a plurality of cameras arranged in the monitoring area, a moving object is detected from an image captured by the target camera, features of the detected moving object are extracted, and the target features as the extracted features are compared with features of the tracking target moving object, thereby identifying the tracking target moving object from the plurality of moving objects, tracking movement of the tracking target moving object in the monitoring area based on the arrangement of the target camera and the time when the image including the moving object identified as the tracking target moving object is captured, and obtaining elevator operation information indicating an operation status of an elevator from an elevator system, wherein the elevator system controls the operation of the elevator provided in the monitoring area, and when the tracking target moving object takes the elevator, a floor at which the tracking target moving object may get off is determined as a target floor by referring to the elevator operation information, and at least one camera arranged on the target floor among the plurality of cameras is selected as the target camera.

[0018] Effects of the Invention

[0019] According to one or more aspects of the present disclosure, even when the tracking target takes an elevator, the tracking target can be tracked. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a block diagram schematically showing the configuration of the moving object tracking system according to the first embodiment and the second embodiment.

[0021] Figure 2 This is a block diagram schematically showing the configuration of a moving object detection device.

[0022] Figure 3 (A) and (B) are block diagrams showing hardware configuration examples of the moving object detection device.

[0023] Figure 4 (A) and (B) are block diagrams showing hardware configuration examples of a moving object tracking device.

[0024] Figure 5 This is a flowchart showing the processing in the moving object tracking system according to the first embodiment.

[0025] Figure 6 This is a flowchart showing the processing in the moving object tracking system according to the second embodiment.

[0026] Figure 7This is a block diagram schematically showing the configuration of a moving object tracking system according to the third embodiment.

[0027] Figure 8 This is a first flowchart showing the processing in the moving object tracking system according to the third embodiment.

[0028] Fig. 9 This is a second flowchart showing the processing in the moving object tracking system according to the third embodiment.

[0029] Fig.10 This is a block diagram schematically showing the configuration of a moving object tracking system according to a fourth embodiment. DETAILED DESCRIPTION

[0030] Implementation method 1.

[0031] Figure 1 This is a block diagram schematically showing the configuration of the moving object tracking system 100 according to the first embodiment.

[0032] The moving object tracking system 100 includes a plurality of cameras 110 , a moving object detection device 120 , and a moving object tracking device 130 .

[0033] The moving object tracking system 100 tracks the movement of a tracking target moving object in a monitoring area where a plurality of moving objects are moving. The tracking target moving object is a target to be tracked.

[0034] Here, the moving object detection device 120 and the moving object tracking device 130 are connected to the network 101 .

[0035] Furthermore, the moving object tracking device 130 is connected to the elevator system 102 , which is a system that operates elevators located in a monitoring area, and the monitoring area is an area in which moving objects are monitored by a plurality of cameras 110 .

[0036] Furthermore, the moving object tracking device 130 is connected to the display device 103 for displaying various screen images.

[0037] exist Figure 1 In the moving object tracking system 100 shown, at least one moving object detection device 120 and at least one moving object tracking device 130 are provided.

[0038] However, the moving object tracking device 130 may also have the functions of the moving object detection device 120 . In this case, the moving object detection device 120 may not be provided, and the image data of the images captured by the plurality of cameras 110 may be sent to the moving object tracking device 130 .

[0039] In addition, the number of cameras 110 connected to each moving object detection device 120 is not limited to two.

[0040] A plurality of cameras 110 are arranged in the monitoring area. Each of the plurality of cameras 110 is an imaging device for capturing an image. Image data of the images captured by each of the plurality of cameras 110 is provided to the moving object detection device 120 .

[0041] The moving object detection device 120 analyzes the images from the plurality of cameras 110 , detects a moving object, and extracts features of the detected moving object.

[0042] Figure 2 It is a block diagram schematically showing the configuration of the moving object detection device 120 .

[0043] The moving object detection device 120 includes a receiving unit 121 , a transmitting and receiving unit 122 , a detection and extraction unit 123 , and a control unit 124 .

[0044] The receiving unit 121 receives image data representing an image captured by the camera 110 connected to the moving object detection device 120 , and supplies the received image data to the detection and extraction unit 123 .

[0045] The transceiver 122 performs communications on the network 101 .

[0046] As described later, the detection and extraction unit 123 detects a moving object from an image captured by a target camera selected by the moving object tracking device 130, and extracts features of the detected moving object. For example, the detection and extraction unit 123 detects a moving object from an image represented by image data from the receiving unit 121, and extracts features of the detected moving object, according to an instruction from the control unit 124. Then, the detection and extraction unit 123 generates moving object information, which shows the detected moving object, features extracted from the moving object, and camera identification information, which is identification information for identifying the camera 110 that captured the image from which the features were extracted. The moving object information is sent to the moving object tracking device 130 via the transceiver 122. In addition, the camera identification information is also called camera device identification information.

[0047] The control unit 124 obtains instruction information indicating an instruction from the moving object tracking device 130 via the transceiver 122. The control unit 124 switches between an effective state and an invalid state according to the instruction indicated by the obtained instruction information, wherein the effective state is a state in which the detection and extraction unit 123 detects the moving object and extracts the feature, and the invalid state is a state in which the detection and extraction unit 123 is not detected and extracted. In addition, the switching between the effective state and the invalid state can be performed for each camera 110 connected to the moving object detection device 120.

[0048] The moving object detection device 120 described above can be used, for example, Figure 3 (A) is implemented by the computer 150 shown.

[0049] The computer 150 includes a first communication device 151 , a second communication device 152 , a storage device 153 , a memory 154 , and a processor 155 .

[0050] The first communication device 151 is a device that communicates with the camera 110 .

[0051] The second communication device 152 is a device that communicates with the network 101 .

[0052] The storage device 153 is a device that stores data and programs necessary for processing in the moving object detection device 120 .

[0053] The memory 154 temporarily stores data and programs, and provides a working area for the processor 155 .

[0054] The processor 155 reads the program stored in the storage device 153 to the memory 154 and executes the program, thereby executing the processing in the moving object detection device 120 .

[0055] For example, the receiving unit 121 can be implemented by the first communication device 151 .

[0056] The transceiver 122 can be implemented by the second communication device 152 .

[0057] The detection and extraction unit 123 and the control unit 124 can be realized by the processor 155 reading a program stored in the storage device 153 to the memory 154 and executing the program.

[0058] in addition, Figure 1 Each unit in the moving object detection device 120 shown may be configured as an independent device.

[0059] In such a case, for example, part or all of the detection extraction unit 123 and the control unit 124 may also be configured as follows. Figure 3 As shown in (B), the processing circuit 156 is composed of a single circuit, a composite circuit, a processor operated by a program, a parallel processor operated by a program, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0060] In other words, the detection and extraction unit 123 and the control unit 124 can be implemented by a processing circuit network.

[0061] return Figure 1, the moving object tracking device 130 tracks the moving object detected by the moving object detection device 120.

[0062] The mobile object tracking device 130 includes a network communication unit 131, an elevator system communication unit 132, a connection interface unit 133, an information acquisition unit 134, a tracking object designation unit 135, a monitoring space database unit (hereinafter referred to as a monitoring space DB unit) 136, an elevator information acquisition unit 137, a selection unit 138, a verification unit 139, and a tracking management unit 140.

[0063] In addition, each unit in the moving object tracking device 130 may be configured as an independent device.

[0064] The network communication unit 131 performs communication on the network 101 .

[0065] The elevator system communication unit 132 performs communication with the elevator system 102 .

[0066] The connection interface unit 133 is an interface for connecting to the display device 103 .

[0067] The information acquisition unit 134 acquires the moving object information from each moving object detection device 120 via the network communication unit 131. The acquired moving object information is provided to the tracking target designation unit 135 and the verification unit 339.

[0068] The tracking target designation unit 135 designates a detected moving object as a tracking target moving object to be tracked by referring to the acquired moving object information. Then, the tracking target designation unit 135 generates tracking target feature information representing features of the tracking target moving object based on the acquired moving object information, and stores the tracking target feature information in the monitoring space DB unit 136.

[0069] The monitoring space DB unit 136 is a storage unit that stores monitoring space information indicating the arrangement and status of each of the plurality of cameras 110 within the monitoring area and moving object tracking information indicating the movement path of the moving object to be tracked.

[0070] Furthermore, the monitoring space DB unit 136 stores connection information indicating to which moving object detection device 120 the plurality of cameras 110 are connected.

[0071] Furthermore, the monitoring space DB unit 136 stores the tracking target characteristic information supplied from the tracking target specifying unit 135 .

[0072] The elevator information acquisition unit 137 acquires elevator operation information indicating the operation status of each elevator in the monitoring area from the elevator system 102 that controls the operation of the elevators via the elevator system communication unit 132 .

[0073] The selection unit 138 selects at least one camera as a target camera from the plurality of cameras 110 arranged in the monitoring area. For example, the selection unit 138 refers to the monitoring space information and selects a target camera from the plurality of cameras 110, the target camera being a camera 110 that captures an image from which a moving object is detected and features of the moving object are extracted.

[0074] Furthermore, when the tracking target moving body is riding in an elevator, the selection unit 138 refers to the monitoring space information and the elevator operation information to select a target camera from the plurality of cameras 110. For example, when the tracking target moving body is riding in an elevator, the selection unit 138 refers to the elevator operation information to determine a floor where the tracking target moving body may get off as a target floor, and selects at least one camera disposed on the target floor from the plurality of cameras 110 as the target camera.

[0075] For example, the selection unit 138 can determine the stop floor of the elevator as the target floor. In addition, the selection unit 138 can also determine the following floor as the target floor, which is a floor that has been registered as a stop floor or a destination floor within a specific period since the tracking target moving body boarded the elevator.

[0076] Then, the selection unit 138 sends the following instruction information (also referred to as valid instruction information) to the moving body detection device 120 connected to the camera 110 selected as the target camera via the network communication unit 131, wherein the instruction information indicates the camera identification information of the camera 110 selected as the target camera and an instruction to make the moving body detection process and the feature extraction process valid, that is, a valid instruction. In addition, the moving body detection device 120 connected to the camera 110 selected as the target camera can be determined by referring to the connection information stored in the monitoring space DB unit 136.

[0077] In addition, the selection unit 138 sends the following indication information (also called invalid indication information) to the moving body detection device 120 connected to the camera 110 that is not selected as the object camera via the network communication unit 131, wherein the indication information represents the camera identification information of the camera 110 that is not selected as the object camera, and an indication to invalidate the moving body detection processing and feature extraction processing, i.e., an invalid indication.

[0078] Furthermore, the selection unit 138 sets the status of the camera 110 selected as the target camera to “valid” in the monitoring space information stored in the monitoring space DB unit 136 , and sets the status of the camera 110 not selected as the target camera to “invalid”.

[0079] The checking unit 139 checks the object feature extracted from the image captured by the camera 110 selected as the object camera with the feature of the tracking target moving object, thereby identifying the tracking target moving object from the plurality of moving objects. Specifically, the checking unit 139 checks the feature indicated by the moving object information generated by the moving object detection device 120 based on the image captured by the camera 110 with the feature of the tracking target moving object indicated by the tracking target feature information stored in the monitoring space DB unit 136, thereby determining whether the moving object included in the image captured by the camera 110 is the same moving object as the tracking target moving object.

[0080] Here, the checking unit 139 checks the characteristics indicated by the moving object information generated based on the image captured by the camera 110 selected as the target camera by the selecting unit 138 with the characteristics of the tracking target moving object, thereby reducing the processing load.

[0081] The tracking management unit 140 tracks the tracking target moving object in the monitoring area based on the configuration of the target camera, the time when the image including the moving object identified as the tracking target moving object is captured, and the position of the detected moving object on the image. Specifically, the tracking management unit 140 determines the position of the moving object determined by the checking unit 139 as the same moving object as the tracking target moving object based on the configuration of the camera 110 that captured the image showing the moving object, for example, by referring to the monitoring space information, and adds the position and time to the moving object tracking information, thereby obtaining the moving path of the tracking target moving object.

[0082] Furthermore, the tracking management unit 140 generates moving object tracking display information for displaying the moving path of the tracking target moving object based on the moving object tracking information, and then sends the moving object tracking display information to the display device 103 via the connection interface unit 133, thereby causing the display device 103 to display the moving path.

[0083] The mobile object tracking device 130 described above can be, for example, Figure 4 (A) is implemented by the computer 160 shown.

[0084] The computer 160 includes a network communication device 161 , a system communication device 162 , a connection interface 163 , a storage device 164 , a memory 165 , and a processor 166 .

[0085] The network communication device 161 is a device that communicates with the network 101 .

[0086] The system communication device 162 is a device that communicates with the elevator system 102 .

[0087] The connection interface 163 is an interface for connecting to the display device 103 .

[0088] The storage device 164 is a device that stores data and programs necessary for processing in the moving object tracking device 130 .

[0089] The memory 165 temporarily stores data and programs, and provides a working area for the processor 166 .

[0090] The processor 166 reads the program stored in the storage device 164 to the memory 165 and executes the program, thereby executing the processing in the moving object tracking device 130 .

[0091] For example, the network communication unit 131 can be implemented by the network communication device 161 .

[0092] The elevator system communication unit 132 can be realized by a system communication device 162 .

[0093] The connection interface unit 133 can be implemented by a connection interface 163 .

[0094] The monitoring space DB unit 136 can be realized by the storage device 164 or the memory 165 .

[0095] The information acquisition unit 134 , the tracking target designation unit 135 , the elevator information acquisition unit 137 , the selection unit 138 , the verification unit 139 , and the tracking management unit 140 can be realized by the processor 166 reading a program stored in the storage device 164 to the memory 165 and executing the program.

[0096] in addition, Figure 1 Each unit in the mobile object tracking device 130 shown in the figure may be configured as an independent device.

[0097] In such a case, for example, part or all of the information acquisition unit 134, the tracking target designation unit 135, the elevator information acquisition unit 137, the selection unit 138, the verification unit 139, and the tracking management unit 140 are as follows: Figure 4 As shown in (B), it can also be composed of a processing circuit 167 such as a single circuit, a composite circuit, a processor that operates according to a program, a parallel processor that operates according to a program, an ASIC, or an FPGA.

[0098] In other words, the information acquisition unit 134, the tracking target designation unit 135, the elevator information acquisition unit 137, the selection unit 138, the verification unit 139, and the tracking management unit 140 can be realized by a processing circuit network.

[0099] Figure 5 : is a flowchart showing the processing in the mobile object tracking system 100 .

[0100] First, as an initial state, the selection unit 138 presets the camera 110 selected as the target camera, and switches the processing of the moving object detection device 120 connected to the target camera to be effective (S10). Then, the selection unit 138 registers the effective or invalid state of the camera 110 selected as the target camera in the monitoring space information stored in the monitoring space DB unit 136.

[0101] Furthermore, the selection unit 138 transmits valid instruction information to the moving object detection device 120 connected to the camera 110 selected as the target camera, and transmits invalid instruction information to the moving object detection device 120 connected to the camera 110 not selected as the target camera, via the network communication unit 131. Thus, only the moving object detection device 120 connected to the camera 110 selected as the target camera transmits the moving object information corresponding to the moving object detected from the image captured by the target camera.

[0102] The target camera here may be pre-selected to select the camera 110 installed in a specific place such as the entrance gate of a building, for example. In addition, the images obtained from all the cameras 110 installed in the monitoring area may be displayed on the display device 103, and the monitoring personnel may confirm the images. The monitoring personnel selects the target camera by operating a GUI (Graphical User Interface) or the like. Here, it is assumed that one or more cameras 110 are selected.

[0103] The moving body detection device 120 connected to the camera 110 selected as the target camera detects the moving body from the image from the target camera and extracts the features of the detected moving body (S11). The moving body detection and feature extraction can be performed using a known technology such as a convolutional neural network. Then, the moving body detection device 120 generates moving body information representing the detected moving body and the extracted features, and sends the moving body information to the moving body tracking device 130.

[0104] Next, the information acquisition unit 134 acquires the moving body information from the moving body detection device 120 connected to the target camera via the network communication unit 131, and provides the acquired moving body information to the tracking target designation unit 135. The tracking target designation unit 135 designates the tracking target moving body as the tracking target from the moving bodies indicated by the moving body information from the information acquisition unit 134 (S12). Then, the tracking target designation unit 135 generates tracking target feature information indicating the features of the tracking target moving body, and records the tracking target feature information in the monitoring space DB unit 136.

[0105] The image obtained from the object camera may be displayed on the display device 103, and the monitoring personnel may confirm the image, and the monitoring personnel may designate the tracking object moving body by using the GUI operation or the like. In addition, all moving bodies passing through a specific area such as an entrance gate may be designated as tracking object moving bodies. In addition, by analyzing the image obtained from the object camera, a predetermined moving body such as a suspicious person may be detected, and a moving body determined to be a predetermined moving body such as a suspicious person may be automatically designated as a tracking object moving body.

[0106] When the tracking target moving object is specified, the tracking process is started by checking the features of the moving object reflected in the images from each camera 110. However, immediately after the tracking target moving object is specified, the tracking target moving object is not reflected in the images of the cameras 110 installed in a place away from the target camera, for example, the cameras 110 installed on other floors. Therefore, the moving objects with similar features detected from the images of such cameras 110 may cause misidentification and mistracking, and therefore, it is preferable to exclude such cameras 110 from the target cameras.

[0107] Then, the selection unit 138 selects the camera 110 that currently captures the tracking target moving body and its surrounding cameras 110 as the target camera (S13) by referring to the monitoring space information stored in the monitoring space DB unit 136. Then, the selection unit 138 sends valid indication information to the moving body detection device 120 connected to the camera 110 selected as the target camera, and sends invalid indication information to the moving body detection device 120 connected to the camera 110 not selected as the target camera via the network communication unit 131. In addition, the selection unit 138 updates the monitoring space information stored in the monitoring space DB unit 136.

[0108] As a method of selecting the target camera, the camera 110 that currently captures the tracking target moving body and the camera 110 whose capturing range is adjacent to the camera 110 that currently captures the tracking target moving body may be selected as the target camera. In addition, the camera 110 that is located on the same floor as the camera 110 that currently captures the tracking target moving body may also be selected as the target camera. In addition, by setting the camera 110 selected here to be a camera 110 that is set within the range in which the tracking target moving body can normally move, etc., it is not necessary to set the camera 110 in such a way that there is no blind spot in the capturing area within the monitoring area. When the selection of the target camera is completed, the moving body detection processing and feature extraction processing in the image from the target camera are enabled, and the status of the camera 110 selected as the target camera is also updated to "enabled" in the monitoring space information stored in the monitoring space DB unit 136.

[0109] As a result of comparing the features extracted from the image from the target camera with the features of the tracking target moving object, the moving object detection process and feature extraction process of the target camera that did not capture the tracking target moving object are invalidated, and the monitoring space information stored in the monitoring space DB unit 136 is updated. Then, the target camera is newly updated. By repeating such a process, the target camera is switched according to the movement of the tracking target moving object.

[0110] The following is an explanation.

[0111] The moving body information obtained from the moving body detection device 120 connected to the target camera is provided to the checking unit 139. Then, the checking unit 139 checks the features shown in the moving body information with the features shown in the tracking target feature information, thereby identifying the moving body captured by any one of the target cameras and the tracking target moving body. Then, the checking unit 139 provides the processing result to the tracking management unit 140. As the processing result, for example, the following information indicating the position of the camera 110 that captured the moving body identified as the tracking target moving body, the date and time when the camera 110 captured the image, and the position of the moving body identified as the tracking target moving body in the image captured by the camera 110 can be provided to the tracking management unit 140 as the checking result information.

[0112] Then, the tracking management unit 140 determines the position of the mobile object identified as the tracking target mobile object based on the processing result of the checking unit 139, and registers the determined position of the mobile object and the date and time when the image of the mobile object was captured and detected in the mobile object tracking information stored in the monitoring space DB unit 136 (S14). By repeatedly executing the above processing, the tracking target mobile object can be tracked.

[0113] Here, consider the case where the tracking target moving object uses an elevator to move between floors. Usually, when the tracking target moving object is in the elevator, the tracking target moving object is outside the shooting range of the camera 110. Therefore, it is difficult to estimate which floor the tracking target moving object is moving to, and it is impossible to determine which camera 110 should be selected as the target camera next.

[0114] Then, the selection unit 138 determines whether the tracking target moving body has taken the elevator (S15). If the tracking target moving body has taken the elevator ("Yes" in S15), the process proceeds to step S16, and if the tracking target moving body has not taken the elevator ("No" in S15), the process returns to step S13.

[0115] In addition, regarding the judgment of whether the tracking target moving body has taken the elevator, for example, by analyzing the image captured by the camera 110 installed in a place with an elevator such as an elevator lobby, if the moving direction of the tracking target moving body is the elevator car, it can be judged that the tracking target moving body has taken the elevator. In addition, if the tracking target moving body detected by the camera 110 installed in the place with the elevator is not detected by any camera 110 installed in its surroundings or on the same floor, it can also be judged that the tracking target moving body has taken the elevator. In addition, the following condition can also be added to the judgment condition: at the time point when the tracking target moving body is no longer detected by the camera 110 installed in the place with the elevator, whether the elevator that can be taken is parked at the floor.

[0116] In step S16, the elevator information acquisition unit 137 acquires the elevator operation information from the elevator system 102 via the elevator system communication unit 132. The acquired elevator operation information is provided to the selection unit 138.

[0117] The selection unit 138 selects a target camera based on the provided elevator operation information and the monitoring space information stored in the monitoring space DB unit 136 (S17). Then, the selection unit 138 sends valid indication information to the moving body detection device 120 connected to the camera 110 selected as the target camera via the network communication unit 131, and sends invalid indication information to the moving body detection device 120 connected to the camera 110 not selected as the target camera via the network communication unit 131. In addition, the selection unit 138 sets the state of the camera 110 selected as the target camera to "valid" in the monitoring space information stored in the monitoring space DB unit 136, and sets the state of the camera 110 not selected as the target camera to "invalid".

[0118] The elevator operation information used here indicates, for example, the stop floor designated by the call registration or the destination floor registration operated in the elevator, and the date and time when the call registration or the destination floor registration was performed.

[0119] In such a case, the selection unit 138 can select the camera 110 of the floor where the elevator stops as the target camera. In addition, all the cameras 110 of the floor where the elevator stops can be selected as the target camera, and the cameras 110 installed around the elevator (for example, a predetermined range from the elevator) can be selected as the target camera. In addition, the selection unit 138 can also select the camera 110 of the floor where the call registration or the destination floor registration is newly performed within a certain period of time since the tracking target moving body boarded the elevator as the target camera.

[0120] As described above, the camera 110 of the floor where the tracking target moving body cannot go down (for example, the passing floor) can be excluded from the target camera, so even if there is a moving body with similar characteristics on the passing floor, it is possible to prevent the moving body from being mistakenly identified as the tracking target moving body. In addition, the image of the camera 110 of the passing floor does not need to be processed by the moving body detection device 120, so there is an effect of reducing the processing load of the moving body detection device 120 and reducing power consumption.

[0121] Next, the checking unit 139 checks the features extracted from the image captured by the target camera with the features of the tracking target moving object, similarly to the process in step S14, and determines whether the tracking target moving object is captured by the target camera (S18). Determining whether the moving object captured by the target camera is the same as the tracking target moving object for this determination is called identification. When it is determined that the tracking target moving object is captured by the target camera ("Yes" in S18), the tracking management unit 140 registers the position of the detected tracking target moving object and the date and time of capturing the image in the moving object tracking information stored in the monitoring space DB unit 136, similarly to step S14, and the process proceeds to step S13. When it is determined that the tracking target moving object is not captured by the target camera ("No" in S18), the process proceeds to step S16, the elevator information acquisition unit 137 acquires the elevator operation information from the elevator system 102 via the elevator system communication unit 132, and the selection unit 138 selects the camera 110 of the other floor where the elevator stops as the target camera (S17).

[0122] Therefore, when the elevator stops at multiple floors, even if the tracking target cannot be detected in the image captured by the target camera, the tracking target moving body can be reliably detected by sequentially selecting the cameras 110 of other floors where the elevator stops as target cameras.

[0123] In this case, when the tracking target moving body is detected ("Yes" in S18), only the cameras 110 around the camera 110 that captured the tracking target moving body are selected as target cameras (S13), thereby excluding the cameras 110 on unnecessary floors from the target cameras.

[0124] As described above, according to Embodiment 1, the candidate destinations of the moving object to be tracked can be effectively narrowed down, the recognition and tracking accuracy of the moving object can be improved, and the detection and feature extraction of the moving object can be performed without unnecessary cameras 110, thereby reducing the overall computing processing load of the system.

[0125] Implementation method 2.

[0126] like Figure 1As shown, the moving object tracking system 200 according to the second embodiment includes a plurality of cameras 110 , a moving object detection device 120 , and a moving object tracking device 230 .

[0127] The plurality of cameras 110 and the moving object detection device 120 of the moving object tracking system 200 according to the second embodiment are the same as the plurality of cameras 110 and the moving object detection device 120 of the moving object tracking system 100 according to the first embodiment.

[0128] like Figure 1 As shown, the mobile object tracking device 230 includes a network communication unit 131, an elevator system communication unit 132, a connection interface unit 133, an information acquisition unit 134, a tracking object designation unit 135, a monitoring space DB unit 136, an elevator information acquisition unit 137, a selection unit 238, a verification unit 139 and a tracking management unit 140.

[0129] In addition, each unit in the moving object tracking device 230 can also be configured as an independent device.

[0130] The network communication unit 131, the elevator system communication unit 132, the connection interface unit 133, the information acquisition unit 134, the tracking object designation unit 135, the monitoring space DB unit 136, the elevator information acquisition unit 137, the verification unit 139 and the tracking management unit 140 of the mobile object tracking device 230 in embodiment 2 are the same as the network communication unit 131, the elevator system communication unit 132, the connection interface unit 133, the information acquisition unit 134, the tracking object designation unit 135, the monitoring space DB unit 136, the elevator information acquisition unit 137, the verification unit 139 and the tracking management unit 140 of the mobile object tracking device 130 in embodiment 1.

[0131] The selection unit 238 refers to the monitoring space information and selects a target camera from the plurality of cameras 110 , the target camera being the camera 110 that captures an image from which a moving object is detected and features of the moving object are extracted.

[0132] Furthermore, when the tracking target moving object takes the elevator, the selection unit 238 selects a target camera from the plurality of cameras 110 by referring to the monitoring space information and the elevator operation information.

[0133] Here, when the target camera is selected by referring to the elevator operation information, in other words, when the tracking target moving object takes the elevator, the selection unit 238 sets a valid period for the selection of the target camera for each target camera.

[0134] Here, when setting the effective period, the arrival time of the elevator at each stop floor can be used. For example, when the camera 110 installed in a place where an elevator is installed, such as an elevator lobby at a floor where the elevator stops by call registration or destination floor registration, is selected as the target camera, the predetermined period from the arrival of the elevator can be set as the effective period. Then, if it is not determined that all the features of the moving object detected within the effective period are the same as the features of the tracking target moving object, it is deemed that the tracking target moving object has not gotten off the elevator at this floor, and the moving object detection processing and feature extraction processing of the camera selected as the target camera are invalidated. In this way, it is possible to suppress useless moving object detection processing and feature extraction processing on floors where there is no tracking target moving object.

[0135] In addition, the above-mentioned setting of the effective period is an example, and the door opening and closing time information in the stop floor of the elevator can also be used. In this case, with respect to the effective period, the period from when the elevator arrives at the floor and starts to open the door to when the door is completely closed is set as the effective period. In addition, a certain margin can also be set for the effective period so that a certain period after the door is completely closed is included in the effective period. By using the door opening and closing information in the setting of the effective period, even if the time of going down the elevator of the tracking object moving body is delayed relative to the arrival of the elevator due to congestion in the elevator car or the elevator lobby on each floor or a large number of people going up and down the elevator, it is possible to prevent detection omissions and track the tracking object moving body. In addition, by setting a certain period of margin, it is also possible to suppress detection omissions in cases where the moving body is occasionally blocked by other passengers when going down the elevator and cannot be detected, and appropriately select the object camera.

[0136] Then, the selection unit 238 sends the valid indication information to the moving body detection device 120 connected to the camera 110 selected as the object camera via the network communication unit 131. The valid indication information represents the camera identification information of the camera 110 selected as the object camera, and an indication to make the moving body detection processing and feature extraction processing valid, i.e., a valid indication.

[0137] In addition, the selection unit 238 sends the invalid indication information to the moving body detection device 120 connected to the camera 110 that is not selected as the object camera via the network communication unit 131. The invalid indication information represents the camera identification information of the camera 110 that is not selected as the object camera, and an indication to invalidate the moving body detection processing and feature extraction processing, i.e., an invalid indication.

[0138] Furthermore, the selection unit 238 sets the status of the camera 110 selected as the target camera in the monitoring space information stored in the monitoring space DB unit 136 to “valid”, and sets the status of the camera 110 not selected as the target camera to “invalid”.

[0139] As described above, the selection unit 238 in embodiment 2 sets a valid period for the selection of the target camera. If the tracking target moving body is not identified within the valid period, the target camera is deselected and one or more cameras that have not been selected as the target camera are selected from the multiple cameras 110 as new target cameras.

[0140] Here, the selection unit 238 can set a predetermined period from the time the elevator stops as the effective period of the object camera arranged on the floor where the elevator stops. In addition, the selection unit 238 can also set a predetermined period from the time the elevator stops and the door of the elevator is opened as the effective period of the object camera arranged on the floor where the elevator stops. In addition, the predetermined period can be the period until the door is closed, or the period until a predetermined additional period has passed after the door is closed.

[0141] Figure 6 This is a flowchart showing the processing in the moving object tracking system 200 according to the second embodiment.

[0142] against Figure 6 Follow the steps shown below and Figure 5 The steps shown are the same as the steps in the process, marked with Figure 5 Same label.

[0143] Figure 6 The processing of steps S10 to S16 is Figure 5 The processing of steps S10 to S16 is the same. Figure 6 In the process, after the processing of step S16, the process proceeds to step S30.

[0144] In step S30, similarly to the first embodiment, the selection unit 238 selects a target camera based on the provided elevator operation information and the monitoring space information stored in the monitoring space DB unit 136. Then, the selection unit 238 transmits valid indication information to the moving body detection device 120 connected to the camera 110 selected as the target camera via the network communication unit 131, and transmits invalid indication information to the moving body detection device 120 connected to the camera 110 not selected as the target camera via the network communication unit 131. In addition, the selection unit 238 sets the state of the camera 110 selected as the target camera to "valid" in the monitoring space information stored in the monitoring space DB unit 136, and sets the state of the camera 110 not selected as the target camera to "invalid".

[0145] Next, the selection unit 238 sets an effective period for the target camera selected in step S30 (S31). Thus, an effective period is also set for the moving object detection process and feature extraction process in the moving object detection device 120 connected to the camera 110 selected as the target camera.

[0146] Then, the selection unit 238 determines whether the validity period set in step S31 has expired (S32). If the validity period has expired ("Yes" in S32), the process proceeds to step S30, and the selection unit 238 selects a camera 110 different from the camera 110 selected as the target camera as the target camera. For example, the camera 110 of another floor where the elevator stops is selected as the target camera. On the other hand, if the validity period has not expired ("No" in S32), the process proceeds to step S18.

[0147] Figure 6 The processing in step S18 is the same as Figure 3 The processing is the same as in step S18.

[0148] In the first embodiment, the moving body detection process and feature extraction process are performed in each stop floor until the tracking target moving body can be detected. However, when the elevator stops many times and the tracking target moving body does not get off the elevator for a long time, there is a concern that the number of target cameras will increase and the overall system operation processing load will temporarily increase. However, according to the second embodiment, by setting an effective period for the selection of the target camera and switching the target camera for the moving body detection process and feature extraction process in sequence according to the floor the elevator arrives at, it is possible to suppress the useless moving body detection process and feature extraction process in the floor where the tracking target moving body does not get off the elevator, and it is possible to prevent the tracking accuracy from being deteriorated or the operation processing load from being unnecessarily increased due to misidentification.

[0149] Implementation method 3.

[0150] Figure 7 This is a block diagram schematically showing the configuration of a moving object tracking system 300 according to the third embodiment.

[0151] like Figure 7 As shown, the moving object tracking system 300 according to the third embodiment includes a plurality of cameras 110 , a moving object detection device 120 , and a moving object tracking device 330 .

[0152] The plurality of cameras 110 and the moving object detection device 120 of the moving object tracking system 300 according to the third embodiment are the same as the plurality of cameras 110 and the moving object detection device 120 of the moving object tracking system 100 according to the first embodiment.

[0153] like Figure 7As shown, the mobile body tracking device 330 includes a network communication unit 131, an elevator system communication unit 132, a connection interface unit 133, an information acquisition unit 334, a tracking object designation unit 135, a monitoring space DB unit 336, an elevator information acquisition unit 137, a selection unit 338, a verification unit 339, a tracking management unit 140, and an existing mobile body management unit 341.

[0154] In addition, each unit in the moving object tracking device 330 can also be configured as an independent device.

[0155] The network communication unit 131, the elevator system communication unit 132, the connection interface unit 133, the tracking object designation unit 135, the elevator information acquisition unit 137 and the tracking management unit 140 of the mobile object tracking device 330 in embodiment 3 are the same as the network communication unit 131, the elevator system communication unit 132, the connection interface unit 133, the tracking object designation unit 135, the elevator information acquisition unit 137 and the tracking management unit 140 of the mobile object tracking device 130 in embodiment 1.

[0156] The information acquisition unit 334 acquires moving object information from each moving object detection device 120 via the network communication unit 131 .

[0157] In the third embodiment, the information acquisition unit 334 switches the destination of providing the acquired moving body information between the tracking target designation unit 135 and the verification unit 339 and the existing moving body management unit 341 according to the instruction from the selection unit 338 .

[0158] After acquiring the moving body information from the information acquisition unit 334 , the existing moving body management unit 341 stores the acquired moving body information in the monitoring space DB unit 336 as existing moving body information.

[0159] The monitoring space DB unit 336 stores existing moving object information in addition to the monitoring space information and the moving object tracking information.

[0160] The selection unit 338 refers to the monitoring space information and selects a target camera from the plurality of cameras 110 , the target camera being the camera 110 that captures an image from which a moving object is detected and features of the moving object are extracted.

[0161] Furthermore, when the tracking target moving body takes the elevator, the selection unit 338 refers to the monitoring space information and the elevator operation information to select a target camera from the plurality of cameras 110. Then, the selection unit 338 instructs the information acquisition unit 334 to switch the destination of the moving body information to the existing moving body management unit 341. Furthermore, the selection unit 338 sets a preparation period, which is a period during which the selection of the target camera becomes effective.

[0162] Then, when the preparation period expires, the selection unit 338 refers to the monitoring space information and the elevator operation information to select a target camera from the plurality of cameras 110. Then, by instructing the information acquisition unit 334, the destination for providing the moving body information is switched to the tracking target designation unit 135 and the verification unit 339. In addition, the effective period of the selection of the target camera is set. The setting of the effective period is the same as that of the second embodiment.

[0163] Specifically, the selection unit 338 selects as the target camera a part or all of the cameras 110 of the floor where the tracking target moving body gets on the elevator and the elevator starts to move, and stops by the elevator call registration or the destination floor registration. And the preparatory period for this selection is the period from the start of the elevator to the arrival of the floor. In this way, the moving body information before the tracking target moving body arrives at the floor can be obtained in advance.

[0164] Then, the selection unit 338 selects a part or all of the cameras 110 on the floor as target cameras, and sets the effective period to be from the start of door opening to the completion of door opening of the elevator on the floor.

[0165] Then, the selection unit 338 sends the valid indication information to the moving body detection device 120 connected to the camera 110 selected as the object camera via the network communication unit 131. The valid indication information represents the camera identification information of the camera 110 selected as the object camera, and an indication to make the moving body detection processing and feature extraction processing valid, i.e., a valid indication.

[0166] In addition, the selection unit 338 sends the invalid indication information to the moving body detection device 120 connected to the camera 110 that is not selected as the object camera via the network communication unit 131. The invalid indication information represents the camera identification information of the camera 110 that is not selected as the object camera, and an indication to invalidate the moving body detection processing and feature extraction processing, i.e., an invalid indication.

[0167] Furthermore, the selection unit 338 sets the status of the camera 110 selected as the target camera in the monitoring space information stored in the monitoring space DB unit 136 to “valid”, and sets the status of the camera 110 not selected as the target camera to “invalid”.

[0168] The checking unit 339 checks the features indicated by the feature information generated by the moving object detection device 120 based on the image captured by the target camera with the features of the tracking target moving object, thereby determining whether the moving object included in the image captured by the camera 110 and the tracking target moving object are the same mobile station.

[0169] Here, in Embodiment 3, after the tracking target moving body gets on the elevator until the tracking target moving body is detected, if the features shown in the moving body information generated based on the image captured by the target camera are inconsistent with the features shown in the existing moving body information, the checking unit 339 checks the features shown in the moving body information generated based on the image captured by the target camera with the features of the tracking target moving body. Thus, the checking process can be performed excluding the existing moving body, and the processing load can be reduced.

[0170] As described above, in the third embodiment, the detection and extraction unit 123 detects the moving object detected from the preliminary image, that is, the existing moving object, and extracts the feature of the existing moving object, that is, the preliminary feature, from the preliminary image, wherein the preliminary image is an image captured by the object camera during the preliminary period, which is a predetermined period from when the tracking target moving object gets on the elevator. Then, when it cannot be determined that the feature extracted from the image captured by the object camera after the tracking target moving object gets on the elevator, that is, the object feature, is consistent with the preliminary feature, the checking unit 339 checks the object feature with the feature of the tracking target moving object, thereby identifying the tracking target moving object from a plurality of moving objects.

[0171] The preparation period may be a period until the elevator stops at the target floor, or a period until the door of the stopped elevator opens. Here, the preparation period is preferably a period until the door of the elevator opens.

[0172] The moving object tracking device 330 described above can also be configured as follows, for example: Figure 4 (A) is implemented by the computer 160 shown.

[0173] For example, the information acquisition unit 334 , the selection unit 338 , the verification unit 339 , and the existing mobile body management unit 341 can also be realized by the processor 166 reading a program stored in the storage device 164 to the memory 165 and executing the program.

[0174] In addition, the monitoring space DB unit 336 can be realized by the storage device 164 .

[0175] in addition, Figure 7 Each unit in the mobile object tracking device 330 shown in the figure may be configured as a separate device.

[0176] In such a case, for example, part or all of the information acquisition unit 334, the selection unit 338, the verification unit 339, and the existing mobile body management unit 341 may also be configured as follows. Figure 4 As shown in (B), the processing circuit 167 is composed of a single circuit, a composite circuit, a processor that operates according to a program, a parallel processor that operates according to a program, an ASIC, or an FPGA.

[0177] In other words, the information acquisition unit 334, the tracking target designation unit 135, the elevator information acquisition unit 137, the selection unit 338, the verification unit 339, the tracking management unit 140, and the existing moving body management unit 341 can be realized by a processing circuit network.

[0178] Figure 8 and Fig. 9 This is a flowchart showing the processing in the moving object tracking system 300 according to the third embodiment.

[0179] against Figure 8 or Fig. 9 The steps shown are carried out with Figure 5 The steps shown are the same as the steps in the process, marked with Figure 5 Same label.

[0180] The destination of the mobile body information from the information acquisition unit 334 is the tracking target designation unit 135 , the verification unit 339 , and the existing mobile body management unit 341 .

[0181] Figure 8 The processing of steps S10 to S16 is Figure 5 The processing of steps S10 to S16 is the same. Figure 8 After the processing of step S16, the processing enters Fig. 9 Step S40.

[0182] exist Fig. 9 In step S40, the selection unit 338 refers to the monitoring space information and the elevator operation information to select a target camera from the plurality of cameras 110. Then, the selection unit 338 sends valid indication information to the moving body detection device 120 connected to the camera 110 selected as the target camera via the network communication unit 131, and sends invalid indication information to the moving body detection device 120 connected to the camera 110 not selected as the target camera via the network communication unit 131. In addition, the selection unit 338 sets the state of the camera 110 selected as the target camera to "valid" in the monitoring space information stored in the monitoring space DB unit 336, and sets the state of the camera 110 not selected as the target camera to "invalid".

[0183] Furthermore, the selection unit 338 instructs the information acquisition unit 334 to switch the destination of the mobile body information from the tracking target designation unit 135 and the verification unit 339 to the existing mobile body management unit 341. As described below, the mobile body information sent from the mobile body detection device 120 connected to the camera 110 selected as the target camera is accumulated in the monitoring space DB unit 136 as the existing mobile body information.

[0184] In addition, the selection unit 338 sets a preparatory period (S41) during which the selection of the object camera becomes effective. Thus, a preparatory period is set for performing the moving object detection process and feature extraction process in the moving object detection device 120 connected to the camera 110 selected as the object camera until the elevator reaches the floor.

[0185] Next, the selection unit 338 determines whether the preparation period has expired (S42). If the preparation period has expired (Yes in S42), the process proceeds to step S45, and if the preparation period has not expired (No in S42), the process proceeds to step S43.

[0186] In step S43, the detection extraction unit 123 of the moving object detection device 120 connected to the camera 110 selected as the target camera determines whether a moving object is detected in the image captured by the camera 110 selected as the target camera. If a moving object is detected ("Yes" in S43), the process proceeds to step S44, and if a moving object is not detected ("No" in S43), the process returns to step S42.

[0187] In step S44, the detection and extraction unit 123 extracts the features of the detected moving object from the corresponding image, generates moving object information indicating the detected moving object, the extracted features, and the camera identification information of the corresponding camera 110, and transmits the moving object information to the moving object tracking device 330 via the transceiver unit 122. The information acquisition unit 334 that has acquired such moving object information via the network communication unit 131 provides the moving object information to the existing moving object management unit 341. The existing moving object management unit 341 stores the acquired moving object information in the monitoring space DB unit 336 as existing moving object information. Then, the process returns to step S42.

[0188] When the preparation period expires in step S42 (YES in S42 ), the process proceeds to step S45 .

[0189] In step S45, the selection unit 338 refers to the monitoring space information and the elevator operation information to select a target camera from the plurality of cameras 110. Then, the selection unit 338 sends valid indication information to the moving body detection device 120 connected to the camera 110 selected as the target camera via the network communication unit 131, and sends invalid indication information to the moving body detection device 120 connected to the camera 110 not selected as the target camera via the network communication unit 131. In addition, the selection unit 338 sets the state of the camera 110 selected as the target camera to "valid" in the monitoring space information stored in the monitoring space DB unit 336, and sets the state of the camera 110 not selected as the target camera to "invalid".

[0190] Furthermore, the selection unit 338 instructs the information acquisition unit 334 to switch the destination of providing the moving object information to the tracking target designation unit 135 and the verification unit 339 .

[0191] In addition, the selection unit 338 sets a valid period during which the selection of the target camera is valid (S46). Thus, the valid period is also set for the moving object detection processing and feature extraction processing in the moving object detection device 120 connected to the camera 110 selected as the target camera.

[0192] Next, the selection unit 338 determines whether the valid period has expired (S47). If the valid period has expired ("Yes" in S47), the process returns to step S45, and the selection unit 338 cancels the selection of the camera 110 selected as the target camera and selects another camera 110 as the target camera. On the other hand, if the valid period has not expired ("No" in S47), the process proceeds to step S48.

[0193] In step S48, the detection extraction unit 123 of the moving object detection device 120 connected to the camera 110 selected as the target camera determines whether a moving object is detected in the image captured by the camera 110 selected as the target camera. If a moving object is detected ("Yes" in S48), the process proceeds to step S49, and if a moving object is not detected ("No" in S48), the process returns to step S47.

[0194] In step S49, the detection and extraction unit 123 extracts the features of the detected moving object from the corresponding image, generates moving object information indicating the detected moving object, the extracted features, and the camera identification information of the corresponding camera 110, and transmits the moving object information to the moving object tracking device 330 via the transceiver unit 122. The information acquisition unit 334 that has acquired such moving object information via the network communication unit 131 provides the moving object information to the tracking target designation unit 135 and the verification unit 339.

[0195] The checking unit 339 checks the features shown in the received moving body information with the features shown in the existing moving body information stored in the monitoring space DB unit 336, thereby determining whether the moving body shown in the moving body information and the moving body shown in the existing moving body information, i.e., the existing moving body, are the same moving body (S50). If it is determined that they are the same moving body ("Yes" in S50), the process proceeds to step S47, and if it is determined that they are not the same moving body ("No" in S50), the process proceeds to step S51.

[0196] In step S51 , the checking unit 339 checks the characteristics indicated by the received moving object information with the characteristics of the tracking target moving object, thereby determining whether the moving object indicated by the moving object information and the tracking target moving object are the same moving object.

[0197] If it is determined that they are the same moving object ("Yes" in S51), the tracking management unit 140 registers the position of the identified moving object and the date and time of the image capture in the moving object tracking information stored in the monitoring space DB unit 136, and the processing enters Figure 8 Step S13.

[0198] On the other hand, when it is determined that they are not the same moving object (No in S51), the process returns to step S47.

[0199] As described above, in Implementation Example 2, the effective period of the moving body detection processing and feature extraction processing in each moving destination candidate floor is set according to the elevator stop floor information and the arrival time, and the tracking processing of the tracking object moving body is performed. However, in Implementation Example 3, the recognition and tracking accuracy of the tracking object moving body is improved by obtaining and managing the information of the moving body already located at each moving destination candidate floor in advance.

[0200] Thereby, a moving body that exists before reaching the stop floor of the elevator can be excluded from the identification target of the tracking target moving body, thereby suppressing erroneous identification and erroneous tracking.

[0201] In addition, when there is a moving body among the existing moving bodies whose features are close to those of the tracking target moving body, the following control can also be performed: the features used for identification are changed in advance to be different from the usual ones, for example, by changing to observe more detailed features for judgment, or changing the identification threshold setting.

[0202] Implementation method 4.

[0203] Fig.10 This is a block diagram schematically showing the configuration of a moving object tracking system 400 according to the fourth embodiment.

[0204] like Fig.10 As shown, the moving object tracking system 400 according to the fourth embodiment includes a plurality of cameras 110 , a moving object detection device 120 , and a moving object tracking device 430 .

[0205] The plurality of cameras 110 and the moving object detection device 120 of the moving object tracking system 400 according to the fourth embodiment are the same as the plurality of cameras 110 and the moving object detection device 120 of the moving object tracking system 100 according to the first embodiment.

[0206] like Fig.10As shown, the mobile body tracking device 430 includes a network communication unit 131, an elevator system communication unit 132, a connection interface unit 133, an information acquisition unit 134, a tracking object designation unit 135, a monitoring space DB unit 136, an elevator information acquisition unit 137, a selection unit 438, a verification unit 139, a tracking management unit 140, and a boarding machine judgment unit 442.

[0207] In addition, each unit in the moving object tracking device 430 can also be configured as an independent device.

[0208] The network communication unit 131, the elevator system communication unit 132, the connection interface unit 133, the information acquisition unit 134, the tracking object designation unit 135, the monitoring space DB unit 136, the elevator information acquisition unit 137, the verification unit 139 and the tracking management unit 140 of the mobile object tracking device 430 in embodiment 4 are the same as the network communication unit 131, the elevator system communication unit 132, the connection interface unit 133, the information acquisition unit 134, the tracking object designation unit 135, the monitoring space DB unit 136, the elevator information acquisition unit 137, the verification unit 139 and the tracking management unit 140 of the mobile object tracking device 130 in embodiment 1.

[0209] The boarding vehicle determination unit 442 determines the elevator in which the tracking target moving body is boarding, based on the moving body tracking information stored in the monitoring space DB unit 136 and the elevator operation information acquired by the elevator information acquisition unit 137 .

[0210] In the first embodiment, the selection unit 138 analyzes an image captured at a place where an elevator is installed, such as an elevator lobby, or determines that the tracking target moving object has taken the elevator when the tracking target moving object satisfies a predetermined condition and is no longer detected. In addition, the selection unit 138 narrows down the floors that are candidates for the moving destination based on, for example, the elevator's stop floor information, thereby improving the recognition and tracking accuracy of the moving object.

[0211] Here, when a plurality of elevators are installed, particularly when a plurality of elevators are installed side by side, in the determination as in the first embodiment, the stop floors of a plurality of elevators become the destination candidates, and therefore the number of destination candidates may become large.

[0212] Therefore, in the fourth embodiment, the boarding vehicle determination unit 442 determines which vehicle the tracking target moving body boarded when determining the boarding of the elevator. Then, the selection unit 438 selects the target camera using only the operation status of the vehicle determined to have boarded the tracking target moving body. Thus, it is possible to prevent the camera 110 at the stop floor of the vehicle that the tracking target moving body has not boarded from being selected as the target camera that captures the image from which the moving body is detected and the features are extracted, thereby achieving improvement in recognition and tracking accuracy and suppression of useless calculation processing.

[0213] For example, the boarding vehicle determination unit 442 may determine that the vehicle located in the moving direction of the tracking target moving body is the boarding vehicle based on the image captured by the camera 110 installed in a place where an elevator is installed, such as an elevator lobby. In such a case, it may be difficult to determine which vehicle is boarded depending on the installation angle or imaging range of the camera 110.

[0214] Therefore, the boarding car judging unit 442 can judge the car with the door open at the boarding floor when the tracking target moving body is judged to have boarded the elevator using the elevator operation information as the boarding car. Thus, cars that cannot be boarded can be excluded from the objects.

[0215] In addition, here, the purpose is to select a candidate for a moving destination when moving between floors, so as a judgment condition, the boarding car judgment unit 442 may judge only the car that starts moving after closing the door, in other words, the car that moves to another floor as the target car. Thus, even when the tracking target moving body stays in the elevator for a certain period of time, the target camera can be appropriately selected.

[0216] As described above, in Embodiment 4, when a plurality of elevators are installed in the monitoring area, the boarding elevator determination unit 442 functioning as the boarding elevator determination unit determines the elevator boarded by the tracking target moving body among the plurality of elevators as the boarding elevator. Then, the selection unit 438 selects the target camera according to the operation status of the boarding elevator by referring to the elevator operation information.

[0217] Here, the boarding number judgment unit 442 can also refer to the elevator operation information to determine the elevator whose door is open at the time when the tracked object moving body boarded as the boarding elevator. It can also refer to the elevator operation information to determine the elevator whose door is open at the time when the tracked object moving body boarded and started moving after the tracked object moving body boarded as the boarding elevator.

[0218] The moving object tracking device 430 described above can also be configured as follows, for example: Figure 4 (A) is implemented by the computer 160 shown.

[0219] For example, the selection unit 438 and the boarding machine determination unit 442 can also be realized by the processor 166 reading the program stored in the storage device 164 to the memory 165 and executing it.

[0220] in addition, Fig.10 Each unit in the mobile object tracking device 330 shown in the figure may be configured as a separate device.

[0221] In such a case, for example, part or all of the selection unit 438 and the boarding machine determination unit 442 may be configured as follows. Figure 4 As shown in (B), the processing circuit 167 is composed of a single circuit, a composite circuit, a processor that operates according to a program, a parallel processor that operates according to a program, an ASIC, or an FPGA.

[0222] In other words, the information acquisition unit 134, the tracking target designation unit 135, the elevator information acquisition unit 137, the selection unit 438, the verification unit 139, the tracking management unit 140, and the boarding machine determination unit 442 can be realized by a processing circuit network.

[0223] By configuring as described above, even when there are a plurality of elevators, it is possible to suppress the occurrence of erroneous detection and useless calculation processing caused by enabling the moving object detection processing and feature extraction processing of the camera 110 for redundant moving destination candidates.

[0224] Description of Reference Numerals

[0225] 100, 200, 300, 400 moving body tracking system, 110 camera, 120 moving body detection device, 121 receiving unit, 122 transceiver unit, 123 detection and extraction unit, 124 control unit, 130, 230, 330, 430 moving body tracking device, 131 network communication unit, 132 elevator system communication unit, 133 connection interface unit, 134, 334 information acquisition unit, 135 tracking object designation unit, 136, 336 monitoring space DB unit, 137 elevator information acquisition unit, 138, 238, 338, 438 selection unit, 139, 339 verification unit, 140 tracking management unit, 341 existing moving body management unit, 442 boarding machine judgment unit.

Claims

1. A mobile object tracking system for tracking the movement of a tracking target mobile object in a monitoring area where a plurality of mobile objects are moving, wherein the tracking target mobile object is an object to be tracked, characterized in that: The mobile object tracking system comprises: an elevator information acquisition unit that acquires elevator operation information indicating an operation status of an elevator from an elevator system that controls the operation of the elevator provided in the monitoring area; a selection unit, which, when the tracking target moving object takes the elevator, determines a floor where the tracking target moving object may get off the elevator as a target floor by referring to the elevator operation information, and selects at least one camera arranged on the target floor among the plurality of cameras arranged in the monitoring area as a target camera; a detection and extraction unit, which detects a moving object from the image captured by the object camera and extracts features of the detected moving object; and A checking unit checks the object feature that is the extracted feature with the feature of the tracking target moving object, thereby identifying the tracking target moving object from among the plurality of moving objects.

2. The moving object tracking system according to claim 1, characterized in that: The mobile object tracking system further includes a tracking management unit that tracks movement of the tracking target mobile object in the monitoring area based on the arrangement of the target cameras and the time when the image including the mobile object recognized as the tracking target mobile object is captured.

3. The moving object tracking system according to claim 1, characterized in that: The selecting unit determines the stop floor of the elevator as the target floor.

4. The moving object tracking system according to claim 2, characterized in that: The selecting unit determines the stop floor of the elevator as the target floor.

5. The moving object tracking system according to claim 1, characterized in that: The selection unit specifies, as the target floor, a floor for which a call registration or a destination floor registration has been performed as a stop floor within a specific period since the tracking target moving body got on the elevator.

6. The moving object tracking system according to claim 2, characterized in that: The selection unit specifies, as the target floor, a floor for which a call registration or a destination floor registration has been performed as a stop floor within a specific period since the tracking target moving body got on the elevator.

7. The moving object tracking system according to any one of claims 1 to 6, characterized in that: The selection unit sets a valid period for the selection of the target camera, and if the tracking target moving body is not identified within the valid period, cancels the selection of the target camera and selects one or more cameras that have not been selected as the target camera from the multiple cameras as new target cameras.

8. The moving object tracking system according to claim 7, characterized in that: The selection unit sets a predetermined period from the time when the elevator stops as the effective period of the target camera arranged on the floor where the elevator stops.

9. The moving object tracking system according to claim 7, characterized in that: The selection unit sets a predetermined period from when the elevator stops and the door of the elevator opens as the effective period of the target camera arranged on the floor where the elevator stops.

10. The moving object tracking system according to claim 9, characterized in that: The predetermined period is a period until the door is closed.

11. The moving object tracking system according to claim 9, characterized in that: The predetermined period is a period until a predetermined additional period elapses after the door is closed.

12. The moving object tracking system according to any one of claims 1 to 6, characterized in that: The selection unit sets a preparation period, which is a predetermined period from when the tracking target moving body gets on the elevator. The detection and extraction unit detects a moving object, namely, an existing moving object, detected from a preliminary image, and extracts a feature, namely, a preliminary feature, of the existing moving object from the preliminary image, wherein the preliminary image is an image captured by the object camera during the preliminary period. When the checking unit determines that the object feature and the preliminary feature do not match after the tracking target moving object gets on the elevator, the checking unit checks the object feature with a feature of the tracking target moving object to identify the tracking target moving object from among the plurality of moving objects.

13. The moving object tracking system according to claim 12, characterized in that: The preparation period is a period until the elevator stops at the target floor.

14. The moving object tracking system according to claim 12, characterized in that: The preparation period is a period until the elevator stops at the target floor and the door opens.

15. The moving object tracking system according to any one of claims 1 to 6, characterized in that: A plurality of elevators are arranged in the monitoring area. The moving object tracking system further includes a boarding elevator identifying unit that identifies an elevator boarded by the tracking target moving object among the plurality of elevators as the boarding elevator. The selection unit refers to the elevator operation information to select the target camera according to the operation status of the elevator.

16. The moving object tracking system according to claim 15, characterized in that: The boarding elevator identification unit identifies, by referring to the elevator operation information, an elevator whose door is open at the time when the tracking target moving body boarded, among the plurality of elevators, as the boarding elevator.

17. The moving object tracking system according to claim 15, characterized in that: The boarding elevator identification unit identifies, as the boarding elevator, an elevator among the plurality of elevators whose door is open when the tracking target moving object has boarded and which starts traveling after the tracking target moving object has boarded, by referring to the elevator operation information.

18. A mobile object tracking device, which tracks the movement of a tracking target mobile object in a monitoring area where a plurality of mobile objects are moving, wherein the tracking target mobile object is an object to be tracked, characterized in that: The mobile object tracking device comprises: an elevator information acquisition unit that acquires elevator operation information indicating an operation status of an elevator from an elevator system that controls the operation of the elevator provided in the monitoring area; a selecting unit that, when the tracking target moving object takes the elevator, determines a floor where the tracking target moving object may get off the elevator as a target floor by referring to the elevator operation information, and selects at least one camera arranged on the target floor among a plurality of cameras arranged in the monitoring area as a target camera; and A checking unit identifies the tracking target moving object from the plurality of moving objects by checking an object feature extracted as a feature of the moving object detected from the image captured by the object camera with a feature of the tracking target moving object.

19. A computer-readable recording medium storing a computer program, characterized in that: When the computer program is executed by a processor, the following processing is performed: acquiring elevator operation information indicating an operation status of an elevator from an elevator system, wherein the elevator system controls the operation of the elevator provided in a monitoring area, When the tracking target moving object takes the elevator, the floor where the tracking target moving object may get off is determined as the target floor by referring to the elevator operation information. selecting at least one camera arranged on the target floor among a plurality of cameras arranged in the monitoring area as a target camera, The tracking target moving object is identified from the plurality of moving objects by comparing an object feature extracted as a feature of the moving object detected from the image captured by the target camera with a feature of the tracking target moving object.

20. A mobile object tracking method, in which a plurality of mobile objects are moving, tracks the movement of a tracking target mobile object, the tracking target mobile object being an object to be tracked, characterized in that: acquiring elevator operation information indicating an operation status of an elevator from an elevator system, wherein the elevator system controls the operation of the elevator provided in the monitoring area, When the tracking target moving object takes the elevator, the floor where the tracking target moving object may get off is determined as the target floor by referring to the elevator operation information. selecting at least one camera arranged on the target floor among a plurality of cameras arranged in the monitoring area as a target camera, Detecting a moving object from the image captured by the object camera, extracting the features of the detected moving object, The object features that are the extracted features are collated with the features of the tracking target moving object, thereby identifying the tracking target moving object from among the plurality of moving objects.

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