Mobile tracking system

Abstract

To provide a tracking system for a mobile capable of performing retrieval and tracking over a wide range with high accuracy in simple configuration.SOLUTION: A mobile tracking system 1 comprises a plurality of stationary camera sections 11, 12 and 13 for imaging a moving target to be tracked and a plurality of movable camera sections 21, 22 and 23 associated with the plurality of stationary camera sections 11, 12 and 13 for imaging the target. The mobile tracking system is configured so that In a case where any of video images picked up by the stationary camera section 11, 12, 13 includes previously designated first feature information of the target, based on second feature information which is different from the first feature information, the movable camera section 21, 22, 23 associated with the stationary camera 11, 12, 13 which picks up the video image including the first feature information retrieves and / or tracks the target.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention generally relates to a moving object tracking system that searches for and / or tracks moving objects.

Background Art

[0002] Conventionally, in order to search for and track a moving object such as a lost child, a surveillance camera device that moves in cooperation with a plurality of surveillance camera devices has been proposed.

[0003] Japanese Patent Application Laid-Open No. 2003-324720 (Patent Document 1) aims to track and monitor a moving object in a place where it is difficult to install cameras comprehensively, such as a wide place or a complex place. When the surveillance camera transmits the video to a monitor device connected by a network and the feature information of the moving object cannot be recognized, the feature information of the moving object as a tracking target is transmitted to another surveillance camera device. Another surveillance camera device that recognizes the feature information of the moving object in the captured video is configured to transmit the video to a monitor device connected by a network. A surveillance system in which a plurality of surveillance cameras cooperate to capture the video of the moving object is described.

[0004] Further, Japanese Patent Application Laid-Open No. 2017-163511 (Patent Document 2) describes a living body search system in which an unmanned moving object connected to a server via a communication network observes with a camera while moving, and when a feature part of a living body solid is detected from the image observed by the camera, the observed image is processed by image processing and compared with the individual identification information recorded in the server to determine whether the living body solid in the observed image is the object to be searched.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the monitoring system described in Patent Document 1, in a complex location, a large number of monitoring cameras must be installed at narrow intervals in order to track a moving object.

[0007] In addition, in the living body search system described in Patent Document 2, since the moving object to be searched also moves while the unmanned moving object is moving, even when the moving object to be searched is walking monotonously in a straight line and can be captured by one of the combined fixed monitoring cameras, depending on the moving path and moving speed of the unmanned moving object, there are cases where the moving object to be searched cannot be discovered.

[0008] Therefore, an object of the present invention is to provide a moving object tracking system that can perform wide-range search and tracking with high accuracy with a simple configuration.

Means for Solving the Problems

[0009] The moving object tracking system according to the present invention includes a plurality of fixed camera units for photographing a moving object to be tracked, and a plurality of moving camera units associated with each of the plurality of fixed camera units for photographing the object. When the video captured by the fixed camera unit includes first feature information of a preset target, based on second feature information different from the first feature information, the moving camera unit associated with the fixed camera that captured the video including the first feature information is configured to search and / or track the target.

[0010] By doing so, it is possible to provide a moving object tracking system that can perform wide-range search and tracking with high accuracy with a simple configuration.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0012] Hereinafter, the moving object tracking system of the present invention and the method for tracking a moving object using the same will be described in detail with specific examples. Note that the present invention is not limited to the embodiments shown below, and various modifications are possible without departing from the technical idea of the present invention.

[0013] <First Embodiment> The moving object tracking system of the first embodiment will be described with reference to FIGS. 1 to 3. First, the configuration of the moving object tracking system will be described.

[0014] As shown in FIGS. 1 and 2, the moving object tracking system 1 of the first embodiment includes a plurality of fixed camera units 11, 12, 13, a plurality of moving camera units 21, 22, 23, a plurality of information processing devices (or edge PCs) 31, 32, 33, a central information processing device (or central server) 40, columns 61, 62, 63 as fixed camera unit supports, and moving camera unit standby units 71, 72, 73. In this embodiment, three fixed camera units 11, 12, 13, three moving camera units 21, 22, 23, and three information processing devices 31, 32, 33 are provided, respectively, but the numbers of these are not limited.

[0015] The mobile object tracking system 1 is configured to be connected to the monitoring device 100 via a communication network and communicate with each other. The communication is performed either wired or wirelessly, and preferably wirelessly. The monitoring device 100 includes a video display unit 110 and an input unit 120. The mobile object tracking system 1 may be configured to communicate with a plurality of monitoring devices 100.

[0016] (Fixed camera unit) As the cameras 11a, 12a, and 13a of the fixed camera units 11, 12, and 13, known cameras capable of capturing images and outputting digital video data can be used. The video can be a moving image or a still image, and preferably a moving image. In this embodiment, as an example, the cameras 11a, 12a, and 13a are visible light cameras, but appropriate cameras such as infrared cameras, ultraviolet cameras, and X-ray cameras can be selected according to the characteristics of the mobile object to be searched and the environment. Each of the fixed camera units 11, 12, and 13 may include a plurality of cameras. When each of the fixed camera units 11, 12, and 13 includes a plurality of cameras, the plurality of cameras can be installed, for example, so as to cover different heights and directions in the field of view. The fixed camera units 11, 12, and 13 are attached to columns 61, 62, and 63 built along the passage 92 (FIG. 2) through which the mobile object 91 to be tracked (FIG. 2) passes. The attachment positions of the fixed camera units 11, 12, and 13 on the columns 61, 62, and 63 are not limited, but it is preferable that they are attached at the same height as the height of the mobile object 91 passing around the columns 61, 62, and 63, or at a height of 125% to 250% of the height of the mobile object 91. In this embodiment, as an example, the fixed camera units 11, 12, and 13 are each attached at a height of 2 m. Each of the fixed camera units 11, 12, and 13, in addition to the cameras 11a, 12a, and 13a, is provided with a configuration for controlling the operation of the cameras 11a, 12a, and 13a and communicating with information processing devices 31, 32, and 33.

[0017] (Mobile camera unit) The mobile camera unit 21 is associated with the fixed camera unit 11, the mobile camera unit 22 is associated with the fixed camera unit 12, and the mobile camera unit 23 is associated with the fixed camera unit 13. The mobile camera units 21, 22, and 23 are preferably camera units that can move unmanned, and as an example, are preferably cameras attached to an unmanned flying body such as a drone. The mobile camera units 21, 22, and 23 may be configured to move while contacting the floor surface using wheels, for example. In this embodiment, as an example, the mobile camera units 21, 22, and 23 are drones that can be controlled to fly at a height of 10 m to 15 m above the ground at a speed of 1 m / second to 3 m / second during stable flight. As the cameras 21a, 22a, and 23a of the mobile camera units 21, 22, and 23, known cameras that can capture images and output digital video data can be used. The video is a moving image or a still image, and is preferably a moving image. In this embodiment, as an example, the cameras 21a, 22a, and 23a are visible light cameras, but an appropriate camera can be selected according to the characteristics of the moving body to be searched and the environment, such as an infrared camera, an ultraviolet camera, or an X-ray camera. Each of the mobile camera units 21, 22, and 23, in addition to the cameras 21a, 22a, and 23a, is provided with a configuration for controlling the movement means and the operation of the cameras 21a, 22a, and 23a and communicating with the central information processing device 40.

[0018] (Information processing device) The information processing devices 31, 32, and 33 each include a control unit 31a, 32a, and 33a and a storage unit (not shown). The information processing devices 31, 32, and 33 are attached to the columns 61, 62, and 63 and are configured to communicate with the fixed camera units 11, 12, and 13. The communication is performed by wire or wirelessly, and is preferably performed wirelessly. In addition, the information processing devices 31, 32, and 33 are configured to perform image processing on the images captured by the fixed cameras 11, 12, and 13. The information processing devices 31, 32, and 33, in addition to the control unit and the storage unit, are provided with a configuration for communicating with the fixed camera units 11, 12, and 13 and the central information processing device 40.

[0019] (Central information processing device) The central information processing device 40 includes a control unit 41 and a storage unit 42. The central information processing device 40 is configured to communicate with the mobile camera units 21, 22, 23, the information processing devices 31, 32, 33, and the monitoring device 100. The communication is performed either wired or wirelessly, and preferably wirelessly.

[0020] The control unit 41 of the central information processing device 40 can read, compare, and judge the information received by the central information processing device 40 and the information stored in the storage unit 42. Also, it can communicate with the fixed camera units 11, 12, 13 and the mobile camera units 21, 22, 23 to give instructions regarding the operations of the fixed camera units 11, 12, 13 and the mobile camera units 21, 22, 23.

[0021] The storage unit 42 of the central information processing device 40 stores information such as videos and inputs from the mobile camera units 21, 22, 23, the information processing devices 31, 32, 33, and the monitoring device 100. The storage unit 42 may include a database that stores the characteristic information of people in the form of videos or a combination of videos and keywords.

[0022] The central information processing device 40 may also be provided with a monitor for displaying the videos transmitted from the fixed camera units 11, 12, 13 and the mobile camera units 21, 22, 23, and an input unit for the user to make inputs.

[0023] (Smart pole) As shown in FIG. 2, the fixed camera unit 11, the mobile camera unit 21, the information processing device 31, the pole 61, and the mobile camera unit standby unit 71 constitute a pole (or smart pole) 81, the fixed camera unit 12, the mobile camera unit 22, the information processing device 32, the pole 62, and the mobile camera unit standby unit 72 constitute a pole (or smart pole) 82, and the fixed camera unit 13, the mobile camera unit 23, the information processing device 33, the pole 63, and the mobile camera unit standby unit 73 constitute a pole (or smart pole) 83. The number of poles is not limited.

[0024] Columns 61, 62, and 63 are respectively provided with mobile camera unit standby parts 71, 72, and 73, and the mobile camera units 21, 22, and 23 standby at the mobile camera unit standby parts 71, 72, and 73. The mobile camera unit standby parts 71, 72, and 73 are preferably configured such that the mobile camera units 21, 22, and 23 can be electrically connected to charge the mobile camera units 21, 22, and 23. When the mobile camera units 21, 22, and 23 are unmanned flying bodies such as drones, the mobile camera unit standby parts 71, 72, and 73 are preferably installed at the upper parts of the columns 61, 62, and 63, and more preferably installed at the upper ends.

[0025] In the first embodiment, the mobile camera unit 21 standby at the mobile camera unit standby part 71 of the column 61 to which the fixed camera unit 11 is attached, the mobile camera unit 22 standby at the mobile camera unit standby part 72 of the column 62 to which the fixed camera unit 12 is attached, and the mobile camera unit 23 standby at the mobile camera unit standby part 73 of the column 63 to which the fixed camera unit 13 is attached. The intervals between the columns 61, 62, and 63 are not limited. As an example, it is preferably a distance that the mobile camera units 21, 22, and 23 can travel back and forth to the adjacent columns 61, 62, and 63 without the need for charging, or a distance that the mobile camera units 21, 22, and 23 can travel within 10 minutes. Alternatively, the columns 61, 62, and 63 are preferably arranged at intervals so that the fields of view of the fixed camera units 11, 12, and 13 attached to each of them do not overlap. In this embodiment, as an example, the interval between the column 61 and the column 62 is 20 m, the interval between the column 61 and the column 63 is 45 m, and the interval between the column 62 and the column 63 is 25 m.

[0026] (Surveillance device) The monitoring device 100 can use, for example, a known computer, tablet, smartphone, etc. As the video display unit 110 of the monitoring device 100, a known display can be used. When the monitoring device 100 is a tablet or a smartphone, the video display unit 110 and the input unit 120 may be integrated like a touch panel. Also, the input unit 120 can include a keyboard or a camera separately from the touch panel. The monitoring device 100 is configured to be able to communicate with the central information processing device 40.

[0027] (Target moving object) The target moving object 91 that the moving object tracking system 1 searches for and / or tracks may be a living body such as a person or an animal, or may be a non-living body such as a car.

[0028] (Tracking method) Next, the method of tracking the moving object 91 using the moving object tracking system 1 will be described with reference to FIGS. 1 to 3. In the first embodiment, as an example, the moving object 91 is a lost person and is moving on the passage 92 on foot.

[0029] In step S101, the monitoring device 100 such as a smartphone is operated by a user of the moving object tracking system 1 such as a guardian who wants to search for the lost moving object 91 or an administrator of the passage 92. The central information processing device 40 receives a signal from the monitoring device 100 and establishes communication between the monitoring device 100 and the moving object tracking system 1.

[0030] In step S102, the central information processing device 40 receives a photo of the moving object 91 as an example of the search target video from the monitoring device 100. The photo of the moving object 91 includes the face of the missing person of the moving object 91 as an example of the first characteristic information. When the monitoring device 100 is the smartphone of the missing person's guardian, the photo stored in the smartphone is transmitted to the central information processing device 40. If the monitoring device 100 does not store a photo including the face of the moving object 91, the photo owned by the guardian may be read by the input unit 120 such as the camera or scanner of the monitoring device 100 and transmitted to the central information processing device 40. Further, a photo including the face of the moving object 91 stored in a storage medium different from the monitoring device 100 may be transmitted to the central information processing device 40 without passing through the monitoring device 100.

[0031] (Search target video storage process) In step S103, the central information processing device 40 transmits the search target video (photo including the face of the missing person) to each of the information processing devices 31, 32, and 33, and a search target video storage process is performed in which each of the information processing devices 31, 32, and 33 stores the search target video.

[0032] (Fixed camera unit shooting process) In step S104, the information processing devices 31, 32, and 33 control the fixed camera units 11, 12, and 13 to start shooting video, and a fixed camera unit shooting process is performed in which each of the fixed camera units 11, 12, and 13 shoots video.

[0033] (Image processing process) In step S105, an image processing process is performed in which the information processing devices 31, 32, and 33 perform image processing on the video shot by the fixed camera units 11, 12, and 13. By image processing, it is possible to detect whether the face, which is the first characteristic information, is included in the video shot by the fixed camera units 11, 12, and 13. The video shot by the fixed camera unit 11 is image-processed by the information processing device 31, the video shot by the fixed camera unit 12 is image-processed by the information processing device 32, and the video shot by the fixed camera unit 13 is image-processed by the information processing device 33. By doing so, the speed of image processing can be increased.

[0034] (Video comparison process) In step S106, a video comparison process is performed in which the information processing devices 31, 32, and 33 compare the search target video with the video that has been image-processed. The information processing device 31 compares the video obtained by image-processing the video captured by the fixed camera unit 11 with the search target video. The information processing device 32 compares the video obtained by image-processing the video captured by the fixed camera unit 12 with the search target video. The information processing device 33 compares the video obtained by image-processing the video captured by the fixed camera unit 13 with the search target video. By doing so, the speed of comparing the search target video can be increased.

[0035] As a method for comparing videos, a known method is used. For example, the size and orientation of the video data are corrected by processes such as enlargement / reduction and rotation, the difference between the two video data to be compared is calculated, and if the calculation result is within a predetermined range, it can be determined that the two video data are the same.

[0036] If, as a result of the comparison, it is not determined that the first feature information of the moving body 91 (in this embodiment, the face of the lost child of the moving body 91) is detected in the image-processed video, steps S104 to S106 are repeated. If it is determined that the first feature information of the moving body 91 is detected, the determined information processing devices 31, 32, and 33 send a signal to the central information processing device 40, and the process proceeds to step S107.

[0037] More specifically, as shown in Fig. 2(A), when it is determined that the lost child of the moving body 91 is walking near the fixed camera unit 11 and the face of the lost child of the moving body 91 is included in the video captured by the fixed camera unit 11 and image-processed, the information processing device 31 associated with the fixed camera unit 11 sends a signal to the central information processing device 40, and the process proceeds to step S107.

[0038] (Fixed camera unit video display process) In step S107, the central information processing device 40 performs a fixed camera unit video display process of transmitting a signal to the monitoring device 100 so that the monitoring device 100 displays on the video display unit 110 of the monitoring device 100 the video determined in step S106 to include the first feature information. The monitoring device 100 may notify the user in a known manner such as sound, light, or text display that the fixed camera unit video display process is being performed.

[0039] Even after the face of the moving object 91 is detected from the video captured by the fixed camera unit 11, the fixed camera unit shooting process (step S104), the image processing process (step S105), and the video comparison process (step S106) by all the fixed camera units 11, 12, and 13 are continuously performed.

[0040] (Target confirmation process) In step S108, the user checks the video display unit 110 to confirm whether the detected moving object is a tracking target. If the detected moving object is not a tracking target, the user operates the input unit 120 to send from the monitoring device 100 a signal including that the detected moving object is not a target to the central information processing device 40. The central information processing device 40 receives the input signal and sends an instruction to the information processing devices 31, 32, and 33 to return to step S104. If the detected moving object is a tracking target, the user operates the input unit 120 to send from the monitoring device 100 a signal including that the detected moving object is a target to the central information processing device 40. The central information processing device 40 receives the input instruction and proceeds to step S109.

[0041] (Second feature information specification process) In step S109, a second feature information specification process is performed in which second feature information different from the first feature information included in the video displayed on the video display unit 110 is specified. When the first feature information is the face of the moving object 91, as an example, any one of the color of the clothes of the moving object 91, the color of the belongings, the shape of the belongings, the hair color, the hairstyle, the color of the upper body, and the shape of the upper body is specified as the second feature information, and the central information processing device 40 stores the specified second feature information. A plurality of second feature information may be specified.

[0042] Here, as the second feature information, information that can be captured by the moving camera units 21, 22, and 23 is selected. In this embodiment, since the moving camera units 21, 22, and 23 are drones that are controlled to fly at a height of 10 m to 15 m above the ground at a speed of 1 m / second to 3 m / second during stable flight, information that cannot be captured when the drone is in stable flight, for example, the color of a part of the face of the moving object 91, a part of the front of the clothes, or the color of the lower body clothes, is not preferable as the second feature information.

[0043] In the second feature information specifying step, for example, when the video display unit 110 is a touch panel that also serves as the input unit 120, the user can specify by selecting an area including the second feature information of the moving object 91 being projected, for example, the upper body part of the clothes with a characteristic color, while looking at the video display unit 110. Also, for example, when the input unit 120 of the monitoring device 100 is a keyboard, the user may specify the second feature information by inputting words such as "red upper garment", "black hair up to the waist", and "big yellow bag".

[0044] Also, as the second feature information, information that is easy for the moving camera units 21, 22, and 23 to recognize may be specified by the function of the central information processing device 40. In this case, the central information processing device 40 performs image processing on the photos transmitted to the central information processing device 40 in the fixed camera unit video display step, and specifies, for example, that the color of the clothes is red as the second feature information.

[0045] Also, the second feature information may be specified in advance.

[0046] (Moving Camera Unit Moving Step) As shown in FIG. 2(B), in step S110, a moving camera unit moving step is performed in which the central information processing device 40 moves the moving camera unit 21 associated with the fixed camera unit 11 that has captured the video including the first feature information. The timing at which the moving camera units 21, 22, and 23 start shooting is not limited, but it is preferable to start shooting when starting to move.

[0047] (Second Feature Information Judgment Step) In step S111, a second feature information judgment step is performed to determine whether the video captured by the moving camera unit 21 includes the second feature information. If the central information processing device 40 determines that the video does not include the second feature information (for example, the specified clothing color of the lost child of the moving object 91), it returns to step S111. If the central information processing device 40 determines that the video includes the second feature information (for example, the specified clothing color of the lost child of the moving object 91), it proceeds to step S112.

[0048] (Moving Camera Unit Video Display Step) In step S112, a moving camera unit video display step is performed to display the video captured by the moving camera unit 21 on the video display unit 110. The central information processing device 40 transmits the video captured by the camera 21a of the moving camera unit 21 to the monitoring device 100 so that it is displayed on the video display unit 110.

[0049] In step S113, the user or the central information processing device checks the video displayed on the video display unit 110 to determine whether the moving object 91 to be tracked is captured by the moving camera unit 21 that is moving. When the second feature information is, for example, red clothing, the moving moving object 21 may capture another person wearing red clothing. In the second feature information judgment step of step S111, it is determined that the video includes the second feature information even in such a case. Therefore, in step S113, it is preferable to also display the videos captured by the fixed camera units 11, 12, and 13 on the video display unit 110, compare the video captured by the moving moving object 21 with the videos captured by the fixed camera units 11, 12, and 13, and determine whether the video captured by the moving camera unit 21 includes the moving object 91 to be tracked.

[0050] When it is determined that the video captured by the moving camera unit 21 does not include the moving object 91 to be tracked, the process returns to step S111. When it is determined that the video captured by the moving camera unit 21 includes the moving object 91 to be tracked, the process proceeds to step S114.

[0051] (Tracking process) In step S114, a tracking process is performed in which the central information processing device 40 controls the moving camera unit 21 so that the moving camera unit 21 tracks the second feature information. When it is determined that the video captured by the moving camera unit 21 includes the moving object 91 to be tracked, the moving camera unit 21 is controlled to track the moving object 91. The tracking of the second tracking information by the moving camera unit 21 is performed by a known method.

[0052] In the tracking process, it is preferable that the video display unit 110 displays the videos captured by the fixed camera units 11, 12, and 13 and the video captured by the moving camera unit 21 that is moving. The user can move toward the moving object 91 to be tracked while checking the position and movement of the moving object 91 by looking at the video display unit 110 of the monitoring device 100 at hand.

[0053] (End of search and / or tracking) Until the user can encounter the moving object 91 or until the search and / or tracking is interrupted, steps S104 to S115 are repeated while the moving camera unit 21 performs tracking. When ending the search and / or tracking, in step S115, the user operates the input unit 120 to send an instruction from the monitoring device 100 to the central information processing device 40, and the central information processing device 40 can control to stop the operations of each member and end the search and / or tracking. Also, when a predetermined time has elapsed from the search target video storage process, the central information processing device 40 may control to stop the operations of each member and end the search and / or tracking.

[0054] As shown in FIG. 2(C), before the user encounters the moving object 91, the moving object 91 may move and enter the field of view of the fixed camera unit 12.

[0055] Steps S104 to S115 are repeated. However, in step S111, when the moving camera unit 22 associated with the fixed camera unit 12 is caused to start moving, the moving camera unit 21 may be controlled to return to the moving camera unit standby unit 71 and standby. Also, even after the moving camera unit 22 starts moving, the tracking by the moving camera unit 21 may continue.

[0056] Similarly, as shown in FIG. 2(D), before the user encounters the moving body 91, the moving body 91 may move and enter the field of view of the fixed camera unit 13.

[0057] Steps S104 to S115 are repeated. However, in step S111, when the moving camera unit 23 associated with the fixed camera unit 13 is caused to start moving, the moving camera units 21 and 22 may be controlled to return to the moving camera unit standby units 71 and 72 and standby. Also, even after the moving camera unit 22 starts moving, the tracking by the moving camera units 21 and 22 may continue.

[0058] Thus, the moving body tracking system 1 of the present invention includes a plurality of fixed camera units 11, 12, 13 and a plurality of moving camera units 21, 22, 23. The moving camera unit 21 is associated with the fixed camera unit 11, the moving camera unit 22 is associated with the fixed camera unit 12, and the moving camera unit 23 is associated with the fixed camera unit 13. When the video captured by any of the fixed camera units 11, 12, 13 includes the first feature information of the moving body 91, the moving camera units 21, 22, 23 associated with the fixed camera units 11, 12, 13 move to start shooting, and are configured to search for and / or track the moving body 91 based on the second feature information.

[0059] The fixed camera units 11, 12, and 13 and the moving camera units 21, 22, and 23 have different heights of the camera viewpoints, and among various features of the moving object 91 to be searched, the features that are easy to recognize are different. Therefore, when it is easy to recognize the face of the lost moving object 91 from the front at the heights of the fixed camera units 11, 12, and 13, the face of the moving object 91 is specified as the first feature information, and when it is easy to recognize the overall clothing color from above the moving object 91 at the heights of the moving camera units 21, 22, and 23, the overall clothing color is specified as the second feature information. By doing so, it is possible to search for and / or track the moving object 91 by combining the differences in the heights of the viewpoints of the cameras of the fixed camera units 11, 12, and 13 and the cameras of the moving camera units 21, 22, and 23.

[0060] Also, as the moving object 91 moves, the search and tracking by the combination of the fixed camera unit 11 and the moving camera unit 21, the tracking by the combination of the fixed camera unit 12 and the moving camera unit 22, and the tracking by the combination of the fixed camera unit 13 and the moving camera unit 23 can be taken over like a relay. Therefore, with a simple configuration, wide-range search and tracking can be performed with high accuracy.

[0061] <Second Embodiment> The moving object tracking system according to the second embodiment will be described with reference to FIG. 4. First, the configuration of the moving object tracking system will be described.

[0062] As shown in FIG. 4, the configuration of the moving object tracking system 2 is different from that of the moving object tracking system 1 of the first embodiment in that it does not include the central information processing device 40 (FIG. 1). Not only the fixed camera units 11, 12, and 13 but also the moving camera units 21, 22, and 23 are directly associated with and directly communicate with the information processing devices 31, 32, and 33, respectively. The monitoring device 100 directly communicates with each of the information processing devices 31, 32, and 33. The information processing devices 31, 32, and 33 communicate with each other.

[0063] In steps S101 to S102 and steps S107 to S115, in the processes where the central information processing device 40 (FIG. 1) in the first embodiment transmitted and received signals and made judgments, each of the information processing devices 31, 32, and 33 transmits and receives signals and makes judgments.

[0064] In step S101, each of the information processing devices 31, 32, and 33 establishes communication with the monitoring device 100. In step S102, each of the information processing devices 31, 32, and 33 receives a photo in which the person to be searched for and / or tracked appears from the monitoring device 100.

[0065] Steps S103 to S106 are the same as those in the first embodiment.

[0066] In step S107, the information processing devices 31, 32, and 33 associated with the fixed camera units 31, 32, and 33 that captured the video determined to include the first characteristic information transmit the video to the monitoring device 100 for display. For example, as shown in FIG. 2(A), when the moving body 91 is walking near the fixed camera unit 11 and is captured by the camera 11a of the fixed camera unit 11, and it is confirmed that the video captured by the fixed camera unit 11 includes the first characteristic information (the face of the lost moving body 91), the information processing device 31 transmits the video captured by the fixed camera unit 11 to the monitoring device 100 for display on the video display unit 110.

[0067] (Target confirmation step) In step S108, the user checks the video display unit 110 to confirm whether the detected moving body is the object to be tracked. If the detected moving body is not the object to be tracked, the user operates the input unit 120 to send a signal including that the detected moving body is not the object from the monitoring device 100 to the information processing device 31. The information processing device 31 receives the signal and returns to step S104. If the detected moving body is the object to be tracked, the user operates the input unit 120 to send a signal including that the detected moving body is the object from the monitoring device 100 to the information processing device 31. The information processing device 31 receives the signal and proceeds to step S109.

[0068] (Second Feature Information Designation Step) In step S109, second feature information different from the first feature information included in the video displayed on the video display unit 110 is designated, and a second feature information designation step in which the information processing apparatuses 31, 32, and 33 store is performed.

[0069] (Moving Camera Unit Movement Step) In step S110, a moving camera unit movement step is performed in which the information processing apparatuses 31, 32, and 33 move the moving camera units 21, 22, and 23 associated with the fixed camera units 11, 12, and 13 that captured the video including the first feature information.

[0070] (Second Feature Information Judgment Step) In step S111, a second feature information judgment step is performed to determine whether the video captured by the moving camera units 21, 22, and 23 includes the second feature information. If the information processing apparatuses 31, 32, and 33 do not determine that the video includes the second feature information (for example, the color of the clothes specified for the lost child of the moving body 91), the process returns to step S111. If the information processing apparatuses 31, 32, and 33 determine that the video includes the second feature information (for example, the color of the clothes specified for the lost child of the moving body 91), the process proceeds to step S112.

[0071] (Moving Camera Unit Video Display Step) In step S112, a moving camera unit video display step is performed to display the video captured by the moving camera units 21, 22, and 23 on the video display unit 110. For example, when the moving camera unit 21 is moved in the moving camera unit movement step, the information processing apparatus 31 transmits the video captured by the camera 21a of the moving camera unit 21 to the monitoring apparatus 100 so as to be displayed on the video display unit 110.

[0072] In step S113, the user or the information processing apparatuses 31, 32, 33 check the video displayed on the video display unit 110 and determine whether the moving object 91 to be tracked is being photographed by the moving camera unit 21 that is moving. When it is determined that the video captured by the moving camera unit 21 does not include the moving object 91 to be tracked, the process returns to step S111. When it is determined that the video captured by the moving camera unit 21 includes the moving object 91 to be tracked, the process proceeds to step S114.

[0073] (Tracking process) In step S114, a tracking process is performed in which the information processing apparatus 31 controls the moving camera unit 21 so that the moving camera unit 21 tracks the second feature information.

[0074] (End of search and / or tracking) Steps S104 to S115 are repeated while the moving camera unit 21 tracks until the user can encounter the moving object 91 or until the search and / or tracking is terminated. When ending the search and / or tracking, in step S115, the user operates the input unit 120 and the monitoring device 100 transmits an instruction to the information processing apparatuses 31, 32, 33, and the information processing apparatuses 31, 32, 33 can control to stop the operation of each member and end the search and / or tracking. Also, when a predetermined time has elapsed from the search target video storage process, the information processing apparatuses 31, 32, 33 may control to stop the operation of each member and end the search and / or tracking.

[0075] By doing so, after the moving camera units 21, 22, 23 move, the speed of performing the processes from the second feature information specifying process to the tracking process can be increased, and it can be made easier for the moving camera units 21, 22, 23 to track the moving object 91.

[0076] Other configurations and effects of the second embodiment are the same as those of the first embodiment.

[0077] <Third Embodiment> Based on FIG. 5, the mobile object tracking system of the third embodiment will be described. First, the configuration of the mobile object tracking system will be described.

[0078] As shown in FIG. 5, the configuration of the mobile object tracking system 3 differs from that of the mobile object tracking system 1 of the first embodiment in that it does not include the information processing devices 31, 32, 33 (FIG. 1). Not only the mobile camera units 21, 22, 23 but also the fixed cameras 11, 12, 13 communicate directly with the central information processing device 40 respectively.

[0079] In step S101, the central information processing device 40 receives a signal from the monitoring device 100 and establishes communication between the monitoring device 100 and the mobile object tracking system 1.

[0080] In step S102, the central information processing device 40 receives a photo of the mobile object 91 as an example of the search target video from the monitoring device 100.

[0081] (Search target video storage process) In step S103, a search target video storage process is performed in which the central information processing device 40 stores the search target video.

[0082] (Fixed camera unit shooting process) In step S104, the central information processing device 40 controls to activate the fixed camera units 11, 12, 13 to shoot videos, and a fixed camera unit shooting process is performed in which each of the fixed camera units 11, 12, 13 shoots a video.

[0083] (Image processing process) In step S105, an image processing process is performed in which the central information processing device 40 processes the videos shot by the fixed camera units 11, 12, 13.

[0084] (Video comparison process) In step S106, a video comparison process is performed in which the central information processing device 40 compares the search target video with the processed video.

[0085] (Fixed camera unit video display process) In step S107, the central information processing apparatus 40 performs a fixed camera unit video display process of transmitting a signal to the monitoring apparatus 100 so as to display on the video display unit 110 of the monitoring apparatus 100 the video in which the first feature information is determined to be included.

[0086] (Target confirmation process) In step S108, the user checks the video display unit 110 to confirm whether the detected moving object is a tracking target. If the detected moving object is not a tracking target, the user operates the input unit 120 to transmit from the monitoring apparatus 100 a signal including that the detected moving object is not a target to the central information processing apparatus 40. The central information processing apparatus 40 receives the input signal and returns to step S104. If the detected moving object is a tracking target, the user operates the input unit 120 to transmit from the monitoring apparatus 100 a signal including that the detected moving object is a target to the central information processing apparatus 40. The central information processing apparatus 40 receives the input instruction and proceeds to step S109.

[0087] (Second feature information specification process) In step S109, second feature information different from the first feature information included in the video displayed on the video display unit 110 is specified, and a second feature information specification process that the central information processing apparatus 40 stores is performed.

[0088] (Moving camera unit movement process) As shown in FIG. 2(B), in step S110, a moving camera unit movement process is performed in which the central information processing apparatus 40 moves the moving camera unit 21 associated with the fixed camera unit 11 that has captured the video including the first feature information.

[0089] (Second feature information determination process) In step S111, a second feature information determination process is performed to determine whether the video captured by the moving camera unit 21 contains the second feature information. If the central information processing device 40 determines that the video does not contain the second feature information (for example, the specified clothing color of the lost mobile object 91), it returns to step S111. If the central information processing device 40 determines that the video contains the second feature information (for example, the specified clothing color of the lost mobile object 91), it proceeds to step S112.

[0090] (Moving Camera Unit Video Display Process) In step S112, a moving camera unit video display process is performed to display the video captured by the moving camera unit 21 on the video display unit 110. The central information processing device 40 transmits the video captured by the camera 21a of the moving camera unit 21 to the monitoring device 100 so that it is displayed on the video display unit 110.

[0091] In step S113, the user or the central information processing device 40 checks the video displayed on the video display unit 110 to determine whether the moving object 91 to be tracked is captured by the moving moving object 21. When it is determined that the video captured by the moving camera unit 21 does not include the moving object 91 to be tracked, it returns to step S111. When it is determined that the video captured by the moving camera unit 21 includes the moving object 91 to be tracked, it proceeds to step S114.

[0092] (Tracking Process) In step S114, a tracking process is performed in which the central information processing device 40 controls the moving camera unit 21 so that the moving camera unit 21 tracks the second feature information.

[0093] (End of Search and / or Tracking) Until the user can encounter the moving body 91 or until the search and / or tracking is terminated, steps S104 to S115 are repeated while the moving camera unit 21 is tracking. When ending the search and / or tracking, at step S115, the user operates the input unit 120 to send an instruction from the monitoring device 100 to the central information processing device 40, and the central information processing device 40 can control to stop the operation of each member and end the search and / or tracking. Also, when a predetermined time has elapsed from the search target video storage step, the central information processing device 40 may control to stop the operation of each member and end the search and / or tracking.

[0094] By doing so, the configuration of the moving body tracking system 3 can be made simpler.

[0095] The other configurations and effects of the third embodiment are the same as those of the first embodiment.

[0096] <Fourth Embodiment> The form and height of the fixed camera unit and the moving camera unit can be set according to the characteristics of the tracking target and the environment.

[0097] The moving body tracking system of the fourth embodiment is configured in the same manner as the moving body tracking systems 1 to 3 (FIGS. 1 to 5) of the first embodiment, except that the moving camera units 21, 22, and 23 are not drones but are configured to move while in contact with the floor surface. When the moving body to be searched and / or tracked is a small animal smaller than a child, the moving camera unit moving on the floor surface may be more advantageous for tracking than an unmanned aerial vehicle. By way of example and not limitation, when the camera of the fixed camera unit is mounted at a height of 2 m as in the first embodiment, the height of the camera of the moving camera unit can be set to 5 cm.

[0098] For example, when the moving object to be searched for and / or tracked is a small living body or object with a height of about 5 cm, the fixed camera unit can capture an image including the upper surface of the moving object as the first feature information. On the other hand, the moving camera unit can capture an image including the features (such as color and pattern) of the front of the moving object as the second feature information.

[0099] Also, the fixed camera unit may be arranged underwater or on the water surface, and the moving camera unit may be configured to move underwater or on the water surface.

[0100] The other configurations and effects of the fourth embodiment are the same as those of the first embodiment.

[0101] The present invention is summarized as follows.

[0102] (1) A moving object tracking system including a plurality of fixed camera units for photographing a moving object to be tracked, and a plurality of moving camera units associated with each of the plurality of fixed camera units for photographing the object. When the image captured by the fixed camera unit includes the first feature information of a preset object, based on the second feature information different from the first feature information, the moving camera unit associated with the fixed camera unit that captured the image including the first feature information is configured to search for and / or track the object.

[0103] (2) The moving object tracking system according to (1), including a control unit of the moving camera unit, and the control unit is configured to be able to control the moving camera unit associated with the fixed camera unit that captured the image including the first feature information to move when the image captured by the fixed camera unit includes the first feature information.

[0104] (3) The moving object tracking system according to (2), wherein the control unit is configured to be able to control the moving camera unit to track the second feature information when the image captured by the moving camera unit includes the second feature information.

[0105] (4) The video display unit that displays the video captured by the fixed camera unit and the video captured by the moving camera unit is configured to display at least the video captured by the fixed camera unit until the moving camera unit detects the second feature information, and to display at least the video captured by the moving camera unit after the moving camera unit detects the second feature information. The mobile object tracking system according to (1).

[0106] (5) The second feature information is information extracted from the video including the first feature information captured by the fixed camera unit. The mobile object tracking system according to (1).

[0107] (6) The mobile object tracking system according to (5), wherein the system is configured to receive a signal from an input unit for the user to select and extract the second feature information from the video displayed on the video display unit.

[0108] (7) The second feature information is specified in advance. The mobile object tracking system according to (1).

[0109] (8) The mobile object tracking system according to (1), comprising a plurality of information processing devices respectively associated with a plurality of fixed camera units.

[0110] (9) The information processing device is configured to be able to determine whether the video captured by the fixed camera unit includes the first feature information. The mobile object tracking system according to (8).

[0111] (10) The information processing device is configured to communicate with a video display unit that displays the video captured by the fixed camera unit and the video captured by the moving camera unit. When the information processing device determines that the video captured by the fixed camera unit includes the first feature information, the information processing device is configured to display on the video display unit that a candidate for the target has been detected. The mobile object tracking system according to (9).

[0112] (11) The mobile object tracking system according to (8), comprising a central information processing device, wherein the central information processing device is configured to communicate with a plurality of information processing devices and communicate with a plurality of moving camera units.

[0113] (12) The mobile object tracking system according to (1), comprising a plurality of information processing apparatuses each associated with a plurality of fixed camera units, wherein the mobile camera unit is configured to receive information directly from the associated information processing apparatus.

[0114] (13) The mobile object tracking system according to (1), wherein the mobile camera unit includes an unmanned aerial vehicle.

[0115] (14) The mobile object tracking system according to (1), wherein the target is a person.

[0116] (15) A method for tracking a moving object by the moving object tracking system described in (1) above, wherein the moving object tracking system further includes a plurality of information processing devices each associated with a plurality of fixed camera units, and a central information processing device configured to communicate with the plurality of information processing devices and communicate with a plurality of moving camera units. The method includes a search target video storage step of storing a search target video including first feature information in the central information processing device, a search target video transmission step of the central information processing device transmitting the search target video to the information processing device, a fixed camera unit shooting step of the plurality of fixed camera units shooting videos, an image processing step of the information processing device associated with the fixed camera unit performing image processing on the video shot by the fixed camera unit, a video comparison step of the information processing device associated with comparing the search target video and the image-processed video, a fixed camera unit video display step of displaying the video including the first feature information on a video display unit when the first feature information is detected from the image-processed video as a result of the comparison, a second feature information designation step of designating second feature information different from the first feature information included in the video displayed on the video display unit and storing it in the central information processing device, a moving camera unit movement step of the central information processing device moving the moving camera unit associated with the fixed camera unit that shot the video including the first feature information, a moving camera unit video display step of displaying the video shot by the moving camera unit on the video display unit, a second feature information determination step of determining whether the video shot by the moving camera unit and displayed on the video display unit includes the second feature information, and a tracking step of the central information processing device controlling the moving camera unit to track the second feature information when it is determined that the video shot by the moving camera unit includes the second feature information.

[0117] (16) The method according to (15), wherein in the second feature information designation step, the second feature information is designated by the user.

[0118] (17) The method according to (15), wherein in the second feature information designation step, the second feature information is designated by the central information processing device.

[0119] (18) The method according to (15), wherein in the second characteristic information determination step, whether the video displayed on the video display unit includes the second characteristic information is determined by the user.

[0120] (19) The method according to (15), wherein in the second characteristic information determination step, whether the video displayed on the video display unit includes the second characteristic information is determined by the central information processing device.

[0121] (20) A method for tracking a moving object by the moving object tracking system according to (1) above, wherein the moving object tracking system further includes a plurality of fixed camera units and a plurality of information processing devices associated with the moving camera unit respectively, and the information processing devices are configured to communicate with the associated fixed camera unit and the moving camera unit respectively. The method includes a search target video storage step of storing a search target video including the first characteristic information in each information processing device, a fixed camera unit shooting step of shooting videos by the plurality of fixed camera units, an image processing step of performing image processing on the videos shot by the fixed camera unit by the associated information processing device, a video comparison step of comparing the search target video and the image-processed video by the associated information processing device, a fixed camera unit video display step of displaying the video including the first characteristic information on the video display unit when the first characteristic information is detected from the image-processed video as a result of the comparison, a second characteristic information designation step of designating the second characteristic information different from the first characteristic information included in the video displayed on the video display unit and storing it in the information processing device, a moving camera unit movement step of moving the moving camera unit associated with the fixed camera unit that shot the video including the first characteristic information by the information processing device, a moving camera unit video display step of displaying the video shot by the moving camera unit on the video display unit, a second characteristic information determination step of determining whether the video shot by the moving camera unit and displayed on the video display unit includes the second characteristic information, and a tracking step of controlling the moving camera unit by the information processing device so that the moving camera unit tracks the second characteristic information when it is determined that the video shot by the moving camera unit includes the second characteristic information.

[0122] (21) In the second feature information specifying step, the second feature information is specified by the user, the method described in (20).

[0123] (22) In the second feature information specifying step, the second feature information is specified by the information processing apparatus, the method described in (20).

[0124] (23) In the second feature information determining step, whether the video displayed on the video display unit includes the second feature information is determined by the user, the method described in (20).

[0125] (24) In the second feature information determining step, whether the video displayed on the video display unit includes the second feature information is determined by the central information processing apparatus, the method described in (20).

[0126] (25) A method for tracking a moving object by the moving object tracking system according to (1) above, wherein the moving object tracking system further includes a central information processing device configured to communicate with a plurality of fixed camera units and a plurality of moving camera units, and includes a search target video storage step of storing a search target video including first feature information in the central information processing device, a fixed camera unit shooting step of shooting videos by the plurality of fixed camera units, an image processing step of performing image processing on the videos shot by the fixed camera units by the central information processing device, a video comparison step of comparing the search target video and the image-processed video by the central information processing device, and when the first feature information is detected from the image-processed video as a result of the comparison, a fixed camera unit video display step of displaying the video including the first feature information on a video display unit, a second feature information designation step of designating second feature information different from the first feature information included in the video displayed on the video display unit and storing it in the central information processing device, a moving camera unit moving step of moving the moving camera unit associated with the fixed camera unit that shot the video including the first feature information by the central information processing device, a moving camera unit video display step of displaying the video shot by the moving camera unit on the video display unit, a second feature information determination step of determining whether the video shot by the moving camera unit and displayed on the video display unit includes the second feature information, and a tracking step of controlling the moving camera unit by the central information processing device so that the moving camera unit tracks the second feature information when it is determined that the video shot by the moving camera unit includes the second feature information.

[0127] (26) The method according to (25), wherein in the second feature information designation step, the second feature information is designated by a user.

[0128] (27) The method according to (25), wherein in the second feature information designation step, the second feature information is designated by the central information processing device.

[0129] (28) The method according to (25), wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by a user.

[0130] The method according to (25), wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by the central information processing device.

[0131] The embodiments and examples disclosed above should be considered illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and includes all modifications within the meaning and scope equivalent to the claims.

Explanation of Signs

[0132] 1, 2, 3: Moving body tracking system 11, 12, 13: Fixed camera unit 11a, 12a, 13a: Camera 21, 22, 23: Moving camera unit 21a, 22a, 23a: Camera 31, 32, 33: Information processing device 40: Central information processing device 41: Control unit 42: Storage unit 61, 62, 63: Pillar 71, 72, 73: Moving camera unit standby unit 100: Monitoring device 110: Video display unit 120: Input unit

Claims

1. A plurality of fixed camera units for photographing a moving object to be tracked, and a plurality of moving camera units associated with each of the plurality of fixed camera units for photographing the object, wherein when the video captured by the fixed camera unit includes first feature information of the object specified in advance, based on second feature information different from the first feature information, the moving camera unit associated with the fixed camera unit that captured the video including the first feature information is configured to search for and / or track the object. A moving object tracking system.

2. Comprising a control unit of the moving camera unit, wherein the control unit is configured to be able to control the moving camera unit associated with the fixed camera unit that captured the video including the first feature information to move when the video captured by the fixed camera unit includes the first feature information. The moving object tracking system according to claim 1.

3. The control unit is configured to be able to control the moving camera unit to track the second feature information when the video captured by the moving camera unit includes the second feature information. The moving object tracking system according to claim 2.

4. On a video display unit that displays the video captured by the fixed camera unit and the video captured by the moving camera unit, at least the video captured by the fixed camera unit is displayed until the moving camera unit detects the second feature information, and at least the video captured by the moving camera unit is displayed after the moving camera unit detects the second feature information. The moving object tracking system according to claim 1.

5. The second feature information is information extracted from the video including the first feature information captured by the fixed camera unit. The moving object tracking system according to claim 1.

6. The moving object tracking system according to claim 5, configured to receive a signal from an input unit for the user to select and extract the second feature information from the video displayed on the video display unit.

7. The second feature information is specified in advance. The moving object tracking system according to claim 1.

8. The moving object tracking system according to claim 1, comprising a plurality of information processing devices respectively associated with the plurality of fixed camera units.

9. The mobile object tracking system according to claim 8, wherein the information processing apparatus is configured to be able to determine whether the video captured by the fixed camera unit includes the first feature information.

10. The information processing apparatus is configured to communicate with a video display unit that displays the video captured by the fixed camera unit and the video captured by the mobile camera unit. The mobile object tracking system according to claim 9, wherein when the information processing apparatus determines that the video captured by the fixed camera unit includes the first feature information, the information processing apparatus is configured to display on the video display unit that the candidate for the target has been detected.

11. Comprising a central information processing apparatus. The mobile object tracking system according to claim 8, wherein the central information processing apparatus is configured to communicate with a plurality of the information processing apparatuses and communicate with a plurality of the mobile camera units.

12. Comprising a plurality of information processing apparatuses respectively associated with a plurality of the fixed camera units. The mobile object tracking system according to claim 1, wherein the mobile camera unit is configured to directly receive information from the associated information processing apparatus.

13. The mobile object tracking system according to claim 1, wherein the mobile camera unit includes an unmanned aerial vehicle.

14. The mobile object tracking system according to claim 1, wherein the target is a person.

15. A method for tracking a mobile object by the mobile object tracking system according to claim 1, wherein the mobile object tracking system further comprises a plurality of information processing apparatuses respectively associated with a plurality of the fixed camera units, and a central information processing apparatus configured to communicate with the plurality of information processing apparatuses and communicate with the plurality of mobile camera units. A search target video storage step of storing a search target video including the first feature information in the central information processing apparatus. A search target video transmission step of the central information processing apparatus transmitting the search target video to the information processing apparatus. A fixed camera unit shooting step of a plurality of the fixed camera units shooting videos. An image processing step of the associated information processing apparatus performing image processing on the video captured by the fixed camera unit. A video comparison step of the associated information processing apparatus comparing the search target video and the image-processed video. A fixed camera unit video display step of displaying, on a video display unit, the video including the first feature information when the first feature information is detected from the image-processed video as a result of the comparison. A second feature information specifying step of specifying second feature information different from the first feature information included in the video displayed on the video display unit and storing the second feature information in the central information processing device; A moving camera unit moving step of moving the moving camera unit associated with the fixed camera unit that has captured the video including the first feature information by the central information processing device; A moving camera unit video display step of displaying the video captured by the moving camera unit on the video display unit; A second feature information determination step of determining whether the video captured by the moving camera unit and displayed on the video display unit includes the second feature information; A tracking step of controlling the moving camera unit by the central information processing device so that the moving camera unit tracks the second feature information when it is determined that the video captured by the moving camera unit includes the second feature information.

16. The method according to claim 15, wherein in the second feature information specifying step, the second feature information is specified by a user.

17. The method according to claim 15, wherein in the second feature information specifying step, the second feature information is specified by the central information processing device.

18. The method according to claim 15, wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by a user.

19. The method according to claim 15, wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by the central information processing device.

20. A method for tracking a moving object by the moving object tracking system according to claim 1, wherein the moving object tracking system further includes a plurality of the fixed camera units and a plurality of information processing devices respectively associated with the moving camera units, the information processing devices are configured to communicate with the fixed camera units and the moving camera units respectively associated therewith, a search target video storage step of storing a search target video including the first feature information in each of the information processing devices; a fixed camera unit shooting step of shooting videos by a plurality of the fixed camera units; an image processing step of image-processing the video captured by the fixed camera unit by the associated information processing device; a video comparison step of comparing the search target video and the image-processed video by the associated information processing device. When the first feature information is detected from the video that has been image-processed as a result of the comparison, a fixed camera unit video display step of displaying the video including the first feature information on a video display unit; A second feature information designation step of designating second feature information different from the first feature information included in the video displayed on the video display unit and storing the second feature information in the information processing apparatus; A moving camera unit moving step of moving the moving camera unit associated with the fixed camera unit that has captured the video including the first feature information by the information processing apparatus; A moving camera unit video display step of displaying the video captured by the moving camera unit on the video display unit; A second feature information determination step of determining whether the video captured by the moving camera unit and displayed on the video display unit includes the second feature information; A tracking step of the information processing apparatus controlling the moving camera unit so that the moving camera unit tracks the second feature information when it is determined that the video captured by the moving camera unit includes the second feature information.

21. The method according to claim 20, wherein in the second feature information designation step, the second feature information is designated by a user.

22. The method according to claim 20, wherein in the second feature information designation step, the second feature information is designated by the information processing apparatus.

23. The method according to claim 20, wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by a user.

24. The method according to claim 20, wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by the information processing apparatus.

25. A method for tracking a moving object by the moving object tracking system according to claim 1, wherein the moving object tracking system further includes a central information processing apparatus configured to communicate with a plurality of the fixed camera units and a plurality of the moving camera units, A search target video storage step of storing a search target video including the first feature information in the central information processing apparatus; A fixed camera unit shooting step of a plurality of the fixed camera units shooting videos; An image processing step of the central information processing apparatus performing image processing on the videos captured by the fixed camera units; A video comparison step of the central information processing apparatus comparing the search target video and the image-processed video; When, as a result of the comparison, the first feature information is detected from the image-processed video, a fixed camera unit video display step of displaying the video including the first feature information on a video display unit; A second feature information specifying step of specifying second feature information different from the first feature information included in the video displayed on the video display unit and storing the second feature information in the central information processing device; A moving camera unit moving step of moving the moving camera unit associated with the fixed camera unit that has captured the video including the first feature information by the central information processing device; A moving camera unit video display step of displaying the video captured by the moving camera unit on the video display unit; A second feature information determination step of determining whether the video captured by the moving camera unit and displayed on the video display unit includes the second feature information; A method including a tracking step of controlling the moving camera unit by the central information processing device so that the moving camera unit tracks the second feature information when it is determined that the video captured by the moving camera unit includes the second feature information.

26. The method according to claim 25, wherein in the second feature information specifying step, the second feature information is specified by a user.

27. The method according to claim 25, wherein in the second feature information specifying step, the second feature information is specified by the central information processing device.

28. The method according to claim 25, wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by a user.

29. The method according to claim 25, wherein in the second feature information determination step, whether the video displayed on the video display unit includes the second feature information is determined by the central information processing device.

Images