Patent ID: 7030905

Claim:
A method for tracking an object using one or more video cameras and a plurality of wave receivers, the video cameras outputting corresponding video images including a sequence of video frames, each of the wave receivers for use in determining an arrival of a wave, the method comprising the steps of: obtaining a first current frame and a corresponding previous frame from each of said video images, wherein each of said frames includes an image of the object; determining a first motion vector corresponding to a first direction of motion of the object based on said first current frames and said corresponding previous frames from said video images; detecting an arrival of a wave by each one of one or more pairs of said wave receivers, wherein said wave has been generated by an impact of said object at a source location; determining one or more time differences between each of said arrivals of said wave at each of said one or more pairs of wave receivers; determining a location of a change in direction of said object by identifying the source location from which said wave has been generated based on said plurality of time differences; obtaining a second current frame from each of said video images, wherein each of said frames includes an image of the object; and determining a second motion vector corresponding to a second direction of motion of the object based on said second current frames from each of said video images and based on said determined location of said change in direction of said object, said second motion vector representing a direction of motion of said object after said change in direction of said object has occurred.