Patent Publication Number: US-11039044-B2

Title: Target detection and mapping using an image acqusition device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is based on and claims the benefit of U.S. Provisional Patent Application Ser. No. 62/467,457 filed Mar. 6, 2017, the content of which application is hereby incorporated by reference in its entirety. 
    
    
     BACKGROUND 
     In many surveillance operations, a moving object is detected and a search patrol is dispatched to investigate. For example, an oil installation may use radar to detect that an object is moving. In another example, border patrol agents may detect movement along an international border and wish to send a patrol to intercept a potential smuggler. Current radar-camera systems, however, require confirmation of a potential moving, object prior to dispatching a team, as radar alone can give false positives. 
     SUMMARY 
     A system for providing a geographical location for a detected moving object is presented. The system comprises a camera configured to capture a first image of a field of view at a first time, and a second image of a field of view at a second time. The field of view includes a moving object. The system also comprises a processor configured to receive the first and second images of the field of view, index the first and second images based on an associated timestamp, and provide the first and second images to a nonvolatile storage medium. The system also comprises a change detection module configured to compare the first and second images and detect the moving object. The system also comprises a position identification module configured to calculate and provide the geographical location for the detected moving object, based on a known location of the camera, and a calibration of the field of view. The system also comprises a display, configured to receive an updated display feed from the processor. The updated display feed comprises the second image, an indication of the detected moving object, and an indication of a location of the detected moving object. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates an environment, in which embodiments of the present invention may be particularly useful. 
         FIGS. 2A and 2B  illustrate an example field of view calibration for a camera in accordance with one embodiment of the present invention. 
         FIG. 3  is a flow diagram of an example method of determining range in altitude of a marker viewed on a camera in accordance with an embodiment of the present invention. 
         FIGS. 4A-4C  illustrate a plurality of images of detected objects accordance with an embodiment of the present invention. 
         FIGS. 5A-5C  illustrate a change detection algorithm view in accordance with one embodiment of the present invention. 
         FIG. 6  illustrates a processing system for detecting and tracking moving objects over time, in accordance with one embodiment of the present invention. 
         FIG. 7  illustrates a method of detecting and displaying location information for a moving object in accordance with an embodiment of the present invention. 
         FIGS. 8A-8C  illustrate an example geographical calibration of a camera field of view in accordance with one embodiment of the present invention. 
         FIGS. 9-11  show examples of mobile devices that can be used in the architectures shown in the previous figures. 
         FIG. 12  is a block diagram showing one example of a computing environment that can be used in the architectures shown in the previous figures. 
     
    
    
     DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS 
     One issue with sending a remotely located patrol unit to investigate a detected moving object is determining where, geographically, to send the patrol unit. For camera-radar systems, the radar unit can provide an indication of where to go. However, a system is desired that can detect a moving object and provide an indication of the detected object on a map that can be used by a patrol. At least some embodiments described herein provide a system for detecting a moving object. Additionally, at least some embodiments described herein provide a system for directing a patrol to a detected moving object. 
     At least some embodiments described herein consist of one or more wide area video (WAV) cameras and associated electronics configured to detect motion within a wide field of view, map the detected motion to a latitude and longitude (or other desired mapping configuration) and provide an indication of the detected location to a user. However, while several embodiments are described with respect to WAV cameras, it is expressly contemplated that at least some embodiments and systems described herein can be utilized with other camera types. 
     WAV cameras are known to provide 2D information within a camera image about items of interest. It is desired to translate the detected 2D information into a real world location of an item of interest. Positional information can then be provided, for example, in a map-based view, to an interested individual. 
     WAV cameras prevent several benefits over other camera systems, such as pan/tilt systems, for example, when used in a wide area surveillance operation. In one embodiment, WAV cameras, because of their wide field of view (for example, up to 90°, up to 180°, or even up to 360°), do not need to pan in order to survey a scene and update an image feed. Once calibrated, a WAV camera system can provide a geographical output for a directed moving object within a field of view. 
       FIG. 1  illustrates an environment in which embodiments of the present invention may be particularly useful. As illustrated in  FIG. 1 , a camera  102  has a field of view  100 . For example, in one embodiment, a WAV camera  102  has a wide area field of view  100 , able to see a greater distance across a horizon without panning and tilting. However, in another embodiment, camera  102  is a pan/tilt camera, or other suitable camera arrangement capable of viewing a scene. 
     Camera  102  is, for example able to view a scene  100 , which may comprise a plurality of landmarks  130 ,  140  as well as moving objects  110 ,  120 . For example, a vehicle  120  is illustrated in  FIG. 1 . A moving truck  120 , is also illustrated moving along the road. Physical landmarks, such as river  130 , as well as manmade landmarks, such as structure  140 , may also be visible within field of view  100 . 
     It may be desired to determine a physical location of moving object  120 . While camera  102  can see moving object  120 , and perhaps provide an indication of direction, it is desired to translate that indication of direction into a latitude and longitude, for example, that a patrol can go to. Directions can comprise, for example, direction from a currently known patrol location, or, alternatively, from a known location of camera  102 , or from another location entirely. For example, in one embodiment, camera  102  is located along an international border, where border patrol agents may be located remotely, such that they can view a plurality of cameras  102 , and respond to moving objects detected by any of a plurality of cameras  102 . 
     In one embodiment, a map is obtained. In one embodiment, a map image is obtained, for example from a map repository or a map generation unit such as the Google Maps service (available from Google LLC, with headquarters in Mountain View, Calif. 94043), or another suitable mapping service. The retrieval of a map can be accomplished automatically using a map retrieval algorithm, for example, based on a known location of a camera, and based on an indication that a moving object has been detected within a field of view. The retrieved map can be any suitable, depending on the area of interest. In one embodiment, a mapped image centered on a camera installation is retrieved, extending at least five miles in all directions. However, other sizes of maps may also be suitable, in one embodiment a one-mile radius map is retrieved. In another embodiment, a ten like radius map is retrieved. 
     In one embodiment, positional information is retrieved for a landmark identifiable in the map image. A landmark can comprise, for example, a building or water tower, or a physical landmark such as a lake or river. 
     In one embodiment, positional information is obtained for a plurality of landmarks in the map image. In one embodiment, positional information in the field of view can be obtained by a person standing in the field of view with a handheld global positioning service (GPS) unit. The latitude and longitude can be reported by the GPS unit, and the X-Y position of the individual can be recorded using the WAV. 
     In one embodiment, positional information for a minimum of four landmarks is retrieved. However, in some embodiments, more or fewer landmarks may be necessary in order to calibrate a WAV image such that the physical location of detected objects can be provided. For example, in one embodiment only two landmarks are required, or only three. In other embodiments, five or more landmarks must be retrieved. In one embodiment, all identifiable landmarks in a map image are retrieved. The positional information can be retrieved from a map repository, for example along with the map image, in one embodiment. 
     Positional information, in one embodiment, comprises a latitude, a longitude and elevation for each landmark. For each landmark, the WAV image has a corresponding x-y coordinate identified by one or more pixels where the landmark intersects with the ground. Using a set of landmarks, a WAV image can be calibrated to output a physical location for a detected moving object. For example, in one embodiment, each pixel of the WAV image is mapped to a physical latitude and longitude location. 
       FIGS. 2A and 2B  illustrate an example field of view calibration for a camera in accordance with one embodiment of the present invention. A view similar to that illustrated in  FIG. 2A , display can also serve as a Common Operating Picture (COP) and ingest other sensor data, especially data that are geolocated and can be placed on the map. In some embodiments, a COP can be used to view data from video cameras, radar, AIS, weather, etc., for example by actuating an icon such as icon  230 .  FIG. 2A  illustrates an example field of view  200  visible by a WAV camera  202  in one embodiment of the present invention. 
     As illustrated in view  200 , a camera is located at a position  202 . Image  200  may be output, for example, on a display visible to border patrol agents. View  200  may be generated by a processor (not shown) based on an image feed received from camera at location  202 , in accordance with one embodiment of the present invention. Image  200  may comprise an indication of North  210  to orient a viewer to the field of view presented by camera at location  202 . 
     Image  200  may include a plurality of range gridlines  204  indicating a range curve with respect to a camera location  202 . Additionally, azimuth gridlines  206  may also be provided along with an azimuth scale  216 , indicating directionality from camera location  202 . 
     WAV cameras can be configured to monitor a field of view for movement of important targets, in one embodiment, by acquiring images of field of view  200  in sequence, such that pixel changes between sequentially captured images can be detected. In one embodiment, new images are captured at a regular rate by a WAV camera and analyzed for changes. In one embodiment, images are taken at a rate of roughly once per second. However, other rates are also envisioned as appropriate for other surveillance scenarios, for example multiple times per second, or only a few times per minute, in the case of slowly moving objects. Each image can be compared to the previously taken image, and changes in pixels can indicate a moving object. In one embodiment, the sequential images are substantially spatially registered over time. 
       FIG. 2B  illustrates an iterative approach to determining a marker range on an image feed from a camera.  FIG. 2B  illustrates on example iterative calculation of determining range and altitude of a detected image based on the image feed from a WAV camera  202 . Because WAV cameras can perceive images at a significant range, it is necessary to account fear the fact that the Earth has curvature, as well as a non-uniform surface. An iterative approach, such as that illustrated in  FIG. 2B  can be used to determine the range of a marker identified on an image feed  200 . For example, a marker may indicate a location of a detected moving object, such as truck  120 , or an indication of a physical location, such as structure  140 . 
     In order to iteratively determine a range in altitude for detected moving object  375 , a flat Earth model for as first range approximation can be used, in accordance with Equation 1 below. 
     
       
         
           
             
               
                 
                   Range 
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                   Equation 
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     Using a known altitude  252  of camera  202 , a first range approximation  310  can be obtained, as illustrated in Equation 1 above. 
     Knowing the altitude at a given approximate range, based on a retrieved map image of the area, an approximate range can be detected, as indicated at reference numeral  320 . In one embodiment, an elevation lookup table is used. However, other suitable methods for determining elevation at a location are also envisioned herein. 
     A second range approximation is determined, using Equation 2 below, based on the known altitude of the camera and an approximated altitude of the marker, taking into account the angle of elevation, θ p , as illustrated by reference numeral  330 . 
     
       
         
           
             
               
                 
                   Range 
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                           Alt 
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                           Alt 
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                   EQUATION 
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                   2 
                 
               
             
           
         
       
     
     As illustrated by reference numeral  340 , based on the new approximated range  330 , a new altitude is determined, for example, by using the same elevation lookup table used previously. The second altitude determined is indicated by reference numeral  340 . 
     As indicated by reference numeral  350 , new range and altitude estimates are iteratively determined, based on a preset tolerance, until the range in altitude do not change more than by the given tolerance. This can allow for a significantly close approximation  350  of marker  375 . Which has a set range, an altitude  254 . 
       FIG. 3  is a flow diagram of an example method of determining range in altitude of a marker viewed on a camera in accordance with an embodiment of the present invention. Method  300  may be used, for example in conjunction with the calculation illustrated in  FIG. 2B . However, method  300  may also be used in accordance with other suitable methods and systems. 
     In block  310 , a marker is detected, with initial approximated range, assuming an altitude of 0. For example, a marker can be identified as a detected moving object within a calibrated field of view of a camera. 
     In block  320 , an altitude of the first marker is calculated, based on the initially approximated range. For example, an altitude can be determined using a lookup table, or other suitable source of information about elevation at a known or estimated location. 
     As illustrated in blocks  330  and  340 , an iterative calculation is conducted until a change in altitude and change of range between subsequent iterations are within a given threshold, as indicated in block  350 . Iteratively, a new range is approximated, as indicated in block  330 , and a new altitude is obtained, based on the newly approximated range, as indicated in block  340 . If the change in altitude and the change in range from an N−1 approximation to an N approximation are within a given threshold, the altitude and range are output, for example as a pop-up window on a display  200 , other suitable outputs are envisioned herein. However, if the change in altitude and the change of range are not within the threshold, the steps of blocks  330  and  340  are iterated. This process repeats until a suitable approximation is obtained for the marker identified on a WAV image. 
     At block  360 , an altitude and range is output. The altitude and range may be output, for example, on a display including the WAV camera image. Alternatively, the altitude and range may be output on a separate display, for example either of a local display, or a remote display associated with a patrol responding to the detected marker. The output can comprise, for example, a bearing, range and altitude, in one embodiment. In another embodiment, a latitude, longitude and altitude are output. 
       FIGS. 4A-4C  illustrate a plurality of images of detected objects in accordance with an embodiment of the present invention. As illustrated in  FIG. 4A , a change detection system can, by analyzing subsequent images, identify and indicate moving objects by detecting, and highlighting, changes in pixels. In one embodiment, detected changes in pixels are identified using a first color, while the background image is identified with a second color. 
     As illustrated in  FIG. 4A , a camera image  400  may comprise a field of view  410 , within which a plurality of tracks  412 , and detected changes  414  are highlighted. Often, a single moving object will result in several detected changes  414 . For example, a walking person may result in a plurality of detects for example where each of a head, hands, and feet move. 
     As noted in  FIG. 4A , a plurality of detected changing objects can be grouped together and identified as glob  416 . Based on an algorithm, a processor of the camera image may identify a plurality of detected changes  414  as a single moving object, and indicate it using glob  416 . The size of the glob, coupled with the range estimate, can be used to determine the object&#39;s physical, size and classify the moving object as animal, human, or vehicle. Globs  416  may be indicated using a third color. For example, in one embodiment, a background camera image is presented with a gray field of view  410 , yellow detected changes  414 , and blue globs  416 . However, other suitable color and/or texture combinations may also be envisioned. For example, glob  416  could be represented by a shape, such as a polygon, encapsulating associated detected changes suspected to comprise a single moving object (e.g. encapsulating detected changes corresponding, to a head, hands and feet of a moving person). 
     In one embodiment, it may be easier, to track an identified group of moving objects as a glob  416 , and, for example generate a single track  412  associated with glob  416  within a group of detected moving objects. For example, a moving vehicle may generate an area on a display spanning a number of pixels wide and tall. While it is possible to identify and track each changing pixel as a separate moving object, it may be easier for an observer to process the information has a single glob representing the whole moving vehicle. In one embodiment, tracks are identified using a third indication type (for example the color red), as illustrated in  FIG. 4A . 
     A plurality of analysis and display tools are available once a moving object is detected in one embodiment. For example, as indicated in  FIG. 4A , all moving objects can be identified and, additional information provided as an overlay on a map image. Additionally, the map and field of view  410  can be provided on a display to enable zooming and translation of the retrieved image feed, e.g. as illustrated in  FIG. 4B . Additionally, the intensity of the underlying map may be adjustable, in one embodiment, to enhance contrast against overlayed indications and data for maps with significant amounts of concentrated information (e.g. a plurality of detected moving objects in close proximity). Additionally, in one embodiment, latitude and longitude information can be retrieved for any point on the map image, and displayed along with an associated object. In one embodiment, bearing and range information can be retrieved for any point on the map. Additionally, a WAV image subset may be available for any point on the WAV field of view. 
     As illustrated in  FIG. 4B , an image subset is available for points on a WAV image field of view  410 . As indicated, WAV subset image  430 , can be presented along with information about the surrounding field of view  410 , along with positional information  432 , and lifespan information  434 , about detected moving object  440 . Detected moving object  440 , as indicated in  FIG. 4B , may be detected initially as a plurality of different moving objects, and may be assembled into a single glob  416  (illustrated by a rectangle  434 ), to indicate that the plurality of detected moving objects are actually associated with only a single moving object. Lifespan information  434 , in one embodiment, may indicate when the first pixel changes were detected, and when a most recent update had occurred. Positional information may comprise latitude, longitude, bearing, and range with the bearing and range being, respective of the camera taking the field of view image  410 . 
       FIG. 4C  illustrates detailed track information view  470  presented on a field of view  410 . Detailed information  470  can be available with respect to any detected moving object on a field of view. For example, tracks, detected changes, and globs may all have associated information that can be obtained and viewed by a user of an associated display. Depending on where a camera is capturing image information, multiple moving objects may be detected at a single time, such that providing such information automatically would create a cluttered field of view difficult to interpret by a user. Therefore, in at least one embodiment, information window  480  is only available based on a request from a user, for example by a user clicking on or otherwise actuating an actuatable item on a field of view  410 . 
     Track history  472  can give a visual history of a path of a detected track over a period of time. In one embodiment, the individual tracks fade out over a user configurable span of updates. For example, it may not be necessary to see where a moving object was first detected an hour ago, it may only be helpful to see where the object has been in the most recent five minutes, therefore history beyond five minutes may have faded out and be no longer visible at this time. Information about the tracks may be available in window  480 , as illustrated, with positional information  484  and bearing range information  486  presented along with an identification number  482 . In one embodiment, identification number  482  is associated with the detected moving object throughout a surveillance operation. For example, a video recording may comprise a series of frames, e.g. Frame  1 , Frame  2  . . . Frame N. Identification number  482 , then, is associated with the detected moving object throughout the series of Frames  1 -N. 
     Identification numbers  482 , in one embodiment, are sequentially assigned as new moving objects are detected, such that positional and range information can be stored for each detected moving object over time. All information may be retrievable, in one embodiment, and stored in a non-volatile memory, for example a database. The database may be located physically with the camera taking image  410 , remotely from the camera taking image  410 , for example at a processor showing image  410 , or may be stored in a cloud-based data storage. 
     In one embodiment, a user can also identify an area of interest on the map  490 . For example, as indicated in  FIG. 4C , marker  490  is placed by user on a portion of the map image of interest. 
     A user may be able to bring up the marked area  490  in a separate window, in one embodiment. The separate window may update at the same time, or a different rate as that of the main map image  410 , in one embodiment. The location of the sub-image within the full WAV image may be indicated, in one embodiment. Additionally, an azimuth angle may also be indicated provided a bearing at the center of the sub-image, in one embodiment. 
     As illustrated in  FIGS. 4A-4C , a WAV image can include a number of markers identifying different user selected, and detected, moving objects within an image. For example, lines of constant bearing and constant range can be overlayed on a map image, in one embodiment. This may be a selectable overlay, for example on a toolbar available within a user interface on a display. A position on the map, for example marker  490 , may be selected for example using a user input mechanism such as a mouse or keyboard. Additionally, marker  490  can be deselected, in one embodiment, using the same or different user input mechanism. 
     In one embodiment, a camera operates as part of a camera algorithm system, for example a WAV camera algorithm system (WAS). A WAS, in one embodiment, is coupled to a data manager which stores detected changes, tracks, and globs over time. A data manager, in one embodiment, may provide indications of located tracks, globs and/or change detects on a viewer for a user. One or more viewers may be coupled to a WAS controller, for example including an operator associated with the WAV camera and remote patrol. 
     The WAS controller may also be coupled to a WAV camera archive, configured to store previously captured images, detect indications, etc. The WAV camera may, in one embodiment, be part of a WAV camera subsystem, coupled to a processing subsystem. The WAV processing subsystem, in one embodiment, may be coupled to an archive subsystem. A viewer may also be coupled to a WAV archive system, in one embodiment, in order to present the detected change globs and tracks. 
     The WAV camera algorithm system, in one embodiment, operates according to a given procedure. For example, an image is obtained, and processed, for example against previously captured images, and a change is detected, for example based on a detected change in pixels within an image N-1  to an image N . The detected change is processed, for example, along with nearby detected changes, to determine whether a grouping can be made. If a grouping can be made, a glob is generated such that it can be tracked over time. Such a procedure is indicated in  FIGS. 5A-5C , discussed below. 
       FIGS. 5A-5C  illustrate a change detection algorithm view in accordance with one embodiment of the present invention. As illustrated in  FIGS. 5A-5C , a track sequence can be generated, in one embodiment, by sequentially plotting detected positions of a moving object over time. Moving object positions may comprise, for example a single moving object, or a glob of detected moving objects. In the embodiment illustrated in  FIGS. 5A-5C , positions of a detected moving object (either a single object or a glob) are plotted and updated at two different, sequential times. In some embodiments, a line is drawn between detected positions with each update, as illustrated in  FIG. 5C . However, in other embodiments, only the detected object positions are plotted, with no connecting lines drawn. 
     As illustrated in  FIG. 5A , at time  1 , an image is captured, as indicated by frame  510 . Frame  510  illustrates a detected moving object  502 . As illustrated in  FIG. 5B , at time  2 , in the same frame view, a second image is captured, as indicated by frame  520 , which shows a detected moving object  504 . Comparing frames  510  and  520  can show that a moving object has moved from location  502  to location  504 . 
       FIG. 5C  illustrates an overlay of frame  520  on top of frame  510 , presented as frame  530  showing both a first detected object position  502 , a second detected object position  504  along with a vector  506  showing a distance and direction of travel in the time between frame  510  and  520 . In some embodiments, older tracks  508  may fade out over time, or be indicated such that they are distinguishable from a most recent track. As illustrated, a fade out technique  508  is being used to show that detected object  502  was detected less recently than detected object  504 . In one embodiment, a WAS uses an algorithm to sequentially conduct the comparison illustrated in  FIGS. 5A-5C  as sequential images are received from a single camera. When a change in pixels are detected (e.g. at locations  502  and  504 ), a potential moving object is flagged. In one embodiment, a filter is applied to ensure that fewer false positives are tracked over time or presented on a display to a user. 
     Once detected, a track for the detected moving object can be updated using two main criteria. In one embodiment, the two criteria comprise glob proximity, and glob size. In one embodiment, globs within a set radius are associated together. In one embodiment, the radius is set by a manufacturer or programmer of a WAV camera system. In another embodiment, the radius is user-specified based on a particular surveillance exercise. For example, radiuses may be selected based on an anticipated detected moving object, for example a detected moving human would require a smaller radius than a detected moving truck, or a detected moving ship. Glob size, in one embodiment, can change as the moving object moves. For example, glob size may decrease as the target gets further away from the camera. 
       FIG. 6  illustrates a processing system for detecting and tracking moving objects over time, in accordance with an embodiment of the present invention. Processing system  600  may be useful in order to process images  620  received from a camera  610  comprising a moving object  602 . 
     Camera  610 , in one embodiment, has a moving object  602  within a field of view  604 . Camera  610  periodically send images  620  to processing system  600  which, by sequentially comparing images, can identify potential moving object  602 . 
     Processing system  600  may, in one embodiment, be physically located separate from camera  610 . In another embodiment, processor  600  is part of an installed camera system  610 , such that detection of moving objects occurs locally. For example, a rate of capture of images by camera system  610  may be adjustable based on a detection, or lack thereof, of a moving object within field of view  604 . For example, camera  610  may start to capture images more frequently if a potential moving object is detected. 
     Processing system  600  may receive images, and sequentially number and store them, within image storage  612 , in one embodiment. Processing system  600  may, in response to a received image  620 , cause a map generator  632  to generate a map of the area enclosed within image  612 . The map may be retrieved based on a known location of camera  610 , along with an appropriate radius around camera  610 . Map generator  320  may, in one embodiment, retrieve a map from a map storage  632 , which may comprise a map retrieval service, or a storage of previously used map images. System  600  may automatically retrieve a generated map, in one embodiment, based on an indication of a detected moving object from change detection module  614 . 
     Landmark identifier  634  may, for example based on a map generated by map generator  632 , identify a plurality of landmarks within the map image and within field of view  604 . In one embodiment, landmark identifier  634  retrieves landmarks from map storage  630 . In another embodiment, landmark identifier  634  retrieves landmark information for landmarks known to be within field of view  604 . Other suitable landmark identification processes are also envisioned herein. 
     Position identifier  636  may, in one embodiment, provide positional information for a plurality of landmarks identified within a field of view  604  of camera  610 . Position identifier  636  may provide positional information, in one embodiment, based on information stored in map storage  630 . For example, position identified may use a map retrieval service, such as Google Maps, to retrieve positional information for identified landmarks. 
     Moving object location identifier  638 , may, based on sequential images from image storage  612 , and the known positions of a plurality of landmarks, identify a location of a moving object, and output a moving object location  660 . Moving object location  660  may comprise a map  662 , or directions  664  to a moving object. Additionally, a moving object location may also comprise a given latitude and longitude location of the object  602 , or a bearing range indication for the moving object  668 . 
     In one embodiment, moving object location identifier  638  completes a calibration of camera  610 , based on its known location, field of view  604 , and the retrieved landmark and landmark position information. In one embodiment, the calibration is completed based on the explanation of  FIGS. 2-3  above. However, other calibration techniques may also be possible to correlate an X-Y pixel location with a geographical position (e.g. latitude/longitude or bearing/range). 
     Processing system  600  may also be configured to identify moving objects, based on sequential images  620  retrieved from camera  610  stored in image storage  612 . 
     A change detection module  614  may compare sequentially taken images, for example comparing image N  to an image N-1  to detect whether pixels have changed, in a way that may indicate a moving object. For example, a detected color change in a pixel in two places may indicate that a moving object has moved from a first location to a second location (as described, for example, with respect to  FIGS. 5A-5C  above). In one embodiment, change detection module  614  is configured to assign an identifier to each detected moving object, such that information about each moving object can be indexed to a specific identifier. 
     A track update module  616  may engage, in one embodiment, once a change is detected in subsequent images. Track update module  616  may, once a moving object is detected, provide information regularly to archive  640  above a tracked moving object. For example, track update module  616  may associate a detected moving object with an identifier, and provide location information, such as latitude-longitude and/or bearing-range pairs, to archive  640 . Track update module  616  may provide such information at the same rate at which images  620  are received from camera  610 , in one embodiment, such that each subsequent image has track update information generated by track update module  616  and provided to archive  640 . However, in other embodiments, track update module  616  may operate a slower rate than camera  610 , such that track updates are only sent, for example every few seconds, every minute, every few minutes, etc. In one embodiment, track update module  616  engages automatically once a moving object is detected and identified. In another embodiment, track update module  616  does not engage until actuated by an operator of system  600 . 
     A display update module  618  is configured to receive information, for example from track update module  616 , and provide an output  650 . For example, output  650  may comprise a display feed visible to a user, for example a border patrol agent. In another embodiment, providing a display module update using display update module  618  comprises providing an updated location of a track on an existing display, as well as updated positional information for the track, for example as described above with respect to  FIGS. 4A-4C . 
       FIG. 7  illustrates a method of detecting and displaying location information for a moving object in accordance with an embodiment of the present invention. Method  700  may be useful by a patrol unit, in order to identify where a moving object is so that the patrol unit can rapidly respond, in one embodiment. In another embodiment, method  700  is useful for an operator to direct a patrol unit to a detected moving object. 
     In block  710 , an image containing a detected moving object is captured. The image may be captured by a WAV camera, as indicated in block  712 , a pan/tilt camera as indicated in block  714 , or another suitable camera as indicated in block  716 . Detecting a moving object within an image may, in one embodiment, comprise a processor identifying, based on analysis of sequential, images, that a moving object is present within a field of view of a camera. 
     In block  720 , a suitable map is retrieved. A map image  722  can be retrieved of the camera and its surrounding landscape. For example, a map image  722  may comprise a satellite image, or other aerial view stored in a database. In another embodiment, retrieving a map can also comprise retrieving a map from a map generator service, as indicated in block  724 . In one embodiment, a map is retrieved automatically  726  based on a detected moving object identified within a captured image. However, in another embodiment, a map is not retrieved until a user indicates that location information for a detected moving object is desired, as indicated in block  728 . Additionally, retrieving a map can be conducted semi-automatically, as indicated in block  732 . For example a map may be retrieved based on a known camera image, but may not be displayed until selected by a user. 
     In block  730 , a landmark is identified within the field of view of a camera. The landmark may be a structural landmark, as indicated in block  734 , for example a manmade structure. In another embodiment, the identified landmark can be a natural structure, as indicated in block  736 , such as a lake, a river, etc. 
     In block  740 , positional information is retrieved for an identified landmark. Retrieving positional information can comprise consulting a map repository, as indicated in block  738 , retrieving information from a database, as indicated in block  742 , or using another information source, as indicated in block  744 . For example, a map generation service, such as Google Maps, may already have information for identifiable landmarks within the map, such that positional information can be retrieved by requesting it from the map repository directly. In an embodiment where a satellite or other aerial image is retrieved, known landmark information may be stored within a database, for example based on geological surveys, or known locations of landmarks. Additionally, other sources of positional information are also envisioned herein. 
     As indicated in block  750 , if enough data is present to map the pixels of the camera image to a latitude and longitude, the method may proceed to block  760 . However, in most embodiments, blocks  730  and  740  will have to be iterated multiple times, as indicated by return arrow  780 . In one embodiment, four landmarks must be identified and located, in order for x-y coordinates to be available for each pixel of a camera image. However, in other embodiments, fewer landmarks may be necessary, for example only two or three, or more landmark information may be necessary, for example five or move. 
     In block  760 , x-y coordinates are identified of the landmarks within the WAV image, and, using the x-y coordinates of the landmarks, and the known positional information of the identified landmarks, x-y coordinates of pixels throughout the image can be mapped to positional information, for example latitude and longitude information can be obtained for each pixel within the camera image. In one embodiment, the calibration step of block  760  is conducted when a camera is installed in a location and an initial field of view is identified. In another embodiment, the calibration step only occurs once a moving object is detected. 
     In block  770 , a location of a detected moving object is output, for example to a display, or as another suitable output format. For example, a position of the moving object, as indicated in block  772 , can be presented to a user. The position may comprise a latitude-longitude of the identified moving object. Additionally, in one embodiment, directions to the detected moving object are provided, as indicated in block  774 . The directions may be provided from the location of the camera, or based on a known location of a patrol unit that will be sent to investigate the moving object. 
     The output can be made automatically, as indicated in block  776 , for example based on initial detection of a moving object, method  700  may automatically engage such that a location is output automatically without any user interaction. However, in other embodiments, the location is output at least semi-manually, as indicated in block  778 . For example, method  700  may not engage until a user has actuated an indication of a detected moving object on a user interface, and requested a location. Based on such a user request, method  700  may be engaged, and the location of the detected moving object may be output. In at least some embodiments, for each detected moving object of interest, method  700  is engaged periodically in order to track the movement of the moving object over time. 
     As described above, methods and systems described herein are based on a processor translating an x-y coordinate of a pixel within a camera image into a geographical position such as a latitude-longitude pair or a bearing-range pair.  FIGS. 8A-8C  illustrate an example method of calculating positional information. For example, an image can be retrieved that corresponds to an image captured by a WAV camera. 
       FIGS. 8A-8C  illustrate an example geographical calibration of a camera field of view in accordance with one embodiment of the present invention. In one embodiment, such a calibration occurs when a camera is first installed in a location. In another embodiment, (or example using a mobile camera, the calibration only occurs when a moving object is detected within an image frame. In one embodiment, the camera calibrated comprises a WAV camera. 
     As illustrated in  FIG. 8A , in one embodiment, a field of view  800  is obtained from a camera. A map image can be retrieved that corresponds to a location of the camera capturing image  810 . As illustrated in  FIG. 8B , a plurality of detected changes, potentially indicative of moving objects, are indicated on a display view relative to the location of a camera. 
     As illustrated in  FIG. 8C , a series of landmarks  832 ,  834 , and  836  are identified in the map image. The geographic position of the known landmarks can be retrieved, for example from a map repository service, a database, or any other suitable source of location information. The positional information, along with a known position of the camera with respect to the identified landmarks  838  allows for identification of a bearing and range within the image with respect to each of the landmarks. This information allows for the WAS to provide either latitude-longitude or bearing-range identification for any selected pixel on the WAV image, for example pixel  840  which may indicate the location of a moving object. 
     As illustrated in  FIG. 8C , a WAV camera can be calibrated, in one embodiment, with a plurality of in-scene identified landmarks with known latitude and longitude coordinates. As illustrated in  FIG. 8C , in one embodiment, only three landmarks are necessary in order to calibrate a WAV camera. However, in other embodiments, more landmarks may be useful in order to ensure accuracy in the calibration, for example four or five, or more. 
     At least some embodiment presented herein present improvements over previously used methods and systems. For example, some embodiments use passive optics to detect and track targets and provide directions to a target, as opposed to previous methods. 
     It will be noted that the above discussion has described a variety of different systems, components and/or logic. It will be appreciated that such systems, components and/or logic can be comprised of hardware items (such as processors and associated memory, or other processing components, some of which are described below) that perform the functions associated with those systems, components and/or logic. In addition, the systems, components and/or logic can be comprised of software that is loaded into a memory and is subsequently executed by a processor or server, or other computing component, as described below. The systems, components and/or logic can also be comprised of different combinations of hardware, software, firmware, etc., some examples of which are described below. These are only some examples of different structures that can be used to form the systems, components and/or logic described above. Other structures can be used as well. 
     The present discussion has mentioned processors and servers. In one embodiment, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of the other components or items in those systems. 
     Also, a number of user interface displays have been discussed and presented. They can take a wide variety of different forms and can have a wide variety of different user actuatable input mechanisms disposed thereon. For instance, the user actuatable input mechanisms can be text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. They can also be actuated in a wide variety of different ways. For instance, they can be actuated using a point and click device (such as a track ball or mouse). They can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. They can also be actuated using a virtual keyboard or other virtual actuators. In addition, where the screen on which they are displayed is a touch sensitive screen, they can be actuated using touch gestures. Also, where the device that displays them has speech recognition components, they can be actuated using speech commands. 
     A number of data stores have also been discussed. It will be noted they can each be broken into multiple data stores. All can be local to the systems accessing them, all can be remote, or some can be local while others are remote. All of these configurations are contemplated herein. 
     Also, the figures show a number of blocks with functionality ascribed to each block. It will be noted that fewer blocks can be used so the functionality is performed by fewer components. Also, more blocks can be used with the functionality distributed among more components. 
       FIG. 9  is a block diagram of architecture  600 , shown in  FIG. 6 , except that its elements are disposed in a cloud computing architecture  900 . Cloud computing provides computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various embodiments, cloud computing delivers the services over a wide area network, such as the internee, using appropriate protocols. For instance, cloud computing providers deliver applications over a wide area network and, they can be accessed through a web browser or any other computing component. Software or components of architecture  600  as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a cloud computing environment can be consolidated at a remote data center location, in one embodiment, or they can be dispersed, in another embodiment. Cloud computing infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a service provider at a remote location using a cloud computing architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways. 
     The description is intended to include both public cloud computing and private cloud computing. Cloud computing (both public and private) provides substantially seamless pooling of resources, as well as a reduced need to manage and configure underlying hardware infrastructure. 
     A public cloud is managed by a vendor and typically supports multiple consumers using the same infrastructure. Also, a public cloud, as opposed to a private cloud, can free up the end users from managing the hardware. A private cloud may be managed by the organization itself and the infrastructure is typically not shared with other organizations. The organization still maintains the hardware to some extent, such as installations and repairs, etc. 
     In the example shown in  FIG. 9 , some items are similar to those shown in  FIG. 6  and they are similarly numbered.  FIG. 9  specifically shows that processing system  600  can be located in cloud  902  (which can be public, private, or a combination where portions are public while others are private). Therefore, user  910  uses a user device  904  with a display interface  922  to access those systems through cloud  902 . In one embodiment, system  600  is accessible both by an operator  910  in communication with a patrol unit (or multiple patrol units  630 ), as well as directly accessible by the patrol unit  930 . 
       FIG. 9  shows that it is also contemplated that some elements of computing system  600  can be disposed in cloud  902  while others are not. By way of example, data store  920  can be disposed outside of cloud  902 , and accessed through cloud  902 , in one embodiment. For example, as described above, a data store may comprise a cache of captured images  912 , stored either at a camera location, at a central processing location, or at a remote location separate front system  600 . Additionally, data store  920  may comprise stored timestamp information  914 , indicative of a time and camera responsible for a received image. Information about detected objects  916  may also be stored in a data store  920 . Additionally, information about detected changes  918 , and identified globs  924 , can also be stored in a single data store  920 , or in disparate data stores  920 . Other information  926  may also be stored in data store  920 . 
     It will also be noted that architecture  600 , or portions of it, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc. 
       FIG. 10  is a simplified block diagram of one illustrative example of a handheld or mobile computing device that can be used as a user&#39;s or client&#39;s hand held device  16 , in which the present system (or parts of it) can be deployed.  FIGS. 11-12  are examples of handheld or mobile devices. 
       FIG. 10  provides a general block diagram of the components of a client device  16  that can run components computing system  600  or user device  904  that interacts with architecture  600 , or both. In the device  16 , a communications link  13  is provided that allows the handheld device to communicate with other computing devices and under some embodiments provides a channel for receiving information automatically, such as by scanning. Examples of communications link  13  include an infrared port, a serial/USB port, a cable network port such as an Ethernet port, and a wireless network port allowing communication though one or more communication protocols including General Packet Radio Service (GPRS), LTE, HSPA, HSPA+ and other 3G and 4G radio protocols, 1Xrtt, and Short Message Service, which are wireless services used to provide cellular access to a network, as well as Wi-Fi protocols, and Bluetooth protocol, which provide local wireless connections to networks. 
     In other examples, applications or systems are received on a removable Secure Digital (SD) card that is connected to a SD card interface  15 . SD card interface  15  and communication links  13  communicate with a processor  17  (which can also embody processors or servers from other FIGS.) along a bus  19  that is also connected to memory  21  and input/output (I/O) components  23 , as well as clock  25  and location system  27 . 
     I/O components  23 , in one embodiment, are provided to facilitate input and output operations. I/O components  23  for various embodiments of the device  16  can include input components such as buttons, touch sensors, multi-touch sensors, optical or video sensors, voice sensors, touch screens, proximity sensors, microphones, tilt sensors, and gravity switches and output components such as a display device, a speaker, and or a printer port. Other I/O components  23  can be used as well. 
     Clock  25  illustratively comprises a real time clock component that outputs a time and date. It can also, illustratively, provide timing functions for processor  17 . 
     Location system  27  illustratively includes a component that outputs a current geographical location of device  16 . This can include, for instance, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. It can also include, for example, mapping software or navigation software that generates desired maps, navigation routes and other geographic functions. 
     Memory  21  stores operating system  29 , network settings  31 , applications  33 , application configuration settings  35 , data store  37 , communication drivers  39 , and communication configuration settings  41 . Memory  21  can include all types of tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory  21  stores computer readable instructions that, when executed by processor  17 , cause the processor to perform computer-implemented steps or functions according to the instructions. Similarly, device  16  can have a client system  24  which can run various applications or embody parts or all of architecture  100 . Processor  17  can be activated by other components to facilitate their functionality as well. 
     Examples of the network settings  31  include things such as proxy information, Internet connection information, and mappings. Application configuration settings  35  include settings that tailor the application for a specific enterprise or user. Communication configuration settings  41  provide parameters for communicating with other computers and include items such as GPRS parameters, SMS parameters, connection user names and passwords. 
     Applications  33  can be applications that have previously been stored on the device  16  or applications that are installed during use, although these can be part of operating system  29 , or hosted external to device  16 , as well. 
       FIG. 11  shows that the device can be a smart phone  71 . Smart phone  71  has a touch sensitive display  73  that displays icons or tiles or other user input mechanisms  75 . Mechanisms  75  can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, smart phone  71  is built on a mobile operating system and offers more advanced computing capability and connectivity than a feature phone. Note that other forms of the devices  16  are possible. For example, device  16  may comprise a desktop computer with a separate display monitor, or a laptop computer, or a tablet, or any other suitable computing device. 
       FIG. 12  is one example of a computing environment in which architecture  100 , or parts of it, (for example) can be deployed. With reference to  FIG. 12 , an example system for implementing some embodiments includes a general-purpose computing device in the form of a computer  1010 . Components of computer  1010  may include, but are not limited to, a processing unit  1020  (which can comprise processors or servers from previous FIGS.), a system memory  1030 , and a system bus  1021  that couples various system components including the system memory to the processing unit  1020 . The system bus  1021  may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus also known as Mezzanine bus. Memory and programs described with respect to  FIG. 6  can be deployed in corresponding portions of  FIG. 12 . 
     Computer  1010  typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by computer  1010  and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer storage media is different from, and does not include, a modulated data signal or carrier wave. It includes hardware storage media including both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computer  1010 . Communication media typically embodies computer readable instructions, data structures, program modules or other data in a transport mechanism and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared and other wireless media. Combinations of any of the above should also be included within the scope of computer readable media. 
     The system memory  1030  includes computer storage media in the form of volatile and/or nonvolatile memory such as read only memory (ROM)  1031  and random access memory (RAM)  1032 . A basic input/output system  1033  (BIOS), containing the basic routines that help to transfer information between elements within computer  1010 , such as during start-up, is typically stored in ROM  1031 . RAM  1032  typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processing unit  1020 . By way of example, and not limitation,  FIG. 12  illustrates operating system  1034 , application programs  1035 , other program modules  1036 , and program data  1037 . 
     The computer  1010  may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only,  FIG. 10  illustrates a hard disk drive  841  that reads from or writes to non-removable, nonvolatile magnetic media, and an optical disk drive  855  that reads from or writes to a removable, nonvolatile optical disk  856  such as a CD ROM or other optical media. Other removable/non-removable, volatile/nonvolatile computer storage media that can be used in the exemplary operating environment include, but are not limited to, magnetic tape cassettes, flash memory cards, digital versatile disks, digital video tape, solid state RAM, solid state ROM, and the like. The hard disk drive  1041  is typically connected to the system bus  1021  through a non-removable memory interface such as interface  1040 , and optical disk drive  1055  are typically connected to the system bus  1021  by a removable memory interface, such as interlace  1050 . 
     Alternatively, or in addition, the functionality described herein can be performed, at least in pan, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Program-specific Integrated Circuits (ASICs), Program-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc. 
     The drives and their associated computer storage media discussed above and illustrated in  FIG. 12 , provide storage of computer readable instructions, data structures, program modules and other data for the computer  1010 . In  FIG. 12 , for example, hard disk drive  1041  is illustrated as storing operating system  1044 , application programs  1045 , other program modules  1046 , and program data  1047 . Note that these components can either be the same as or different from operating system  1034 , application programs  1035 , other program modules  1036 , and program data  1037 . Operating system  1044 , application programs  1045 , other program modules  1046 , and program data  1047  are given different numbers here to illustrate that, at a minimum, they are different copies. 
     A user may enter commands and information into the computer  1010  through input devices such as a keyboard  1062 , a microphone  1063 , and a pointing device  1061 , such as a mouse, trackball or touch pad. Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit  1020  through a user input interface  1060  that is coupled to the system bus, but may be connected by other interface and bus structures, such as a parallel port, game port or a universal serial bus (USB). A visual display  1091  or other type of display device is also connected to the system bus  1021  via an interface, such as a video interface  1090 . In addition to the monitor, computers may also include other peripheral output devices such as speakers  1097  and printer  1096 , which may be connected through an output peripheral interface  1095 . 
     The computer  1010  is operated in a networked environment using logical connections to one or more remote computers, such as a remote computer  1080 . The remote computer  1080  may be a personal computer, a hand-held device, a server, a router, a network PC, a peer device or other common network node, and typically includes many or all of the elements described above relative to the computer  1010 . The logical connections depicted in  FIG. 12  include a local area network (LAN)  1071  and a wide area network (WAN)  1073 , but may also include other networks. Such networking environments are commonplace in offices, enterprise-wide computer networks, intranets and the Internet. 
     When used in a LAN networking environment, the computer  1010  is connected to the LAN  1071  through a network interface or adapter  1070 . When used in a WAN networking environment, the computer  1010  typically includes a modem  1072  or other means for establishing communications over the WAN  1073 , such as the Internet. The modem  1072 , which may be internal or external, may be connected to the system bus  1021  via the user input interface  1060 , or other appropriate mechanism. In a networked environment, program modules depicted relative to the computer  1010 , or portions thereof, may be stored in the remote memory storage device. By way of example, and not limitation,  FIG. 12  illustrates remote application programs  1085  as residing on remote computer  1080 . It will be appreciated that the network connections shown are exemplary and other means of establishing a communications link between the computers may be used. 
     It should also be noted that the different embodiments described herein can be combined in different ways. That is, parts of one or more embodiments can be combined with parts of one or more other embodiments. All of this is contemplated herein. 
     Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims. 
     Although the present invention has been described with reference to preferred embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention. For example, while images are discussed frequently herein, it is also expressly contemplated that a camera may record a video, and subsequent images refer to subsequent image frames within a recorded video. Such a video may be streamed such that detection occurs simultaneously, in one embodiment.