Object Tracking via Moving-Object Filtering and Camera Compensation

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Solution Overview

Problem

Camera movement during image shooting reduces the reliability of object tracking by introducing errors in trajectory matching between adjacent image frames.

Innovation Solution

A method that filters out moving objects from image frames and uses a transformation matrix to correct for camera movement, improving the reliability of object tracking by using background and non-moving objects for matching.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If camera movement is present during image shooting, then the shooting process can be performed, but the reliability of trajectory matching results is reduced

Engineering Contradiction:

Improvereliability of trajectory matching resultsVSAvoidcamera movement impact

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent extracts and removes the camera movement component from the image sequence by identifying and filtering out moving objects (including the camera body) to obtain a stable background reference. This separation allows independent compensation for camera motion without affecting target object tracking.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent introduces a transformation matrix as an intermediary element that mediates between the camera-moved background and the target object tracking. This matrix serves as a bridge to transform coordinates and compensate for camera movement effects, enabling reliable trajectory matching despite camera motion.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If traditional object tracking is used without filtering, then the tracking process is simpler, but the accuracy is reduced due to camera movement interference

Engineering Contradiction:

Improvetrajectory matching accuracyVSAvoidtracking process complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent performs preliminary filtering to remove moving objects and obtain a stable background before conducting object tracking. This preliminary action of creating a camera-stabilized reference frame prevents measurement errors from propagating through the tracking process, thereby improving accuracy without requiring complex real-time corrections during tracking.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces direct mechanical/optical stabilization (physical camera stabilization) with computational image processing methods. By using algorithms to filter moving objects and calculate transformation matrices, the system achieves stabilization effects without physical mechanical interventions, balancing complexity and precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20250209639A1Object tracking method, and terminal device and computer-readable storage medium using the same

Publication Date: 2025.06.26 UBTECH ROBOTICS CORP LTD

AI summary

An object tracking method, and a terminal device and a computer-readable storage medium using the same are provided. The method includes: obtaining a first filtered image by filtering out the moving object in the i-th image frame, where the moving object is an object in the i-th image frame that has a positional change relative to the object in the (i−1)-th image frame, and i is an integer larger than 1; determining, based on the first filtered image, a pixel mapping relationship between the (i−1)-th image frame and the i-th image frame; and tracking, according to the pixel mapping relationship, the moving object. Through the above-mentioned method, the reliability of the trajectory matching results can be improved, thereby improving the reliability of object tracking.