Method and apparatus for configuring detection area based on rotatable camera

Patent metadata

Field	Value
Publication number	US-11716450-B2
Application number	US-202017104289-A
Country	US
Kind code	B2
Filing date	Nov 25, 2020
Priority date	Nov 25, 2019
Publication date	Aug 1, 2023
Grant date	Aug 1, 2023

Abstract

In order to detect an unmanned aerial vehicle (UAV) in a monitoring area using a rotatable camera, an integrated sensor configures a first detection area in the monitoring area by rotating the camera after fixing the focal length of the camera to an initial value, and configures a second detection area in the monitoring area by rotating the camera after changing at least one of the focal length of the camera and a rotation path representing a distance from the origin of the monitoring area.

First claim

What is claimed is:

1. A method for configuring detection areas based on a rotatable camera to detect an unmanned aerial vehicle (UAV) in a monitoring area using the rotatable camera in an integrated sensor, the method comprising:
configuring a first detection area in the monitoring area by rotating the camera after fixing the focal length of the camera to an initial value; and
configuring a second detection area in the monitoring area by rotating the camera after changing at least one of the focal length of the camera and a rotation path representing a distance from the origin of the monitoring area,
wherein the configuring of the second detection area includes changing at least one of the focal length and the rotation path of the camera according to a rotation period of the camera,
wherein the configuring the second detection area includes changing the focal length of the camera according to the rotation period so that the beam area of the camera is formed from the outermost area of the monitoring area to the center area,
wherein the changing the focal length of the camera according to the rotation period includes:
estimating a time for the UAV to fly from the foremost surface area of the monitoring area to the beam area of the camera; and
changing the focal length according to the rotation period of the camera during the estimated time.

2. The method of claim 1 , further comprising determining the rotational angular velocity of the camera based on the velocity of the UAV.

3. The method of claim 2 , wherein the determining includes:
dividing a velocity vector of the UAV into a velocity component horizontal to a moving direction of the camera beam and a velocity component vertical to the moving direction of the camera beam; and
determining the rotational angular velocity of the camera as a larger value among the rotational angular velocity of the camera obtained from the velocity component horizontal to the moving direction and the rotation angular velocity of the camera obtained from the velocity component vertical to the moving direction.

4. The method of claim 1 , further comprising:
extracting a speed of the UAV from an image stream photographed by the camera; and
changing a rotation angle of the camera based on the speed of the UAV.

5. The method of claim 4 , wherein the changing the rotation angle of the camera includes, when two or more UAVs in the monitoring area are detected, changing the rotation angle of the camera based on the highest speed among the speeds of the two or more UAVs.

6. A method for configuring detection areas based on rotatable cameras to detect an unmanned aerial vehicle (UAV) in a monitoring area using the rotatable cameras with an integrated sensor, the method comprising:
configuring different detection areas in the monitoring area by rotating a plurality of cameras; and
determining rotational angular velocity of the plurality of cameras based on a velocity of the UAV, wherein the determining includes:
dividing a velocity vector of the UAV into a velocity component horizontal to a moving direction of the camera beam and a velocity component vertical to the moving direction of the camera beam; and
determining the rotational angular velocity of the camera as a larger value among the rotational angular velocity of the camera obtained from the velocity component horizontal to the moving direction and the rotation angular velocity of the camera obtained from the velocity component vertical to the moving direction.

7. The method of claim 6 , wherein the configuring includes setting different focal lengths or angles of view of the plurality of cameras.

8. The method of claim 6 , wherein the configuring includes changing at least one of a focal length of each camera and a rotation path representing a distance from the origin of the monitoring area according to a rotation period of the each camera.

9. The method of claim 8 , wherein the changing includes changing at least one of the focal length and the rotation path of each camera according to the rotation period of the each camera so that the detection areas of the plurality of cameras are mutually exclusively configured.

10. An apparatus for configuring detection areas based on a rotatable camera to detect an unmanned aerial vehicle (UAV) in a monitoring area using at least one rotatable camera in an integrated sensor, the apparatus comprising:
a processor connected to a storage device for loading and executing modules, wherein the modules comprise:
a management module for monitoring the operation state of the at least one rotatable camera and generates information about the detection area of the at least one rotatable camera through the monitoring; and
a camera control module for configuring the detection area of the at least one rotatable camera mutually exclusively by changing at least one of the focal length of the camera and a rotation path representing a distance from the origin of the monitoring area based on the information about the detection area of the at least one rotatable camera,
wherein the camera control module divides a velocity vector of the UAV into a velocity component horizontal to a moving direction of the camera beam and a velocity component vertical to the moving direction of the camera beam, and determines the rotational angular velocity of the camera as a larger value among the rotational angular velocity of the camera obtained from the velocity component horizontal to the moving direction and the rotation angular velocity of the camera obtained from the velocity component vertical to the moving direction.

11. The apparatus of claim 10 , wherein the camera control module configures a first detection area by fixing the focal length of each rotatable camera to an initial value and rotating a corresponding camera, and configures a second detection area by changing at least one of the focal length of the corresponding camera and the rotation path and rotating the corresponding camera.

12. The apparatus of claim 11 , wherein the camera control module changes at least one of the focal length and the rotation path of the corresponding camera according to a rotation period of the corresponding camera.

13. The apparatus of claim 10 , wherein the camera control module determines the rotational angular velocity of the corresponding camera based on the velocity of the UAV.

14. The apparatus of claim 10 , wherein the camera control module extracts a speed of the UAV from an image stream photographed by the camera, and changes a rotation angle of the camera based on the speed of the UAV.

15. The apparatus of claim 10 , wherein the camera control module changes the focal length of the camera according to the rotation period so that a beam area of the camera is formed from the outermost area of the monitoring area to the center area.

Assignees

• Electronics & Telecommunications Res Inst

Inventors

• Kim Young-Il
• Park Seong Hee
• Song Soonyong
• Yeo Geon Min
• Lee Il Woo
• Jeong Wun-Cheol
• Heo Tae-Wook

Classifications

• H04N7/188 Primary

  Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position (signal generation from motion picture films H04N5/253) · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• G06V10/147

  Details of sensors, e.g. sensor lenses (fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19) · CPC title

• G06V20/00

  Scenes; Scene-specific elements (control of digital cameras H04N23/60) · CPC title

• G06V20/52

  Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) · CPC title