The method of processing the signals to determine the coordinates of the objects observed in the sequence of television images, and device for its implementation (options)

 

(57) Abstract:

The invention relates to the field of image processing and can be used in automated systems management traffic, for monitoring and documenting the landing maneuvers at airports, in robotics and in a more General approach can serve as a subsystem for systems with a higher level of interpretation, which are detected, segmented and can be observed moving objects, as well as automatically determined by their parameters. Technical result achieved in the implementation of the invention is to provide coordinates and sustainable retaining the image of the object in the center of the field of view of video camera surveillance system or in the center of the tracking window when it receives from the camera as a contrast and low-contrast images of moving and stationary objects and background areas. The invention consists in an adaptive and concurrent use of multiple vzaimodopolnyayuschih channels classification of image elements, the formation of the image and coordinates of the object and of compensating for the destabilizing factors. Offer options JV is sitsa to the field of processing television images in various applications of computer vision, for example, in the tasks of surveillance and control, in particular to methods for determining the position of an object over a sequence of television images, and may find application in automated systems management traffic, for monitoring and documenting the landing maneuvers at airports, in robotics to ensure a coordinated interaction of the machine with other machines or production facilities and a more General approach can serve as a subsystem for any higher level system of interpretation, which are detected, segmented and may be stationary and moving objects, as well as automatically determined by their parameters.

Known methods and devices for observing objects on the basis of which you can implement simple systems of the first generation, characterized by the use of one basic approach for classifying picture elements on the elements of the object and the background (the formation of a binary image of the object) and coordinates of the object by determining the coordinates of the center of gravity binarizing image (the so-called centroid methods and devices), or identify the relational features) of the current and reference images (correlation-extremal methods and devices).

Such systems can automatically determine the coordinates of the object with sufficient accuracy and to ensure stable retention of the image of the object near the center of the field of view only in cases when it is high contrast against the background and(or) when the image of the object does not change during the observation time, and the destabilizing effects of other image factors is absent or minimal. These restrictions cause a relatively narrow range of observation conditions where applicable data system.

For many real-world applications visible image of the object or malacostracan against the background, or (at the middle and high contrast) are observed on a background of contrasting areas, and because of the movement of the object or system observation image of the object changes drastically during the observation time. The situation is often complicated by the fact that the object may temporarily partially or completely escaped in the image of the scene objects in the middle background, and a video camera are destabilizing factors leading to uncontrolled movements horizontally and vertically, and the rotation of the field of view.

There is a method of determining coordinates of the object (the acute accent, I. E. Vornovitsky, A. A. Saleev, A. I. Stepashkin, S. Y. Khludov (USSR), - 4373608/24-09; Statements. 01.02.88; Publ. 07.05.90, bull. 17), consisting of the following set of actions.

At the same time write the current frame and the previous frame.

From the first received frame form the benchmark goal h(i,j) format MHM cutting the Central part of the image.

Starting with the 3rd of the received frame, the previous captured frame is processed as follows.

Calculate weighted difference of the correlation function F(,)

< / BR>
where g(i+, j+) - members of the current processed image dimension NxN pixels,

h(i,j) - elements of the reference image dimension MHM points,

Z(i, j) - elements of the weighting function dimension MHM points, and Z(i,j) = 1 if the pixel belongs to the object, Z(i,j) = 0 otherwise;

- shift parameters of the image that change from 0 to (N-M+1).

To reduce the number of computational operations the calculation of the differential correlation function F(,) at the point with coordinates , to produce until the current value of this function is less than some threshold function R(k), depending on the number k of elementary differences calculated for this is the differential correlation function F(,).

Produce a current of low frequency (LF) filtering (smoothing) of the image

Vn(i,j) = (1-)gn(i+*n,j+*n)+Vn-1(i,j), (2)

where Vn(i,j) is the value of the smoothed image in the n-th frame,

the smoothing parameter, 0<

and determine the movement of an object over the last L frames. If the detected movement of the object was more than one value, you will overwrite the standard

h(i,j)=Vn(i,j). (4)

If the object moves in the last L frames are not exceeded one incremental step, the rewriting of the standard perform, provided F(*,*)>Threshold, otherwise the standard save.

Since L+1 frame, the smoothed image to produce a selection of set Q of points belonging to the object. The weight function Z(i,j) in the first L+1 frames is equal to 1.

The selection of a set Q of points belonging to the object produced by thresholding the smoothed image.

The set Q of points belonging to the object used for the formation of a new weighting function Z(i,j) of the reference image, replaceable simultaneously with the change of standard.

A sign of the way, coincides with the sign of the claimed technical solution is the imagination of the differential correlation function F(,) in accordance with expression (1).

Barriers to achieving the desired technical result when using this method are to determine the coordinates*,*the image of the object on the basis of minimizing the differential correlation function F(,) using the first L+1 frames weighting function Z(ij) is equal to 1, which leads to the impossibility of proper definition of the coordinates of the object in the conditions, when the contrast of the object is lower than the contrast of the elements of the surrounding background.

The causes of the failure of the method in the above situations are illustrated in Fig.1A, 1B, 1C, g

In Fig. 1 shows the formation of the pattern of the first received frame (Fig.1a) by cutting the Central part (Fig.1B). At this stage, the standard is not yet protected from the ingress of foreign background elements. Typical of this situation, the distribution of brightness of the image elements of the formed pattern and the type of differential correlation function F(,) is illustrated in Fig.1B.

As can be seen from Fig.1G, getting into the pattern of background elements leads to the minimum of the correlation function that does not match the position of the object. When contrasting the colorful background of the false minimum is the value less than Mineola lead to erroneous determination of the coordinates and disrupt tracking.

The obstacles to achieve the desired technical result can be attributed to a combination of update operations standard and calculating differential correlation function of the current and reference images, which leads to disruption tracking with overlapping even relatively small areas of the object (10-20% of area) high contrast background elements.

The inoperability of the way in such situations are illustrated in Fig.1D, 1E.

In these circumstances the fact that during the initial phase tracking background, which moved the object, was such that the reference image of the object formed, that is, the background elements in the pattern are absent (Fig.1D).

When an object is moved over contrasting objects in the middle background, as shown in Fig.1E, the minimum value of the differential correlation function is sharply increased and, in accordance with the sequence of operations of the method, it causes the overwrite pattern. In the contrasting background element enters the Etalon, and then in the same way as described above, occur erroneous determination of object coordinates and the failure of tracking.

In addition, if n is fall background elements, that is, as described above, also often leads to the breakdown of tracking.

To ensure system operability determination of the coordinates and observations of objects in this expanded range of modern methods and devices have conventionally, the methods and devices of the second generation) are developing in the direction of adaptive and concurrent use of multiple complementary channels classification of image elements, the formation of the image and coordinates of the object of compensating for the destabilizing factors.

Known methods and devices of the coordinates of objects in a temporal sequence of images do not possess the versatility to function in a wide range of applications, namely in terms of high and low contrast images of the object and the surrounding background area, when changes in size and visible image of an object as a result of his maneuvers, and because it is moving through the terrain, changes or uneven illumination of the object and terrain shielding object with other objects or terrain, move media system monitoring and determination of parameters of interest, otsutstvie way to detect and determine the coordinates of the object in the image (see copyright certificate 1737755 the USSR, MKI 5 H 04 N 7/18, G 06 K 9/36, Device detection and determination of the coordinates of the object on the image /B. A. Alpatov, E. T. Libyian, S. Y. Khludov (USSR) Ryazan radio engineering Institute (USSR), - 4819727/09 Announced. 27.04.90; Publ. 30.05.92, bull. 20), the implementation of which is necessary to carry out the following set of actions.

At the first stage in the first frame produced only recording of the television image in memory. During the recording of the second frame to produce the formation of the original datasets: G0- the reference background image G0= L0- the current image. (As a reference background image is taken of the current image. It is assumed that the object in the image L0no.)

B0 - source array elements the function classification of the object/background

B0: b0ij=-32.

Starting with the 3rd of the received frame, write in the memory the current frame.

In the second phase (phase detection) for each element lnij the observed image determine the elements bnij the classification functions

< / BR>
where 1nijelements of the current processed image Ln,

elements of the projected image, the background is part of the background.

Decide on accessories item image with coordinates i,j of the object if the obtained value of bnij> 0.

Compute the coordinatesnx,nythe center of gravity of the binary image

< / BR>
where Sn- the number of picture elements that make up the image of the object Hn,

i - coordinate of the picture element 1nijon the x-axis, classified as an object (bnij>0),

j - coordinate of the picture element lnijon the y-axis classified as object (bnij>0).

Perform restriction on the values of the elements of bnijand their record at the address of b(n-1)ij< / BR>
b(n-1)ij=32, if bnij> 32,

b(n-1)ij= bnijif -32< bnij< 32,

b(n-1)ij= -32, if bnij< -32.

If the number Sn of elements of the image classified as the object has exceeded the threshold value S0then decide on the object detected in the frame, and the count of detections increased by 1.

In the third stage, if you decide to detection of an object in the frame (S>S0), estimates of the coordinates and velocity of the object is determined in accordance with the expression

X:

< / BR>
< / BR>
< / BR>
is in accordance with the expression (9);

a posteriori evaluation of the position of the object;

a priori estimation of the speed of the object;

a posteriori estimation of the speed of the object;

Y:

< / BR>
< / BR>
< / BR>
< / BR>
where projected at the time of receipt of the n-th frame, the position of the object, calculated in accordance with expression (13);

a posteriori evaluation of the position of the object;

a posteriori estimation of the speed of the object;

< / BR>
If the current frame object is not detected, the position and velocity of the object is predicted in accordance with the expressions

< / BR>
< / BR>
< / BR>
< / BR>
< / BR>
< / BR>
< / BR>
< / BR>
In the fourth phase out the background image, for which all points in the image classified as background (bnij< 0), perform

< / BR>
where 0<k3<1.nij> 0), perform

< / BR>
where 0<k4<1.
< / BR>
to reset the memory elements, which in the previous frame corresponded Obie about tying trajectory and continue to perform calculations otherwise, go to step step 2, the formula (5) and later.

Form a projected image area L(n+1), the center of which coincides with the center of the object:

(26)

where the elements of the projected image area L(n+1)size MHM,

a smoothed image of the object in accordance with (24),

the smoothed background image in accordance with (23),

z(n+1),,the binary mask of the object formed according to the rule

z(n+1),,= 1, if b(n+1)i1j1> 0,

z(n+1),,= 0, if b(n+1)i1j10,

< / BR>
< / BR>
< / BR>
< / BR>
where are determined from (17) and (21).

At the seventh stage calculates the derivative of the predicted image generated in the previous frame, the parameternx:

< / BR>
where is determined by (26),

< / BR>
At the eighth stage produces a non-linear estimation of the coordinates and velocities of the object

X:

< / BR>
< / BR>
where projected at the time of receipt of the n-th frame, the position of the object (a priori estimate), calculated in accordance with expression (9),

a posteriori evaluation of the position of the object,

a priori estimation of the velocity of the object,

a posteriori estimation of the velocity of the object.

On the ninth floor is y:

< / BR>
where is defined by (26),

< / BR>
On the tenth stage produces a non-linear estimation of the coordinates and velocities of the object Y:

< / BR>
< / BR>
where projected at the time of receipt of the n-th frame, the position of the object (a priori estimate), calculated in accordance with expression (13),

a posteriori estimation of object position Y,

a priori estimation of the velocity of the object Y,

a posteriori estimation of the velocity of the object y

On the eleventh stage of the classified point plot (gate)nsize MHM current image Lnby checking the conditions

< / BR>
where lnijelements of the current processed image Ln,

the elements of the projected image background

the smoothed reference image of the object,

D = 1, center gaten/ahas coordinates

At the twelfth step, find the coordinates of the center of gravity of the binary image resulting from (27), and replace them found on the eighth and tenth stages of the evaluation

On the adjusted values of the shape projected on the (n+1)-th frame priori estimates of position and velocity of the object

< / BR>
< / BR>
< / BR>
< / BR>
Smooth out the background image for all points of the gatenR is t; Smooth the reference image of the object at each gatensize MHM current image Lnclassified as an object (bnij> 0):

< / BR>
where 0<k4
< / BR>
where ,

to reset the memory elements, which in the previous frame corresponded to the object.

Control the amount of Sn square object on the classification results on the eleventh stage by the formula (27).

If Sn > S0, then perform actions on the sixth stage and the next.

If Sn S0, then perform actions on the second stage and later.

Sign the method that matches with the characteristic of the proposed technical solution is the smoothing of the background image in accordance with the expression (28).

Barriers to achieving the desired technical result when using the described method are as follows.

The formation of the current coordinates of the object on the processing results of the previous frame, essentially enters into the control circuit by the position of the field of view day - on fields or frames, which restricts the determination of the coordinates and hold in the center of the field of view of dynamic objects.

Determined by the way in the second stage, the classification of elements of the image points of the object and the background in accordance with rule (5) in the presence of noise leads to an erroneous determination of the coordinates of the object in the frame or the analysis window, the size of which greatly exceed the size of the object (which is typical for small objects).

The causes of these errors are as follows. The center of gravity of the binary image generated noise emission does not depend on the coordinates of the captured object and is located near the center of the frame. Way not envisaged drop points, falsely classified at the second stage as an object due to their noise emissions, therefore, if the object is not located in the center of the frame (e.g., shifted by 2-3 of their size), and the number of falsely classified points in the image is equal to or greater than the number of points of the object, we obtain in this way the estimation of the coordinates of the object does not lie within the contour of the object, which leads to the erroneous prediction of the position of the analysis window image of the object in the next frame, neozoa time between images of adjacent frames (fields), that is not possible without errors to form the reference background, the averaged image of the object, the projected image of the object and the background when the system is in a moving field of view.

This is because to generate the reference background and reference object are no images of one frame, and a sequence of frames, and when forming the above-mentioned standards of different image frames must be displaced (as in the more General case and rotated) relative to each other so that the combined coordinates of the same point of the background (for standard background) or object (standard object).

To determine the required offsets (and, if necessary, and turns) images should take into account all the moving field of view.

The method is used to detect any statistically significant deviations of the brightness of the current image from a priori the expected brightness of the background elements and the object, regardless of their causes. This leads to failure of the method in the following conditions:

- when moving media surveillance system and coordinates of the object due to selection on the image of the moving elements of the former is Alicia a stationary object in the far background it is not detected);

- when the movement of the carrier system due to the presence of rotational movements of the field of view, because it is incorrect formation of the reference average background, as mentioned above;

- if unmanaged translational movement of the field of vision (uncorrected errors stabilization or error drives the field of view and contrast the colorful background.

Under these conditions dramatically increases the probability of false classification of background elements as the elements of the object that is the reason for the sharp increase of the error coordinates of the object and the impossibility of keeping him in the center of the field of view.

There is a method of detecting moving objects and tracking them on the basis of the analysis of image sequences (see patent 2 680 931 France, MKI 5 H 04 3/00, Procd de detection et de suivi d'objets en mouvement par analyse de squences d'images/Patrick Pineau et Robert Philipp (FR), THOMSON-CSF (FR), 91 10628; Statements. 27.08.91; Publ. 05.03.93, bull. 09), consisting in the detection of moving objects, the separation of the corresponding moving objects, prediction and temporal control of the position and movement of objects.

The image is classified into three classes, representing the background, moving the object and the shadow, by comparing the brightness of the image is carried out classification of image points on five classes, representing the contours of the background, the contours of objects in motion, the contours of the background, hidden by a moving object, the contours of the background, located in the shadow zone, and points that do not belong to any path, and put in a line each point of the image a label with dual information, including information on the classification of points by comparing the brightness between the reference image and the current image, and information of the circuit, taking into account the classification of points by comparing the contours of the reference image and the current image, and carry out the classification of image pixels into seven classes, each of which corresponds to one of the seven types of labels with dual information region (segment) and circuit, which uses a relaxation method with Markov modeling field labels with dual information to optimize and to classify image pixels into seven classes on the stage object detection.

After detection of moving objects carry out the separation of connected moving objects, including relaxation with Markov modeling field motion, the temporal prediction masks to optimize the classification of points on seven classes on the stage object detection and temporary predskazivati moving objects and to perform tracking them in the conditions fixed field of view.

The features of the process, coinciding with the characteristics of the proposed technical solution:

detection of moving objects by comparing the brightness of the image pattern of a background and the current image;

- periodically updating the reference background image.

Barriers to achieving the desired technical result includes processing the image to highlight the image of the object from the background using the discoveries of the moving segments of the image, resulting in the inoperability of the way when the observation object is stationary relative to the distant background, and the presence of its own motion media tracking system, leading to the appearance of moving in the middle background, and a background of contrasting colour in the presence of uncontrollable movements of the field of view (uncompensated errors stabilization), as in this case, the object is allocated the moving segments of the background that does not reveal the true object.

The known method of recursive motion estimation for tracking objects through the analysis of sequences of digital images (see patent 0527791 EPO, MKI 5 G 06 F 15/70. VERFAHREN ZUR ZEITREKURSIVEN BEWEGUNGS-SCHATZUNG UND ZUR VERVOLGUNG BEWEGTER OBJEKTE BEI DER ANALYSE ZEITLICHE5.90; Publ. 20.07.94, bull. 29; international priority to PCT/ER/00769; international publication WO 91/17513 14.11.91, bull. 26).

The method consists of the following set of actions:

- at the start set the initial values of the predicted state variables of the object (X),

- for each image, l(k) sequence of digital images in time l(1), l(2),...,l(k):

a) find the displacement of the segments in the image l(k) and these moving segments define a binary categorizes the function (S), with a description of the

S(j, k, p)= 1 if pixel p at time k belongs to the moving segment j,

S(j,k,p)=0, otherwise;

b) measure the parameters of movement (Z) for these moving segments by maximising the similarity function (S), which is formed using the set of parameters of movement (Z), transformation (T) of the segment functions (S) and digital images (I) in accordance with the General formula

< / BR>
c) determine the corrected state variables (Y) from the set of predicted state variables (X) with parameters measured displacement (Z);

d) determine the predicted state variables (X) for subsequent time from the corrected state variables (Y) with posindex,

S(j,k,p) - segment roaming segment j at time k in the pixel p,

s(n, k+l, T(p)) - value segment on the moving segment n at time k+1 in the pixel T(p)

l(k,p) is the image brightness at the time k in the pixel p,

l(k+l,T(p)) is the image brightness at the time k+1 in the pixel T(p)

T(p) - coordinates of the pixel p in the result of transformation So

The method assumes that the family of transformations (T) enables or only an affine transformation of a flat image, or only transfers (translational movement).

Used state variables (X, Y) describe the instantaneous position, instantaneous velocity and acceleration of the moving segments.

The similarity function (S) form in accordance with the formula

< / BR>
when the family of transformations (T) includes an affine transformation of a flat image, or in accordance with the formula

< / BR>
when the family of transformations (T) includes only transfers, where v is the displacement vector in the plane of the image.

The features of the process, coinciding with the characteristics of the proposed technical solution:

- detection of moving segments in the current image 1(k) and the definition of these moving segments of the binary function is che.

Barriers to achieving the desired technical result includes processing the image to highlight the image of the object from the background using the discoveries of the moving segments of the image, resulting in the inoperability of the way when the observation object is stationary relative to the distant background, and the presence of its own motion media tracking system, leading to the appearance of moving in the middle background, and when contrasting background in the presence of unpredictable movements of the field of view (uncompensated errors stabilization), as in this case, the object is allocated the moving segments of the background that does not reveal the actual object.

There is a method of tracking an object (see Television tracking system with Bayesian discriminator /A. so-called Backout P. A., K. the so-called labunets Century, / / "Foreign radio electronics". - 1987. - 10. - P. 81-93, - eng) contains the following set of operations:

- input video image

- analog-to-digital conversion of the video images and record it in digital form in the buffer memory,

- histogram-based classification of image points on the points of the object and the background based on what zobrazenie object,

- define vector form parts of an object,

- determination of horizontal and vertical projections of the current binary image in the analysis window, as well as projections of the reference binary image of the object,

the disjunctive definition of a convolution of the current and reference projections

- determination of coordinates (and velocities) of the object according to the position of the maximum of the obtained values disjunctive convolution of the current and reference projections

- selection of an object from a scene image by discarding those elements of the image area of the object, which are not included in the reference mask of the object located at the position of the maximum disjunctive convolution projections

- prediction of the object position and the spatial gate object in the subsequent frame,

repeated object detection with histogram-based classification of image points and operations center definition a binary image of the object,

- development of control actions.

When using this method for the formation of the binary object image in the analysis window is implemented adaptive, in the General case multithreshold, statistically optimal classification rule points picture the soup a set of operations.

In the current frame image set the analysis window, the center of which is placed in the point of the predicted position of the object. Inside the analysis window form a spatial gate object (PSO) and the frame background, as shown in Fig.2.

In Windows JI and frame background count histogram GJI(L) and GRF(L) the distribution of the brightness L of the image in the spatial gate object and within the scope of the background, respectively.

To reduce the fluctuations of the point estimates of the histograms of GJI(L) and GRF(L) recent average using recursive digital filters of the first order:

< / BR>
< / BR>
where bJIbRF- weighting factors that control the degree of smoothing of histograms JI and background border.

Using the averaged histograms perform classification of image points in the analysis window according to the following rule.

The image point with coordinates (i,j) is considered to belong to the object, thus forming a binary image f(i,j)=l, if

< / BR>
where is the a priori probability of the presence of background elements in PSO,

A - parameter value incorrect classification.

If the condition (36) is not satisfied, then the point is considered prinadlejish statistics of previous frames.

Determine the coordinates of the center of the binary image of the object, calculating a horizontal Tg(i) and vertical Tin(j) the projection of the current binary image f(i, j) and the horizontal Teh(i) and vertical TEV(j) the projection of the reference binary image of the object fEC(i,j) (mask of the object), formed in the previous frames, and compute disjunctive convolution of Sg(k), Sin(1) the corresponding projections of the current and the reference binary image in accordance with the expressions

< / BR>
< / BR>
then define the position of the k0and 10highs disjunctive bundle Sg(k) and Sin(1), which take the coordinates of the object in the current analysis window.

Make a selection of an object from a scene image by discarding those elements of the image area of the object, which are not included in the reference mask of the object located at position (k0and 10).

Predict the position of the image of the object in the next frame.

The features of the process, coinciding with the characteristics of the proposed technical solution:

- receiving and storing the signals of the current field of the television image,

- histogram Kie binary image histogram classifier),

- the formation of horizontal and vertical projections of the current binary image histogram classifier,

repeated detection image of the object when it is a temporary loss,

- output signals that control the position of the field of view cameras.

Barriers to achieving the desired technical result when using the method, are as follows.

For classifying picture elements in the method relies on differences in the averaged histograms of brightness JI and inside the frame in the background, which allows to take into account only information about the relative frequency of occurrence of certain brightness in the area of the object and its surrounding background areas and does not take into account their spatial distribution (spatial pattern). Because this method is not applicable in cases when at the start of the process of tracking and determining the coordinates of the histogram distribution characteristics of the object and background (brightness distribution of their images) are close, which often takes place when tracking a colorful object on fine mottled background.

To reduce the fluctuations of the estimated histogram distribution of the brightness of the background of its usred what about the causes during the passage of the object boundary inhomogeneity of the background averaged histogram does not reflect the true distribution of the brightness of the background around the object. In turn, this leads to an increase in the number of elements background images misclassified as object and then to "creep" spatial gate object on the plot background.

Closest to the claimed method is determining the coordinates of the object based on the integrated use of the results of processing the sequence of television images (see Optoelectronic guidance system THASSID /Kolmogorov, S., Kostromitin E. C., splinter I. I., Maltsev A. P. // "Foreign radio electronics". -1987. 10. -S. 57-68. -Eng) contains the following set of actions:

- input video image (the reception of the current field image from a video camera),

adaptive two-level quantization of the video images (forming a binary image of the object), followed by tracking the center of a binary image of the object within the adaptive window (system for tracking the center of the object in the adaptive window - SCAO),

adaptive four-level quantization of the video images with the subsequent:

1) SEL is a focus,

3) determine the position of the landmarks on the minimum of the correlation function,

4) the calculation of the correlation function method (absolute) difference for an object,

5) determine the position of the object at the minimum of the correlation function (correlation tracking system - KSS),

6) overwrite standards benchmarks and object,

7) image stabilization dynamic scenes based on results of the correlation tracking targets,

8) selection of a moving object (forming a binary image of a moving object from the image scene),

9) by tracking the center of a binary image of the moving object tracking system for moving object - SDO),

10) electronic expansion of the field of view (zoom original images)

- quality assessment tracking for each of the 3 groups of operations tracking (tracking the center of a binary image of an object within an adaptive window, tracking the center of a binary image of a moving object, correlation tracking),

- select one of 3 groups operations tracking (tracking the center of a binary image of the object within the adaptive window tracking center binary zobrazeniengine priorities:

1st priority (high) - tracking the center of a binary image of the object within the adaptive window (group operations SCAO),

2nd priority - tracking the center of a binary image of a moving object (group operations SDO),

3rd priority (low) - correlation tracking of object (group of operations KCC) and task group operations tracking with the lowest priority coordinates of the object from a group of surveillance operations with the highest priority, if they generate the coordinates of the object are significantly different,

- determination of the coordinates and velocities of the object,

- prediction of the object position and the spatial gate object in the subsequent frame,

- extrapolation of the coordinates of the object with the disappearance or rapid change his image,

- re-detection of the object by using the operations of the adaptive two-level quantization of the video images and the operations of determining the center of a binary image of the object,

- generation of control signals by the turns of the field of view cameras.

There is a method of tracking an object allows you to:

- follow the object with sufficient global contrast of the image of the object relative to the background areas (svetljo classification of image points on the points of the object and background (see Fig.3);

- follow the object partial shielding of contrast relative to the object constraints (shielding light object on a dark background dark objects or shielding a dark object on a light background light objects);

- follow the object when zooming in the field of view in a wide range and with relatively smooth (low-frequency) translational and rotational movements of the field of view;

- re-detection of the contrast of the object when it is short-term disappearance with adaptive two-level quantization of the video images and the operations of determining the center of a binary image of the object;

to track a fast moving object in the absence or reduction of its global contrast relative to the background and the presence of the object image local contrast areas (spatial pattern of brightness).

The features of the process, coinciding with the characteristics of the proposed technical solution:

- receiving and storing the signals of the current field of the television image, the formation of the current window image analysis,

- select the image NEPAD the position of the reference points in the previous frame image by calculating correlation functions of images of landmarks,

- definition using the found displacement of the landmarks of the parameters of the shift and rotate images during the time between the reception of the image fields,

- stabilization of the television image (coordinate transformation elements images deskew, image rotation),

- scaling and storing the analysis window image of the current frame,

- subtraction of the image of the current image frame previously stored frame and forming a binary image of the selector moving objects,

- storing a reference image of the object,

- the definition of the measure of dissimilarity of the current image and the reference image of the object in the form of a differential correlation function,

- can be used for generation of control signals by moving a field of view cameras extrapolated coordinates with the disappearance or rapidly changing image of the object.

Barriers to achieving the desired technical result are as follows.

First, the operation of the adaptive two-level quantization of the video images, providing coding the binarization of the image, produce pravilov object on a dark background or a dark object on a light background.

As a result in other conditions in the presence of a significant number of misclassified points in the image (see Fig.4) JI is gradually shifting to the background object. Operation adaptation of the quantization threshold signal to provide a change of this threshold in securing the best selection (binarization) of the given object in the background, which leads to further offset PSYOPS on the background object, that is, to disrupt tracking. This is described in the way that the group operations of the adaptive two-level quantization of the video images and the tracking center of the binary image of the object within the adaptive window has no other means of distinguishing elements of the background image and object, in addition to analyzing binary image in PSO. In some situations it is not possible to develop a sign of inaccurate tracking and, thus, to communicate through a complex system of monitoring to other groups of operations. The probability of falling PSYOPS on the background elements for this reason, increases significantly during the movement of the object in space with brightness close to the brightness of the object image, especially with the approach of the object for shielding the object of the background due to the size reduction of the visible part of the object from its true center with the approach for shielding the obstacle leads to the formation of incorrect predicted coordinates of the object, and as a result, erroneous signals control the position of the field of view cameras and erroneous positions and sizes of the Windows image analysis, which reduces the likelihood of re-detection of the object after its release due to the closing of the background object.

Thirdly, when the shielding or a sudden change of image guidance in the process of tracking, such as smoke emissions, the operation stability operations scene image on the basis of results of correlation tracking three targets is not possible, resulting in sharply reduced the chances that the tracking object.

Fourthly, the method of stabilization of the image frame according to the position of the landmarks is ineffective in the presence of broadband random movements, for example, the jitter field of view and the framing of television (or thermal imaging) images of multiple fields. This is due to the fact that the method implicitly assumes that during formation of the frame image, the spatial position of the field of view is not changed. When the jitter field of view this assumption is violated and, consequently, the relative positions of landmarks in the different fields the expressions, differs from true.

Fifthly, described in the method of operation of the correlation search object location does not provide the correct definition of the coordinates of the object when it enters the area of the image pattern of the object contrast of the background elements, which is also one of the causes of breakdowns tracking.

Sixth, the construction of the group's operations the selection of a moving object capable of forming a binary image of a moving object, based on frame-to-frame subtraction of the current and previously stored reference pictures, spatial stabilised with the help of landmarks. The formation method is the prototype of the reference image directly from the current (delayed by N frames, N=1,2,...) in the presence of noise or fluctuation of the background image area leads to a false classification of a large number of picture elements of the scene as belonging to the moving object. It is not possible to perform the tracking of moving object is small, the number of points in the image which is commensurate with the number of false binaryscan elements of the background areas.

In addition, due to the third and fourth causes of this group of operations is norabots the different landmarks.

Seventh, the choice in each moment of time during the interval tracking data only one of the groups operations tracking and transmission of the coordinates of an object from a group with a higher priority group with a lower priority. Selecting one of the groups of surveillance operations in this way is determined a priori system-assigned their priorities and formed these groups characteristics reliability tracking. However, the characteristics themselves of the reliability of the tracking individually, as a rule, are not sufficiently reliable in difficult conditions of observation, resulting in the imposition of erroneous coordinates the groups of surveillance operations, which are able to form more accurate coordinates. An example of this would be moving the object on the background areas, with areas whose brightness is close to the brightness of the object. In this case, similarly as it was described when considering the first reason is "slipping" PSYOPS on the background areas, and due to the fact that this process occurs slowly, and the density of the binary image by adapting the threshold remains high, a sign of the reliability of tracking SCAO signals the presence of a strong tracking this g is eSignal image and tracking the center of the resulting binary image of the object within the adaptive window when implementing this method is the imposition of erroneous coordinates of the object, for example, correlation tracking system, which in these conditions is able to provide the definition of the coordinates with the required accuracy.

A device for determining the origin of the object (see the description of the invention to the author's testimony 1562980 the USSR, MKI 5 H 04 N 7/18, the Device coordinates of the object. B. A. Alpatov, P. A. Bakut, I. E. Vornovitsky, A. A. Saleev, A. I. Stepashkin, S. Y. Khludov (USSR), - 4373608/24-09; Statements. 01.02.88; Publ. 07.05.90, bull. 17), which contains the memory block signal smoothed image, the memory block of the reference image signal, the memory blocks of the signal of the current image block addressing, the memory block weighting function, the memory block threshold functions, blocks switching signal unit calculating the difference of the signals of the current and reference images, multiplier control unit, the computing unit signals the coordinates of the object and the block coordinate registers.

This device allows under certain conditions to improve the accuracy of determining the coordinates of the object, because the reference image is not the actual object image and a smoothed image of the object on which the signal from the filtered object from distorting its additive noise. Ispolzovaniem background, because when calculating differential correlation function will not be used for the elements of the reference image that are not related to the desired object. The device is chosen as an example of a smoothed image of the object, the formation of which involves a large number of frames. In this case, the error values of the sample image of the object in the current and the smoothed image can be considered independent if, within the period of smoothing the object moves over a distance of several increments. Therefore, when such a periodic update of the standard is not the accumulation of errors of estimate of object coordinates. For the case of a slow moving object, the device uses an algorithm update reference based on the comparison of the differential correlation function with a threshold, which also does not cause rapid accumulation of errors in the estimation of the coordinates of the object. The device analyzes the movement of an object over a period of L frames, determined by the settling time averaging Etalon filter, and depending on its size chosen a particular algorithm for updating the standard. This improves the accuracy of determining the coordinates of the object.

Barriers to achieving the desired SUP>*the image of the object on the basis of minimizing the differential correlation function F(,) using the first L+1 frames weighting function Z(i,j) equal to 1, which leads to the impossibility of proper definition of the coordinates of the object in the conditions, when the contrast of the object is lower than the contrast of the elements of the surrounding background.

The inoperability of the device in the above situations are illustrated in Fig.1A, 1B, 1C, g

In Fig. 1 shows the formation of the pattern of the first received frame (Fig.1A) by cutting the Central part (Fig.1B). At this stage, the standard is not yet protected from the ingress of foreign background elements. Typical of this situation, the distribution of brightness of the image elements of the formed pattern and the type of differential correlation function F(,) is illustrated in Fig.1B, g

As can be seen from Fig.1G, getting into the pattern of background elements leads to the minimum of the correlation function that does not match the position of the object. When contrasting the colorful background of the false minimum is the value less than the minimum corresponding to the position of the object. Thus, the estimation of the coordinates of the object with use of this device leads to erroneous definition wide-angle is Licata, you can also include a combination of update operations standard and calculating differential correlation function of the current and reference images, which leads to disruption tracking with overlapping even relatively small areas of the object (10-20% of area) high contrast background elements.

The inoperability of the device in these situations are illustrated in Fig.1D.

In these circumstances the fact that during the initial phase tracking background, which moved the object, was such that the reference image of the object formed, that is, the background elements in the pattern are absent (Fig.1D).

When an object is moved over contrasting objects in the middle background, as shown in Fig.1E, the minimum value of the differential correlation function increases sharply, causing the overwrite pattern. In the contrasting background element enters the Etalon, and then in the same way as described above, occur erroneous determination of object coordinates and the failure of tracking.

In addition, in the presence of unpredictable movements of the field of view in the process of rewriting the model in the video window of the reference object are background elements that mi of the proposed technical solution: a set of unit calculating the difference of the signals of the current and reference images, multiplier for the weight function and the microprocessor unit calculate the coordinates of the device object that is equivalent to the driver 60 (Fig. 11.1) block 11 of the proposed technical solution (Fig.8.2).

Closest to the claimed is a device (see Optoelectronic guidance system THASSID/ Kolmogorov, S., Kostromitin E. C., splinter I. I., Maltsev A. P.// "Foreign radio electronics". -1987. 10. -S. 57-68. -Eng) as a comprehensive tracking system that includes SCAO, ssdo, QSC, the microprocessor functions of the controller-Manager, uniting all of the tracking system (SCAO, SDO and CSS) into a single integrated tracking system. The input video data in the tracking system are received from a camera mounted on a gyrostabilized platform, through adaptive quantizers (duplex - in SCAO and a four - in SDO and CSS) and (if necessary) through the unit electronic expansion (zoom) field of view.

The microprocessor sets the mode and determines the order of all tracking systems. He plays the role of the head controller. Its functions are: development of managers and intermediate data (coefficients, coordinates, thresholds, and so on) that define the operation of the device and landmarks on by correlation tracking; rewrite standards benchmarks; image stabilization; control electronic expansion of the field of view, etc. On the coordinates received from one of the surveillance systems in accordance with the established priority and depending on the site observations, the microprocessor controls the position of the gyro-stabilized platform with the camera, engaged in tracking the object of observation.

Each servo system operates independently of the other until such time as it specifies the coordinates of the object do not differ significantly from the coordinates defined by the tracking system with the highest priority. Otherwise, the lowest priority tracking system defines the coordinates of the object from the highest system priority. Thus, the systems operate in a quasi-Autonomous mode.

The main functions of the known device:

- adaptive quantization for better classification of image elements of the scene on the elements of object and of background;

- implementation of a segmentation of the scene as landmarks for correlation tracking;

- image stabilization scene due to correlation tracking three Orien the moving object by using subsystem, manufacturing a stabilized image of a scene;

- correlation tracking of object;

- correlation tracking of four image slices of the object, the final part of the observation object.

Barriers to achieving the desired technical result are as follows.

First, an adaptive two-level quantization of the video images, providing coding the binarization of the image, produces the correct classification of image points on the points of the object and the background only in a narrow range of conditions in the presence of a bright object on a dark background or a dark object on a light background (see Fig.3).

As a result in other conditions in the presence of a significant number of misclassified points in the image (see Fig.4) JI is gradually shifting to the background object. The adaptation of the quantization threshold signal provides change this threshold in securing the best selection (binarization) of the given object in the background, which leads to further offset PSYOPS on the background object, that is, to disrupt tracking. When used in this device means an adaptive two-level quantization of the video signal izabranosti distinguish elements of the background image and the object, in addition to analyzing binary image in PSO. In some situations it is not possible to develop a sign of inaccurate tracking and, thus, to communicate through a complex system of monitoring to other groups of operations. The probability of falling PSYOPS on the background elements for this reason, increases significantly during the movement of the object in space with brightness close to the brightness of the object image, especially with the approach of the object for shielding the object of the background due to the size reduction of the visible part of the object.

Second, erroneous assessment of the velocity of the object due to the gap center of the visible part of the object from its true center with the approach for shielding the obstacle (see Fig.5) leads to the formation of incorrect predicted coordinates of the object and, consequently, erroneous signals control the position of the field of view cameras and erroneous position and window size of image analysis, which reduces the likelihood of re-detection of the object after its release due to the closing of the background object.

Thirdly, when the shielding or a sudden change of image guidance in the process of tracking, such as smoke emissions, stabilization of the image scene on the basis of the procession which sharply decreases the probability that the tracking object.

Fourth, the stabilization of the image frame according to the position of the landmarks is ineffective in the presence of broadband random movements, for example, when the jitter field of view and forming a frame of the television image from multiple fields. This is due to the fact that the device is implicitly assumed that during the formation of the field image of the spatial position of the field of view is not changed. When the jitter field of view this assumption is violated and, consequently, the relative positions of landmarks in the different fields of the frame (or several frames) used in the device for determining parameters of affine transformations of the image differs from the true.

Fifthly, described in the device of the correlation search object location does not provide the correct definition of the coordinates of the object when it enters the area of the image pattern of the object contrast of the background elements (see Fig.1B, 1G, 1D, 1E), which is also one of the causes of breakdowns tracking.

Sixth, the implementation of the operations of selection of a moving object capable of forming a binary image of a moving object, based on frame-to-frame subtraction of the current and previously stored (reference) ototype reference image directly from the current (delayed by N frames, N=1, 2,...) in the presence of noise or fluctuations of the background image area leads to false binarization of a large number of picture elements of the scene as belonging to the moving object. It is not possible to perform the tracking of moving object is small, the number of points in the image which is commensurate with the number of false binaryscan elements of the background areas.

In addition, due to the third and fourth causes of channel SDO device fails to work in situations where there is provided a reasonably accurate image stabilization using landmarks.

Seventh, by the device of choice in each moment of time during the interval tracking data only one of the groups operations tracking and transmission of the coordinates of an object from a group with a higher priority group with a lower priority. Selecting one of the groups operations tracking this device is determined a priori system-assigned their priorities and formed these groups characteristics reliability tracking. However, the characteristics themselves of the reliability of the tracking individually, as a rule, are not sufficiently reliable in difficult conditions of observation, due to degenerate more accurate coordinates. An example of this would be moving the object on the background areas, with areas whose brightness is close to the brightness of the object. In this case, similarly as it was described when considering the first reason is "slipping" PSYOPS on the background areas, and due to the fact that this process occurs slowly, and the density of the binary image by adapting the threshold remains high, a sign of the reliability of tracking SCAO signals the presence of a strong tracking this group operations. Due to the high priority group operations adaptive two-level quantization of the video images and the monitoring center received a binary image of the object within the adaptive window when you implement this device is imposing erroneous coordinates of the object, for example, correlation tracking system, which in these conditions is able to provide the definition of the coordinates with the required accuracy.

The characteristics of the device, in common with the characteristics of the proposed technical solution, the following:

the microprocessor device and the processor of the proposed technical solution in the formation of governors and to the intermediate data (coefficients, to the Torah marks with a buffer memory of the search area landmarks and memory benchmarks benchmarks of the device and the block of the stabilization parameters of the proposed technical solution - selection of the image of landmarks, determine the displacements of the reference points of the current frame image relative to the position of the reference points in the previous frame image by calculating correlation functions of images of landmarks, identifying using the found displacement of the landmarks of the parameters of the shift and rotate images during the time between the reception of image fields.

The task of the invention is to enhance the functionality of the methods and devices of the signal processing to determine the coordinates of the objects observed in the sequence of television images, as well as to hold the television image of the object in the center of the field of view of video camera surveillance system or in the center of the tracking window in a wide range of conditions, observations of objects and in the presence of destabilizing factors without performing preliminary configuration to the application conditions involving a human operator.

Technical result achieved in the implementation of the claimed invention, is to provide coordinates and stable retention of the television image of the object in the center of the field of view of the camera system and low-contrast video images of moving and stationary objects and background areas, when the object is moving on the ground, the average brightness of which coincides with the average brightness of the object, when changing the visible image of an object, due to its rotation movement, change of illumination, observation of the object in the intermittent optical communication arising from the overlap of the object of various obstacles, such as the folds of the terrain, buildings, vegetation, dust, smoke, sprays, etc. when managed (movable) and unmanaged (static) field of view cameras surveillance system, upon movement of the carrier monitoring system, calling unmanaged move the field of view of video camera surveillance system (shaking, causing the effect of "blur" the image, rotate the field of view of video camera surveillance system), as well as appearing on television moving image background areas.

The technical result in providing for the determination of the coordinates and sustainable retaining the image of the object in the center of the field of view of video camera surveillance system or in the center of the tracking window when it receives from the video surveillance system as contrast and low-contrast images of moving and stationary objects and background mastrota, when changing the visible image of an object, due to its rotation movement, change of illumination, observation of the object in the intermittent optical communication arising from the overlap of the object of various obstacles, such as the folds of the terrain, buildings, vegetation, dust, smoke, sprays, etc. when managed (movable) and unmanaged (static) field of view cameras surveillance system, upon movement of the carrier monitoring system, calling unmanaged low-frequency movement of the field of view of video camera surveillance systems (which lead to displacements and rotations of all elements of the field of the television image as a whole)and with the possible lack of a monitoring system sensors errors stabilization of the field of view of video camera surveillance system is achieved by a method for determining the coordinates of the objects observed in the sequence of video images, comprising receiving and storing the signals of the current field of the television image, the selection of the signals of the current field of the television image signals of television images 2N landmarks, and N= 3, 4, 5,..., the formation of signals measures methodsthese the current field of the television picture and television signals

images of the respective 2N landmarks in the previous field of the television image and identify with their help displacements of television images 2N landmarks for the time between the reception signals of the current and previous fields of television images, determining, using the offsets of the signals of television images 2N landmarks parameters shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image, to receive signals of the current n-th field of the television image, where n= 3, 4, 5,..., define a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, caused by the action on video surveillance control signals to move its field of view, determine the speed of the controlled movement of the axis of the field of view of video camera surveillance system data from a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, simultaneously with the reception of signals of the current of the video surveillance system and use them for generating signals projected coordinate television images 2N landmarks in the current field of the television image, divide the received signal-based measures of dissimilarity television images 2N landmarks parameters shift signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, forming a television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, formed from the signals of the current frame of the television image signals of the television image in the current analysis window and scale them using the signals of the position and size of current window analysis televisiion initial values of the signals of location and dimensions of the current analysis window of the television image receiving from the monitoring system, remember the scaled signals of the television image in the current analysis window, form the differential signals of the television image selector moving objects by subtraction of the scaled signals of the television image in the current analysis window of the scaled signals of the television image, the previously saved and shown to the current scale of the television image in the analysis window and shifted by the amount of movement of the axis of the field of view of video camera surveillance system, form the primary signals binary television image selector moving objects from the differential signals of the television image selector moving objects form the secondary signals binary television image selector moving objects from the binary signals of primary television image selector moving objects, past low-pass filtering, simultaneously with storing the scaled signals of the television image in the current analysis window, formation of differential signals of the television image selector moving objects and formation of signals of the primary and secondary binary television the Oia in the current analysis window and taking into account the signals of the controlled movement of the axis of the field of view of video camera surveillance systems form the primary signals binary television image detector changes the background and the binary signals of the television image histogram classifier in the current analysis window, from the signals of the primary binary television image detector changes the background, past low-pass filtering, generate secondary signals binary television image detector changes the background form the horizontal and vertical projection signal of the secondary binary video images of the selector moving objects and detector changes the background and the horizontal and vertical projection of the binary signals of the television image histogram classifier, determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background and selector moving objects, and binary signals of the television image histogram classifier, form the generalized horizontal and vertical projections of the generalized signals binary television image of the object from the horizontal and vertical projections of the signals of the secondary binary video images of the selector moving objects and detector changes the background, as well as from horizontal and vertical projections of the binary signals of the television image histogram classifier on the basis of their joint education the classifier, signals of the secondary binary video images of the detector changes the background and selector moving objects, determine the horizontal and vertical boundaries, and the size of the television image object levels cut left and right, above and below the specified percent of the area of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, define the current and averaged area of the generalized binary television image of the object formed inside the boundaries of the television image of the object, determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, determine the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, determine the coefficient of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, simultaneously with the formation of signals of the primary and secondary binary televizionnyjj histogram classifier, as well as the generalized horizontal and vertical projections of the generalized signals binary television image of the object determines the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images in the nonlinear high-frequency filtering of the scaled signals of the television image in the current window analysis is performed under the condition exceeding the average square of the generalized binary television image of the object threshold value, storing the received signals, signal conditioning television static reference image of the object or signals static and dynamic reference video images of the object, bring the static reference signals of the television image of an object or signal static and dynamic reference video images of the object to the current scale, generating and storing signals measures the dissimilarity between the signals of the television image after non-linear high-frequency filtering of the scaled signals of the television image in the current analysis window is wuornos search field displacements of television images of the object, determine the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, sequencing the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, determine the corresponding coordinates of the television image of the object in the analysis window, depending on the type of sequence minimum values of the signals measures the dissimilarity of television images for this position, namely, through analytical approximations sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree and determine the coordinates of the television image of the object as the position of the minimum of the approximating polynomial, provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences to the two boundaries of the areas of rapid growth of signal values of the measures of dissimilarity TV picture about the position of its minimum, or p is the R image relative to the center of the analysis window and the formation position of the object in the analysis window as value, proportional to the received offset border region of rapid growth of signal values of the measures of dissimilarity television images provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum and the presence of one area of rapid growth of signal values of the measures of dissimilarity television images, or by generating the coordinates of the object equal to the coordinate of the center of the analysis window, provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum values of the signals measures the dissimilarity of television images across the field of search displacements of television images of the object, determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, determine a confidence factor for the current speed of movement of the television image of the object in the images, form a comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system of the data assessment of the current moving velocity of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images and assessment of the current speed of the object generalized projections signals of the generalized binary television image of the object, taking into account factors of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering object, average signals a comprehensive assessment of the speed of movement of the television image of the object in the inertial coordinate system and memorize them, determine the coordinates of the television image of the object in the field of view of video camera surveillance by integrating the difference between comprehensive assessment of the speed of movement of the television image of the object in the inertial coordinate system and the speed of the controlled movement of the axis of the field of view of video camera surveillance system in the inertial coordinate system, and the initial coordinates of the television image of the object in the field of view of the key signals of the primary and secondary binary video images of the selector moving objects and detector changes the background binary television image histogram classifier, the generalized horizontal and vertical projections of the generalized signals binary television image of the object form M window analysis background, and M= 4, 5, 6,..., around the perimeter of the analysis window, and define the projection of the binary signals of the television image histogram classifier in M boxes, analysis, background, define the size and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background obtained by the projection of the binary signals of the television image histogram classifier in M boxes analysis of the background, generate control signals by moving the axis of the field of view of video camera surveillance system, using the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, or using the extrapolated coordinates and the speed of movement of the television image of the object depending on the results of the analysis of the current and averaged area of the generalized binary television image, current and averaged speed per the histogram classifier in M boxes analysis background moreover, the extrapolated speed of movement of the television image of the object formed on the basis of the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, form signals the position and size of the analysis window of the television image to the next frame using the coordinate signals of the television image of the object in the field of view of video camera surveillance and size of the television image of the object resulting from processing the current frame, and the initial values of the signals of location and dimensions of the television image of the object and the signal start tracking receive from the monitoring system.

The technical result is also achieved by the fact that prior to the reception of signals of the current n-th field of the television image, where n=3, 4, 5,..., define a managed move dx[n] and dy[n] axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image horizontally and vertically, respectively, by calculating the convolution of the control signals XPANEL[i], YPANEL[i] the movement of the field of view of video camera surveillance system with pulse aresenal axis of the field of view of video camera surveillance system horizontally and vertically, formed as a result of processing of the i-th field of the television image,

hx[i] is the impulse response of the horizontal drive axis of the field of view of video camera surveillance system, representing the response of the increment of the angular coordinate axis of the field of view of the camera system monitoring the time between the reception of the i-th and (i-1)-th fields of the television image on the exposure control signal horizontally continuous on the interval of receiving the first field of the television image and zero at other points in time,

hy[i] is the impulse response of a vertical drive axis of the field of view of video camera surveillance system, representing the response of the increment of the angular coordinate axis of the field of view of the camera system monitoring the time between the reception of the i-th and (i-1)-th fields of the television image on the exposure control signal vertically constant in the interval of receiving the first field of the television image and zero at other points in time,

To the length of the impulse response representing the number of fields of the television image, after which the modulus of the impulse response does not exceed a specified level.

Technical interlace signal LP-FRAME(i, p, npk) of the current frame image and the image L1 FRAME(ix, jy) of the previous frame is performed by the prediction signal LFRAME(ix, jy) image of the current frame, by using the offset image L-1-UP(ix,iy) of the previous frame on the value of a managed move dx, dy axis of the field of view of video camera surveillance system horizontally and vertically, respectively, during the time between the receipt of fields image

LFRAME(ix,jy) = L-1-UP(ix+dx,jy+dy)

and displacement of points in the image of the current frame of the pixels of the current frame of the compensation current unmanaged displacements rx, ryand roll of the field of view of video camera surveillance system

LFRAME[ix(i,p,npk), jy(i,p,npk)] = LP-FRAME(i,p,npk),

where i is the element number in the string image of the current frame, i=1,..., PC;

ix - number of the element in the string image of the current frame, IX=1,...,PC;

R - the row number in the field,

jy - the line number in the frame, jy=1,...,MK;

PC is the number of picture elements in the row;

MK is the number of rows in the image frame;

npk - the index of the current field:

npk = 1 in odd fields,

npk = 0 in the even-numbered fields,

< / BR>
< / BR>
The technical result reaches the I detector changes the background is formed by bringing the signals Ln-AF(ix, jy) of the television image of the reference background, obtained in the previous n-1 frame to the current scale, the formation of the signals LpTHE WPPT(IX,j) differential television image detector changes the background subtraction of the signals LnOA(ix,jy) scaled image in the current analysis window signals Ln-AF(ix,jy) of the television image of the reference background of the previous frame shift, take into account moving Vx, Vy center of the analysis window in the inertial coordinate system for the last frame:

LpTHE WPPT(ix,jy) = LnOA(ix,iy) - Ln-1eff(ix+Vx,jy+Vy),

the thresholding binarization THRESHOLDTHE WPPT(ix,jy) of the detector changes the background as a value proportional to the local scattering parameter values of the differential signals of the television image LpTHE WPPT(IX, j) detector changes the background in the vicinity of the point with coordinates (ix,jy, an assignment of values to the primary binary television image L1BINTHE WPPT(ix,jy) of the detector changes the background

L1BINTHE WPPT(ix,jy)=1,

if |LpTHE WPPT(ix,jy)|THRESHOLDTHE WPPT(ix,jy),

or

L1BINTHE WPPT(ix,jy)=0,

if |Lp
< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window,

moreover, the signals Lneff(ix,jy) of the television image of the reference background is formed by the separation of the scaled signals of the television image in the current analysis window on the television image signals of three types:

the signals of the television image in the window object - OOTHE WPPT,

the signals of television images in the background OF theTHE WPPT,

the signals of the television image in the window - New background - NF,

where as signals of the television image in the window object detect signals of the television image in the rectangle located in the center of the current analysis window and include mostly elements of the image of the object, as signals of the television image window "New background" define the image elements on the external borders of the current analysis window, which due to the motion of the object and moving the axis of the field of view of video camera surveillance system, new elements of the television image background, as signals of the television image window background determine all the remaining elements of the television image in the analysis window, remembering the images of the current n-th frame:< / BR>
Lneff(ix,jy) = LnOA(ix,jy), ix,jy NF,

where LnOA(ix,jy) - values of the luminance signal element scaled television image in the analysis window with coordinates (ix,jy, averaging window background signals scaled television image LnOA(ix, jy) from the current analysis window with a constant W and to account for the shift in the analysis window in the inertial coordinate system for the last frame:

Lneff(ix, jy) = (l-W)*Ln-1eff(IX+Vx, jy+Vy)+W*LnOA(ix, jy) ix, jeOTHE WPPT,

where Vx, Vy is the displacement of the center of the analysis window for the last frame horizontally and vertically, respectively, in the inertial coordinate system, overwriting the window object signals of the television image of the reference background of the previous frame shift, taking into account the displacement of the center of the analysis window for the last frame:

Lneff(ix,jy) = Ln-1eff(IX+VX,iy+Vy)

ix,jy OOTHE WPPT.

The technical result is also achieved by the fact that low-pass filtering of the signals of the primary binary television image L1BINTHE WPPT(IX, j) detector changes the background is performed using a two-dimensional convolution

< / BR>
where ix, the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window;

NF, MF - settings-aperture low-pass filter horizontally and vertically, respectively;

di, dj - internal variables low-pass filter horizontally and vertically, respectively, di[-NF, NF], dj [MF, MF];

hLF[di, dj] is the impulse response low-pass filter.

The technical result is also achieved by the fact that low-pass filtering of the signals of the primary binary television image L1BINLMS(ix, jy) of the selector moving objects is performed using a two-dimensional convolution

< / BR>
where ix, jy - coordinates of the filtered signals of the television image S_filLMS(ix,jy) relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window;

NF, MF - settings-aperture low-pass filter horizontally and vertically, respectively;

di, dj - internal variables low-pass filter horizontally and vertically, respectively, di [-NF, NF], dj [MF, MF];

hLF[di, dj] is the impulse response low-pass filter.

The technical result is also achieved by the fact that the signals LBINTHE WPPT(ix, jy) vtorichnogo the tra S_filTHE WPPT(IX,j) in accordance with rule

LBINTHE WPPT(ix,jy)=1,

if S_filTHE WPPT(ix,iy)> PorogTHE WPPT1 and L1BINTHE WPPT(ix,jy) = 1

or

S_filTHE WPPT(ix,jy) > PorogTHE WPPT0 and L1BINTHE WPPT(ix,jy) = 0,

LBINTHE WPPT(ix,jx) = 0 otherwise,

where ix, jy - coordinates of the signals LBINTHE WPPT(ix,jy) secondary binary television image detector changes the background relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window;

RagedTHE WPPT1, RogadTHE WPPT0 - values of the threshold decision unit and zero elements of the primary binary television image detector changes the background, respectively.

The technical result is also achieved by the fact that the signals of the secondary binary television image L2BINLMS(ix,jy) of the selector moving objects are formed from signals S_filLMS(ix,jy) low-pass filter in accordance with rule

LBINLMS(ix,jy)=1,

if S_filLMS(ix,iy) > PorogLMS1 and L1BINLMS(ix,jy) = 1

or S_filLMS(ix,jy) > PorogLMS0 and L1BINLMS(ix,jy) = 0,

L
< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window,

PorogLMS1, PorogLMS0 - values of the threshold decision unit and zero elements of the primary binary television image selector moving objects, respectively.

The technical result is also achieved by the fact that the signals LBINCC(ix,jy) binary television image histogram classifier form in accordance with rule

LBINCC(ix,jy)=1, if

LBINCC(IX,j) = 0 otherwise,

where ix, jy - coordinates of the binary signals of the television image LBINCC(ix,jy) relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window,

LnOA(ix, jy) is the scaled signals of the television image in the current analysis window;

Wn-1HCSB[Li] normalized histogram of brightness Lithe scaled signals of the television image in the Central window of the object - CSB obtained in the previous (n-1)-th frame;

Wn-1HOFHC[Li] normalized histogram of brightness signals BR>Li- the brightness signals of the television image;

i - the number of the brightness signals of the television image, i = 1,..., Nur;

n-1is a parameter depending on the number of elements of the television image in the window object histogram classifier - OOHC classified as background in the previous (n-1)-th frame;

A(ix,jy) is a penalty function that depends on the coordinates of item ix,jy television image in the analysis window, including ix,jy CSB A(ix,jy) = A0;

moreover, after determining the coordinates of XO, YOand sizes Rxo, Ryo television image of the object in the current n-th frame as the Central window object - CSB define a rectangle with dimensions of CHCSB=The CWC, QCSB=Uo inside the analysis window, the center of which coincides with the center XO, Yo of the television image of the object and which includes mainly the elements of the television image of the object as the window object histogram classifier - OOHC determine the area enclosed between the two rectangles with a common center and with dimensions R xCSB, RCSBand RxOOHC, RyOOHCwhere R xOOHC>R xCSBand ROOHC> RyCSBin calnique with a common center and sizes RxOOHC, RyOOHCand R xOFHC, ROFHCwhere R xOPKG> R xOOCHand ROPKG> RyOOCHon the television image signals LnOA(ix, jy), is read from the window OFGC in the current n-th frame, determine a histogram of WOPKG[Li] distribution of brightness Libackground images, television image signals, selectable from the window of CSB in the current n-th frame, determine a histogram of WCSB[Li] distribution of brightness Liimage object, produce a smoothing of histograms WOPKG[Li] and WCSB[Li]

< / BR>
< / BR>
where hSG[j] is the impulse response of the smoothing filter;

(2*ns+1) - number of points of the impulse response of the smoothing filter;

determine the current threshold of Pgaveraging the smoothed histogram of brightness of the object image in accordance with the expression

< / BR>
where Pgand kPG- constant values;

1[x] - single function defined by the conditions:

1[x] = 1 if x 0,

1[x]=0 if x<0;g
a recursive filter of the first order

< / BR>
wherenthen- filter time constant of the averaging threshold of Pg
n - the number of the current frame image;

limit values averaged threshold above and below average smoothed histogram of brightness Lithe television image of the object by a recursive filter of the first order

< / BR>
wherenCSB- filter time constant averaging the histogram of brightness of the television image of the object changes depending on the frame number from the value1CSB= 1 in the first frame to the stationary value CSBmoreover, since the frame number surpassing PKU,

where PKU - frame number from which the averaged histogram fulfill the conditions, PKU=16,...,128,

the averaged histogram of brightness Lithe image of the object is performed only for those brightness levels Lifor which simultaneously two conditions:

< / BR>
< / BR>
form a normalized Wn-1HCSB[Li] a histogram of the brightness of the object image from the averaged histogram of brightness Liobject image

< / BR>
where Nyp- the number of levels of brightness of the image LnOA(ix,jy),

form a normalized Wn-1HAbout the Oia brightness Li background images:

< / BR>
The technical result is also achieved by the fact that the horizontal and vertical projection of GCRLMS(ix), VCRLMS(jy) signals of the secondary binary television image LBINLMS(IX, j) selector moving objects is determined in accordance with

for ix=1,...,Nwin,

for jy=1,...,Mwin,

where ix, jy - coordinates of the signals LBINLMS(IX,j) secondary binary television image selector moving objects relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window;

Nwin and Mwin - dimensions of the secondary binary image selector moving objects horizontally and vertically, respectively.

The technical result is also achieved by the fact that the horizontal and vertical projection of GCRTHE WPPT(IX) VCRTHE WPPT(j) signals of the secondary binary television image LBINTHE WPPT(IX,j) detector changes the background is determined in accordance with

for ix=1,...,Nwin,

for jy=1,...,Mwin,

where ix, jy - coordinates of the signals LBINTHE WPPT(ix,jy) secondary binary television image detector changes the background relative to the center of the current window revisionno image detector changes the background horizontally and vertically, respectively.

The technical result is also achieved by the fact that the horizontal and vertical projection of GCRCC(ix), VCRCC(j) signals binary image LBINCC(ix,jy) of the histogram classifier is determined in accordance with

for ix=1,...,Nwin,

for jy=1,...,Mwin,

where ix,jy - coordinates of the signals LBINCC((ix,jy) binary television image histogram classifier relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window;

Nwin and Mwin - size binary image histogram classifier horizontally and vertically, respectively.

The technical result is also achieved by the fact that the coefficients of reliability of WTHE WPPT, WLMS, WCCdefined as the product of the input functions of the initial conditions on the normalized average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively

< / BR>
< / BR>
< / BR>
moreover, the average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier receive in mi first order current densities of VTHE WPPT(n), VLMS(n), VCC(n) the corresponding binary television images

where

< / BR>
< / BR>
< / BR>
SODIF(n), STHE FOR(n), SOGK(n) - current square binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively, within the boundaries of the television image of the object;

SOO(n) is the current area within the boundaries of the television image of the object;

Fnudit(n), Fnudo(n), Fnugc(n) is the input function of the initial conditions of the detector changes the background of the selector moving objects and histogram classifier;

n - the number of the current frame.

The technical result is also achieved by the fact that the generalized horizontal and vertical projections of Gabout(ix,n), Vabout(jy,n) signals of the generalized binary television image of the object form a weighted sum of the projections of the binary video images of the detector changes the background of the selector moving objects and histogram classifier:

GCRABOUT(ix,n)=WTHE WPPT(n)*GCRTHE WPPT(ix)+WLMS(n)*GCRLMS(ix)+WCC(n)*GCRCC(ix)<>n)*VCRCC(jy)

where ix,jy - coordinates of the television image signals relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window;

WCC(n), WTHE WPPT(n), WLMS(n) the coefficients of reliability of the signals of the binary video images of the histogram classifier, the signals of the secondary binary video images of the detector changes the background and selector moving objects, respectively;

GCRCC(IX) and VCRCC(j), GCRTHE WPPT(IX) and VCRTHE WPPT(j), GCRLMS(ix) and VCRLMS(j) - horizontal and vertical projection signal of the binary video images of the histogram classifier, the signals of the secondary binary video images of the detector changes the background and selector moving objects, respectively;

n - the number of the current frame.

The technical result is also achieved by the fact that the current coordinates XAUBIN, YAUBINgeneralized binary television image of an object is defined as the weighted sum of the coordinates of the center of gravity XTHE ÍTZ, YITand XOLD, YOLDmedian SUB>HONEY
(n)* XOLD,

YAUBIN(n) = WCT(n)* YIT+ WHONEY(n)* YOLD,

WHONEY(n)=1-WCT(n),

where WHONEY(n), WCT(n) - weighting coefficients of the estimates of the coordinates of the median square and the center of gravity of the generalized binary television image of the object, respectively;

n - the number of the current frame,

moreover, the weighting factor WCT(n) increase with the decrease of the mean deviation of the coordinates of the television image of the object from their predicted values.

The technical result is also achieved by the fact that the current horizontal VGABOUTBINand vertical VVABOUTBINcomponents of the evaluation speed binary television image of the object in the inertial coordinate system is determined in accordance with expressions

VGOBBIN= (dX + XOA+ XOBAIN)/T,

VVOBBIN= (dY + YOA+ YOBAIN)/T,

where dX, dY is the displacement axis of the field of view of video camera surveillance system at the time T between receiving the current and previous fields of the television image horizontally and vertically, respectively;

XOA, YOAchanging the position of the window analysis
, YOBAIN- change the coordinates of the binary television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively.

The technical result is also achieved by the fact that the nonlinear high-frequency filtering of the scaled signals of the television image in the current window analysis is performed in accordance with the expression

LPP(ix,jy) = LnOA(ix,jy) + KNF*FNF[Lpfunc(ix,jy)],

where ix,jy - coordinates of the television image signals relative to the center of the current analysis window;

< / BR>
< / BR>
NX, NY are the dimensions of the current analysis window,

FNF[L] - function two-way restrictions;

FNF[L] = LTHENwhen L > LTHEN;

FNF[L] = L if-LTHENL <L;

FNF[L] = -LTHENwhen L <-L;

LTHEN- threshold functions bilateral restrictions;

< / BR>
TONFTOHPF- constant coefficients;

di,dj - internal variables of the high-pass filter,

NF, MF - parameters of the aperture of the upper filter frequency horizontal and vertical.

The technical result is also achieved by the fact that Siam frame signals from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates X, YCFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZ- the coordinates of the center of the analysis window in the field of view of video camera surveillance system.

The technical result is also achieved by the fact that the static reference signals of the television image of the object formed by reading and memorizing signals of the television image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television isPZ- the coordinates of the center of the analysis window in the field of view of video camera surveillance system,

when conditions change static reference of the television image of the object formed by the comparison of signal parameters dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and signals static and dynamic reference video images of the object, and comparing the parameters of the trajectories of the television image of the object obtained by the use of signals from static and dynamic reference video images of the object.

The technical result is also achieved by the fact that the static reference signals of the television image of the object formed by reading and memorizing signals of the television image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL,CFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOA
XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system,

when conditions change static reference of the television image of the object formed on the basis of the analysis of parameters of signals of dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and the static reference signals of the television image of the object, as well as the parameters of the trajectory of the television image of the object obtained based on the signal analysis measures of dissimilarity.

The technical result is also achieved by the fact that the current horizontal VGOBSHand vertical VVOBSHcomponents of the evaluation speed of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images is determined in accordance with expressions

VGOBSH= (dX + XOA+ XOBOENSH)/T,

VVOBSH= (dY + YOA+ YOBOENSH)/T,

where dX, dY is the displacement axis of the field of view of video camera surveillance system at the time T between receiving the current and before the
by changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XABOUNCH, YABOUNCH- change the coordinates of the television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, obtained on the basis of a signal measures the dissimilarity of television images.

The technical result is also achieved by the fact that the confidence factor WBIN(n) the current speed of movement of the generalized binary television image object get by determining the current density of the generalized binary television image, minimum and maximum values of current density VBIN(n) the generalized binary television image, the subsequent averaging of the limited density of the generalized binary television image of a recursive filter of the first order, regulation average density of the generalized binary television image of the object

< / BR>
where SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized Bina is th binary television image of the object;

n - the number of the current frame;

the average coefficient of similarity obtained by determining the current similarity factor limiting its maximum and minimum values, and averaging the recursive filter of the first order;

FMP(n) is the minimum value of the RMS value of image signals of a television background in M boxes analysis background;

ESHMP(n) is the minimum value of the signal measures the dissimilarity of the television image in the current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object.

The technical result is also achieved by the fact that the confidence factor WSH(n) the current speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, get through the current similarity factor limiting its maximum and minimum values, and averaging the recursive filter of the first order, regulation obtained average similarity factor

< / BR>
where n is the number of the current frame;

FMP(n) - - minimalia;

ESHMP(n) is the minimum value of the signal measures the dissimilarity of the television image current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object;

the average density of the generalized binary television image of the object obtained by determining the current density of the generalized binary television image of the object, the minimum and maximum values of current density VBIN(n) the generalized binary television image of the object, and then averaging the recursive filter of the first order limited current density VBIN(n) the generalized binary television image of the object;

SABOUTBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of an object,

SGS(n) is the current area within the boundaries of the generalized binary television image of the object.

The technical result is also achieved by the fact that a comprehensive assessment of horizontal VGABOUT(n) and the vertical VVABOUT(n) status is determined, limiting the rate of movement of binary television image of the object, and the moving speed of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, the minimum and maximum values generated with regard to the previous values of the comprehensive assessment of the current moving velocity of the television image of the object, and forming a weighted sum of the limited estimates the moving speed of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images

VGABOUT(n) = WBIN(n)* VGOBBIN(n) + WSH(n)* VGABOUTNSH(n),

VVABOUT(n) = WBIN(n)* VVOBBIN(n) + WSH(n)* VVABOUTNSH(n),

where WBIN(n), WSH(n) the coefficients of reliability of the current moving velocity of the generalized binary television image of the object and the current speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, respectively;

VGOBBIN(n is bossanova binary television image of the object;

VGABOUTNSH(n) and VABOUTNSH(n) - limited horizontal and vertical components of the current velocity of the moving television image of the object is obtained on the basis of a signal measures the dissimilarity of television images;

n - the number of the current frame.

The technical result is also achieved by the fact that the analysis of the current SAUBIN(n) and mean square generalized binary television image of the object produced by the following conditions

to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of an object or condition,

to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window,

where ksl - constant coefficient, ksl < 1;

ks2(n-nEC- the ratio decreasing with increasing frame number n, starting with frame number nECtransition to form signals of SCP-nEC)ksl.

The technical result is also achieved by the fact that the analysis of the current and averaged speed of the television image of the object is performed by checking the compliance of conditions

< / BR>
< / BR>
- to skip to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates or conditions

< / BR>
< / BR>
- to skip to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window,

where VGTOB(n), VVTOB(n) the horizontal and vertical components of the current velocity of the moving television image of the object obtained by the recursive filter of first order with constant filter 0<WV1<1 components VGABOUT(n), VVABOUT(n) a comprehensive assessment of the speed of movement of the television image object:

VGTOB(n) = VGTOB(n-1)+ WV1*[VGABOUT(n)-VGTOB(n-1)],

VVTOB(n) = VVTOB(n-1)+ WV1*[VVABOUT(n)- VVTOB(n-1)] the value of the object, the resulting recursive filter of first order with constant filter 0<WV<2 components VGABOUT(n), VVABOUT(n) a comprehensive assessment of the speed of movement of the television image object:

< / BR>
< / BR>
moreover, WV1>WV2.

The technical result is also achieved by the fact that the analysis area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background are checking the conditions change detection area of the binary video images of the histogram classifier inside M window analysis background:

< / BR>
where Si(n) values of the current square of the binary video images of the histogram classifier inside the i-th analysis window background, i = 1,...,M;

values averaged square of the binary video images of the histogram classifier inside the i-th analysis window background, i = 1,...,M, obtained at the output of the recursive filter of first order with constant filter 0<WS<1:
S(n) - threshold detection of changes in the area of the binary video images of the histogram classifier inside M window analysis background:

< / BR>
where k is a constant coefficient;

average of pleroo order with permanent filter 0<WS<1:
n - the number of the current frame;

- the ratio of the object/background

where the average value of the signals of the television image in the window object;

the average value of the signals of the television image in the window background;

F- the standard deviation of the signals of the television image in the window background from

FOGRE(Q) is a function of the minimum and maximum values;

when performing the above conditions for the current square of the binary video images of the histogram classifier in one or several Windows of analysis background with numbers ki,

where ki is the number of Windows of the analysis of the background in which a change is detected the current square binary television image histogram classifier, ki=l,...,KP;

KP is the number of Windows analysis background, in which a change is detected the current square binary television image histogram classifier, p, M;

in these Windows analyse the coordinates of the two mutually perpendicular boundaries binary television image histogram classifier located on the side of the window object, and in the Windows of the analysis of the background, hosted by the vertical borders of the window object, analyze diagnosti coordinates of the horizontal border vertical coordinates of the window object, and in the Windows of the analysis of the background, hosted by the horizontal boundaries of the window object, analyze the movement of the horizontal boundaries of the binary television image vertically and control the identity of the coordinates of the vertical boundaries of the horizontal coordinates of the window object, and the analysis of shifts of boundaries, of the binary video images in the M boxes analysis background carried out by checking the conditions of finding the appropriate boundaries binary television image histogram-based classifier within the borders of the internal Okil and external Oki2 areas of the ki-th analysis window background with the formation of signs of Pki1 and Pki2 set the boundaries of the binary video images to the internal Oki1 and to an external Oki2 areas of the ki-th analysis window background,

where Pki1= 1 if the boundary binary television image histogram classifier lies within the boundaries of the region OFki1, or Pki1=0 - otherwise;

Pki2=1 if the boundary binary television image histogram classifier lies within the boundaries of the region Oki2, or Pki2=0 - otherwise;

moreover, upon detection of transitions from and to the inner window area analysis background with numbers ki=kipl,

where kipl - room window analysis of the background in which the detected transitions borders binary television image histogram classifier from the outer regions Okip12 to the inner regions of Okip11 window analysis background, kipl=l,2,...,kN,

that is, the sequential formation of signs of Pkip12=l for nkip1= nkip12, and then Pkip1=1 for nkip1=nkip11, where nkip11>nkip12, nkip11 - the number of the frame in which kip1-m the analysis window background set the state of the sign of Pkip11= 1, nkip12 - the number of the frame in which kipl-m the analysis window background set the state of the sign of Pkip12=1, and the condition of facilities the coordinates of the second controlled borders binary television image histogram classifier kipl-m the analysis window background range in window coordinates of the object, perform the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of the object,

assign counter SP crossing borders binary television image histogram classifier between the inner and outer regions of the window analysis background value SP= the RA of the outer region Okip12 to the inner region Okip11 or increment the counter SP per unit upon detecting the border crossings binary television image histogram classifier from the outer regions Okip12 to the inner regions of Okip11 during the generation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of the object,

set the status of the signs of Pkip11=0, Nkip12=0, set the status of the signs of Pj2=0 in the Windows analysis background with numbers jkip1, j=1,...,KP, and the analysis process boundaries binary television image histogram classifier start again,

when the detected transitions corresponding boundaries binary television image histogram classifier from the inner areas Okip21 to the external areas Okip22 Windows analysis background,

where CR - room window analysis of the background in which the detected border crossing binary television image histogram classifier from the inner areas Okip22 to the external areas Okip21 window analysis background, kip2=l, 2,...,p,

during the formation of the signals control the ion image of the object, that is, the sequential formation of signs of Pkr1=1 for nkip2=nkip21, then Pkr2=1 for nkr=nkr2 in one or several Windows of analysis background with numbers kip2, where nkr2>nkr1, reduce the counter SP-crossing borders binary television image histogram classifier between the inner and outer regions of the window of analysis of background on the unit and, if SP=0, perform the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, set the status of the signs of Pkip21=0, Nkip22=0, set the status of the signs of Pj2= 0 in the Windows analysis background with numbers jkip2, j=i,...,KP, and the analysis process boundaries binary television image histogram classifier start first, control the time of generation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates and time of finding the signs of Pi1, Pi2, i=l,...,M, the condition Polivae state, go to the control signal forming the moving axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window.

The technical result in providing for the determination of the coordinates and sustainable retaining the image of the object in the center of the field of view of video camera surveillance system or in the center of the tracking window when it receives from the camera as a contrast and low-contrast images of moving and stationary objects and the background area, when the object is moving on the ground, the average brightness of which coincides with the average brightness of the object, when changing the visible image of an object, due to its rotation movement, change of illumination, observation of the object in the intermittent optical communication arising from the overlap of the object of various obstacles, such as the folds of the terrain, buildings, vegetation, dust, smoke, sprays, etc. when managed (movable) and unmanaged (static) field of view cameras, in the presence of carrier movement monitoring system, causes the PC to the displacements and rotations of all elements of the field of the television image as a whole), and with the possible lack of a monitoring system sensors errors stabilization of the field of view of video camera surveillance system is achieved that the device containing the block (4) signal conditioning measures of dissimilarity television images 2N landmarks and formation parameters shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of television images, and a processor (24) processing the local data transmitted on the shared bi-directional bus, entered the block (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, block (2) receiving and storing signals unmanaged move and roll the field of view of video camera surveillance system, block (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-l) th and (n-2)-th fields of the television image, where n=3, 4, 5,..., - the number of the current field of the television image, the block (5) the separation obtained on the basis of an assessment of measures of dissimilarity television images 2N landmarks double the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, the switch block (6), shaper (7) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, block (8) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the block (9) formation of M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis of the background, the unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object block (the new generation of signals measures the dissimilarity of television images block (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, block (14) determine the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (15) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system, obtained on the basis of a signal measures the dissimilarity of television images, the block (16) determination of the area and the coordinates of the boundaries of the binary television image into M boxes, analysis, background, block (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the OLE view of a video camera surveillance system, the analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes, analysis, background, block (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values averaged velocity, unit (22) determine the projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image and storing the signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, respectively, the third input device connected to the input unit (2) receiving and storing signals unmanaged move and roll the field of view of video camera surveillance systems, fourth and fifth inputs of the device connected to the first and second inputs of the switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, respectively, the sixth input device connected with the second input unit (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-l) th and (n-2)th fields of the television image, where n=3, 4, 5,..., - the number of the current field of the television image, the seventh input device connected to the fifth input of the unit (6) switches the first output block (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device connected to the first input unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and formation parameters shift and rotation signals of the current field of the television image at the time between reception of signals OGO image of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, the second output unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device is connected to the third input of the unit (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,..., - the number of the current field of the television image, the fifth input of the unit (8) for the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the fourth input of the former (7) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signal current paleochori surveillance system, a second input unit (5) separation obtained on the basis of an assessment of measures of dissimilarity television images 2N landmarks of the shift parameters of signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, the fourth input of the unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and formation parameters shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous field video images of the second inputs of the block (9) the formation of M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis of the background and block (16) determination of the area and the coordinates of the boundaries of the binary video images in the M boxes analysis of the background, the third input unit (10) for the determination of the current coordinates of the generalized binary television image of the object from ispolzovaniya, the eighth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth input unit (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the fifth input switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, the fourth input unit (14) determine coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, and block (15) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the fourth input of the unit (17) determine the current moving velocity of the generalized binary a televised message the assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the third input of the unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the sixth input of the analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the third input unit (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed, and block (22) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, and the sixth input of the former (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame TV izobrazheniya or extrapolated coordinates and velocity of the moving television image of the object, the output of block (2) receiving and storing signals unmanaged move and roll the field of view of the video surveillance system is connected to the third input of the unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and formation parameters shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of television images and the third input of the unit (6) switches the first output block (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)th fields of the television image, where n=3, 4, 5,..., - the number of the current field of the television image, is connected with the second input unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and formation parameters shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image and the fourth input of the unit (6) switches the first output block (4) signal conditioning measures of dissimilarity television images 2N landmarks and formirovalos current and previous fields of television images and connected to the first input unit (5) separation obtained on the basis of an assessment of measures of dissimilarity television images 2N landmarks of the shift parameters of signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, the first and second outputs of which are connected to first and second inputs of the unit (6) switch, the first output unit (6) switches connected to the second input of the shaper (7) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation unmanaged move and roll the field of view of video camera surveillance system, and a second output connected to the third input of the shaper (7) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, obespechte block (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, with the first input unit (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, with the second input of the unit (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, and with the first input unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the output of the shaper (7) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signalure of view of video camera surveillance system, connected to the first input unit (8) for the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the output unit (8) for the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image is connected to the seventh input of the unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and the third input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image, the output unit (9) forming M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis background connected to the first input unit (16) determination of the area and the coordinates of the boundaries of the binary television picture is to use the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the first output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input of the block (9) formation of M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis of the background, the second output unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the third input switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, the first input unit (14) determine coefficients of reliability of the current moving velocity of the generalized binary of motion control axis field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the third output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input unit (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the fourth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the second input unit (14) determine coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system and with a second input of the analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the 10) determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input of the analyzer (20) the transition to using projected coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the sixth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the unit (15) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the seventh output unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output unit (11) determine the coordinates televie dissimilarity television images connected with the second input unit (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images, the first output of which is connected to the third input of the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the second output unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images connected to the first input unit (15) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images the first output of which is connected with the second input unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system connected to the first input unit (10) for the determination of the current coordinates of the generalized binary the binary television television image of the object, the seventh input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and the third input of the unit (8) for the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the second output switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system is connected with the second input unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, a sixth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the second input unit (8) for the formation and scaling of television image signals in the current analysis window using the position signals and the reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system connected to the first input unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, and the second output is connected with the second input unit (15) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of the television image, the second output of which is connected to the third input of the unit (14) determine the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the first output unit (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system connected with the fourth input of the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system connected with the fourth input of the analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary bodies is known, area and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the fifth input of the unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the first input (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed and the second input unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the first output unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system is connected to the fourth input switch (13) source code or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, the first input unit (22) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed TV izobrageniem surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the second output of which is connected to third inputs of the block (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images and block (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the sixth input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and fourth inputs of the block (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and block (8) formation and scaling

the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output of the analyzer (20) of the conditions of transition to extra the wow binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background is connected with the second input of the shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, a second input unit (21) averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed and the fourth input of the unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the second output of the analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged p the I the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background is connected with the second input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth output of the analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background is connected with the third input of the unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output unit (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values averaged velocity is connected to the fifth input of the analyzer (20) of the conditions of transition to the reported binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background and the second input unit (22) determine the projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, the second output unit (22) determine the projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object is connected to the fifth input of the former (23) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output unit (22) of the definition of prog is the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object is connected to the fourth input of the former (23) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output of the shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object is an output device and connected to the first input unit (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,..., - the number of the current field of the television image, the output of the processor (24) processing the local data transmitted on the shared bi-directional bus, is connected with the second output block (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5, . . ., - the number of the current field of the television image, block (4) signal conditioning measures of dissimilarity television images 2N landmarks and forming parametric and previous fields of television images block (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity television image unit (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, a block (16) determination of the area and the coordinates of the boundaries of the binary video images in the M boxes analysis of the background of the block (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, block (22) determine the projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, the third output unit (14) determine the coefficients of reliability of the current speed bobsen is fficients the reliability of the current speed of movement of the television image of the object in the inertial coordinate system, obtained on the basis of a signal measures the dissimilarity of the television image analyzer (20) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background of the block (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed and the driver (23) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the eighth output block (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and develop C10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object includes a first switch (31) video the first buffer random access memory (30), the second buffer random access memory (41) and the third buffer random access memory (43), the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the driver (36) of the primary signals binary television image detector changes the background shaper (38) of the secondary signals binary television image detector changes the background shaper (45) signals of the primary binary television image selector moving objects, the shaper (47) signals of the secondary binary television image selector moving objects, the first node (42) scaling and shift signals of the television image, the node (44) forming the differential signals of the television image selector moving objects, the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background shaper (48) goeguide objects block (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background, a spatial filter (37) of the lower frequency signals of the primary binary television image detector changes the background, a spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the block (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier, block (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background block (49) determine coefficients of reliability of the signals of the secondary binary video images of the selector moving objects and the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object block (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window, and block (52) analysis of the conditions of failure of the automatic determination of the coordinates of the television image of obego image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the first and second inputs of the former (32) signals binary television image histogram classifier in the current analysis window and block (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background and the fourth and third inputs of the former (36) of the primary signals binary television image detector changes the background respectively, the first input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected also to the first input of the first node (42) zoom and shift signals of the television image, the third input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the first switch (31) video, the seventh input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second input of the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier, a second input unit (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier, the fifth input of the unit (35) determine the relationship object/background and minimum RMS value of the signal TVs is the first television image detector changes the background a second input unit (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background, the fourth input of the first node (42) zoom and shift signals of the television image, a second input unit (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background, the seventh input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image object and the second input unit (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window, the fourth input of the unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the fifth input of the unit (10) for the determination of the current coordinates of the generalized binary television image is visionnage image of the object connected to the first input of the former (36) of the primary signals binary television image detector changes the background and a second input of the first node (42) zoom and shift signals of the television image, the sixth input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to a second input of the former (36) of the primary signals binary television image detector changes the background, the fifth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and the third input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background, the seventh input unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the inputs of the first buffer memory device (30) and the second buffer random access memory (41), the first input node (44) forming the differential signals of the television image selector moving objects, the fifth input of the former (the first switch (31) video the output of the first buffer memory device (30) is connected with the second input of the first switch (31) video data, the first and second outputs of which are connected with the third and the sixth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, respectively, and the fourth input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background, the first output of which is the fifth release of the block (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the first output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and to the first input of formirovanie is classificatory, the output of which is connected to the first input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and to the first input of the block (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier, the first output of which is connected to a second input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the former (36) of the primary signals binary television image detector changes the background is connected to the input spatial filter (37) of the lower frequency signals of the primary binary television image detector changes the background the output of which is connected to the input of the shaper (38) of the secondary signals binary television image detector changes the background, the output of which is connected to the input of the shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background, the output of which is connected to the third input of the former (50) of the generalized horizontal and vertical projections of the rings the patients reliability of the signals of the secondary binary video images of the detector changes the background the first output of which is connected to the fourth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the second buffer memory device (41) is connected to the third input of the first node (42) zoom and shift signals of the television image, the output of which is connected to the input of the third buffer random access memory (43), the output of which is connected with the second input node (44) forming the differential signals of the television image selector moving objects, the output of which is connected to the input of the shaper (45) signals of the primary binary television image selector moving objects, the output of which is connected to the input spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the output of which is connected to the input of the shaper (47) signals of the secondary binary television image selector moving objects, the output of which is connected to the input of the shaper (48) horizontal and vertical projections of the signals of the secondary binary television eicient reliability of the signals of the secondary binary video images of the selector moving objects and the sixth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output unit (49) of the definition of the coefficients of reliability of the signals of the secondary binary video images of the selector moving objects connected to the fifth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output of which is connected to the first input unit (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window and the fourth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first and second outputs of the block (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window are the second and third outputs of the block (10) determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image object scooteryamaha television image of the object in the analysis window is connected to the input of the unit (52) analysis of the conditions of failure of the automatic determination of the coordinates of the television image of the object, the first output of which is the seventh output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the third output unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background is connected to the sixth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the eighth output of which is connected to the second outputs of the driver (32) signals binary television image histogram classifier in the current analysis window block (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background of the block (34) determine the coefficients of reliability of binary signals, video images of the histogram classifier unit (40) determine the coefficients of reliability is icients reliability of the signals of the secondary binary video images of the selector moving objects, block (52) analysis of the conditions of failure of the automatic determination of the coordinates of the television image of the object and of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and the fourth output unit (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window.

The technical result is also achieved by the fact that the former (32) of the binary signals of the television image histogram classifier in the current analysis window contains shaper (67) normalized histograms of the brightness signals of the television image of the object and the background and the node (68) of formation of binary television image histogram classifier, and the first, second, third, fourth and fifth inputs of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected with the first, second, third, fourth and fifth inputs of the former (67) normalized histograms of the brightness signals of the television image of the object and background respectively, the sixth of whittamore, the seventh input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the sixth input of the former (67) normalized histograms of the brightness signals of the television image of the object and background, and the third input node (68) of formation of binary television image histogram classifier, the first output of the shaper (67) normalized histograms of the brightness signals of the television image of the object and the background is connected to the first input node (68) of formation of binary television image histogram classifier whose output is the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second output of the shaper (67) normalized histograms of the brightness signals of the television image of the object and the background is connected with the second output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window.

The technical result is also achieved by the fact that the former (36) of the primary signals binary televisional the frame background fifth (69) and sixth (72) buffer random access memory device, the third node (71) scaling and shift signals of the television image, the node (73) of the signal differential television image detector changes the background and the node (74) of the formation of the primary binary television image detector changes the background, and the first and second inputs of the former (36) of the primary signals binary television image detector changes the background connected with the first and second inputs of the former (70) of the television image signals of the reference background and the third node (71) scaling and shift signals of the television image, respectively, the third and fourth inputs connected to the third and fourth inputs of the former (70) of the television image signals of the reference background, respectively, and the fifth input is connected to the first input node (73) of the signal differential television image detector changes the background and the fifth input of the buffer random access memory (69), the output of which is connected to the fifth input of the former (70) of the television image signals of the reference background, and the sixth input of the former (36) of the signals initially the project of differential signals of the television image detector changes the background and the seventh input of the former (70) of the television image signals of the reference background, the output of which is connected to the third input of the third node (71) scaling and shift signals of the television image, the output of which is connected to the sixth input of the buffer random access memory (72), the output of which is connected to the sixth input of the former (70) of the television image signals of the reference background and the second input node (73) of the signal differential television image detector changes the background, the output of which is connected to the input node (74) of the formation of the primary binary television image detector changes the background, the output of which is connected to the output of the former (36) of the primary signals binary television image detector changes the background.

The technical result is also achieved by the fact that the unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images includes a second switch (53) video data, the non-linear filter (54) upper frequency, the analyzer (55) of the terms of updating the static reference of the television image of the object node (61) formation and analysis of sequences minim is blast search displacements of television images of the object, the third (56) and fourth (59) buffer RAM, the former (57) of the static and dynamic signals of the reference video images of the object, the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the second node (58) zoom and shift signals of the television image, the switch (62) of the data sequence minimum values of the signals measures the dissimilarity of television images, the approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, the node (65) determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window, the node (66) determine the coordinates of the television image is of ginat television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the first inputs of the analyzer (55) of the terms of updating the static reference of the television image of the object and shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the second input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected to the first input of the second switch (53) video data, a third input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the second switch (53) video data and to the first input of the nonlinear filter (54) of the upper frequencies, the output of which is connected to the third input of the second switch (53) video data, the fourth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the third input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object with the second inputs of the former (57) of the static and dynamic signals of the reference video images of the object and of the analyzer (55) of the conditions abnout television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the sixth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the third input of the former (57) of the static and dynamic signals of the reference video images of the object, the seventh input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the former (57) of the static and dynamic signals of the reference video images of the object and the fifth input of the former (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the eighth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the nonlinear filter (54) of the upper frequencies, with the fifth input of the analyzer (55) of the terms of updating the static reference television Isabey dissimilarity television images and the seventh input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of the second switch (53) video data is connected with the second input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object and the input of the third buffer random access memory (56), the output of which is connected to the first input of the former (57) of the static and dynamic signals of the reference video images of the object, the first output of the analyzer (55) of the terms of updating the static reference of the television image of the object is connected to the fifth input of the former (57) of the static and dynamic signals of the reference video images of the object, the output of which is connected to the input of the second node (58) scaling and shift signals of the television image, the output of which is connected to the input of the fourth buffer random access memory (59), the output of which is connected to the sixth input of the former (60) of the signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of which is connected to the input node (61) formation and analysis of sequences of minimal importance is ska displacements of television images of the object, the first output of which is connected with the second output unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the third input of the analyzer (55) of the terms of updating the static reference of the television image of the object and the input of the switch (62) of the data sequence minimum values of the signals measures the dissimilarity of television images, the first output of which is connected to the input of the approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the first output of which is connected to the input node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, the second and third outputs of the switch (62) of the data sequence minimum values of the signals measures the dissimilarity of television images are connected with the inputs of the node (65) determine the coordinates of the television image of the object in the analysis window on the positive center of the analysis window and the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window, the first output node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, host (65) determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window is connected with the first output unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the fourth input of the analyzer (55) of the terms of updating the static reference of the television image of the object, the third output unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second output node (61) formation and analysis the rows and columns of a two-dimensional search area of the displacements of television images of the object, the analyzer (55) of the terms of updating the static reference of the television image of the object approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, host (65) determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window.

The technical result in providing for the determination of the coordinates and sustainable retaining the image of the object in the center of the field of view of video camera surveillance system or in the center of the tracking window when it receives from the camera as a contrast and low-contrast images of stationary and moving objects and the background area, when movement of the object past the object, due to its rotation movement, change of illumination, observation of the object in the intermittent optical communication arising from the overlap of the object of various obstacles, such as the folds of the terrain, buildings, vegetation, dust, smoke, sprays, etc. when managed (movable) and unmanaged (static) field of view cameras surveillance system, upon movement of the carrier monitoring system, broadband calling unmanaged move the field of view of the video camera surveillance ("jitter" of the field of view of video camera surveillance system, which can lead to changes in the relative position of elements of the field of the television image not as a whole), with greater dynamics of motion of the object is achieved in that in the method of determining the coordinates of the objects observed in the sequence of video images, comprising receiving and storing the signals of the current field of the television image, to receive signals of the current n-th field of the television image, where n= 3,4,5,..., define a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)th field of television isolation of view, determine the speed of the controlled movement of the axis of the field of view of video camera surveillance system data from a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, simultaneously with the reception of signals of the current field of the television image receive and store signals unmanaged move and roll the field of view of video camera surveillance systems and use them for generating signals of the television image of the current frame, forming a television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, formed from the signals of the current frame of the television image signals of the television image in the current window analternate, obtained as a result of processing the previous (n-1)-th frame of the television image, and the initial values of the signals of location and dimensions of the current analysis window of the television image is formed using the initial values of the position and size of the television image of the object obtained at the start tracking from the monitoring system, remember the scaled signals of the television image in the current analysis window, form the differential signals of the television image selector moving objects by subtraction of the scaled signals of the television image in the current analysis window of the scaled signals of the television image, previously saved and shown to the current scale of the television image in the analysis window and shifted by the amount of movement of the axis of the field of view of video camera surveillance system, form the primary signals binary television image selector moving objects from the differential signals of the television image selector moving objects form the secondary signals binary television image selector moving objects from the signals of the primary binary Televideniye signals scaled television image in the current analysis window, formation of differential signals of the television image selector moving objects and formation of signals of the primary and secondary binary video images of the selector moving objects from the scaled signals of the television image in the current analysis window and taking into account the signals of the controlled movement of the axis of the field of view of video camera surveillance systems form the primary signals binary television image detector changes the background and the binary signals of the television image histogram classifier in the current analysis window, from the signals of the primary binary television image detector changes the background, past low-pass filtering, generate secondary signals binary television image detector changes the background form the horizontal and vertical projection signal of the secondary binary video images of the selector moving objects and detector changes the background and the horizontal and vertical projection of the binary signals of the television image histogram classifier, determine the coefficients of reliability of the signals of the secondary binary video images of datetimerange classifier, form the generalized horizontal and vertical projections of the generalized signals binary television image of the object from the horizontal and vertical projections of the signals of the secondary binary video images of the selector moving objects and detector changes the background, as well as from horizontal and vertical projections of the binary signals of the television image histogram classifier on the basis of their joint processing using coefficients of reliability of the signals of the binary video images of the histogram classifier, the signals of the secondary binary video images of the detector changes the background and selector moving objects, determine the horizontal and vertical boundaries, and the size of the television image object levels cut left and right, above and below the specified percent of the area of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, define the current and averaged area of the generalized binary television image of the object formed inside the boundaries of the television image of the object, determine the current to the slight pressure from the beginning of the projections of the generalized binary television image of the object, determine the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, determine the coefficient of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, simultaneously with the formation of signals of the primary and secondary binary video images of the selector moving objects and detector changes the background, binary television image histogram classifier, as well as the generalized horizontal and vertical projections of the generalized signals binary television image of the object determines the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images in the nonlinear high-frequency filtering of the scaled signals of the television image in the current analysis window, performed under the condition exceeding the average square of the generalized binary television image of the object threshold value, storing the received signals, a signal-static reference television is the bring the static reference signals of the television image of an object or signal static and dynamic reference video images of the object to the current scale, the formation and storage of the signals measures the dissimilarity between the signals of the television image after non-linear high-frequency filtering of the scaled signals of the television image in the current analysis window and signals static or dynamic and static reference video images of the object in a two-dimensional search area of the displacements of television images of the object, determine the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, sequencing the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, determine the corresponding coordinates of the television image of the object in the analysis window, depending on the type of sequence minimum values of the signals measures the dissimilarity television izobrazhenniy signals measures the disparity video images of a polynomial of the fourth degree and determine the coordinates of the television image of the object as the position of the minimum of the approximating polynomial, provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences to the two boundaries of the areas of rapid growth of signal values of the measures of dissimilarity TV picture about the position of its minimum, or by determining the displacement of the border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the formation position of the object in the analysis window as a value proportional to the received offset border region of rapid growth of signal values of the measures of dissimilarity television images provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum and the presence of one area of rapid growth of signal values of the measures of dissimilarity television images, or by generating the coordinates of the object, equal to the coordinate of the center of the analysis window, provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum values of the signals measures the dissimilarity of television images across the field of search displacements of television images of the object, determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of telesurgery, determine the coefficient of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, form a comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system of the data assessment of the current moving velocity of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images and assessment of the current speed of the object generalized projections signals of the generalized binary television image of the object, considering the coefficients of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering object average signals a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system and memorize them, define the coordinates of the television image of the object in the field of view of video camera surveillance by integrating the difference between comprehensive assessment of the current speed of the moving television image is s observation system in the inertial coordinate system, moreover, the initial coordinates of the television image of the object in the field of view of video camera surveillance systems and signal the beginning of the tracking receive from the monitoring system, simultaneously with the formation of signals of the primary and secondary binary video images of the selector moving objects and detector changes the background, binary television image histogram classifier, the generalized horizontal and vertical projections of the generalized signals binary television image of the object form M window analysis background, and M=4,5,6,..., around the perimeter of the analysis window and define the projection of the binary signals of the television image histogram classifier in M boxes analysis background determine the area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background obtained by the projection of the binary signals of the television image histogram classifier in M boxes analysis of the background, generate control signals by moving the axis of the field of view of video camera surveillance system, using the coordinates of the television image of the object in the field of view of video camera surveillance system, the resulting obrabotki moving television image of the object depending on the results of the analysis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, and the extrapolated speed of movement of the television image of the object formed on the basis of the analysis of the stored values of the averaged complex estimate of the current speed of movement of the television image of the object, form signals the position and size of the analysis window of the television image to the next frame using the coordinate signals of the television image of the object in the field of view of video camera surveillance and size of the television image of the object resulting from processing the current frame, moreover, the initial values of the signals of location and dimensions of the television image of the object and the signal start tracking receive from the monitoring system.

The technical result is also achieved by the fact that prior to the reception of signals of the current n-th field of the television image, where n=3, 4, 5,..., define a managed move dx[n] and dy[n] axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of television
[i], YPANEL[i] the movement of the field of view of video camera surveillance system with impulse response hx[i] and hy[i] it drives

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where XPANEL[i] , YPANEL[i] signals control the movement axis fields of view of the camera horizontally and vertically, formed as a result of processing of the i-th field of the television image,

hx[i] is the impulse response of the horizontal drive axis of the field of view of video camera surveillance system, representing the response of the increment of the angular coordinate axis of the field of view of the camera system monitoring the time between the reception of the i-th and (i-1)-th fields of the television image on the exposure control signal horizontally continuous on the interval of receiving the first field of the television image and zero at other points in time,

hy[i] is the impulse response of a vertical drive axis of the field of view of video camera surveillance system, representing the response of the increment of the angular coordinate axis of the field of view of the camera system monitoring the time between the reception of the i-th and (i-1)-th fields of the television image on the exposure control signal vertically constant in the interval of receiving the first television field itaboy number of fields of the television image, after which the modulus of the impulse response does not exceed a specified level.

The technical result is also achieved by the formation of the signals LFRAME(ix,jy) of the television image of the current frame with interlaced scanning signal LP-FRAME(i, p, PRC) of the current frame of the television image and the television image L-1-UP(ix,jy) of the previous frame is performed by the prediction signal LFRAME(ix,jy) of the television image of the current frame by using the displacement of the television image L-1-UP(ix, jy) of the previous frame on the value of a managed move dx, dy axis of the field of view of video camera surveillance system horizontally and vertically, respectively, during the time between the receipt of the fields of the television image

LFRAME(ix,jy) = L-1-UP(ix+dx,jy+dy)

and displacement of points of the television image of the current frame points of the television image of the current frame of the compensation current unmanaged displacements rx(R), ry(p) and roll (R) of the field of view of video camera surveillance system

LFRAME[ix(i,p,npk), jy(i,p,npk)] = LP-FRAME(i,p,npk),

where i is the element number in the line of the television image t is;

R - the row number in the field,

jy - the line number in the frame, jy=1,...,MK;

PC is the number of elements of the television image in the row;

MK is the number of rows in the frame of the television image;

npk - the index of the current field:

npk = 1 in odd fields,

npk = 0 in the even-numbered fields,

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The technical result is also achieved by the fact that the signals LBINTHE WPPT(IX, j) primary

binary television image detector changes the background is formed by bringing the signals Ln-AF(ix, jy) of the television image of the reference background, obtained in the previous n-1 frame to the current scale, the formation of the signals LpTHE WPPT(IX, j) differential television image detector changes the background subtraction of the signals LnOA(ix,jy) scaled image in the current analysis window signals Ln-AF(ix,jy) of the television image of the reference background of the previous frame shift, take into account moving Vx, Vy center of the analysis window in the inertial coordinate system for the last frame:

LpTHE WPPT(ix,jy) = LnOA(ix,iy) - Ln-1eff(ix+Vx,jy+Vy),

the thresholding binarization THRESHOLDTHE WPPT(ix,jy) detector estensione image LpTHE WPPT(IX,j) detector changes the background in the vicinity of the point with coordinates (ix,jy, an assignment of values to the primary binary television image L1BINTHE WPPT(ix,jy) of the detector changes the background

L1BINTHE WPPT(ix,jy)=1,

if |LpTHE WPPT(ix,jy)|THRESHOLDTHE WPPT(ix,jy),

or

L1BINTHE WPPT(ix,jy)=0,

if |LpTHE WPPT(ix,jy)|<THRESHOLD(ix,jy),

where ix,jy - coordinates of the scaled signals of the television image relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window,

moreover, the signals Lneff(ix,jy) of the television image of the reference background is formed by the separation of the scaled signals of the television image in the current analysis window on the television image signals of three types:

the signals of the television image in the window object - OOTHE WPPT,

the signals of television images in the background OF theTHE WPPT,

the signals of the television image in the window - New background - NF,

where as signals of the television image in the window object detect signals of the television image in the rectangle are signals of the television image window "New background" define the image elements on the external borders of the current analysis window, which due to the motion of the object and moving the axis of the field of view of video camera surveillance system, new elements of the television image background, as signals of the television image window background determine all the remaining elements of the television image in the analysis window memory window "New background" signals LnOA(ix,jy) from the current analysis window scaled television image current of the n-th frame:

Lneff(ix,jy) = LnOA(ix,jy), ix,jy,

where LnOA(ix,jy) - values of the luminance signal element scaled television image in the analysis window with coordinates (ix,jy, averaging window background signals scaled television image LnOA(ix, jy) from the current analysis window with a constant W and to account for the shift in the analysis window in the inertial coordinate system for the last frame:

Lneff(ix, jy) = (l-W)*Ln-1eff(IX+Vx, jy+Vy)+W*LnOA(ix, jy) ix, jyOTHE WPPT,

where Vx, Vy is the displacement of the center of the analysis window for the last frame horizontally and vertically, respectively, in the inertial coordinate system, overwriting the window object signals of the television image UB>neff(ix,jy) = Ln-1eff(IX+VX, jy+Vy) ix,jyTHE WPPT.

The technical result is also achieved by the fact that low-pass filtering of the signals of the primary binary television image L1BINTHE WPPT(IX, j) detector changes the background is performed using a two-dimensional convolution

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where ix, jy - coordinates of the filtered signals of the television image S_filTHE WPPT(IX,j) relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window,

NF, MF - settings-aperture low-pass filter horizontally and vertically, respectively;

di, dj - internal variables low-pass filter horizontally and vertically, respectively, di [-NF, NF], dj [MF, MF];

hLF[di, dj] is the impulse response low-pass filter.

The technical result is also achieved by the fact that low-pass filtering of the signals of the primary binary television image L1BINLMS(ix, jy) of the selector moving objects is performed using a two-dimensional convolution

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where ix, jy - coordinates of the filtered signals of the television image S_filLMS(ix,jy) relative to the center current is now filter horizontally and vertically, respectively;

di, dj - internal variables low-pass filter horizontally and vertically, respectively, di [-NF, NF], dj [MF, MF];

hLF[di, dj] is the impulse response low-pass filter.

The technical result is also achieved by the fact that the signals LBINTHE WPPT(ix, jy) secondary binary television image detector changes the background form of the signals low-pass filter S_filTHE WPPT(IX,j) in accordance with rule:

LBINTHE WPPT(ix,jy)=1, if S_filTHE WPPT(ix,iy) > PorogTHE WPPT1 and L1BINTHE WPPT(ix,jy) = 1 or S_fil(ix,jy) > PorogTHE WPPT0 and L1BINTHE WPPT(ix,jy) = 0,

otherwise, LBINTHE WPPT(ix,jx) = 0,

where ix, jy - coordinates of the signals LBINTHE WPPT(ix,jy) secondary binary television image detector changes the background relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window;

RagedTHE WPPT1, RogadTHE WPPT0 - values of the threshold decision unit and zero elements of the primary binary television image detector changes the background, respectively.

The technical result is also achieved by the fact that the signals of the second the form of the signals S_filLMS(ix,jy) low-pass filter in accordance with rule:

LBINLMS(ix,jy)=1,

if S_filLMS(ix,iy) > PorogLMS1 and L1BINLMS(ix,jy) = 1

or S_filLMS(ix,jy) > PorogLMS0 and L1BINLMS(ix,jy) = 0,

otherwise, LBINLMS(ix,jx) = 0,

where ix, jy - coordinates of the signals L2BINLMS(ix,jy) secondary binary television image selector moving objects relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window,

PorogLMS1, PorogLMS0 - values of the threshold decision unit and zero elements of the primary binary television image selector moving objects, respectively.

The technical result is also achieved by the fact that the signals LBINCC(ix,jy) binary television image histogram classifier form in accordance with rule:

LBINCC(ix,jy)=1, if

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LBINCC(IX,j) = 0 otherwise,

where ix, jy - coordinates of the binary signals of the television image LBINCC(ix,jy) relative to the center of the current analysis window;

visionnage image in the current analysis window;

Wn-1HCSB[Li] normalized histogram of brightness Lithe scaled signals of the television image in the Central window of the object - CSB obtained in the previous (n-1)-th frame;

Wn-1HOFHC[Li] normalized histogram of brightness signals of the television image of the background window background histogram classifier - OFGC obtained in the previous (n-1)-th frame;

Li- the brightness signals of the television image;

i - the number of the brightness signals of the television image, i = 1,..., Nur;

n-1is a parameter depending on the number of elements of the television image in the window object histogram classifier - OOHC classified as background in the previous (n-1)-th frame;

A(ix,jy) is a penalty function that depends on the coordinates of item ix,jy television image in the analysis window, including ix,jy CSB A(ix,jy) = A0;

moreover, after determining the coordinates of XO, YOand sizes Rxo, Ryo television image of the object in the current n-th frame as the Central window object - CSB define a rectangle with dimensions R xCSB=R, RCSB=Ro, which in itself mainly elements of the television image of the object, as the window object histogram classifier - OOHC determine the area enclosed between the two rectangles with a common center and with dimensions R xCSB, RCSBand RxOOHC, RyOOHCwhere R xOOHC>R xCSBand ROOHC> RyCSBas the window background histogram classifier - OFGC determine the area enclosed between the two rectangles with a common center and sizes RxOOHC, RyOOHCand R xOFHC, ROFHCwhere R xOFHC> R xOOHCand ROFHC>RyOOHCon the television image signals LnOA(ix, jy), is read from the window OFGC in the current n-th frame, determine a histogram of WOFHC[Li] distribution of brightness Libackground images, television image signals, selectable from the window of CSB in the current n-th frame, determine a histogram of WCSB[Li] distribution of brightness Liimage object, produce a smoothing of histograms WOFHC[Li] and WCSB[Li]

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where hSG[j] is the impulse response of the smoothing filter;

(2*ns+1) - number of points of the impulse response of the smoothing filter,

determine the current threshold of P
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where Pgand kPG- constant values;

1[x] - single function defined by the conditions:

1[x] = 1 if x 0,

1[x]=0 if x<0;ga recursive filter of the first order

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wherenthen- filter time constant of the averaging threshold of Pgthat change depending on the frame number from the value1then= 1 in the first frame to the stationary value then,

n - the number of the current frame image;

limit values averaged threshold above and below average smoothed histogram of brightness Lithe television image of the object by a recursive filter of the first order

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wherenCSB- filter time constant averaging the histogram of brightness of the television image of the object changes depending on the frame number from the value1CSB= 1 in the first frame to the stationary value CSBmoreover, since the frame number surpassing PKU,

where PKU - frame number from which the averaged histogram fulfill the conditions, PKU=16,..., 128,

the averaged histogram of brightness Lithe image of the object is performed with only irout normalized Wn-1HCSB[Li] a histogram of the brightness of the object image from the averaged histogram of brightness Liobject image

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where Nyp- the number of levels of brightness of the image LnOA(ix,jy),

form a normalized Wn-1HOFHCLi] a histogram of the brightness of the background image from the smoothed histogram of brightness Libackground image:

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The technical result is also achieved by the fact that the horizontal and vertical projection of GCRLMS(ix), VCRLMS(jy) signals of the secondary binary television image LBINLMS(IX, j) selector moving objects is determined in accordance with

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for ix=1,...,Nwin,

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for jy=1,...,Mwin,

where ix, jy - coordinates of the signals LBINLMS(IX,j) secondary binary television image selector moving objects relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window;

Nwin and Mwin - dimensions of the secondary binary image selector moving objects horizontally and vertically, respectively.

Technical resultif(j) signals of the secondary binary television image LBINTHE WPPT(IX,j) detector changes the background is determined in accordance with

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for ix=1,...,Nwin,

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for jy=1,...,Mwin,

where ix, jy - coordinates of the signals LBINTHE WPPT(ix,jy) secondary binary television image detector changes the background relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window;

Nwin and Mwin - dimensions of the secondary binary television image detector changes the background horizontally and vertically, respectively.

The technical result is also achieved by the fact that the horizontal and vertical projection of GCRCC(ix), VCRCC(j) signals binary image LBINCC(ix,jy) of the histogram classifier is determined in accordance with

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for ix=1,...,Nwin,

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for jy=1,...,Mwin,

where ix,jy - coordinates of the signals LBINCC((ix,jy) binary television image histogram classifier relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window,

Nwin and Mwin - size binary image histogram classifier horizontally the fidelity WTHE WPPT, WLMS, WCCdefined as the product of the input functions of the initial conditions on the normalized average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively

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moreover, the average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier receives the minimum and maximum values and subsequent averaging recursive filters of the first order current densities of VTHE WPPT(n), VLMS(n), VCC(n) the corresponding binary television images

where

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SODIF(n), STHE FOR(n), SOGK(n) - current square binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively, within the boundaries of the television image of the object;

SOO(n) is the current area within the boundaries of the television image of the object;

FNUDIT(n), FNUDO(n), FCC(n) is the input function of the initial conditions of the detector changes fontanesi result is achieved by the that generalized horizontal and vertical projections of Gabout(ix,n), Vabout(jy,n) signals of the generalized binary television image of the object form a weighted sum of the projections of the binary video images of the detector changes the background of the selector moving objects and histogram classifier:

GCRABOUT(ix,n)=WTHE WPPT(n)*GCRTHE WPPT(ix)+WLMS(n)*GCRLMS(ix)+WCC(n)*GCRCC(ix)

VCRABOUT(jy,n)=WTHE WPPT(n)*VCRTHE WPPT(jy)+WLMS(n)*VCRLMS(jy)+WCC(n)*VCRCC(jy)

where ix,jy - coordinates of the television image signals relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window;

WCC(n), WTHE WPPT(n), WLMS(n) the coefficients of reliability of the signals of the binary video images of the histogram classifier, the signals of the secondary binary video images of the detector changes the background and selector moving objects, respectively;

GCRCC(IX) and VCRCC(j), GCRTHE WPPT(IX) and VCRTHE WPPT(j), GCRLMS(ix) and VCRLMS(j) - horizon signals the secondary binary video images of the detector changes the background and selector moving objects, respectively;

n - the number of the current frame.

The technical result is also achieved by the fact that the current coordinates XAUBIN, YAUBINgeneralized binary television image of an object is defined as the weighted sum of the coordinates of the center of gravity XIT, YITand XOLD, YOLDthe median of the square of the generalized binary television image of the object

XAUBIN(n) = WCT(n)* XIT+WHONEY(n)* XOLD,

YAUBIN(n) = WCT(n)* YIT+ WHONEY(n)* YOLD,

WHONEY(n)=1-WCT(n),

where WHONEY(n), WCT(n) - weighting coefficients of the estimates of the coordinates of the median square and the center of gravity of the generalized binary television image of the object, respectively;

n - the number of the current frame,

moreover, the weighting factor WCT(n) increase with the decrease of the mean deviation of the coordinates of the television image of the object from their predicted values.

The technical result is also achieved by the fact that the current horizontal VGOBBINand vertical VVOBBINcomponents of the evaluation speed binary

the television image of the object in inertial BIN)/T,

VVABOUTBIN= (dY + YOA+ YOBAIN)/T,

where dX, dY is the displacement axis of the field of view of video camera surveillance system at the time T between receiving the current and previous fields of the television image horizontally and vertically, respectively;

XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XOBAIN, YOBAIN- change the coordinates of the binary television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively.

The technical result is also achieved by the fact that the nonlinear high-frequency filtering of the scaled signals of the television image in the current window analysis is performed in accordance with the expression

LPP(ix,jy) = LnOA(ix,jy) + KNF*FNF[Lpfvc(ix,jy)],

where ix,jy - coordinates of the television image signals relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window;

FNF[L] - function two-way restrictions;

FNF[L] = LTHENwhen L > LTHENR>LTHEN- threshold functions bilateral restrictions;

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TONFTOHPF- constant coefficients;

di,dj - internal variables of the high-pass filter;

NF, MF - parameters of the aperture of the upper filter frequency horizontal and vertical.

The technical result is also achieved by the fact that the signals of the dynamic reference of the television image of the object formed by reading in each frame of signals from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZ- the coordinates of the center of the analysis window in the field of view of video camera surveillance system.

The technical result is also achieved by the fact that the static reference signals of the television is C the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZ- the coordinates of the center of the analysis window in the field of view of video camera surveillance system;

when conditions change static reference of the television image of the object formed by the comparison of signal parameters dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and signals static and dynamic reference video images of the object, and comparing the parameters of the trajectories of the television image of the object obtained by the use of signals from static and dynamic reference video images of the object.

The technical result is also achieved by the fact that the signals staticheskogo visionnage image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL,CFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system;

when conditions change static reference of the television image of the object formed on the basis of the analysis of signal parameters dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and the static reference signals of the television image of the object, as well as the parameters of the trajectory of the television image of the object obtained based on the signal analysis measures of dissimilarity.

The technical result is also achieved by the fact that the current horizontal VGOBSHand vertical VVOBSHcomponents of the evaluation speed permea signals measures the dissimilarity of television images determined in accordance with expressions

VGOBSH= (dX + XOA+ XOBOENSH)/T,

VVOBSH= (dY + YOA+ YOBOENSH)/T,

where dX, dY is the displacement axis of the field of view of video camera surveillance system at the time T between receiving the current and previous fields of the television image, horizontally and vertically, respectively;

XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XABOUNCH, YABOUNCH- change the coordinates of the television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, obtained on the basis of a signal measures the dissimilarity of television images.

The technical result is also achieved by the fact that the confidence factor WBIN(n) the current speed of movement of the generalized binary television image object get by determining the current density of the generalized binary television image, minimum and maximum values of current density VBin(n) the generalized binarizing image of a recursive filter of the first order, rationing average density of the generalized binary television image of the object

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where SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of the object;

SOO(n) is the current area within the boundaries of the generalized binary television image of the object;

n - the number of the current frame;

the average coefficient of similarity obtained by determining the current similarity factor limiting its maximum and minimum values, and averaging the recursive filter of the first order;

FMP(n) is the minimum value of the RMS value of image signals of a television background in M boxes analysis background;

ESHMP(n) is the minimum value of the signal measures the dissimilarity of the television image in the current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object.

The technical result is also achieved by the fact that the confidence factor WSH(n) the current speed of movement of the television image of the object, podradelenija current similarity factor limiting its maximum and minimum values, and averaging the recursive filter of the first order, rationing received average similarity factor

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where n is the number of the current frame;

FMP(n) is the minimum value of the RMS value of the signals of the television image background in M boxes analysis background;

ESHMP(n) is the minimum value of the signal measures the dissimilarity of the television image current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object;

the average density of the generalized binary television image of the object obtained by determining the current density of the generalized binary television image of the object, the minimum and maximum values of current density VBIN(n) the generalized binary television image of the object, and then averaging the recursive filter of the first order limited current density VBIN(n) the generalized binary television image of the object;

SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of the object;

SGS(n) - ongoing the technical result is also achieved by the fact that what a comprehensive assessment of horizontal VGABOUT(n) and the vertical VVABOUT(n) components of the current velocity of the moving television image of the object in the inertial coordinate system determined by limiting the rate of movement of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, the minimum and maximum values generated with regard to the previous values of the comprehensive assessment of the current moving velocity of the television image of the object and forming a weighted sum of the limited estimates the moving speed of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images

VGABOUT(n) = WBIN(n)* VGOBBIN(n) + WSH(n)* VGABOUTNSH(n),

VVABOUT(n) = WBIN(n)* VVOBBIN(n) + WSH(n)* VVABOUTNSH(n),

where WBIN(n), WSH(n) the coefficients of reliability of the current moving velocity of the generalized binary television shows the project signals measures the dissimilarity of television images, respectively;

VGOBBIN(n) and VOBBIN(n) - limited horizontal and vertical components of the current velocity of the generalized binary television image of the object;

VGABOUTNSH(n) and VABOUTNSH(n) - limited horizontal and vertical components of the current velocity of the moving television image of the object is obtained on the basis of a signal measures the dissimilarity of television images

n - the number of the current frame.

The technical result is also achieved by the fact that the analysis of the current SAUBIN(n) and mean square generalized binary television image of the object produced by the following conditions

to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of an object or condition,

to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance system, resulting from the processing of the television image in the current window analysis of frame n, starting with frame number nECthe transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates ks2(n-nEC)ksl.

The technical result is also achieved by the fact that the analysis of the current and averaged speed of the television image of the object is performed by checking the compliance of conditions

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to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates or conditions

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to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window,

where VGTOB(n), VVTOB(n) the horizontal and vertical components of the current velocity of the moving television image of the object obtained by the recursive filter of first order with constant filter 0<WV1<1 components VGABOUT(n), VVABOUT(n) a comprehensive assessment of the speed of p is B>(n-1)],

VVTOB(n) = VVTOB(n-1)+ WV1*[VVABOUT(n)- VVTOB(n-1)],

the horizontal and vertical components of the averaged velocity of the moving television image of the object obtained by the recursive filter of first order with constant filter 0<WV2<1 components VGABOUT(n), VVABOUT(n) a comprehensive assessment of the speed of movement of the television image object:

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moreover, WV1>WV2.

The technical result is also achieved by the fact that the analysis area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background are checking the conditions change detection area of the binary video images of the histogram classifier inside M window analysis background:

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where Si(n) values of the current square of the binary video images of the histogram classifier inside the i-th analysis window background, i = 1,...,M;

values averaged square of the binary video images of the histogram classifier inside the i-th analysis window background, i = 1,...,M, obtained at the output of the recursive filter of first order with constant filter 0<WS<1:
S(n) - p and M Windows analysis background:

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where k is a constant coefficient;

the averaged square of the generalized binary television image of the object obtained at the output of the recursive filter of first order with constant filter 0<WS<1:
n - the number of the current frame;

- the ratio of the object/background

where the average value of the signals of the television image in the window object;

the average value of the signals of the television image in the window background;

F- the standard deviation of the signals of the television image in the window background from

FOgre(Q) is a function of the minimum and maximum values;

when performing the above conditions for the current square of the binary video images of the histogram classifier in one or several Windows of analysis background with numbers ki,

where ki is the number of Windows of the analysis of the background in which a change is detected the current square binary television image histogram classifier, ki=1,...,KP;

KP is the number of Windows analysis background, in which a change is detected the current square binary television image histogram classifier, p, M;

in these Windows analyse the coordinates of two mutually perpendicular the kPa object, and in the Windows of the analysis of the background, hosted by the vertical borders of the window object, analyze the shift of the vertical boundaries of the binary television image horizontally and in control of the ownership of the coordinates of the horizontal border vertical coordinates of the window object, and in the Windows of the analysis of the background, hosted by the horizontal boundaries of the window object, analyze the movement of the horizontal boundaries of the binary television image vertically and control the identity of the coordinates of the vertical boundaries of the horizontal coordinates of the window object, the analysis of shifts of boundaries, of the binary video images in the M boxes analysis background carried out by checking the conditions of finding the appropriate boundaries binary television image histogram-based classifier within the borders of the internal Okil and external Oki2 areas of the ki-th analysis window background with the formation of signs of Pki1 and Pki2 set the boundaries of the binary video images to the internal Oki1 and to an external Oki2 areas of the ki-th analysis window background,

where Pki1= 1 if the boundary binary television image histogram classifier l is REGO television image histogram classifier lies within the boundaries of the region Oki2, or Pki2=0 - otherwise;

moreover, when the detected transitions corresponding boundaries binary television image histogram classifier from the outer region to the inner window area analysis background with numbers ki=kipl,

where kipl - room window analysis of the background in which the detected transitions borders binary television image histogram classifier from the outer regions Okip12 to the inner regions of Okip11 window analysis background, kipl=1,2,..., p,

that is, the sequential formation of signs of Pkip12=1 for nkip1= nkip12, and then Pkip1=1 for nkip1=nkip11, where nkip11>nkip12, nkip11 - the number of the frame in which kip1-m the analysis window background set the state of the sign of Pkip11= 1, nkip12 - the number of the frame in which kip1-m the analysis window background set the state of the sign of Pkip12=1, and the condition of facilities the coordinates of the second controlled borders binary television image histogram classifier kip1-m the analysis window background range in window coordinates of the object, perform the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on ek is inanaga television image histogram classifier between the inner and outer regions of the window analysis background value SP=1 at the first detection of border crossing binary television image histogram classifier from the outer region Okip12 to the inner region Okip11 or increment the counter SP per unit upon detecting the border crossings binary television image histogram classifier from the outer regions Okip12 to the inner regions of Okip11 during the generation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image object, set the status of the signs of Pkip11=0, Nkip12=0,

set the status of the signs of Pj2=0 in the Windows analysis background with numbers jkip1, j=1,...,KP, and the analysis process boundaries binary television image histogram classifier start again,

when the detected transitions corresponding boundaries binary television image histogram classifier from the inner areas Okip21 to the external areas Okip22 Windows analysis background,

where CR - room window analysis of the background in which the detected border crossing binary television image histogram classifier from the inner areas Okip22 to the external areas Okip21 window analysis background, kip2= 1,2,..., p,

during the formation of the signals control the precise image of the object, that is, the sequential formation of signs of Pkr1=1 for nkip2=nkip21, then Pkr2=1 for nkr=nkr2 in one or several Windows of analysis background with numbers kip2, where nkr2>nkr1, reduce the counter SP-crossing borders binary television image histogram classifier between the inner and outer regions of the window of analysis of background on the unit and, if SP=0, perform the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, set the status of the signs of Pkip21=0, Nkip22=0, set the status of the signs of Pj2= 0 in the Windows analysis background with numbers jkip2, j= i, . . . KP, and the analysis process boundaries binary television image histogram classifier start first, control the time of generation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates and time of finding the signs of Pi1, Pi2, i=l,...,M, the state is in the zero state, go to the control signal forming the moving axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window.

The technical result in providing for the determination of the coordinates and sustainable retaining the image of the object in the center of the field of view of video camera surveillance system or in the center of the tracking window when it receives from the video surveillance system as contrast and low-contrast images of stationary and moving objects and background areas, the motion of the object on the ground, the average brightness of which coincides with the average brightness of the object, when changing the visible image of an object, due to its rotation movement, change of illumination, observation of the object in the intermittent optical communication arising from the overlap of the object of various obstacles, such as the folds of the terrain, buildings, vegetation, dust, smoke, sprays, etc. when managed (movable) and unmanaged (static) field of view cameras surveillance system, if there is movement the career monitoring system ("jitter" of the field of view of video camera surveillance system, which can lead to changes in the relative position of elements of the field of the television image not as a whole), with greater dynamics of motion of the object is achieved in that in the device coordinates of the objects observed in the sequence of television images containing processor (95) processing the local data transmitted on the shared bi-directional bus, entered the block (75) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the block (76) receiving and storing signals unmanaged move and roll the field of view of video camera surveillance system, block (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,... - number of the current field of the television image, the imaging unit (78) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)th what adowanie coordinate signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, block (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the block (80) forming M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis of the background, the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object block (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, block (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, switch the camera surveillance system, unit (85) of the definition of the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (86) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, block (87) determination of the area and the coordinates of the boundaries of the binary video images in the M boxes, analysis, background, block (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed televisionthere in M boxes analysis background block (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values averaged velocity, unit (93) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, the imaging unit (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, moreover, the first and second input devices are connected to first and second inputs of the unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, respectively, a third input device is connected to the input of the unit (76) receiving and storing signals unmanaged move and roll the field of view as the RA (84) source codes or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, respectively, the sixth input device connected with the second input of the unit (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,... - number of the current field of the television image, the first output unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device is connected to the first input of the shaper (78) signals of the television image of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, the second output unit (75) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate signals from the Olga vision camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,... - number of the current field of the television image, the fifth input of the unit (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the fourth input of the shaper (78) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, the second inputs of the unit (80) forming M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis of the background and block (87) determination of the area and the coordinates of the boundaries of the binary video images in the M boxes analysis of the background, the third input of the unit (81) definition wide-angle the horizontal and vertical projections of the generalized binary television image of the object, the eighth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth input unit (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the fifth input of the switch (84) source codes or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, the fourth input unit (85) determine coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, and block (86) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the fourth input of the unit (88) determine the current moving velocity of the generalized binary a televised message the assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the third input of the unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the sixth input of the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the third inputs of the unit (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed, and block (93) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, and the sixth input of the former (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame TV izobrazheniya or extrapolated coordinates and velocity of the moving television image of the object, the first output block (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5, . .. - the number of the current field of the television image, is connected with the second input of the shaper (78) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, the output of block (76) receiving and storing signals unmanaged move and roll the field of view of the video surveillance system is connected to the third input of the shaper (78) of the television image signals of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of video camera surveillance system for the ion images with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, with the fifth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, with the first input unit (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images with the second input of the unit (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, and with the first input unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the output of the shaper (78) signals of the television image the motion axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system connected to the first input of the block (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the output of block (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image is connected to the seventh input of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and to the third input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image, the output unit (80) forming M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis background is in M boxes analysis background the first output of which is connected to the third input of the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the first output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input unit (80) the formation of M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes analysis of the background, the second output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the third input commute the surveillance video camera surveillance system, the first input unit (85) of the definition of the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system and the first input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the third output unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input unit (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the fourth output unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of abolendam the reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system and with a second input of the analyzer (91) the transition to using projected coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the fifth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input of the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the sixth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the unit (86) determine the coefficients of reliability t the th on the basis of a signal measures the dissimilarity of television images the seventh output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the unit (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the first output of which is connected to the third input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the second output unit (82) determine the coordinates of the television from the TV images connected to the first input of the unit (86) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system, obtained on the basis of a signal measures the dissimilarity of television images, the first output of which is connected with the second input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output switch (84) source codes or the current size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system connected to the first input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the seventh input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and the third input of the unit (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the second output switch (84) source codes or the current size of the television is the progress of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the sixth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the second input unit (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output unit (85) of the definition of the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system connected to the first input unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, and a second output connected to a second input of the unit (86) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of the television image, the second output of which is connected to the third input of the unit (85) of the definition of the coefficients of reliability of the current moving velocity of the generalized bin the Oia current speed of movement of the generalized binary television image of the object in the inertial coordinate system connected with the fourth input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output block (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system connected with the fourth input of the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background, the fifth input of the unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images the first input unit (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed and the second input unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the first output unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the box is the size of the television image of the object and the coordinates of the object in the field of view of video camera surveillance system, the first input unit (93) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object and the third input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the second output of which is connected to third inputs of the block (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images and block (87) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the sixth input of the unit (81) for determining the current to the Noah and vertical projections of the generalized binary television image of the object and fourth inputs of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and block (79) the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output of the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background is connected with the second input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, a second input unit (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the values of the average speed and the fourth input of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical prod to using projected coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background is connected with the second input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth output of the analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background is connected with the third input of the unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output unit (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values averaged sat TV image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background and the second input unit (93) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, the second output unit (93) determining projected coordinates and velocity of the moving television image of the object in the next frame based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object is connected to the fifth input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output unit (93) definition of prog is analyzing

the stored values of the averaged complex estimate of the speed of movement of the television image of the object is connected to the fourth input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object is an output device and connected to the first input unit (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,... - number t is adahamic on shared bi-directional bus, connected with the second output block (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image, where n=3, 4, 5,... - number of the current field of the television image, block (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, block (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, block (87) determination of the area and the coordinates of the boundaries of the binary video images in the M boxes analysis background block (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance unit (93) determining projected coordinates and speed TV zobrazeniceline television image of the object, the third output unit (85) of the definition of the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (86) determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of the television image analyzer (91) of the conditions of the transition to the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background block (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values averaged velocity and shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image with spectropolarimetric the coordinates and velocities of moving television image of the object, the eighth output unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device.

The technical result is also achieved by the fact that the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object includes a first switch (31) video data, the first buffer random access memory (30), the second buffer random access memory (41) and the third buffer random access memory (43), the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the driver (36) of the primary signals binary television image detector changes the background shaper (38) signals of the secondary binary television image detector changes the background shaper (45) signals of the primary binary television image selector moving objects, the shaper (47) signals of the secondary binary television image is supply, the node (44) forming the differential signals of the television image selector moving objects, the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background shaper (48) horizontal and vertical projections of the signals of the secondary binary television image selector moving objects, the block (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background, a spatial filter (37) the lower frequency signals of the primary binary television image detector changes the background, a spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the block (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier, block (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes f is a selector of moving objects and the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, block (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window and the block (52) analysis of the conditions of failure of the automatic determination of the coordinates of the television image of the object, and the first and second inputs of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the first and second inputs of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and block (35) determine the relationship of the object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background and the fourth and third inputs of the former (36) of the primary signals binary television image detector changes the background accordingly, the first input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television picture is of the considerations applying the third input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the first switch (31) video, the seventh input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second input of the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier, a second input unit (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier, the fifth input of the unit (35) determine the relationship of the object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background, the sixth input of the former (36) of the primary signals binary television image detector changes the background, a second input unit (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background, the fourth input of the first node (42) Mas reliability of the signals of the secondary binary video images of the detector changes the background the seventh input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image object and the second input unit (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window, the fourth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the fifth input of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input of the former (36) of the primary signals binary television image detector changes the background and a second input of the first node (42) zoom and shift signals of the television image, the sixth input of the unit (81) predely horizontal and vertical projections of the generalized binary television image of the object is connected to a second input of the former (36) of the primary signals binary television image detector changes the background the fifth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and the third input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background, the seventh input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the inputs of the first buffer memory device (30) and the second buffer random access memory (41), the first input node (44) formation of differential signals of the television image selector moving objects, the fifth input of the former (36) of the primary signals binary television image detector changes the background and the first input of the first switch (31) video data, the output of the first buffer memory device (30) is connected with the second input of the first switch (31) video data, the first and second outputs of which are connected with the third and the sixth input of the former (32) of the signals BIE fourth input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis background the first output of which is the fifth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the first output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and the first input of the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier, the output of which is connected to the first input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and to the first input of the block (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier, the first output of which is connected with the second input shaping is the considerations applying to the object, the output of the former (36) of the primary signals binary television image detector changes the background is connected to the input spatial filter (37) of the lower frequency signals of the primary binary television image detector changes the background, the output of which is connected to the input of the shaper (38) of the secondary signals binary television image detector changes the background, the output of which is connected to the input of the shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background, the output of which is connected to the third input of the shaper (50) the generalized horizontal and vertical projections of the generalized signals binary television image of the object and to the first input unit (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background, the first output of which is connected to the fourth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the second buffer memory device (41) is connected to the third input of the first node (42) mA is the main random access memory (43), the output of which is connected with the second input node (44) forming the differential signals of the television image selector moving objects, the output of which is connected to the input of the shaper (45) signals of the primary binary television image selector moving objects, the output of which is connected to the input spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the output of which is connected to the input of the shaper (47) signals of the secondary binary television image selector moving objects, the output of which is connected to the input of the shaper (48) horizontal and vertical projections of the signals of the secondary binary television image selector moving objects, the output of which is connected to the first input unit (49) of the definition of the coefficients of reliability of the signals of the secondary binary video images of the selector moving objects and the sixth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output unit (49) for the coecients of reliability of secondary signals vinesennikh horizontal and vertical projections of the generalized signals binary television image of the object, the first output of which is connected to the first input unit (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window and the fourth output unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first and second outputs of the block (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window are the second and third outputs of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, respectively, the third output unit (51) determination of the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window is connected to the input of the unit (52) analysis of the conditions of failure of the automatic determination of the coordinates of the television image of the object, the first cat is the image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the third output block (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis of the background is connected to the sixth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the eighth output of which is connected with the second output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window block (35) determine the relationship object/background and minimum RMS values of the signals of the television image background in M boxes analysis background block (34) determine the coefficients of reliability of the signals of the binary video images of the histogram classifier unit (40) determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background unit (49) of the definition of the coefficients of reliability of the signals of the secondary binary video images of the selector moving objects, block (52) analysis of the conditions of failure of the automatic definition is different projections of the signals of the generalized binary television image of the object and the fourth output unit (51) determination of the coordinates and sizes, the current and averaged area of the generalized binary television image of the object in the analysis window.

The technical result is also achieved by the fact that the former (32) of the binary signals of the television image histogram classifier in the current analysis window unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image object contains shaper (67) normalized histograms of the brightness signals of the television image of the object and the background and the node (68) of formation of binary television image histogram classifier, and the first, second, third, fourth and fifth inputs of the former (32) signals binary television image histogram classifier in the current analysis window is connected with the first, second, third, fourth and fifth inputs of the former (67) normalized histograms of the brightness signals of the television image of the object and background respectively, the sixth input is connected with the second input node (68) of formation of binary television image is the expression of histogram classifier in the current analysis window is connected to the sixth input of the former (67) normalized histograms of the brightness signals of the television image of the object and background, and the third input node (68) of formation of binary television image histogram classifier, the first output of the shaper (67) normalized histograms of the brightness signals of the television image of the object and the background is connected to the first input node (68) of formation of binary television image histogram classifier whose output is the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second output of the shaper (67) normalized histograms of the brightness signals of the television image of the object and the background is connected with the second output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window.

The technical result is also achieved by the fact that the former (36) of the primary signals binary television image detector changes the background of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image object contains the driver (70) of the television image signals of the reference background, fifth (69) and sixth (72) buffer operational (73) forming differential signals of the television image detector changes the background and the node (74) of the formation of the primary binary television image detector changes the background moreover, the first and second inputs of the former (36) of the primary signals binary television image detector changes the background connected with the first and second inputs of the former (70) of the television image signals of the reference background and the third node (71) scaling and shift signals of the television image, respectively, third and fourth inputs connected to the third and fourth inputs of the former (70) of the television image signals of the reference background, respectively, and the fifth input is connected to the first input node (73) of the signal differential television image detector changes the background and the fifth input of the buffer random access memory (69), the output of which is connected to the fifth input of the former (70) of the television image signals of the reference background, and the sixth input of the former (36) of the primary signals binary television image detector changes the background connected with the third input node (73) of the signal differential television image detector changes the background and the seventh input of the former (70) of the television image signals of the reference background, the output of which is connected to the third input of the third node (71) the scale of the random access memory device (72), the output of which is connected to the sixth input of the former (70) of the television image signals of the reference background and the second input node (73) of the signal differential television image detector changes the background, the output of which is connected to the input node (74) of the formation of the primary binary television image detector changes the background, the output of which is connected to the output of the former (36) of the primary signals binary television image detector changes the background.

The technical result is also achieved by the fact that the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images includes a second switch (53) video data, the non-linear filter (54) upper frequency, the analyzer (55) of the terms of updating the static reference of the television image of the object node (61) formation and analysis of the type of sequences, the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the third (56) and fourth (59) the buffer RAM C the images of the object, shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the second node (58) zoom and shift signals of the television image, the switch (62) of the data sequence minimum values of the signals measures the dissimilarity of television images, the approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, the node (65) determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window, the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window, and the first input of the unit (82) determine the coordinates of the television image of the object relative to the center t is evrimi inputs of the analyzer (55) of the terms of updating the static reference of the television image of the object and shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the second input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected to the first input of the second switch (53) video data, a third input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the second switch (53) video data and to the first input of the nonlinear filter (54) of the upper frequencies, the output of which is connected to the third input of the second switch (53) video data, the fourth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the third input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object with the second inputs of the former (57) of the static and dynamic signals of the reference video images of the object and of the analyzer (55) of the conditions abnout television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the sixth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the third input of the former (57) of the static and dynamic signals of the reference video images of the object, the seventh input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the former (57) of the static and dynamic signals of the reference video images of the object and the fifth input of the former (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the eighth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the nonlinear filter (54) of the upper frequencies, with the fifth input of the analyzer (55) of the terms of updating the static reference television Isabey dissimilarity television images and the seventh input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of the second switch (53) video data is connected with the second input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object and the input of the third buffer random access memory (56), the output of which is connected to the first input of the former (57) of the static and dynamic signals of the reference video images of the object, the first output of the analyzer (55) of the terms of updating the static reference of the television image of the object is connected to the fifth input of the former (57) of the static and dynamic signals of the reference video images of the object, the output of which is connected to the input of the second node (58) scaling and shift signals of the television image, the output of which is connected to the input of the fourth buffer random access memory (59), the output of which is connected to the sixth input of the former (60) of the signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of which is connected to the input node (61) formation and analysis of the type of sequences, the minimum value is and displacements of television images of the object, the first output of which is connected with the second output of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the third input of the analyzer (55) of the terms of updating the static reference of the television image of the object and the input of the switch (62) of the data sequence minimum values of the signals measures the dissimilarity of television images, the first output of which is connected to the input of the approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the first output of which is connected to the input node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, the second and third outputs of the switch (62) of the data sequence minimum values of the signals measures the dissimilarity of television images are connected with inputs of node (65) determine the coordinates of the television image of the object in the analysis window with the recreational center of the analysis window and the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window, the first output node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, host (65) determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window is connected to the first output of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the fourth input of the analyzer (55) of the terms of updating the static reference of the television image of the object, the third output unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second output node (56) formation and analysis the rows and columns of a two-dimensional search area of the displacements of television images of the object, the analyzer (55) of the terms of updating the static reference of the television image of the object approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, node (64) determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images, host (65) determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the node (66) determine the coordinates of the television image of the object in the analysis window by the coordinates of the center of the analysis window.

The invention is illustrated by drawings, where Fig.1A, 1B is the formation of the reference current, the first L+1 frames, Fig.1B - distribution of brightness of the picture elements of the pattern formed in the first frame, and Fig.1G is a typical view of the differential correlation function As?,), calculated in accordance with expression (1), leading to disruption of the tracking Fig.1D, 1e - raspredelenie Windows data PSO framework and background in the frame, Fig. 3 is an illustration of the intensity distribution along a line image of a scene with a bright object on a dark background or a dark object on a light background, Fig. 4 is an illustration of the intensity distribution along a line image of the scene in which an erroneous classification, Fig.5 is an illustration of the intensity distribution along a line image of the scene with the approach of an object behind an opaque contrasting background object, Fig.6 is a typical view of the impulse response hx[i] drive of the field of view of video camera surveillance system, Fig.7 - temporary binding of the received signals of the controlled displacement dx and dy axis of the field of view of the video surveillance system to the timing chart of receiving and processing fields of the television image, Fig.8 is a structural diagram of the first variant of the device determine the coordinates of the objects, Fig.9 is a structural block circuit 4, Fig. 10 is a structural block circuit 10, Fig.11 is a structural block circuit 11, Fig.12 is a block diagram of the shaper 32, Fig.13 is a block diagram of the shaper 36, Fig.14 is a structural diagram of a second variant of the device determine the coordinates of the objects, Fig.15 is a structural block circuit 6, Fig. 16 is a diagram of the switch 13 and 84, Fig.17 is a diagram of the switch 31 of the block 10 and block 81, Fig.18 is a diagram of the switch 53 is on the first option, Fig.20 is a block diagram of the algorithm of operation of the inventive device according to the second option.

The inventive method of processing signals to determine the coordinates of the objects observed in the sequence of television images, provides the possibility of solving the task in terms of both absence and presence sensors unmanaged move and roll the field of view of video camera surveillance systems, as well as in the presence, but the lack of accuracy of these sensors.

When applying the method in the absence or presence, but lack the accuracy of the sensors unmanaged move and roll the field of view of video camera surveillance system, the inventive method consists in the following.

Before the start of the reception signals of the current n-th field of the television image, where n=3, 4, 5,..., define a managed move dx[n] and dy[n] axis of the field of view of the camera system monitoring the time between the reception of signals (n-1) and (n-2)-th fields of the television image horizontally and vertically, respectively, due to the action of video control signals to move its field of view.

A managed move dx[n] and dy[n] axis of the field of view of the camera sitemaster field of view of video camera surveillance system with impulse response hx[i] and hy[i] it drives

< / BR>
where XPANEL[i] , YPANEL[i] the control signals by moving the axis of the field of view of video camera surveillance system horizontally and vertically, formed as a result of processing of the i-th field of the television image,

hx[i] is the impulse response of the horizontal drive of the field of view of video camera surveillance system, representing the response of the increment of the angular coordinate axis of the field of view of the camera system monitoring the time between the reception of the i-th and (i-1)-th fields of the television image on the exposure control signal horizontally continuous on the interval of receiving the first field of the television image and zero at other points in time,

hy[i] is the impulse response of the vertical drive of the field of view of video camera surveillance system, representing the response of the increment of the angular coordinate axis of the field of view of the camera system monitoring the time between the reception of the i-th and (i-1)-th fields of the television image on the exposure control signal vertically constant in the interval of receiving the first field of the television image and zero at other points in time,

To the length of the impulse response representing the number of Polo level.

Determine a managed move the axis of the field of view of video camera surveillance system is its account when analyzing the changes of the images of objects observed in the moving field of view cameras. At small angular displacement of the axis of the field of view of video camera surveillance system horizontally and vertically over the period of the frame (field) change the television image of the observed object is reduced to its shift to some value dx[n] and dy[n], depending on the previously issued control actions on the actuators of the field of view of video camera surveillance system. Since control actions are generated from the processed discretely changing frequency changing fields of television images, the displacement dx[n], dy[n] depends on n - the number of the current field of the television image. In many applications of television surveillance systems drives the field of view of video camera surveillance in relation to the control signals can be considered linear, that is, those for which the connection of the output dx[n], dy[n] and input XPANEL[i], YPANEL[i] signal is set expressions convolution type (39).

Control signals for the actuators XPANEL[i], YPANEL[i] here have the sense of setting the ISR hx[i] and hy[i] represent the responses of the increment of the angular position of the axis of the field of view of video camera surveillance on the impact of control signals in the form of discrete Delta functions, taken at discrete points in time i*T multiples of the period T of the shift field of the television image (see Fig.6).

Typical view of the impulse response hx[i] drive of the field of view of video camera surveillance system in the horizontal direction shown in Fig 6.

Almost the impulse response of the actuators of the field of view of video camera surveillance system can be determined, for example, as follows.

In the field of view of video camera to post a small test contrast object, the coordinates of the television image which can be easily determined. On the drive input field of view of video camera surveillance system horizontally serves the test control signal XPANEL[i] in the form of discrete Delta functions as in Fig. 6A. For a given number of fields identify and remember the coordinates of the television image of the test object, changing as a result of testing the drive control signal. Calculate the increments of the coordinates of the television image of the test object depending on the number of the field of the television image, measured from the moment of submission of the test control signal. Measurements are performed several times, the results obtained average. After Normicro is directly impulse response hx[i] drives horizontally.

Similarly receive the impulse response of hy[i] drives vertically.

The temporary binding of the received signals of the controlled displacement dx[n] axis of the field of view of video camera surveillance system horizontally to the timing chart of receiving and processing fields of the television image is illustrated in Fig.7.

In Fig.7a schematically shows the intervals of time of receipt of the fields of the television image and blanking pulses fields. There is shown by hatching intervals of receiving television signals in the analysis window.

In Fig. 7b shows the time intervals of processing television signals window analysis, culminating in the formation of the control signals XPANELhorizontal driven field of view of video camera surveillance system.

In Fig.7b shows the moments of change of the signal XPANEL[t] relative to the intervals received from a video camera fields of the television image.

In Fig. 7G shows the moments of change of the signal dx[t] relative to the intervals received from a video camera fields of the television image.

In Fig. 7 shows that the horizontal component dx[n] managed move the axis of the field of view of the camera is carried out during the quenching pulse, immediately preceding the receipt of television signals of the current n-th field and thus it is ready to use when processing the television signals of the current n-th field.

Time diagrams of change of the vertical component dy[n] managed move the axis of the field of view of video camera surveillance system similar to the one described above.

Determine the speed of the controlled movement of the axis of the field of view of video camera surveillance system data from a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image.

Accept and memorize the signals of the current field of the television image signals and unmanaged move and roll the field of view of video camera surveillance system. These signals and the signals of the controlled movement of the axis of the field of view of video camera surveillance systems are used for generating signals projected coordinate television images 2N landmarks in the current field of the television image.

To do this, choose from the signals of the previous field of the television image signal, what, for example, as follows.

In the field of the television image (if interlace - field) format NpxMpelements specify a valid search area landmarks, areas with smaller sizes (Np-2dx[n]) x (Mp-dy[n]), taking into account the displacement dx[n] and dy[n] field of view of video camera surveillance system horizontally and vertically over the field.

The search area of the landmarks of the area is divided into a NOP = 100 - 150 adjacent to each other boxes that determine the value of SXY:

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where iok and pok - coordinates of the center of the window with the number nok, nok=l,..., NOP,

(2N0+1), (2M0+1) - dimensions boxes.

Criteria value SXY(nok) is compared with a threshold and exceeded the threshold rank in descending order, and then create a list of NK numbers of Windows - candidates in the neighbourhood with the highest values of the criterion SXY(nok). From the resulting list NK candidates select N pairs of landmarks. The reference points included in the pair is chosen according to the criterion of the maximum distance between landmarks as horizontally and vertically and excess of these distance thresholds. As landmarks accept coordinates iok and pok center of the corresponding window.

Inlow television images of the respective 2N landmarks in the previous field of the television image forming signals measures the dissimilarity of images 2N landmarks and identify with their help offset images 2N landmarks for the time between the reception signals of the current field of television images.

Using the offset signals of television images 2N landmarks for each of the N pairs of landmarks define the parameters of shear and rotation signals of the current field of the television image at the time between reception signals of the current field of television images, for example, as follows.

For each pair of landmarks (with the numbers k and k+1. first, form a system of 4 linear equations

and11t1 + a12t2 + a13t3 + a14t4 = Xk(n),

a21t1 + a22t2 + a23t3 + a24t4 = Yk(n),

and31t1 + a32t2 + a33t3 + a34t4 = Xk+1(n), (41)

a41t1 + a42t2 + a43t3 + a44t4 = Yk+1(n),

regarding the 4 unknowns t1-14:

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where Xk(n), Yk(n) and Xk+1(n), Yk+1(n) - coordinates of the k-th and (k+1)-th landmark in the current n-th frame,

- change the roll angle of the field of view of the camera system monitoring the time between the reception field of the television image,

The x-and Y - axis movement of the field of view of video camera surveillance system horizontally and vertically during the time between the reception field of the television image.

In the system of linear equations (40) the coefficients ai,jequal to:B> = -Xk(n-1) and23= 0 and24= 1,

and31= Xk+1(n-1) and32= Yk+1(n-1) and33= 1 and34= 0, (43)

a41= Yk+1(n-1) a42= -Xk+1(n-1) and43= 0 a44= 1,

where Xk(n-1), Yk(n-1) and Xk+1(n-1), Yk+1(n-1) - coordinates of the k-th and (k+1)-th landmark in the previous (n-1)-th field.

The system (40) four linear equations with four unknowns t1-t4 decide, for example, the elimination method of Gauss [Glovatskaya A. P. Methods and algorithms of numerical mathematics. - M.: Radio and communication, 1999. - 408 S.: ill., C. 4-10] , and then determine the change of the roll angle of the field of view of video camera surveillance system.

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then, using the obtained values t1-t4, form a system of 2 linear equations in 2 unknowns X and Y:

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The system (44) of two linear equations with two unknowns X and Y can also be solved by elimination method Gauss [Glovatskaya A. P. Methods and algorithms of numerical mathematics. - M.: Radio and communication, 1999. - 408 S.: ill., C. 4-10] . Solution of system of linear equations (44) complete the definition of the parameters X, Y translation and rotation of the field of view of video camera surveillance system.

The choice of the number N of pairs of landmarks due to the following, soobrazhaja necessary to be selected as the reference plots television image belonged to a stationary background areas. When the automatic selection of landmarks possible cases of their wrong choice when quality targets can be selected or extraneous moving objects, or when the movement of the carrier monitoring system moving television image in the middle of the background areas. While estimates of the parameters offset and tilt of the field of view of video camera surveillance system, obtained according to pairs containing erroneous landmarks, differ sharply from the rest. The elimination of the influence of erroneous data reach as follows.

The obtained N values of each of the parameters shift and rotation of the rank in ascending or descending order. By k the largest and smallest values of the ranked options drop (k=0, 1, 2,...), and average the remaining values.

The increase of N and k can improve the error tolerance of the choice of benchmarks, however, increases the cost of implementing the determination of the parameters offset and tilt of the field of view of video camera surveillance system. Practically acceptable results are achieved with N=5 and k=l or N=7 and k=2.

Integration of the current ismene surveillance system.

Divide the received signal-based measures of dissimilarity television images 2N orientation parameters X, Y shift of the signals of the current field of the television image relative to the previous field of the television image on the components dx, dy - controlled movement of the axis of the field of view of video camera surveillance systems and components rx, ry- uncontrolled axis movements of the field of view of video camera surveillance system.

In those circumstances the application of the method where there is no possibility of receiving signals unmanaged move and roll the field of view of video camera surveillance system, the procedure differs from that described above only in that the prediction of the coordinates of television images 2N landmarks in the current field of the television image is not performed. This entails the necessity of increasing the size of a two-dimensional search area of each of the reference points, which in turn leads to an increase or processing time when searching the position of the landmarks in the current field of the television image, or hardware implementation costs of search positions of the landmarks.

Generate television signals sobrania axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system.

Moreover, the formation of the signals LFRAME(ix, jy) of the television image of the current frame with interlaced scanning signal LP-FRAME(i,p,npk) of the current frame of the television image and the television image L-1-UP(ix, jy) of the previous frame is carried out, for example, the prediction signals LFRAME(ix, jy) of the television image of the current frame by using the displacement of the television image L1-UP(ix,jy) of the previous frame on the value of a managed move dx, dy axis of the field of view of video camera surveillance system horizontally and vertically, respectively, during the time between the receipt of the fields of the television image

LFRAME(IX,j) = L-1-UP(ix+dx,jy+dy),

and displacement of points projected television image of the current frame points of the television image of the current frame compensation uncontrolled displacements rx, ryand roll of the field of view of video camera surveillance system

LFRAME[IX(i,p,npk),jy(i,p,npk)] = LP-FRAME(i,p,npk),

where i is the element number in the line of the television image tech is>/BR>R - the row number in the field,

jy - the line number in the frame, jy=1,...,MK,

PC is the number of elements of the television image in the row,

MK is the number of rows in the frame of the television image,

npk - the index of the current frame,

npk = 1 in odd fields,

npk = 0 in the even-numbered fields,

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As can be seen from the above, in the case of the absence or insufficient accuracy of the sensors unmanaged move and roll the field of view of video camera surveillance system) the stabilization parameters of the television image rx, ryand are defined and used once per field (are constant within the current frame), and therefore in these conditions, the method should be used in the presence of slow destabilizing field of view cameras factors.

When ready signals of the television image of human form format and scale the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image signal and the television image of the current frame.

Remember the scaled signals of the television image is as moving objects by subtraction of the scaled signals of the television image in the current analysis window of the scaled signals of the television image previously captured and shown to the current scale of the television image in the analysis window and shifted by the amount of movement of the field of view of video camera surveillance system.

In those circumstances the application of the method when it is necessary to determine coordinates of fast moving objects, for example, when documenting landing maneuvers of aircraft at airports, when forming a differential television image selector moving objects, use the difference image of the current and previous frames, and when determining the coordinates of slowly moving objects can be used difference between current and saved on To the staff earlier image in the analysis window.

Form the signals L1BINLMS(ix,jy) primary binary television image selector moving objects from the differential signals of the television image selector moving objects, for example, the comparison module of differential signals of the television image formed with adaptive threshold, is subjected to the signals L1BINLMS(ix,jy) low-pass filtering, for example, using two-dimensional convolution

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where ix, jy - coordinates of the filtered signals of the television image S_filLMS(ix,jy) relative to the center of the current analysis window;

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NX, NY are the dimensions of the current analysis window,

NF, MF - settings aperture n the frequency of the filter horizontally and vertically, accordingly, di [-NF, NF], dj [MF, MF],

hLF[di, dj] is the impulse response low-pass filter,

and form of these signals L2BINLMS(ix,jy) secondary binary television image selector moving objects

L2BINLMS(IX,j)=1,

if S_filLMS(ix,jy)>PorogLMS1 and L1BINLMS(ix,jy)=1

or S_filLMS(ix,jy)>PorogLMS0 and L1BINLMS(ix,jy)=0,

L2BINLMS(IX,j)=0 otherwise,

where PorogLMS1, PorogLMS0 - values of the threshold decision unit and zero elements of the primary binary television image selector moving objects, respectively.

Simultaneously with storing the scaled signals of the television image in the current analysis window, formation of differential signals of the television image selector moving objects and the formation of the primary signals binary television image selector moving objects from the scaled signals of the television image in the current window analysis with signals controlled movement of the axis of the field of view of the camera system is the binary signals of the television image histogram classifier.

Moreover, the signals L1BINTHE WPPT(ix,j) primary binary television image detector changes the background of the form, for example, conversion of the signals Ln1eff(ix,jy) of the television image of the reference background, obtained in the previous (n-1) frame to the current scale, the formation of the signals LpTHE WPPT(ix, jy) differential television image detector changes the background subtraction of the signals LnOA(ix,jy) scaled television image in the current analysis window signals Ln-1eff(IX,jy) of the television image of the reference background of the previous frame shift, take into account moving Vx, Vy center of the analysis window in the inertial coordinate system for the last frame:

LpTHE WPPT(ix,j)=LnOA(ix,jy) - Ln-1eff(ix+Vx, jy+Vy),

the thresholding binarization THRESHOLDTHE WPPT(ix,jy) of the detector changes the background as a value proportional to the local scattering parameter values differential television image LpTHE WPPT(IX,j) detector changes the background in the vicinity of the point with coordinates (ix,jy,

where ix,jy - coordinates of the scaled signals of the television image relative activities the values of the primary binary television image L1BINTHE WPPT(ix,jy) of the detector changes the background in accordance with rule:

L1BINTHE WPPT(IX,j)=1,

if |LpTHE WPPT(ix,jy)|THRESHOLDTHE WPPT(ix,jy),

or

L1BINTHE WPPT(IX,j)=0,

if |LpTHE WPPT(ix,jy)|<THRESHOLD(ix,jy),

moreover, the signals Lneff(ix,jy) of the television image of the reference background is formed by the separation of the scaled signals of the television image in the current analysis window on the television image signals of three types:

the signals of the television image in the window object - OOTHE WPPT,

the signals of television images in the background OF theTHE WPPT,

the signals of the television image in the window - New background - NF,

where as signals of the television image in the window object detect signals of the television image in the rectangle located in the center of the current analysis window and include mostly elements of the television image of the object, as signals of the television image window "New background" to identify elements of the television image on the external borders of the current analysis window, which due to the motion of the object and the lane is she, as signals of the television image window background determine all the remaining elements of the television image in the analysis window, memory window "New background" signals LnOA(ix,jy) from the current analysis window scaled television image current of the n-th frame:

Lneff(ix,jy)=LnOA(ix,jy), ix,jy,

where LnOA(ix, jy) - value of the luminance signal element scaled television image in the analysis window with coordinates (ix,jy,

the averaging window background signals scaled television image LnOA(ix, jy) from the current analysis window recursive filter of first order with constant W and to account for the shift in the analysis window in the inertial coordinate system for the last frame:

Lneff(ix,jy)=(1-W)*Ln-1eff(IX+Vx,j+V)+W*LnOA(ix,jy) ix,jyTHE WPPT,

where Vx, Vy is the displacement of the center of the analysis window for the last frame horizontally and vertically, respectively, in the inertial coordinate system,

overwrite window object signals of the television image of the reference background of the previous frame shift, taking into account the displacement of the center of the analysis window for the last frame:

Ls primary binary television image LiBINTHE WPPT(ix, iy) of the detector changes the background can be done, for example, using two-dimensional convolution

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where NF and MF - settings-aperture low-pass filter horizontally and vertically,

hLF[di, dj] is the impulse response low-pass filter.

Signal low-pass filter S_filTHE WPPT(IX,j) form the signals L2BINTHE WPPT(IX, jy) secondary binary television image detector changes the background, for example, in accordance with rule:

L2BINTHE WPPT(IX,j)=1,

if S_filTHE WPPT(ix,jy)>PorogTHE WPPT1 and L1BINTHE WPPT(ix,jy)=1

or S_filTHE WPPT(IX,j)>PorogTHE WPPT0 and L1BINTHE WPPT(ix,jy)=0,

L2BINTHE WPPT(IX,j)=0 otherwise,

where RogadTHE WPPT1, RogadTHE WPPT0 - values of the threshold decision unit and zero elements of the primary binary television image detector changes the background, respectively.

The signals LBINCC(ix, jy) binary television image histogram classifier form, for example, in accordance with rule:

LBINCC(ix,jy)=1, if

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or

LBonne image in the current analysis window,

Wn-1HCSB[Li] normalized histogram of brightness Lithe scaled signals of the television image in the Central window of the object - CSB obtained in the previous (n-1)-th frame,

Wn-1HOFHC[Li] normalized histogram of brightness signals of the television image of the background window background histogram classifier-OFGC obtained in the previous (n-1)-th frame,

Li- the brightness signals of the television image,

i - the number of the brightness signals of the television image, i=1,..., Nyp,

Nyp- the number of levels of brightness of the television image signals in the current analysis window,

n-1is a parameter depending on the number of elements of the television image in the window object histogram classifier - OOHC classified as background in the previous (n-1)-th frame,n-1makes sense to estimate a priori probability of existence of an element of the background image in the window object and can be determined, for example, in accordance with the formula

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where NNbackground(n-1) is the number of elements of the background image, found in the Central window of the object in the (n-1)-th frame,

A(ix, jy) - the penalty of funkcia0A(ix, jy) - makes sense the cost of incorrect classification of the elements of the television image on the elements of the object and the background, the values of the set A(ix, jy), the minimum in the Central window object (AND the0and more to the edges of the analysis window, the value of A0can be selected, for example, in the range of values of 1.5,...,2,0.

After determining the coordinates of XO, YOand sizes Rxo, Ryo television image of the object in the current n-th frame as the Central window object - CSB define a rectangle with dimensions R xCSB=R, RCSB=R inside the analysis window, the center of which coincides with the center XO, YOthe television image of the object, and which includes mainly the elements of the television image of the object as the window object histogram classifier - OOHC determine the area enclosed between the two rectangles with a common center and sizes

R xCSB, RyCSBand R xOOHC, RyOOHC,

where R xOOHC>R xCSBand RyOOHC>RyCSB,

as the window background histogram classifier - OFGC determine the area enclosed between the two rectangles with a common center and with RA and ROFHC>RyOOHC.

The television image signals LnAH(ix,jy), is read from the window OFGC in the current n-th frame, determine a histogram of WOFHC[Li] distribution of brightness Lithe television image of the background, the television image signals, selectable from the window of CSB in the current n-th frame, determine a histogram of WCSB[Li] distribution of brightness Lithe television image of the object, produce a smoothing of histograms WOFHC[Li] and WCSB[Li]

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where hSG[j] is the impulse response of the smoothing filter,

(2*ns+1) - number of points of the impulse response of the smoothing filter,

determine the current threshold of Pgaveraging the smoothed histogram of brightness of the television image of the object in accordance with the expression

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where Pgand kPG- constant values,

1[x] - single function defined by the conditions:

1[x]=1 if x 0,

1[x]=0 if x<0,
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wherenthen- filter time constant of the averaging threshold PG, changing depending on the frame number from RA television image,

limit values averaged threshold above and below,

average smoothed histogram of brightness Lithe television image of the object by a recursive filter of the first order

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wherenCSB- filter time constant averaging the histogram of brightness of the television image of the object changes depending on the frame number from the value1CSB= 1 in the first frame to the stationary value CSBmoreover , since the frame number surpassing PKU,

where PKU - frame number from which the averaged histogram fulfill the conditions, PKU=16,...,128,

the averaged histogram of brightness Lithe television image of the object is performed only for those brightness levels Lifor which simultaneously two conditions:

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In the present method to improve statistical stability average only a histogram of the brightness of the object, since the object image in the sequence of frames is CSB constantly and relatively slowly changing. Using the above conditions for averaging the histogram reduces the likelihood that the values of the background is not averaged for so when the object is moving in the direction of the area of background, have the same brightness as the object, the histogram would be able to change and was not erroneous classification of items of background images as belonging to the object.

Form a normalized WnHCSB[Li] a histogram of the brightness of the television image of the object from the averaged histogram of brightness Lithe television image of the object

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where Nyp- the number of levels of brightness of the television image LnAH(ix,jy).

Form normalized WnHOFHC[Li] a histogram of the brightness of the television image of the background of the smoothed histogram of brightness Litelevision background image:

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After obtaining the binary image form the horizontal and vertical projection signal of the secondary binary image selector moving objects and detector changes the background and the binary signals of the television image histogram classifier.

Moreover, the horizontal and vertical projection of GCRLMS(IX) VCRLMS(the objects define for example, in accordance with expressions

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for ix=1,...,Nwin,

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for jy=1,...,Mwin,

where Nwin and Mwin - dimensions of the secondary binary television image selector moving objects horizontally and vertically, respectively.

Horizontal and vertical projection of GCRTHE WPPT(IX) VCRTHE WPPT(j) signals of the secondary binary television image LBINTHE WPPT(ix,jy) of the detector changes the background can be determined in accordance with expressions

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for ix=1,...,Nwin,

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for jy=1,...,Mwin,

where Nwin and Mwin - dimensions of the secondary binary television image detector changes the background horizontally and vertically, respectively.

Horizontal and vertical projection of GCRCC(IX) VCRCC(j) of the binary signals of the television image LBINCC(ix,jy) of the histogram classifier determines, for example, in accordance with

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for ix=1,...,Nwin,

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for jy=1,...,Mwin,

where Nwin and Mwin - size binary television image histogram classifier horizontally and vertically, respectively.

Determine the coefficients of reliability of WTHE WPPT, WLMS, WYarnykh image histogram classifier, for example, as the product of the input functions of the initial conditions on the normalized average density of the binary images of the detector changes the background of the selector moving objects and histogram classifier, respectively

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moreover, the average density of the binary images of the detector changes the background of the selector moving objects and histogram classifier receives the minimum and maximum values and subsequent averaging recursive filters of the first order current densities of VTHE WPPT(n), VLMS(n), VCC(n) the corresponding binary images,

where

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SODIF(n), STHE FOR(n), SOGK(n) is the current area of the binary image detector changes the background of the selector moving objects and histogram classifier, respectively, within the boundaries of the television image of the object,

SGS(n) is the current area within the boundaries of the television image of the object,

FNUDIT(n), FNUDO(n), FNUGC(n) is the input function of the initial conditions of the detector changes the background of the selector moving objects and histogram classifier, respectively,
NUGC
(n) allow you to specify how the initial values of the coefficients of reliability at the time of launch automatically determining coordinates of the object, and to provide a smooth change to the normalized average of the densities of the binary images of the detector changes the background of the selector moving objects and histogram classifier to the time when they become statistically stable.

Form the generalized horizontal Gabout(ix,n) and vertical Vabout(jy,n) the projection of the signals of the generalized binary television image of the object from the horizontal and vertical projections of the signals of the secondary binary image selector moving objects and detector changes the background, and also signals the binary image histogram classifier on the basis of their joint processing using coefficients of reliability of signals binary image histogram classifier, the signals of the secondary binary image detector changes the background and selector moving objects, for example, a weighted sum of the projections of the binary images of the detector changes the background of the selector moving objects and histogram classifier:

GPC(IX)

Vabout(jy,n)=WTHE WPPT(n)* VCRTHE WPPT(jy)+WLMS(n)*VCRLMS(jy)+WCC(n)*VCRCC(jy).

Form the horizontal and vertical boundaries and determine the size of the television image object levels cutoff to the left and to the right of the specified percentage of the square of the generalized horizontal and vertical projections of the generalized signals binary television image of the object.

Define the current and averaged area of the generalized binary television image of the object formed inside the boundaries of the television image of the object.

Determine the current coordinates XAUBIN, YAUBINgeneralized binary television image of the object, for example, as a weighted sum of the coordinates XIT, YITthe generalized center of gravity and XOLD, YOLDthe median of the square of the generalized binary television image of the object

XAUBIN(n)=WCT(n)*XIT+WHONEY(n)*XOLD,

YAUBIN(n)=WCT(n)*YIT+WHONEY(n)*YOLD,

WHONEY(n)=1-WCT(n),

where WHONEY(n), WCT(n) is the weighting factor, respectively,

n - the number of the current frame,

moreover, the weighting factor WCT(n) the coordinates of the center of gravity of the generalized binary television image of the object increases by reducing the average deviations of the object coordinates from their predicted values.

Determine the current speed of movement of the generalized binary television image of the object in the inertial coordinate system. Moreover, the current horizontal VGOBBINand vertical VVOBBINcomponents of the evaluation speed of the generalized binary television image of the object in the inertial coordinate system can be determined in accordance with expressions

VGOBBIN=(dx+XOA+XOBAIN)/T,

VVOBBIN=(dy+YOA+YOBAIN)/T,

where dx, dy is the displacement axis of the field of view of video camera surveillance system at the time T between receiving the current and previous fields of the television image horizontally and vertically, respectively,

XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively,

XOBAIN, YOBAIN- change of coordinates Binational and vertically, respectively.

Simultaneously with the processing of the signals in the channels of the histogram-based classification, the detector changes the background and selector moving objects and define, on the basis of the current position and the moving speed of the generalized binary television image of the object in the channel estimation measures the dissimilarity of the images define the coordinates of the television image of the object relative to the center of the current window-based analysis: a signal measures the dissimilarity of the images in the nonlinear high-frequency filtering of the scaled signals of the television image in the current window analysis is performed under the condition exceeding the average square of the generalized binary television image of the object threshold value, storing obtained after nonlinear filtering of signals, the formation of static reference signals of the television image of an object or static and dynamic signals of the reference image of the object, bring the static reference signals of the television image of an object or static and dynamic signals of the reference image of the object to the current scale, the formation and storage of the signals measures the dissimilarity what about the reference image of the object in a two-dimensional search area of the displacements of television images of the object, determine the minimum values of the signals measures the dissimilarity of the images along the rows and columns of a two-dimensional search area of displacement of the image of the object and sequencing the minimum values of the signals measures the dissimilarity of the images along the rows and columns of a two-dimensional search area of the displacements of television images of the object. Moreover, nonlinear high-frequency filtering of the scaled signals of the television image in the current window analysis is performed, for example, in accordance with the expression

LnNF(ix,jy)=LnAH(ix,jy)+KNF*FNF[LnHPF(IX,j)],

where

FNF[L] - function two-way restrictions,

FNF[L]=LTHENwhen L>LTHEN,

FNF[L]=L if - LTHENLLTHEN,

FNF[L]=-LTHENwhen L<-L,

NF, MF - settings-aperture filter horizontally and vertically,

TONFTOHPF- constant coefficients,

LTHEN- threshold functions bilateral restrictions.

Depending on the limits of reaction time when the control signal forming position of the axis of the field of view of video camera surveillance system or agrisa based signal processing measures of disparity images using, or only static, or static and dynamic reference images of the object.

Processing using only static reference television image of an object requires less time or hardware costs, but less reliable in determining the conditions of change of the static benchmark than processing using static and dynamic reference images of the object.

In the case of using only static reference of the television image of the object static reference signals of the television image of the object is formed, for example, by reading and memorizing signals of the television image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is defined by the difference

XCFL=XABOUTPZ-XOAPZ,

YCFL=YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view,

XOAPZ, YOAPZ- window coordinates of anobject, based on analysis of signal parameters dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and the reference signals of the television image of the object, as well as the parameters of the trajectory of the television image of the object obtained based on the signal analysis measures of dissimilarity.

In the case of static and dynamic reference object image signals of the dynamic reference of the television image of the object is formed, for example, by reading each frame of signals from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is defined by the difference

XCFL=XABOUTPZ-XOAPZ,

YCFL=YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view,

XOAPZ, YOAPZcoordinates the analysis window in sight,

and the static reference signals, Televisa image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is defined by the difference

XCFL=XABOUTPZ-XOAPZ,

YCFL=YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view,

XOAPZ, YOAPZcoordinates the analysis window in sight,

when conditions change static reference of the television image of the object formed by the comparison of signal parameters dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and signals static and dynamic reference object image and the comparison of the parameters of the trajectories of the television image of the object obtained by the use of static and dynamic signals of the reference image of the object.

The coordinates of the television image of the object in the analysis window in the channel estimate measures of disparity images is determined depending on the type of sequence minimalna sequences with two boundaries of the rapid growth of the values of the signals measures the dissimilarity of images about the position of its minimum coordinates of the television image of the object in the analysis window are determined by the analytical approximation sequence minimum values of the signals measures the dissimilarity of images by a polynomial of the fourth degree and determine the position of the minimum of the approximating polynomial.

Analytical approximation sequence minimum values of the signals measures the dissimilarity of the images is performed, for example, by the method of least squares (see , for example, Glovatskaya A. P. Methods and algorithms of numerical mathematics. - M.: Radio and communication, 1999. - 408 S.: ill., S. 99-109), leading to the solution of a system of 5 linear equations for 5 unknown coefficients bi(i=0,...,4) approximating polynomial F(x)

F(x)=b0+b1x+b2x2+b3x3+b4x4.

The minimum of the approximating function are explicitly solving cubic equations

b1+b2x+b3x2+b4x3=0,

for example, the trigonometric method (see, G. Korn and T. Korn. Handbook of mathematics. - Lane. from the second American revised edition. Under the General editorship of I., of Aram. M., Nauka, 1973, 832 pages Illus., pages 43-44).

If the sequence can be attributed to the type of sequences flat at the position of the minimum and the presence of one area of rapid growth of signal values of the measures of dissimilarity of images, then the coordinates of the television image of the object in the analysis window is defined as a quantity proportional to the offset analysis. This allows to increase the stability of the tracking edges extended uniform brightness objects.

Provided that the allocation sequence type sequence with the flat at the position of the minimum values of the signals measures the dissimilarity of images throughout the field of search displacements of television images of the object coordinates of the television image of the object in the analysis window, accept the coordinates of the center of the analysis window. This eliminates random move ("wandering") axis field of view of video camera monitoring system within the size of the object when the tracking of extended homogeneous brightness objects.

Using the coordinates of the television image of the object is obtained on the basis of a signal measures the dissimilarity of images, determine the current speed of movement of the television image of the object in the inertial coordinate system and determine the confidence factor that speed.

Moreover, the current horizontal VGOBSHand vertical VVOBSHcomponents of the evaluation speed of the television image of the object in the inertial coordinate system obtained on the basis of farmerish
=(dx+XOA+XOBOENSH)/T,

VVOBSH=(dy+YOA+YOBOENSH)/T,

where dx, dy is the displacement axis of the field of view of the video camera at the time T between receiving the current and previous fields of the television image horizontally and vertically, respectively,

XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively,

XABOUNCH, YABOUNCH- change the coordinates of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, obtained on the basis of a signal measures the dissimilarity of images.

The confidence factor WSH(n) the current speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of the images get, for example, by determining the current similarity factor limiting its maximum and minimum values, and averaging the recursive filter of the first order, regulation obtained average similarity factor

< / BR>
where n is the number of the current frame,

FMP(n) - minimum value srednich - the minimum value of the signal measures the dissimilarity of the image current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object,

the average density of the generalized binary television image of the object obtained from the current density

generalized binary television image of the object, the minimum and maximum values of current density VBIN(n) the generalized binary television image of the object, and then averaging the recursive filter of the first order limited current density VBIN(n) the generalized binary television image of an object,

SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of an object,

SOO(n) is the current area within the boundaries of the generalized binary television image of the object.

Determine the coefficient of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system. Price image of the object can be obtained, for example, by determining the current density of the generalized binary television image, minimum and maximum values of current density Vbin(n) the generalized binary television image, the subsequent averaging of the limited density of the generalized binary television image of a recursive filter of the first order, regulation average density of the generalized binary television image of the object

< / BR>
where SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of an object,

SGS(n) is the current area within the boundaries of the generalized binary television image of an object,

n - the number of the current frame,

the average coefficient of similarity obtained by determining the current similarity factor limiting its maximum and minimum values, and averaging the recursive filter of the first order,

FMP(n) is the minimum value of the RMS value of the signals of the television image background in M boxes analysis background,

ESHMP- the minimum value of the signals is known as a two-dimensional search area of the displacements of television images of the object.

A comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system formed from the data assessment of the current moving velocity of the television image of the object obtained based on the signal conditioning measures of disparity images, and data from the assessment of the current speed of the object generalized projections signals of the generalized binary television image of the object taking into account the coefficients of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering object, for example, a comprehensive assessment of horizontal VGABOUT(n) and the vertical VVABOUT(n) components of the current velocity of the moving television image of the object in the inertial coordinate system determined by limiting the rate of movement of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of the images, the minimum and maximum values generated with regard to the previous values comprehensive assessment of the current speed of the moving ion television image of the object and the speed of movement of the television image of the object, obtained on the basis of a signal measures the disparity images

VGABOUT(n)=WBIN(n)*VGABOUT_BIN(n)+WSH(n)*VGABOUTHCX(n),

VVABOUT(n)=WBIN(n)*VVABOUT_BIN(n)+WSH(n)*VVABOUTNSH(n),

where WBIN(n), WCX(n) the coefficients of reliability of the current moving velocity of the generalized binary television image of the object and the current speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of the images, respectively,

VGABOUT_BIN(n) and VABOUT_BIN(n) - limited horizontal and vertical components of the current velocity of the generalized binary television image of an object,

VGABOUTNSH(n) and VABOUTNSH(n) - limited horizontal and vertical components of the current velocity of the moving television image of the object is obtained on the basis of a signal measures the disparity images

n - the number of the current frame.

Average comprehensive assessment of the current speed of movement of the television image of the object, for example, by using a recursive filthy television image of the object in the field of view cameras by integrating the difference between comprehensive assessment of the current speed of movement of the television image of the object and the speed of the controlled movement of the axis of the field of view of video camera surveillance system in the inertial coordinate system, moreover, the initial coordinates of the television image of the object in the field of view cameras and signal the beginning of the tracking receive from the monitoring system. Extrapolate the coordinates of the television image of the object.

Generate control signals to move the axis of the field of view of video camera surveillance system, using the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, or using the extrapolated coordinates and the speed of movement of the television image of the object depending on the results of the analysis of the current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary image histogram classifier in M boxes analysis of the background, and the extrapolated speed of movement of the television image of the object formed on the basis of the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object.

Form the signals of location and dimensions of the analysis window of the television image to the next frame using sigpause object, the resulting processing of the current frame, and the initial values of the signals of location and dimensions of the television image of the object and the signal start tracking receive from the monitoring system.

Simultaneously with the processing of the signals in the channels of the histogram classifier, the detector changes the background of the selector moving objects and assess measures of disparity images form M window analysis of the background around the perimeter of the analysis window and define the projection of the binary signals of the television image histogram classifier in M boxes analysis of the background, which define the area and the coordinates of the boundaries of the binary image histogram classifier in M boxes analysis background.

Analyze the current SAUBIN(n) and mean square generalized binary television image of the object, for example, by checking for the condition

to navigate to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of an object or condition,

to navigate to the formation of control signals by moving the axis of the field of view of the video surveillance system of coordinates is in the image in the current analysis window,

where ks1 - constant coefficient, ks1<1,EC
- the ratio decreasing with increasing frame number n, starting with frame number nECthe transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates ks2(n-nEC)ks1.

Analysis of the current and averaged speed of the television image of the object is carried out, for example, verification of your compliance with the terms

< / BR>
< / BR>
- to skip to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates or conditions

< / BR>
< / BR>
- to skip to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view cameras, obtained by processing of the television image in the current analysis window,

where VGTOB(n), VVTOB(n) the horizontal and vertical components of the current velocity of the moving television image of the object obtained by the recursive filter of first order with constant filter 0<WV<1 components VGGTOB(n)=VGTOB(n-1)+WV1*[VGABOUT(n)-VGTOB(n-1)],

VVTOB(n)=VVTOB(n-1)+WV1*[VVABOUT(n)-VVTOB(n-1)],

the horizontal and vertical components of the averaged velocity of the moving television image of the object obtained by the recursive filter of first order with constant filter 0<WV2<1 components VGABOUT(n), VVABOUT(n) a comprehensive assessment of the speed of movement of the television image of the object

< / BR>
< / BR>
moreover, WV1>WV2.

Analyze the area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis background by checking the conditions of detection of changes in the area of the binary video images of the histogram classifier inside M window analysis background:

< / BR>
where Si(n) values of the current square of the binary video images of the histogram classifier inside the i-th analysis window background, i=1,...,M,

values averaged square of the binary video images of the histogram classifier inside the i-th analysis window background, i=1,...,M, obtained at the output of the recursive filter of first order with constant filter 0<WS<1:
S(n) - threshold detection is for the background

< / BR>
where k is a constant coefficient,

the averaged square of the generalized binary television image of the object obtained at the output of the recursive filter of first order with constant filter 0<WS<1:
n - the number of the current frame,

the attitude of the object/background

where the average value of the signals of the television image in the window object,

the average value of the signals of the television image in the window background,

F- the standard deviation of the signals of the television image in the window background from

FOGRE(Q) is a function of the minimum and maximum values,

when performing the above conditions for the current square of the binary video images of the histogram classifier in one or several Windows of analysis background with numbers ki,

where ki is the number of Windows of the analysis of the background in which a change is detected the current square binary television image histogram classifier, ki=1,...,p,

KP is the number of Windows analysis background, in which a change is detected the current square binary television image histogram classifier, N, in these Windows analyse the coordinates of the two mutually perpendicular gr is known, and in the Windows of the analysis of the background, hosted by the vertical borders of the window object, analyze the shift of the vertical boundaries of the binary television image horizontally and in control of the ownership of the coordinates of the horizontal border vertical coordinates of the window object, and in the Windows of the analysis of the background, hosted by the horizontal boundaries of the window object, analyze the movement of the horizontal boundaries of the binary television image vertically and control the identity of the coordinates of the vertical boundaries of the horizontal coordinates of the window object, the analysis of shifts of boundaries, of the binary video images in the M boxes analysis background carried out by checking the conditions of finding the appropriate boundaries binary television image histogram-based classifier within the borders of the internal Oki1 and an external Oki2 areas of the ki-th analysis window background with the formation of signs of Pki1 and Pki2 set the boundaries of the binary video images to the internal Oki1 and to an external Oki2 areas of the ki-th analysis window background,

where Pki1= 1 if the boundary binary television image histogram classifier Les the aqueous television image histogram classifier lies within the boundaries of the region Oki2, or Pki2=0 - otherwise,

moreover, when the detected transitions corresponding boundaries binary television image histogram classifier from the outer region to the inner window area analysis background with numbers ki=kip1,

where kip1 - room window analysis of the background in which the detected transitions borders binary television image histogram classifier from the outer regions Okip12 to the inner regions of Okip11 window analysis background, kip1=1,2,..., KP,

that is, the sequential formation of signs of Pkip12=1 for nkip1= nkip12, and then Pkip11=1 for nkip1=nkip11, where nkip11>nkip12, nkip11 - the number of the frame in which kip1-m the analysis window background set the state of the sign of Pkip11= 1, nkip12 - the number of the frame in which kip1-m the analysis window background set the state of the sign of Pkip12=1, and the condition of facilities the coordinates of the second controlled borders binary television image histogram classifier kip1-m the analysis window background range in window coordinates of the object, perform the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on ek is anic binary television image histogram classifier between the inner and outer regions of the window analysis background value SP= 1 at the first detection of border crossing binary television image histogram classifier from the outer region Okip12 to the inner region Okip11 or increment the counter SP per unit upon detecting the border crossings binary television image histogram classifier from the outer regions Okip12 to the inner regions of Okip11 during the generation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image object, set the status of the signs of Pkip11=0, Nkip12=0,

set the status of the signs of Pj2=0 in the Windows analysis background with numbers jkipl, j=1...KP, and the analysis process boundaries binary television image histogram classifier start again,

when the detected transitions corresponding boundaries binary television image histogram classifier from the inner areas Okip21 to the external areas Okip22 Windows analysis background,

where kip2 - room window analysis of the background in which the detected border crossing binary television image histogram classifier from the inner areas Okip22 to the external areas OFkip21 window analysis background, kip2= 1,2,...,p,

during the formation of the control signals is in the image of the object, that is, the sequential formation of signs of Pkip21=1 for nkip2=nkip21, then Pkip22=1 for nkip2=nkip22 in one or several Windows of analysis background with numbers kip2, where nkip22>nkip21, reduce the counter SP-crossing borders binary television image histogram classifier between the inner and outer regions of the window of analysis of background on the unit and, if SP=0, perform the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, set the status of the signs of Pkip21=0, Nkip22=0, set the status of the signs of Pj2= 0 in the Windows analysis background with numbers jkip2, j= 1...KP, and the analysis process boundaries binary television image histogram classifier start first, control the time of generation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates and time of finding the signs of Pi1, Pi2, i=1,...,M, the condition Pi

When applying the proposed method in the presence and sufficient precision sensors unmanaged move and roll the field of view of video camera surveillance system composition and procedure of method different from the above steps only in part, prior to the formation and scaling of signals of the television image in the analysis window consists of the following.

Before the start of the reception signals of the current n-th field of the television image, where n=3, 4, 5,..., define a managed move dx[n] and dy[n] axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)-th fields of the television image horizontally and vertically, respectively, due to the action on video surveillance control signals by moving her field of vision.

A managed move dx[n] and dy[n] axis field of view videokamery] moving the field of view of video camera surveillance system with impulse response hx[i] and hy[i] its actuators in accordance with the expression (39).

Determine the speed of the controlled movement of the axis of the field of view of video camera surveillance system data from a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image.

Accept and memorize the signals of the current field of the television image signals and unmanaged move and roll the field of view of video camera surveillance systems and use them in the formation of the current frame of the television image as follows.

Forming a television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system.

Moreover, the formation of the signals LFRAME(ix, jy) of the television image current is expression and television image L-1-UP(ix, jy) of the previous frame is carried out, for example, the prediction signals LFRAME(ix, jy) of the television image of the current frame by using the displacement of the television image L1-UP(ix,jy) of the previous frame on the value of a managed move dx, dy axis of the field of view of video camera surveillance system horizontally and vertically, respectively, during the time between the receipt of the fields of the television image

LFRAME(ix,jy)=L-1-UP(ix+dx,jy+dy)

and displacement of points projected television image of the current frame points of the television image of the current frame compensation uncontrolled displacements rx(R), ry(p) and roll (R) of the field of view of video camera surveillance system

LFRAME[ix(i,p,npk), jy(i,p,npk)]=LP-FRAME(i,p,npk),

where i is the element number in the line of the television image of the current frame, i=1,...,PC,

ix - number of the element in the line of the television image of the current frame, ix=1,...,PC,

R - the row number in the field,

jy - the line number in the frame, jy=1,...,MK,

PC is the number of elements of the television image in the row,

MK is the number of rows in the frame of the television image,

npk - the index of the current frame,

npk=1 - offered by the accuracy of the sensors unmanaged move and roll the field of view of video camera surveillance system) the stabilization parameters of the television image rx(R), ry(p) and (p) obtained from the sensors can be changed within the current frame, which is reflected in the dependence of these parameters on a number line R, and therefore under these conditions the method can be applied even in the presence of broadband destabilizing the field of view of video camera surveillance system factors.

The method has a certain universality in relation to the information about the destabilizing factors and provides adaptive adjustment of the parameters based on the analysis of available data on these factors, keeping the efficiency at partial absence.

For example, in the absence of information from any of the sensors signals, based on which are formed the stabilization parameters of the television image, the method provides the opportunity to determine and retain objects in the center of the field of view of video camera surveillance system, but with a corresponding degradation parameters. So, in the absence of information from the tilt sensor is a television image stabilization to compensate uncontrollable movements of the field of view of video camera surveillance system horizontally and vertically, and the value of the roll angle field of view videomatics coordinates and retain the television image of the object in the center of the field of view of video camera surveillance system when the size of the television image of the object, not exceeding 1/4 of the width of the field of view of video camera surveillance system.

Building together with method in the form 4 groups of concurrent actions, the results of which are used together and complement each other, enables to provide a continuous automatic determination of the coordinates and hold the television image of the object in the center of the field of view of video camera surveillance system even when a sudden change in operating conditions.

For example, in case of failure of sensors uncontrolled movements and / or roll of the field of view of video camera surveillance system data functional channels (selector moving objects and detector changes the background), requiring stabilization of the television image, become practically unreliable in the presence of these perturbations of the field of view of video camera surveillance in contrast background areas. According to the way the parameters of these functional channels are adapted so that the density that they generate binary images under these conditions is significantly reduced, resulting in a decrease in their reliability coefficients, which in turn is equivalent to "actual channel analysis measures the dissimilarity of images) in many conditions monitoring is able to provide continuous position and hold the television image of the object in the center of the field of view of video camera surveillance system.

This ensures continuous operation of the system as a whole and other adverse changes in the conditions of observation.

For use of the invention in industry the device according to the first embodiment can be performed, for example, as follows.

The first input of 1.1 unit 1 unit processing signals to determine the coordinates of the objects observed in the sequence of television images (see Fig.8), connected to the first input unit and the second input 1.2 - with the second input device. The input unit 2 is connected with the third input device. The second output 1-2 unit 1 is connected with the third input 3.3 unit 3, the first 3-1 output of which is connected with the second input 4.2 unit 4, the first output 4-1 which is connected to the first input 5.1 unit 5, the first 5-1 and 5-2 second outputs of which are connected with the first 6.1 and 6.2 second input unit 6. The second entrance 5.2 unit 5 is connected with the second output 1-2 unit 1. The first output 1-1 unit 1 connected to the first input 4.1 unit 4 and the first input 7.1 shaper 7, 7.2 second and third 7.3 the inputs of which are connected with the first 6-1 and 6-2 second output unit 6, respectively. The output unit 2 is connected to third inputs 4.3 and 6.3 block 4 and block 6, respectively, the fourth input of the Output driver 7 is connected to the first input of 8.1 unit 8, and the fourth input 7.4 shaper 7 is connected with the second output 1-2 unit 1, the fifth input 8.5 unit 8, a second input 9.2 block 9, the third input 10.3 unit 10, the eighth input 11.8 unit 11, the fourth input 12.4 unit 12, the fifth sign-13.5 switch 13, the fourth input 14.4 unit 14, the fourth entry 15.4 unit 15, a second input 16.2 block 16, the fourth input 17.4 unit 17, the fifth entry 18.5 block 18, the third input 19.3 block. 19, the sixth input 20.6 analyzer 20, a third input 21.3 block 21, a third input 22.3 block 22 and the sixth input 23.6 shaper 23. The output unit 8 is connected to the seventh input 10.7 unit 10 and the third input 11.3 block 11. The first output 11-1 unit 11 is connected with the second input 12.2 block 12. The fourth and fifth inputs of the device connected with the first 13.1 and 13.2 second inputs of switch 13, respectively, the first 13-1 and the second 13-2 outputs of which are connected with the third 8.3 and 8.2 second input unit 8, respectively, and also with the first 10.1 and second 10.2 and seventh 11.7 and sixth 11.6 inputs of the block 10 and block 11, respectively. The sixth input device connected with the second input 3.2 unit 3, and the seventh input to the fifth input 6.5 unit 6. The first entrance 9.1 unit 9 is connected to the first output 10-1 block 10, the fifth input 10.5 which is connected with the second output 6-2 unit 6, the first input 11.1 of the block 11 and 1 block 14, the second entrance 14.2 of which is connected to the fourth output 10-4 unit 10, and the third input 14.3 - with the second output 15-2 block 15, the first input of which 15.1 is connected with the second output 11-2 block 11 and the second input 15.2 - with the second output 14-2 block 14. The output unit 9 connected to the first input 16.1 block 16. The third exit 10-3 unit 10 connected to the first input 17.1 block 17, the first output 17-1 is connected to the fourth input 18.4 block 18, the first 18.1 and 18.2 second inputs of which are connected to the first outputs 14-1 and 15-1 blocks 14 and 15, respectively, and the third input 18.3 connected to the first output 12-1 block 12. The second input 17.2 block 17 and the first input of 19.1 block 19 of the joint and is connected to the second output 6-2 unit 6. The first output 16-1 block 16 is connected to the third input 20.3 analyzer 20, the second input 20.2 of which is connected to the fourth output 10-4 unit 10, and the first input 20.1 - fifth 10-5 output unit 10, a sixth output 10-6 which is connected with the third input 15.3 unit 15. The second output 20-2 analyzer 20 is connected with the second input 11.2 block 11. The first output 18-1 block 18 is connected to the fifth input 11.5 unit 11, a second input 19.2 block 19, the fourth input 20.4 analyzer 20 and the first input 21.1 unit 21, the first output 21-1 which is connected with the second input 22.2 block 22 and the fifth input 20.5 analyzer 20, the first viho 23, the first entrance 23.1 which is connected with the second output 10-2 block 10. The first output 19-1 block 19 is connected with the fourth input 13.4 switch 13, the first input 22.1 block 22 and the third input 23.3 shaper 23, the fourth input 23.4 which is connected to the first output 22-1 block 22, and the fifth input 23.5 connected with the second output 21.2 block 21. The first output 23-1 shaper 23 is connected to the output device and the first input 3.1 unit 3 and the second output 23-2 - with the fourth input 8.4 unit 8, the sixth entry 10.6 unit 10, the fourth input 11.4 block 11 and third inputs 12.3 and 17.3 blocks 12 and 17 respectively. The third entrance 1.3 unit 1 is connected to the fourth output 20-4 analyzer 20, and the fourth input 1.4 unit 1 is connected to the seventh output 10-7 unit 10. The output of the processor 24 is connected to the second outputs 3-2 unit 3, 4-2 unit 4, 12-2 and 17-2 blocks 12 and 17, 16-2 block 16, 18-2, 19-2 and 22-2 blocks 18, 19 and 22, and third outputs 14-3 and 15-3 blocks 14 and 15, 20-3 analyzer 20, 21-3 - block 21 and 23-3 of the imaging unit 23 and the eighth output 10-8 unit 10 via a bidirectional bus.

The first input 4.1 unit 4 connected to the first input 25.1 selector 25 (see Fig. 9), the first 25-1, second 25-2 and third 25-3 the outputs of which are connected with the first inputs 26.1 first, 27.1 second and 28.1 third solvers 26, 27 and 28, respectively, of the second the 3 inputs of the block 4, respectively. The first outputs of the first 26 26-1, 27-2 27 and the second 28-2 28 third of the computers connected with the first 29.1, second 29.2 and third 29.3 inputs of the transmitter 29, respectively, the first output 29-1 which is the first 4-1 output unit 4. The fourth input 4.4 unit 4 is connected with the second input 25.2 selector 25. The fourth output 25-4 selector 25 and second outputs 26-2, 27-2, 28-2 and 29-2 solvers 26, 27, 28 and 29 of the consolidated and connected to the second output 4-2 unit 4.

The output of the first buffer random access memory (BOSE) 30 unit 10 is connected with the second input 31.2 switch 31 (see Fig.10), the first 31-1 and the second 31-2 the outputs of which are connected with the third 32.3 and sixth 32.6 inputs of the first imaging unit 32, the fourth input 32.4 which is connected with the fourth input 10.4 unit 10. The first output 32-1 driver 32 connected to the first input 33.1 driver 33, the output of which is connected to the first input unit 34 34.1. The fourth input 35.4 block. 35 is connected with the second input 31.2 switch 31 and the second input 35.2 - third 36.3 and second 32.2 input shaper 36 and 32, respectively, and with a second entrance 10.2 block 10. The second input 36.2 shaper 36 is connected to the third input 35.3 block 35, the fifth input 32.5 shaper 32 and the sixth input 10.6 unit 10 and the output to the input of the filter 37, in the which is connected to the first input of 40.1 block 40. The output of the BOSE 41 is connected with the third input 42.3 node 42, a second input 42.2 which is connected to the first input 36.1 shaper 36 and the fifth input 10.5 unit 10, the first input 42.1 connected to the first input 35.1 block 35, the fourth 36.4 and the first 32.1 input shaper 36 and 32, respectively, and to the first input of 10.1 unit 10, and the output node 42 is connected to the input of the BOSE 43, the output of which is connected with the second input 44.2 site. 44, the first input 44.1 which is connected to the seventh input 10.7 block 10, with the inputs of the BOSE 41 and 30, respectively, the fifth input 36.5 shaper 36 and the first input 31.1 switch 31, and the output to the input of the driver 45, the output of which is connected to the input filter 46, the output of which is connected to the input of the driver 47, the output of which is connected to the input of the shaper 48, the output of which is connected to the first input 49.1 block 49, the first output 49-1 which is connected to the fifth input 50.5 analyzer 50, a fourth input 50.4 which is connected to the first output block 40-1 40, the third entrance 50.3 - with the release of the second imaging unit 39, the second input 50.2 - with the first output unit 34-1 34, and the first 50.1 - from his first entrance 34.1. The sixth input.50.6 shaper 50 is connected to the output of the shaper 48, and the first output 50-1 connected to the first input 51.1 unit 51 and the fourth output 10-4 block obrabotats 33, the second output 10-2 - with the first output 51-1 block 51, the third 10-3 output from the second output 51-2 block 51, the sixth output 10-6 - with the third output 35-3 unit 35, and the seventh 10-7 - with the first output 52-1 unit 52, an input connected to the third output 51-3 block 51. The third entrance 10.3 unit 10 is connected with the third input 31.3 switch 31, the seventh sign 32.7 shaper 32, a second input 33.2 driver 33, a second input 34.2 block 34, the fifth input 35.5 block 35, the sixth input 36.6 shaper 36, a second input 40.2 block 40, the fourth input 42.4 node 42, a second input 49.2 block 49, the seventh sign 50.7 driver 50 and a second input 51.2 block 51. The eighth output 10-8 unit 10 is connected with the second 32-2 outputs of the shaper 32, 35-2 block 35, 34-2 block 34, 50-2 shaper 50, 40-2 block 40, 49-2 block 49 and 52-2 block 52 and the fourth output 51-4 unit 51 via a bidirectional bus.

The first input 53.1 switch 53 unit 11 (see Fig.11) is connected with the second input 11.2 block 11, the third entrance 11.3 which is connected with the second input 53.2 switch 53 and to the first input of 54.1 filter 54, the output of which is connected with the third input 53.3 switch 53. The first entrance 11.1 unit 11 connected to the first input 55.1 analyzer 55. The output of switch 53 is connected to the input of the BOSE 56, the output of which is connected with the first input is evil 58, the output of which is connected to the input of the BOSE 59, the output of which is connected to the sixth input 60.6 shaper 60, the output of which is connected to the input node 61, the first output 61-1 which is connected to the first input 62.1 switch 62, a third input 55.3 analyzer 55 and a second output 11-2 block 11, the fourth input 11.4 which is connected with the third input 60.3 shaper 60, a second input 57.2 shaper 57 and a second input 55.2 analyzer 55. The fifth input 11.6 unit 11 is connected with the fourth input 60.4 shaper 60, the sixth input 11.6 - with the third input 57.3 driver 57, and the seventh input 11.7 - with the fifth input 60.5 shaper 60 and the fourth input 57.4 shaper 57. The first input 60.1 shaper 60 is connected to the first input of 55.1 analyzer 55 and the second 60.2 - to the input of the BOSE 56. The first output 62-1 switch 62 is connected to the input of the approximator 63, the first output 63-1 which is connected to the input node 64. Second 62-2 and the third 62-3 outputs of the switch 62 are connected to the inputs of nodes 65 and 66, respectively. The first output node 64, 65 and 66 is combined with the fourth input 55.4 analyzer 55 and is connected with the first output 11-1 block 11. The eighth input 11.8 unit 11 is connected with the second input 54.2 filter 54, the fifth input 55.5 analyzer 55, the seventh sign 60.7 shaper 60 and a second input 62.2 switchboard is 4-2, 65-2 and 66-2 nodes 64, 65 and 66, respectively, through a bidirectional bus.

First 32.1, second 32.2, third 32.3, fourth 32.4 and fifth 32.5 inputs of the driver 32 of the unit 10 is connected with the first 67.1, second 67.2, third 67.3, fourth 67.4 and fifth 67.5 input shaper 67 (see Fig.12), respectively, the first output 67-1 which is connected to the first input 68.1 node 68 whose output is the first output 32-1 shaper 32 of the unit 10, the sixth input 32.6 which is connected with the second input 68.2 node 68, and the seventh input 32.7 - sixth input 67.6 driver 67 and the third input 68.3 node 68. The second output 32-2 shaper 32 unit 10 is connected with the second output 67-2 shaper 67 through a bidirectional bus.

The fifth input 36.5 shaper 36 unit 10 is connected to the input of the BOSE 69 (see Fig.13), the output of which is connected to the fifth input 70.5 shaper 70, the first 70.1, second 70.2, third 70.3 and fourth 70.4 inputs of which are connected with the first 36.1, second 36.2, third 36.3 and fourth 36.4 input shaper 36 unit 10, respectively. The output of the imaging unit 70 is connected with the third input 71.3 node 71, the output of which is connected to the input of the BOSE 72, the output of which is connected with the sixth 70.6 and second 73.2 inputs of the driver 70 and node 73, respectively. First 71.1 71 and the second, Ihad which is the output of the shaper 36 unit 10, the sixth input 36.6 which is connected with the third input 73.3 node 73 and the seventh input 70.7 shaper 70.

To use the invention in the manufacturing device according to the second variant can be performed, for example, as follows.

The first input 75.1 block 75 device signal processing (see Fig.14) connected to the first input unit and the second input 75.2 - with the second input device. The input unit 76 is connected to the third input device. The first output 77-1 unit 77 is connected to a second input 78.2 shaper 78, the first input 78.1 which is connected to the first output 75-1 block 75. The second input 77.2 unit 77 is connected to the sixth input of the device. The shaper's output 78 connected to the first input 79.1 block 79. The second output 75-2 unit 75 is connected to the third input 77.3 block 77, the fourth input 78.4 shaper frame 78, the fifth input 79.5 block 79, a second input 80.2 block 80, the third input 81.3 block 81, the eighth input 82.8 block 82, the fourth input 83.4 block 83, the fifth input 84.5 switch 84, the fourth input 85.4 block 85, the fourth input 86.4 block 86, a second input 87.2 block 87, the fourth input 88.4 block 88, the fifth input 89.5 block 89, the third input 90.3 block 90, the sixth input 91.6 anali connected to the third input 78.3 shaper 78, with the fifth input 81.5 block 81, the first input 82.1 block 82, the first 83.1 and second 88.2 inputs of the blocks 83 and 88, respectively, and to the first input of 90.1 block 90. The fourth input device connected to the first input 84.1 switch 84, and the fifth input to the second input 84.2 switch 84, the first 84-1 and the second 84-2 the outputs of which are connected with the third 79.3 and second 79.2 inputs of block 79, respectively, and also with the first 81.1 and second 81.2 and seventh 82.7 and sixth 82.6 inputs of the blocks 81 and 82, respectively. The output unit 79 is connected to the seventh input 81.7 block 81 and the third input 82.3 block 82. The output unit 80 connected to the first input 87.1 block 87. The first output 82-1 block 82 is connected to a second input 83.2 block 83. The first output 81.1 unit 81 connected to the first input 80.1 block 80. The second output 81-2 unit 81 is connected to the third input 84.3 switch 84, to the first input of 85.1 block 85 and to the first input of 94.1 shaper 94. The third output 81-3 unit 81 connected to the first input 88.1 block 88, the first output 88-1 which is connected with the fourth input 89.4 block 89. The fourth output 81-4 unit 81 is connected to a second input 85.2 block 85 and the second input 91.2 analyzer 91. The fifth output 81-6 unit 81 connected to the first input 91.1 analyzer 91. The sixth output 81-6 unit 81 is connected to the third input 86.3 block 86. The seventh output 81-7 block Ihad 82-2 unit 82 connected to the first input 86.1 block 86. The first outputs 85-1 86-1 and blocks 85 and 86 are connected to first and second inputs of the block 89, respectively. The second output 85-2 unit 85 is connected to a second input 86.2 block 86, the second output 86-2 of which is connected to the third input 85.3 block 85. The first output 87-1 unit 87 is connected to the third input 91.3 analyzer 91. The first output 89-1 unit 89 is connected to the fifth input 82.5 block 82, a second input 90.2 block 90, the fourth input 91.4 analyzer 91 and to the first input of 92.1 block 92, the first output 92-1 which is connected with the second input 93.2 block 93 and the fifth input 91.5 analyzer 91, the first output 91-1 which is connected with the fourth input 81.4 unit 81, a second input 92.2 block 92 and a second input 94.2 shaper 94. The first output 90-1 block 90 is connected to the fourth input 84.4 switch 84, to the first input of 93.1 block 93 and the third input 94.3 shaper 94. The second output 91-2 analyzer 91 is connected with the second input 82.2 block 82. The first output 93-1 unit 93 is connected to the fourth input 94.4 shaper 94. The second output 92-2 block 92 is connected to the fifth input 94.5 shaper 94. The first output 94-1 driver 94 is connected to the output device and to the first input of 77.1 block 77, and the second output 94-2 - with the fourth input 79.4 block 79, the sixth input 81.6 block 81, the fourth input 82.4 block 82 and third inputs of the n with the second outputs 77-2 block 77, 83-2 and 88-2 blocks 83 and 88, 87-2 block 87, 89-2 and 90-2 blocks 89 and 90 and 93-2 block 93, third outputs 85-3 and 86-3 blocks 85 and 86, 91-3 analyzer 91, 92-3 block 92 and 94-3 driver 94 and the eighth output 81-8 unit 81 via a bidirectional bus.

The first 6.1 and 6.2 second input unit 6 of the device determine the coordinates of the objects are connected with the first and second inputs of the first multiplexer (see Fig. 15). 6.3 third and fourth 6.4 unit 6 is connected with the first and second inputs of the second multiplexer. The fifth input 6.5 unit 6 is connected to the third inputs of both multiplexers, the outputs of which are outputs 6-1 and 6-2 unit 6.

First 13.1 and 13.2 second inputs of switch 13 (first version) (as well as the first 84.1 and second 84.2 inputs of the switch 84 in the second embodiment) is connected with the first inputs of the first and second multiplexers (see Fig.16), and the third 13.3 and fourth 13.4 inputs of the switch (and the third 84.3, and the fourth 84.4 inputs in the second embodiment) is connected with the second inputs of both multiplexers. The fifth sign-13.5 switch 13 (or the fifth input 84.5 switch 84) is connected to third inputs of both multiplexers, the outputs of which are first and second outputs 13-1 and 13-2, respectively, of the switch 13 (or the first and second outputs 84-1 and 84-2 southwedge first 81.1, second 81.2 and third 81.3 inputs of the switch unit 81 in the second embodiment of the inventive device) connected with the first, second and third inputs of the multiplexer, respectively. The first and second outputs of the multiplexer are the first 31-1 and the second 31-2 outputs of the switch 31, respectively (or the first 81-1 and the second 81-2 outputs of the switch 81, respectively).

First 53.1, second 53.2 and third 53.3 inputs of switch 53 (see Fig.18) unit 11 (and also the first 82.1, second 82.2 and third 82.3 inputs of the switch 82 in the second embodiment of the inventive device) connected with the first, second and third inputs of the multiplexer, respectively. The output of the multiplexer is the output of the switch 53 (or switch 82).

To carry out the invention in the first embodiment, the processing device signals to determine the coordinates of the objects observed in the sequence of video images may contain, for example, block 1 (see Fig. 8) intended for receiving and storing signals of the current field of the television image from a video camera surveillance system, taken at the first sign 8.1, receiving the external signal START/STOP button to be taken to the second input of 8.2, reception of a signal of failure of the automatic determination of the coordinates is anizatio operation of the device, unit 2, used for receiving and storing code signals (e.g., digital) angular velocity unmanaged move and roll axis of the field of view of video camera surveillance system, take the block input from the third input device and broadcast from the outputs of the buffer register to the output block, block 3, intended to define the managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, caused by the action on video surveillance control signals to move its field of view, and the code values of the control signals XPANEL[n], YPANEL[n] will be accepted at the first input 3.1 unit of the imaging unit 23, the code values of the angular position of the remote control are received on the second input 3.2 block from the sixth input device, the signals of the KLA, HR clock (XI) (defining the beginning of the calculations in the current fields of television images (PTI), word by word clock pulses synchronizing the video data of TSI (synchronizes the unit) are accepted at the third entrance 3.3 block from the block 1 bus synchronization (SHS); block 4, intended for forming the signal is x images determine the displacement signals of television images 2N landmarks and calculate their parameters shift and rotation signals of the current n-th field of the television image relative to the (n-1)-th field of the television image, block 5, designed for the separation obtained on the basis of an assessment of measures of dissimilarity television images 2N landmarks of the shift parameters of signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, block 6, designed for signal controlled movement of the axis of the field of view of video camera surveillance systems and signals unmanaged move and roll the field of view of video camera surveillance system on blocks devices directly from block 3 and block 2, respectively, or from the block 5, the imaging unit 7, which is designed for generating signals of a television image of the current n-th frame of the television image signals of the previous frame taking into account a managed PE the television image signal and the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, block 8, for building and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, block 9, intended for the formation of M window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in M boxes, analysis, background, block 10, designed to determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, block 11, designed to determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, block 12, designed to determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object meant for electronic switching units unit code source (derived from the observation system) or current (obtained as a result of processing television images in the current analysis window sizes of the object and the coordinates of the object in the field of view of video camera surveillance system, unit 14 is designed to determine the coefficients of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, block 15, designed to determine the coefficients of reliability of the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, block 16, which is designed for determining the size and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background obtained by the projection of the binary signals of the television image histogram classifier in M boxes, analysis, background, block 17, designed to determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, block 18, intended for the formation of a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system of the data assessment of the current moving velocity of the television image of the object obtained based on the signal conditioning measures of nes by generalized projections signals of the generalized binary television image of the object, considering the coefficients of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering object, block 19, intended for the formation of a complex estimation of a television image coordinates of the object in the field of view of video camera surveillance by integrating the difference of the comprehensive assessment of the current velocity of the object image and the speed of the controlled movement of the axis of the field of view of video camera surveillance system in the inertial coordinate system using the initial coordinates of the television image of the object in the field of view of the camera received from the monitoring system at the beginning of the tracking object, the analyzer 20, which is designed for the analysis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background and development on the basis of this analysis, the signal transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system with ispolenenie (low pass filter) a comprehensive assessment of the current moving velocity of the television image of the object and storing values averaged (filtered) speed unit 22, designed to determine the projected coordinates and velocity of the moving television image of the object in the next frame and the restoration of the true speed of the television image of the object based on the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object when the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates, the imaging unit 23, designed to generate control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object and a processor 24 that is designed for processing local data transmitted on the shared bi-directional bus (including virtual implemented parallel branches of the algorithm) that does not require streaming large amounts of data.

Mnogo image signals video images of the three pairs of landmarks, the transmitter 26. designed for signal conditioning measures of disparity video images of the first pair of landmarks from the television signals of the first pair of images of the landmarks of the current field of the television image signal and the television images of the respective first pair of landmarks in the previous field of the television image and identify with their help offset images

the first pair of landmarks during the time between the reception signals of the current and previous fields of television images, the transmitter 27, which is designed for generating signals measures the disparity video images of the second pair of landmarks from the signals of television images of the second pair of landmarks of the current field of the television image signal and the television images of the respective second pair of landmarks in the previous field of the television image and identify with their help offset images of the second pair of landmarks during the time between the reception signals of the current and previous fields of television images, the transmitter 28, designed for signal conditioning measures the dissimilarity of televicentro location of the current field of the television image signal and the television images of the respective third pair of landmarks in the previous field of the television image and identify with their help offset images of the third pair of landmarks during the time between the reception signals of the current and previous fields of television images the transmitter 29, designed to determine, using the displacement coordinate signals of the television images of three pairs of landmarks parameters shift and rotation signals of the current field of the television image relative to the previous field of the television image.

Moreover, in this example implementation, the devices for easy review made a number N=3 is used pairs of landmarks.

The unit 10 includes, for example, (see Fig.10) the first buffer random access memory (BOSE) 30 that is designed to remember the scaled signals of the television image in the current analysis window, the switch 31, which is designed for electronic commutation on the shaper 32 scaled signals of the television image in the current analysis window directly from unit 8 (see Fig.8) or after buffering in the BOSE 30, the imaging unit 32 is designed to generate binary signals of the television image histogram classifier in the current analysis window, the driver 33, intended for the formation of horizontal and vertical projections of the binary signals of the television image histogram classifier, the motions of histogram classifier, unit 35, designed to determine the relationship object/background Q, and the minimum value ofFMP(n) RMS value of the signals of the television image background in M boxes analysis background,

< / BR>
the average value of the signals of the television image in the window object,

the average value of the signals of the television image in the window background,

f- the standard deviation of the signals of the television image in the window background from

shaper 36, designed to generate primary signals binary television image detector changes the background through education differential television image detector changes the background subtraction of the signals scaled image in the current analysis window of the television image signals of the reference background and comparison of the received differential signals of the television image detector changes the background threshold, the filter 37, which is designed for low-pass spatial filtering of the signals of the primary binary television image detector changes the background shaper 38, designed for signal conditioning of the secondary binary television shows the x projections of the signals of the secondary binary television image detector changes the background unit 40, designed to determine the reliability coefficients of the signals of the secondary binary video images of the detector changes the background, the second the BOSE 41 that is designed to remember the scaled signals of the television image in the current analysis window, the node 42, designed to bring to the current scale in the analysis window of the scaled signals of the television image and shift them to the amount of movement of the axis of the field of view of video camera surveillance system, BOSE 43 intended for memorization is given to the current scale in the analysis window and shifted by the amount of movement of the axis of the field of view of the video surveillance system of scaled signals of the television image, the node 44, designed to generate differential signals of the television image selector moving objects, the imaging unit 45 that is designed for generating signals of the primary binary television image selector moving objects, a filter 46, which is designed for low-pass spatial filtering of the signals of the primary binary television image selector moving objects, shaper 47, designed for forwater 48, designed for the formation of horizontal and vertical projections of the signals of the secondary binary video images of the selector moving objects, block 49, designed to determine the reliability coefficients of the signals of the secondary binary video images of the selector moving objects, the imaging unit 50, intended for the formation of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, block 51, designed to determine the coordinates and sizes, of the current and averaged area of the generalized binary television image of the object in the analysis window, and block 52, intended to analyze the conditions of failure of the automatic determination of the coordinates of the television image of the object and the formation of characteristic WG-AOK- stop automatic determination of the coordinates of the object.

The unit 11 includes, for example, (see Fig.11) switch 53, which is designed for electronic commutation of the blocks of the device of the scaled signals of the television image in the current analysis window directly from unit 8 (see Fig.8) or passed through a nonlinear high-pass filter 54, the analyzer 55, the imaging object image, obtained using static and dynamic reference images of the object or only a static reference of the television image of the object and generate a signal update static reference of the television image of the object, BOSE 56 that is designed to remember the scaled signals of the television image in the current analysis window, the imaging unit 57, which is designed for generating signals static and dynamic reference images of an object or signals only static reference of the television image of the object, the node 58 that is designed to bring the signals of static and dynamic reference images of an object or signals only static reference of the television image of the object to the current scale, BOSE 59, designed to bring the signals of static and dynamic reference images of an object or signals only static reference of the television image of the object to the current scale, the shaper 60, designed to bring the signals of static and dynamic reference images of an object or signals only static reference television image is odstv television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the formation and the type of sequences, the minimum values of the signals measures the dissimilarity of the images along the rows and along the columns of the two-dimensional search area of the displacements of television images of the object, the switch 62, intended for switching of data sequences, the minimum values of the signals measures the dissimilarity of television images on the entrance of one of the three nodes 64, 65 or 66, the approximator 63 intended for analytical approximation sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the node 64, designed to determine the coordinates of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial of the fourth degree sequence data minimum values of the signals measures the dissimilarity of television images node 65, which is designed to determine the coordinates of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window, the node 66, designed to determine the coordinates of the television image of the object on which it for example, the shaper 67, intended for the formation of the normalized histograms of the brightness of the television image of the object and background, and the node 68 (histogram classifier) that is designed for the classification of elements of the television image in the current window analysis on the elements of the object and the background based on the comparison of the normalized histograms of the brightness of the television image of the object and the background with the formation of binary television image histogram classifier.

The imaging unit 36 (see Fig.13) block 10 (see Fig.8) contains, for example, the BOSE 69 designed for storing signals scaled television image in the current analysis window, the imaging unit 70, designed for generating signals of the television image of the reference background, the node 71, designed to bring the signals of the television image of the reference background, obtained in the previous n-1 frame to the current scale and shift, taking into account the displacement of the center of the analysis window in the inertial coordinate system for the last frame, BOSE 72, designed for storing signals of the television image of the reference background, obtained in the previous n-1 kudretine coordinates for the last frame, node 73, intended for the education of the differential signals of the television image detector changes the background subtraction of the signals scaled image in the current analysis window of the television image signals of the reference background, and node 74, designed to determine threshold THRESHOLDTHE WPPT(IX, jy) binarization of the detector changes the background as a value proportional to the local scattering parameter values differential television image detector changes the background in the vicinity of the point with coordinates (ix,jy and formation of the primary binary image L1BINTHE WPPT(IX,jy) of the detector changes the background in accordance with rule:

L1BINTHE WPPT(ix,jy)=1, if |LpTHE WPPT(ix,jy)|THRESHOLDTHE WPPT(ix,jy),

or

L1binthe WPPT(IX,jy)=0 if |LpTHE WPPT(ix,jy)|<THRESHOLD(ix,jy).

For carrying out the invention according to the second variant of the device of the signal processing may include, for example, block 75 (see Fig.14) intended for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, block 76, prednaznachalisy, block 77, intended to define the managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, caused by the action on video surveillance control signals to move its field of view, driver 78, intended for generating signals of a television image of the current n-th frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between the reception of signals (n-1)-th and (n-2)th fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, block 79, intended for the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the block 80, intended for the formation of M window analysis of the background around the perimeter of arnora in M boxes analysis background block 81, designed to determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the block 82 that is designed to determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, block 83, designed to determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the switch 84, designed for electronic commutation units unit code source (derived from the observation system) or current (obtained as a result of processing television images in the current analysis window sizes of the object and the coordinates of the object in the field of view of video camera surveillance system, block 85, designed to determine the coefficients of reliability of the current moving velocity of the generalized binary television dostovernosti current speed of movement of the television image of the object in the inertial coordinate system, obtained on the basis of a signal measures the dissimilarity of television images, block 87, which is designed for determining the size and coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background obtained by the projection of the binary signals of the television image histogram classifier in M boxes, analysis, background, block 88, designed to determine the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, block 89 which to build a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system of the data assessment of the current moving velocity of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images and assessment of the current moving velocity of the television image of the object by generalized projections signals of the generalized binary television image of the object, taking into account factors of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering is bhakta in the field of view of video camera surveillance by integrating the difference of the comprehensive assessment of the current velocity of the object image and the speed of the controlled movement of the axis of the field of view of video camera surveillance system in the inertial coordinate system using the initial coordinates of the television image of the object in the field of view cameras, received from the monitoring system at the beginning of the tracking object, the analyzer 91, intended for the analysis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in M boxes analysis of the background and development on the basis of this analysis, the signal transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system by using projected coordinates of the television image of the object, block 92, intended for averaging (low-pass filtering) a comprehensive assessment of the current moving velocity of the television image of the object and storing values averaged (filtered) speed, block 93, designed to determine the projected coordinates and velocity of the moving television image of the object in the next frame and the restoration of the true speed of the television image of the object based on the analysis of the stored values of the averaged complex estimate of the speed of moving the TV out is istemi observations extrapolated coordinates, driver 94, which is designed to generate control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, and the processor 95, designed for processing local data transmitted on the shared bi-directional bus (including virtual implemented parallel branches of the algorithm) that does not require streaming large amounts of data.

Block 81 may be implemented as block 10 according to the scheme depicted in Fig.10.

Unit 82 may be implemented according to the scheme given in Fig.11, i.e. in the same way as the block 11.

An example implementation of the first inventive variations of the device can lead to cases of execution, in which:

function stream processing and control logic are implemented as a programmable logic integrated circuits (FPGA) chips, for example, type EPF10K130E... Altera Co. (USA);

data) are implemented in the shared processor on the chip, for example, type TMS320C80... company Texas Instruments Inc. (USA) used the corresponding blocks of the device separation time in total bi-directional bus (OSH) (including virtual when implementing the respective parallel branches of the algorithm);

small arrays of processed data (variables) are stored in the internal RAM of the FPGA and processor 24;

- permanent settings, streaming and management are stored in the internal registers and RAM FPGA (loaded together with the loading configurations of the FPGA at power-up from the boot ROM implemented on the chip, for example, type EPCLI20) Altera Co. (USA);

- large amounts of data to be processed are stored in stand-alone (external to the FPGA) RAM implemented in standard integrated circuits, for example, type IDT71V424... company Integrated Device Technology (USA);

program (subprogram) and parameters of CPU processing is stored in the external RAM of the processor implemented on a chip, for example, type MT48LC1M16. . . Micron Technology Inc. (USA) (loaded by the processor at power-up boot from FLASH ROM, which is implemented on the chip, for example, type AM29LV017...) Advanced Micro Devices Inc. (USA).

The block 1 may be implemented, for example, on the basis of ESignal), received at the first input of 1.1 unit 1 (see Fig.8.1), to the input of an Autonomous RAM (channel records);

- communication channel standalone RAM on the video data with the first output 1-1 unit 1 (read channel);

addressing the write channel for receiving offline RAM video data of the current field of the television image (PTI));

addressing channel read by the issuance of an Autonomous RAM video previous PETIT;

- selection of the digital composite video signals videosynchnization: HR clock (XI), lowercase sync (FID), word by word clock pulses synchronizing the video data (TSI) for use in other functions of the unit 1 and the functions of other blocks of the device is translated as an integral part of bus synchronization (SHS) to the second output 1-2 block 1;

- signal generation mode automatic determination of coordinates (AOK: AOK= 1 - start mode, the KLA= 0 - termination) based on an external signal START/STOP (see steps 108/110 Fig.19), adopted at the second input of 1.2 unit 1 and the signal failure of the KLA (step 143 in Fig.19), arriving at the third entrance 1.3 unit 1 of the imaging unit 50 (see Fig.10.2), for use in other functions of the unit 1 and the functions of other blocks of the device is transmitted as soranno the current number of PTI from the beginning AOK) - broadcast as part SHS on the second output 1-2 unit 1.

The unit 2 may be implemented, for example, as a function of the FPGA buffering (in the internal registers of the FPGA) code of signals (e.g., digital) the angular velocity of the axis of the field of view of the video surveillance taken at the input unit 2 to the third input of the and their broadcast with the outputs of the buffer register to the output unit 2.

Unit 3 can be implemented, for example, the following functions FPGA:

call the subroutine implementing the expressions (39) in the processor 24 through the issuance of the corresponding interrupt in a common bus to a second output 3-2 unit 3, provided AOK=1, otherwise:

- assign the displacements dx and dy code values calculated (step 99 of the algorithm in Fig. 19) according to the code values of the angular position of remote control, adopted at the second input of 3.2 unit 3 (step 98 of the algorithm in Fig.19);

when you do this:

- code values of the control signals XPANEL[n], YPANEL[n] are taken from the first input 3.1 unit 3 from the imaging unit 23 and buffered in the internal registers of the FPGA, the software is available to the processor 24 to OSH connected to the second output 3-2 unit 3, in the read mode;

signals AOK, XI (identify the ode 3.3 unit 3 from unit 1;

- implementation routine expressions (39) and the values of the pulse characteristics hx[i] , hy[i] stored in RAM, processor 24; the resulting values dx[n] and dy[n] is buffered in the internal registers of the FPGA, the software is available to the processor 24 for OSH in the recording mode, and issued (with the outputs of the buffer register) to the first output 3-1 unit 3, etc.

Fully working first declare a variant of the device, which is implemented for conditions where there are low-frequency unmanaged move the field of view of the video camera surveillance (which lead to displacements and rotations of all elements of the field of the television image as a whole), as well as the possible lack of a monitoring system sensors errors stabilization of the field of view of video camera surveillance system, illustrated by the flowchart of the algorithm of Fig.19.

The second inventive variations of the device, which is implemented for conditions where broadband unmanaged move the field of view of the video camera surveillance ("jitter" of the field of view of video camera surveillance system) at the greater dynamics of motion of the object is illustrated by the flowchart of the algorithm of Fig.20.

1. The method of processing signee is that accept and memorize the signals of the current field of the television image, which are selected from the signals of the current field of the television image signals of television images 2N landmarks, and N= 3, 4, 5, . . . , form signals measures the dissimilarity of television images 2N landmarks of the signals of television images 2N landmarks of the current field of the television image signal and the television images of the respective 2N landmarks in the previous field of the television image and identify with their help offset the television images 2N landmarks during the time between reception signals of the previous and current fields of television images, determined using the displacement signals of television images 2N landmarks parameters shift and rotation signals of the current field of the television image at the time between reception signals of the previous and current fields of television images, characterized in that that controlled the movement axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, caused by the action on video fields of the television image, determine the speed of the controlled movement of the axis of the field of view of video camera surveillance system data from a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, simultaneously with the reception of signals of the current field of the television image receive and store signals unmanaged move and roll the field of view of video camera surveillance systems and use them for generating signals projected coordinate television images 2N landmarks in the current field of the television image, divide the received signal-based measures of dissimilarity television images 2N landmarks parameters shift signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, forming a television image signals of the current frame of the television image signals of the previous frame with account managed bergenia and signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, form and scale of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image obtained by processing the television image in the previous frame or extrapolated using the coordinates and the speed of movement of the television image of the object, with the initial conditions of the signals of location and dimensions of the current analysis window of the television image, formed in the beginning of the tracking object based on an external signal START/STOP, remember the scaled signals of the television image in the current analysis window, form the differential signals of the television image selector moving objects by subtraction of the scaled signals of the television image in the current analysis window of the scaled signals of the television image, the previously saved and shown to the current scale of the television image in the analysis window and shifted by the amount of movement of the axis of the field of view of video camera surveillance system, form Sogo television image selector moving objects, form the secondary signals binary television image selector moving objects from the binary signals of primary television image selector moving objects, past low-pass filtering, while storing the scaled signals of the television image in the current analysis window, formation of differential signals of the television image selector moving objects and formation of signals of the primary and secondary binary video images of the selector moving objects from the scaled signals of the television image in the current analysis window and taking into account the signals of the controlled movement of the axis of the field of view of video camera surveillance systems form the primary signals binary television image detector changes the background and the binary signals of the television image histogram classifier in the current analysis window, from the signals of the primary binary television image detector changes the background, past low-pass filtering, generate secondary signals binary television image detector changes the background form the horizontal and vertical proekti the th background and the horizontal and vertical projection of the binary signals of the television image histogram classifier, determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background and selector moving objects, and binary signals of the television image histogram classifier, form the generalized horizontal and vertical projections of the generalized signals binary television image of the object from the horizontal and vertical projections of the signals of the secondary binary video images of the selector moving objects and detector changes the background, as well as from horizontal and vertical projections of the binary signals of the television image histogram classifier on the basis of their joint processing using coefficients of reliability of the signals of the binary video images of the histogram classifier, the signals of the secondary binary video images of the detector changes the background and selector moving objects, determine the horizontal and vertical boundaries, and the size of the television image object levels cut left and right, above and below the specified percent of the area of the generalized horizontal and vertical projections of the generalized signals binary t the traditional image of the object, inside formed the boundaries of the television image of the object, determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, determine the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, determine the coefficient of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, simultaneously with the formation of signals of the primary and secondary binary video images of the selector moving objects and detector changes the background, binary television image histogram classifier, as well as the generalized horizontal and vertical projections of the generalized signals binary television image of the object determines the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images in the nonlinear high-frequency signal filtering masstube square of the generalized binary television image of the object threshold value, storing the received signals, signal conditioning television static reference image of the object or signals static and dynamic reference video images of the object, bring the static reference signals of the television image of an object or signal static and dynamic reference video images of the object to the current scale, the formation and storage of the signals measures the dissimilarity between the signals of the television image after non-linear high-frequency filtering of the scaled signals of the television image in the current analysis window and signals static or dynamic and static reference video images of the object in a two-dimensional search area of the displacements of television images of the object, determine the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, sequencing the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object type sequence minimum values of the signals measures the dissimilarity of television images for this position, namely, by means of analytical approximations sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree and determine the coordinates of the television image of the object as the position of the minimum of the approximating polynomial, provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences to the two boundaries of the areas of rapid growth of signal values of the measures of dissimilarity TV picture about the position of its minimum, or by determining the displacement of the border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the formation position of the object in the analysis window as value, proportional to the received offset border region of rapid growth of signal values of the measures of dissimilarity television images provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum and the presence of one area of rapid growth of signal values of the measures of dissimilarity television is a subject of allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum values of the signals measures the dissimilarity of television images across the field of search displacements of television images of the object, determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, determine a confidence factor for the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, form a comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system of the data assessment of the current moving velocity of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images and assessment of the current speed of the object generalized projections signals of the generalized binary television image of the object, considering the coefficients of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering object, average signals a comprehensive assessment of the speed of movement of the television image of the object in the Le of view of the video surveillance system by integrating the difference between comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system and the speed of the controlled movement of the axis of the field of view of video camera surveillance system in the inertial coordinate system with the initial conditions of position and velocity of the moving television image of the object, formed in the beginning of the tracking object based on an external signal START/STOP simultaneously with the formation of signals of the primary and secondary binary video images of the selector moving objects and detector changes the background, binary television image histogram classifier, the generalized horizontal and vertical projections of the generalized signals binary television image object shape analysis window background around the perimeter of the analysis window and define the projection of the binary signals of the television image histogram classifier in the Windows analysis background, define the size and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background obtained by the projection of the binary signals of the television image histogram classifier in the Windows analysis background generate control signals to move the axis of the field of view of video camera surveillance system, using the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, or using the extrapolated coordinates and DNEVNOY square of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background, and extrapolated the speed of movement of the television image of the object formed on the basis of the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, form signals the position and size of current window analysis of the television image to the next frame using the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, or using the extrapolated coordinates and the speed of movement of the television image of the object with the initial conditions, formed in the beginning of the tracking object based on an external signal START/STOP button.

2. The method according to p. 1, characterized in that the controlled displacement dx[n] and dy[n] axis of the field of view of the camera horizontally and vertically, respectively, is determined by calculating the convolution of the control signals Xpanel[i] , Ypanel[i] move field Ho is e n - the number of the current frame;

i is the element number of the impulse response;

To the length of the impulse response.

3. The method according to p. 1, characterized in that the formation of the signals LFRAME(ix, jy) of the television image of the current frame with interlaced scanning signal LP-FRAME(i, p, npk) of the current frame of the television image and the television image L-1-UP(ix, jy) of the previous frame is performed by the prediction signal LFRAME(IX, j television image of the current frame by using the displacement of the television image L-1-UP(ix, jy) of the previous frame on the value of a managed move dx, dy axis of the field of view of video camera surveillance system horizontally and vertically, respectively, during the time between the receipt of the fields of the television image

LFRAME(ix, jy)= L-1-UP(ix+dx, jy+dy),

and displacement of points of the television image of the current frame points of the television image of the current frame of the compensation current unmanaged displacements rx, ryand roll of the field of view of video camera surveillance system

LFRAME[ix(i, p, npk), jy(i, p, npk)] = LP-FRAME(i, p, npk),

where i is the element number in the string televisioncameo frame,

ix= 1, . . . , PC;

R - the row number in the field,

jy - the line number in the frame, jy= 1, . . . , MK;

PC is the number of elements of the television image in the row;

MK is the number of rows in the frame of the television image;

npk - the index of the current field:

npk= 1 in odd fields,

npk= 0 in the even-numbered fields,

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< / BR>
4. The method according to p. 1, characterized in that the signals LBINTHE WPPT(ix, jy) primary binary television image detector changes the background is formed by bringing the signals Ln-1eff(ix, jy) of the television image of the reference background, obtained in the previous n-1 frame to the current scale formation signals LPTHE WPPT(ix, jy) differential television image detector changes the background subtraction of the signals LnOA(ix, jy) scaled image in the current analysis window signals Ln-1eff(ix, jy) of the television image of the reference background of the previous frame shift, take into account moving Vx, Vy center of the analysis window in the inertial coordinate system for the last frame:

LGIF(ix, jy)= LnOA(ix, jy)-Ln-1eff(ix+Vx, jy+Vy),

the thresholding binarization THRESHOLDTHE WPPT(IX, j) detectors television image LGIF(IX, j) detector changes the background in the vicinity of the point with coordinates (ix, jy, an assignment of values to the primary binary television image LBINTHE WPPT(ix, j) detector changes the background

or

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moreover, the signals Lneff(IX, jy) of the television image of the reference background is formed by the separation of the scaled signals of the television image in the current analysis window on the television image signals of three types: signals of the television image in the window object - OOTHE WPPTthe signals of television images in the background OF theTHE WPPTthe signals of the television image in the window - New background - NF, where as signals of the television image in the window object detect signals of the television image in the rectangle located in the center of the current analysis window and include mostly elements of the television image of the object, as signals of the television image window "New background" define the image elements on the external borders of the current analysis window, which due to the motion of the object and moving the axis of the field of view of video camera surveillance system, new items subrevision image analysis window memory window "New background" signals LnOA(ix, jy) from the current analysis window scaled television image current of the n-th frame:

Lneff(ix, jy)= LnOA(ix, jy), ix, jy,

where LnOA(ix, jy) - values of the luminance signal element scaled television image in the analysis window with coordinates (ix, jy,

the averaging window background signals scaled television image LnOA(ix, jy) from the current analysis window with a constant W and to account for the shift in the analysis window in the inertial coordinate system for the last frame:

Lneff(IX, j)= (1-W)*Ln-1eff(IX+Vx, jy+Vy)+Wo*LnOA(ix, jy)ix, UOFTHE WPPT,

where Vx, Vy is the displacement of the center of the analysis window for the last frame horizontally and vertically, respectively, in the inertial coordinate system,

overwrite window object signals of the television image of the reference background of the previous frame shift, taking into account the displacement of the center of the analysis window for the last frame:

Lneff(ix, jy)= Ln-1eff(IX+Vx, jy+Vy), ix, uooTHE WPPT.

5. The method according to p. 4, characterized in that the low-pass filtering of the signals of the primary binary television image L1-BINTHE WPPT(ix, jy) detector MEAs what about the filter horizontally and vertically, respectively;

hLF[di, dj] is the impulse response low-pass filter.

6. The method according to p. 1 wherein the low-pass filtering of the signals of the primary binary television image LBINLMS(ix, jy) of the selector moving objects is performed using a two-dimensional convolution

< / BR>
where NF, MF - settings-aperture low-pass filter horizontally and vertically, respectively;

hLF[di, dj] impulse response low-pass filter.

7. The method according to p. 5, characterized in that the signals L2BINTHE WPPT(ix, jy) secondary binary television image detector changes the background form of the signals low-pass filter S_ filTHE WPPT(ix, jy) in accordance with rule:

L2BIN(ix, jy)= 1, if S_ filTHE WPPT(IX, j)>RogotTHE WPPT1 and LBINTHE WPPT(ix, jy)= 1

or S_ filTHE WPPT(IX, j)>RogotTHE WPPT0 and LBINTHE WPPT(ix, jy)= 0,

otherwise, L2BIN(ix, jy)= 0,

where PorogTHE WPPT1, PorogTHE WPPT0 - values of the threshold decision unit and zero elements of the primary binary television image detector changes the background, respectively.

8. The method according to p. 6, from Chora moving objects are formed from signals S_ filLMS(ix, jy) low-pass filter in accordance with rule:

LBINLMS(IX, j)= 1, if S_ filLMS(ix, jy)>PorogLMS1 and LBINLMS(ix, jy)= 1

or S_ filLMS(ix, jy)>PorogLMS0 and LBINLMS(ix, jy)= 0,

otherwise, LBINLMS(ix, jy)= 0,

where RogadLMS1, PorogLMS0 - values of the threshold decision unit and zero elements of the primary binary television image selector moving objects, respectively.

9. The method according to p. 8, characterized in that the horizontal and vertical projection of GCRLMS(ix), VCRLMS(jy) signals of the secondary binary television image LBINLMS(IX, j) selector moving objects is determined in accordance with

< / BR>
for ix= 1, . . . , Nwin,

< / BR>
for j= 1, . . . , Mwin,

where Nwin and Mwin - dimensions of the secondary binary television image selector moving objects horizontally and vertically, respectively.

10. The method according to p. 7, characterized in that the horizontal and vertical projection of GCRTHE WPPT(IX) VCRTHE WPPT(jy) signals of the secondary binary television image LBINTHE WPPT
where Nwin and Mwin - dimensions of the secondary binary television image detector changes the background horizontally and vertically, respectively.

11. The method according to p. 1 and p. 4, characterized in that the horizontal and vertical projection of GCRCC(ix), VPLC(j), the binary signals of the television image LBINCC(IX, j) histogram classifier is determined in accordance with

< / BR>
for ix= 1, . . . , Nwin,

< / BR>
for j= 1, . . . , Mwin,

where Nwin and win - size binary television image histogram classifier horizontally and vertically, respectively.

12. The method according to p. 1, characterized in that the coefficients of reliability of WTHE WPPT, WLMS, WCCdefined as the product of the input functions of the initial conditions on the normalized average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively

< / BR>
< / BR>
< / BR>
moreover, the average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier receives the minimum and the VTHE WPPT(n), VLMS(n), VCC(n) the corresponding binary television images

where

< / BR>
< / BR>
< / BR>
SODIF(n), STHE FOR(n), SOGK(n) - current square binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively, within the boundaries of the television image of the object;

SOO(n) is the current area within the boundaries of the television image of the object;

FNUDIT(n), FNUDO(n), FNUGC(n) is the input function of the initial conditions of the detector changes the background of the selector moving objects and histogram classifier;

n - the number of the current frame.

13. The method according to PP. 9 10 11 and 12, characterized in that the generalized horizontal and vertical projections of GCRABOUT(ix, n), VCRABOUT(jy, n) signals of the generalized binary television image of the object form a weighted sum of the projections of the binary video images of the detector changes the background of the selector moving objects and histogram classifier

Gabout(ix, n)= WTHE WPPT(n)*GPDIF(ix)+WLMS(n)*GCRLMS(ix)+WCC(n)*GCRCC(IX)

V<>CC(j),

where n is the number of the current frame.

14. The method according to p. 13, characterized in that the current coordinates XAUBIN, YAUBINgeneralized binary television image of an object is defined as the weighted sum of the coordinates of the center of gravity XIT, YITand XOLD, YOLDthe median of the square of the generalized binary television image of the object

XAUBIN(n)= WCT(n)*XIT+[1-WCT(n)] *XOLD,

YAUBIN(n)= WCT(n)*YIT+[1-WCT(n)] *YOLD,

moreover, the weighting factor WCT(n) the coordinates of the center of gravity of the generalized binary television image of the object increases by reducing the average deviation of the coordinates of the television image of the object from their predicted values.

15. The method according to p. 1, characterized in that the current horizontal VGOBBINand vertical VVOBBINcomponents of the evaluation speed of the generalized binary television image of the object in the inertial coordinate system is determined in accordance with expressions

VGOBBIN= (dX+XOA+XOBAIN)/T,

VVOBBIN= (dY+YOA+YOBAIN
XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XOBAIN, YOBAIN- change the coordinates of the generalized binary television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively.

16. The method according to p. 1, characterized in that the signal dynamic reference of the television image of the object formed by reading in each frame of signals from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ-XOAPZ,

YCFL= YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system.

17. Pic is by reading and memorizing signals of the television image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ-XOAPZ,

YCFL= YABOUTPZ-YOAP3,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system;

when conditions change static reference of the television image of the object formed by the comparison of signal parameters dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and signals static and dynamic reference video images of the object, and comparing the parameters of the trajectories of the television image of the object obtained by the use of signals from static and dynamic reference video images of the object.

18. The method according to p. 1, characterized in that the signals of the static reference televideniya from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ-XOAP3,

YCFL= YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system;

when conditions change static reference of the television image of the object formed on the basis of the analysis of parameters of signals of dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and the static reference signals of the television image of the object, as well as the parameters of the trajectory of the television image of the object obtained based on the signal analysis measures the dissimilarity of television images.

19. The method according to p. 1, characterized in that the current horizontal VGOBSHand vertical VVOBSHcomponents of assessment prioritization of a signal measures the dissimilarity of television images determined in accordance with expressions

VGOBSH= (dX+XOA+XOBOENSH)/T,

VVOBSH= (dY+YOA+YOBOENSH)/T,

where dX, dY is the displacement axis of the field of view of video camera surveillance system at the time T between receiving the current and previous fields of the television image horizontally and vertically, respectively;

XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XABOUNCH, YABOUNCH- change the coordinates of the television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, obtained on the basis of a signal measures the dissimilarity of television images.

20. The method according to p. 1, wherein the confidence factor WBIN(n) the current speed of movement of the generalized binary television image object get by determining the current density

< / BR>
generalized binary television image, minimum and maximum values of current density VBIN(n) the generalized binary body is the first image of the recursive filter of the first order, rationing average density of the generalized binary television image of the object

< / BR>
where SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of the object;

SOO(n) is the current area within the boundaries of the generalized binary television image of the object;

n - the number of the current frame;

- average coefficient of similarity obtained by determining the current similarity factor

< / BR>
limiting its maximum and minimum values, and averaging the recursive filter of the first order;

fmin(n) is the minimum value of the RMS value of the signals of the television image of the background in the Windows analysis background;

EHCXmin(n) is the minimum value of the signal measures the dissimilarity of the television image in the current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object.

21. The method according to p. 18, characterized in that the coefficient of WCX(n) the current speed of movement of the television image of the object, poloxalene current similarity factor

< / BR>
limiting its maximum and minimum values, and averaging the recursive filter of the first order, regulation obtained average similarity factor

< / BR>
where n is the number of the current frame;

min(n) is the minimum value of the RMS value of the signals of the television image of the background in the Windows analysis background;

EHCXmin(n) is the minimum value of the signal measures the dissimilarity of the television image current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object;

- the average density of the generalized binary television image of the object obtained from the current density

< / BR>
generalized binary television image of the object, the minimum and maximum values of current density VBIN(n) the generalized binary television image of the object, and then averaging the recursive filter of the first order limited current density VBIN(n) the generalized binary television image of the object;

SAUBIN(n) is the current size of the generalized binary ones>O
(n) is the current area within the boundaries of the generalized binary television image of the object.

22. The method according to p. 1, characterized in that a comprehensive assessment of horizontal VGABOUT(n) and the vertical VVABOUT(n) components of the current velocity of the moving television image of the object in the inertial coordinate system determined by limiting the rate of movement of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, the minimum and maximum values generated with regard to the previous values of the comprehensive assessment of the current moving velocity of the television image of the object and forming a weighted sum of the limited estimates the moving speed of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images

VGABOUT(n)= WBIN(n)*VGOBBIN(n)+WSH(n)*VGABOUTNSH(n),

VVABOUT(n)= WBIN(n)*VVOBBIN(n)+WSH(n)*VVABOUTNSHthe binary television image of the object and the current speed of movement of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images, respectively;

VGOBBIN(n) and VOBBIN(n) - limited horizontal and vertical components of the current velocity of the generalized binary television image of the object;

VGABOUTNSH(n) and VABOUTNSH(n) - limited horizontal and vertical components of the current velocity of the moving television image of the object is obtained on the basis of a signal measures the dissimilarity of television images;

n - the number of the current frame.

23. The method according to p. 1, characterized in that the analysis of the current SAUBIN(n) and mean square generalized binary television image of the object produced by the following conditions: - for the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of the object or the conditions for transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of the camera system observing the ratio, ksl<l; ks2(n-nEC- the ratio decreasing with increasing frame number n, starting with frame number nECthe transition to the formation of control signals by moving the axis of the field of view cameras on extrapolated coordinates ks2(n-nEC)ksl.

24. Device signal processing to determine the coordinates of the objects observed in the sequence of television images containing block (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of television images, and a processor (24) for processing the local data in the time-sharing on a common bi-directional bus, characterized in that the input unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the block (2) receiving and storing signals unmanaged move and roll the field of view of video camera surveillance system, block (3) calculation of the managed move the axis of the field of view of the camera system nablyudeniya obtained based on the evaluation of measures of dissimilarity television images 2N landmarks of the shift parameters of signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, the switch block (6), shaper (7) of the television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, driver (8) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the driver (9) Windows analysis background on the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows analysis background block (10) determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object block (11) determine coordinales measures the dissimilarity of television images block (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the switch (13) source code or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system, the analyzer (14) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system analyzer (15) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the block (16) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the block (19) of the comprehensive assessment coordinalion extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered speed, extrapolator (22) of the coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object, the imaging unit (23) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, and the first and second input devices are connected to first and second inputs of the unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals work ustroystvo move and roll the field of view of video camera surveillance system, the fourth and fifth inputs of the device connected to the first and second inputs of the switch (13) source code or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system, respectively, the sixth input device connected with the second input unit (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, the seventh input device connected to the fifth input of the unit (6) switches the first output block (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device connected to the first input unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of television images and the first input of the shaper (7) signals of the television image of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field is in the image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing

compensation uncontrollable movements and roll the field of view of video camera surveillance system, the second output unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device is connected to the third input of the unit (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, the fifth input of the unit (8) for the formation and scaling of television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the fourth input of the former (7) signals of the television image of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, provide the m block (5) the separation obtained on the basis of an assessment of measures of dissimilarity television images 2N landmarks of the shift parameters of signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, the fourth input of the unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of television images, the second inputs of the former (9) window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows of the analysis of the background and block (16) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the third input unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the eighth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth input unit (12) determine the current speed of movement of the television image of the object in insertive signal conditioning measures the dissimilarity of television images the fifth input switch (13) source code or the current size of the object and the coordinates of the object in the field of view of video camera surveillance systems, fourth inputs of the analyzer (14) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system and analyzer (15) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the fourth input of the unit (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the fifth input of the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the third input of the unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the sixth input of the analyzer (20) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current, usrednennoi image histogram classifier in the Windows analysis background third inputs of the block (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered velocity and extrapolator (22) of the coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object and the sixth input of the former (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the output of block (2) receiving and storing signals unmanaged move and roll the field of view of the video surveillance system is connected to the third input of the unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of the bodies of the CSO movement axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image is connected with the second input unit (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image and the fourth input of the unit (6) switches, the first output block (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image at the time between reception signals of the current and previous fields of television images connected to the first input unit (5) separation obtained on the basis of an assessment of measures of dissimilarity television images 2N landmarks of the shift parameters of signals of the current field of the television image at the time between reception signals of the current and previous fields of the television image into components of a managed move the axis of the field of view of video camera surveillance and uncontrolled axis movements of the field of view of video camera surveillance system, the first and second outputs of which are connected to first and second inputs of the unit (6) switch, the first output unit (6) switches connected to the second input of the shaper (7) of the television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields. is NAT signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, and a second output connected to the third input of the shaper (7) of the television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, with the fifth input of the unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, with the first input unit (12) determine the current IC is the ordinate of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images, with the second input of the unit (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, and with the first input unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the output of the shaper (7) signals of the television image of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, connected to the first input of the former (8) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the output driver (8) signals of television the television image is connected to the seventh input of the unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and the third input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images the output of the shaper (9) window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows analysis background connected to the first input unit (16) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the first output of which is connected to the third input of the analyzer (20) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the first output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the first input of the shaper (9) window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of television sobrat generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the third input switch (13) code source or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system, the first input of the analyzer (14), the current speed of movement of the generalized binary television image of the object in the inertial coordinate system and the first input of the shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the third output unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input unit (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the fourth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television is REGO television image of the object in the inertial coordinate system and with a second input of the analyzer (20) terms of use extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image, the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the fifth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input of the analyzer (20) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background the sixth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the analyzer (15) the current speed of the moving television image is precise images, the seventh output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the block (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the first output of which is connected to the third input of the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the second output unit (11) determine the coordinates of the television image is televizionnyh images connected to the first input of the analyzer (15) the current speed of movement of the television image of the object in the inertial coordinate system, obtained on the basis of a signal measures the dissimilarity of television images, the first output of which is connected with the second input unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output switch (13) source code or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system connected to the first input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the seventh input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and the third input of the shaper (8) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the second output switch (13) source code or the current size of the object and the coordinates of the object in the field of view of the camera system nabago image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the sixth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the second input of the shaper (8) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output of the analyzer (14) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system connected to the first input unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, and a second output connected to a second input of the analyzer (15) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of the television image, the second output of which is connected to the third input of the analyzer (14) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, the first output unit (17) determine the current speed pinene with the fourth input of the unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system connected with the fourth input of the analyzer (20) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the fifth input of the unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the first input unit (21) averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered velocity and a second input unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the first output unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view in which the object and the coordinates of the object in the field of view of video camera surveillance system, the first input extrapolator (22) of the coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object and the third input of the shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the second output of which is connected to third inputs of the block (12) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images and block (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the sixth input unit (10) for the determination of the current coordinates of the generalized binary television from television image of the object and the fourth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and driver (8) the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output of the analyzer (20) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background is connected with the second input of the shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, a second input unit (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered speed and the fourth input of the unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background is connected with the second input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth output of the analyzer (20) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background is connected with the third input of the unit (1) receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output unit (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the filtered values of the speed with which images of the object based on the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background and the second input extrapolator (22) of the coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object, the second output unit (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered speed of the object is connected to the fifth input of the former (23) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output extrapolator (22) the coordinates and velocities of moving television image of the object in the next frame based on the analysis of the values of the average speed t is the group of the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output of the shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object is an output device and connected to the first input unit (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, the output of the processor (24) for computational processing of the local data in the time-sharing on a common bi-directional bus connected with the second output block (3) calculation of the managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, block (4) signal conditioning measures of dissimilarity television images 2N landmarks and define the parameters of the shift and rotation signals of the current field of the television image during the time between the reception with the help of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images, a block (16) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (17) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, unit (18) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, unit (19) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, extrapolator (22) the coordinates and velocities of moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object, the third outputs of the analyzer (14) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system analyzer (15) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of the television image is based on the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background of the block (21) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered velocity and shaper (23) of the control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the eighth output unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object.

25. The device according to p. 24, wherein the block (10) determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and wernich, the first buffer random access memory (30), the second buffer random access memory (41) and the third buffer random access memory (43), the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the driver (36) of the primary signals binary television image detector changes the background shaper (38) of the secondary signals binary television image detector changes the background shaper (45) signals of the primary binary television image selector moving objects, the shaper (47) signals of the secondary binary television image selector moving objects, the first node (42) scaling and shift signals of the television image, the node (44) forming the differential signals of the television image selector moving objects, the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background shaper (48) goeguide objects block (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background, a spatial filter (37) of the lower frequency signals of the primary binary television image detector changes the background, a spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the analyzer (34) signals binary video images of the histogram classifier analyzer (40) signals of the secondary binary video images of the detector changes the background analyzer (49) signals of the secondary binary video images of the selector moving objects and the imaging unit (50) the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object, and the parser (52) of the conditions of failure of the automatic determination of the coordinates of the television image of the object, and the first and second inputs of the unit (10) for the determination of the current coordinates of the generalized binary television image is revisionno image of the object is connected with the first and second inputs of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and block (35) determine the relationship of the object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background and the fourth and third inputs of the former (36) of the primary signals binary television image detector changes the background respectively, the first input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected also to the first input of the first node (42) zoom and shift signals of the television image, the third input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the switch (31) video, the seventh input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second input of the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier, the second input of the analyzer (34) signals binary video images of the histogram classifier, the fifth input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows analysis of changes in background the second input of the analyzer (40) signals of the secondary binary video images of the detector changes the background, the fourth input of the first node (42) zoom and shift signals of the television image, the second input of the analyzer (49) signals of the secondary binary video images of the selector moving objects, the seventh input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image object and the second input of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object, the fourth input of the unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the fifth input of the unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical proccall primary binary television image detector changes the background and a second input of the first node (42) zoom and shift signals of the television image, the sixth input unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to a second input of the former (36) of the primary signals binary television image detector changes the background, the fifth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and the third input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background, the seventh input unit (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the inputs of the first buffer memory device (30) and the second buffer random access memory (41), the first input node (44) forming the differential signals of the television image selector moving objects, the fifth entry form is pout switch (31) video the output of the first buffer memory device (30) is connected with the second input of the switch (31) video data, the first and second outputs of which are connected with the third and the sixth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, respectively, and the fourth input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background, the first output of which is the fifth release of the block (10) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the first output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and the first input of the shaper (33) g is of ficalora, the output of which is connected to the first input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and to the first input of the analyzer (34) signals binary video images of the histogram classifier, the first output of which is connected to a second input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the former (36) of the primary signals binary television image detector changes the background is connected to the input spatial filter (37) of the lower frequency signals of the primary binary television image detector changes the background, the output of which is connected to the input of the shaper (38) signals of the secondary binary television image detector changes the background, the output of which is connected to the input of the shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background, the output of which is connected to the third input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary TV, the interests of the detector changes the background the first output of which is connected to the fourth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the second buffer memory device (41) is connected to the third input of the first node (42) zoom and shift signals of the television image, the output of which is connected to the input of the third buffer random access memory (43), the output of which is connected with the second input node (44) forming the differential signals of the television image selector moving objects, the output of which is connected to the input of the shaper (45) signals of the primary binary television image selector moving objects, the output of which is connected to the input spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the output of which is connected to the input of the shaper (47) signals of the secondary binary television image selector moving objects, the output of which is connected to the input of the shaper (48) horizontal and vertical projections of the signals of the secondary binary television Iorich binary video images of the selector moving objects and the sixth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output of the analyzer (49) signals of the secondary binary video images of the selector moving objects connected to the fifth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output of which is connected to the first input of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image object and the fourth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first and second outputs of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image object are the second and third outputs of the block (10) determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, respectively, the third output of the transmitter (51) coordinates and sizes of the input of the analyzer (52) of the conditions of failure of the automatic determination of the coordinates of the television image of the object, the first output of which is the seventh output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the third output unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows analysis background is connected to the sixth output unit (10) for the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the eighth output of which is connected to the second outputs of the driver (32) signals binary television image histogram classifier in the current analysis window block (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background of the analyzer (34) signals binary video images of the histogram classifier analyzer (40) signals of the secondary binary video images of detector objects analyzer (52) of the conditions of failure of the automatic determination of the coordinates of the television image of the object and of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and the fourth output of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object.

26. The device according to p. 25, characterized in that the driver (32) of the binary signals of the television image histogram classifier in the current analysis window contains the transmitter (67) normalized histograms of the brightness signals of the television image of the object and the background and the node (68) of formation of binary television image histogram classifier, and the first, second, third, fourth and fifth inputs of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected with the first, second, third, fourth and fifth inputs of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and background respectively, the sixth input is connected with the second of whoparticipated (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the sixth input of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and background, and the third input node (68) of formation of binary television image histogram classifier, the first output of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and the background is connected to the first input node (68) of formation of binary television image histogram classifier whose output is the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second output of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and the background is connected with the second output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window.

27. The device according to p. 25, characterized in that the driver (36) of the primary signals binary television image detector changes the background contains the driver (70) of the television image signals of the reference background, the first (69) and second (72) buffer random access memory unit (71) scaling and shift signals of the television image of the reference background, the node (73) of the education of the differential signals of the television image detector changes the background and the node (74) of the primary Binah is the first television image detector changes the background connected with the first and second inputs of the former (70) signals of the television image reference and background site (71) scaling and shift signals of the television image of the reference background, respectively, the third and fourth inputs connected to the third and fourth inputs of the former (70) of the television image signals of the reference background, respectively, and the fifth input is connected to the first input node (73) of the education of the differential signals of the television image detector changes the background and the input of the first buffer random access memory (69), the output of which is connected to the fifth input of the former (70) of the television image signals of the reference background, and the sixth input of the former (36) of the primary signals binary television image detector changes the background connected with the third input node (73) education of the differential signals of the television image detector changes the background and the seventh input of the former (70) of the television image signals of the reference background, the output of which is connected to the third input node (71) scaling and shift signals of the television image of the reference background, the output of which is connected to the input of the second buffer random access memory (72), the output of which is connected to the sixth input of the former (70) of the television image signals of the reference background and the second input node (73) of the education differential signals, televisio the detector changes the background the output of which is connected to the output of the former (36) of the primary signals binary television image detector changes the background.

28. The device according to p. 24, characterized in that the block (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images contains a switch (53) signals scaled image, a nonlinear filter (54) upper frequency, the analyzer (55) of the terms of updating the static reference television image analyzer (61) of type sequences to the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the first (56) and second (59) buffer random access memory, the former (57) of the static and dynamic signals of the reference video images of the object, the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object node (58) scaling signals of the television image, the selector (62) is (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window, coordinator (66) of the television image of the object in the analysis window by the coordinates of the center of the analysis window, and the first input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the first inputs of the analyzer (55) conditions update static reference of the television image of the object and shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the second input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images connected to the first input of the switch (53) signals scaled image is the first analysis window on the basis of a signal measures the dissimilarity of television images is connected with the second input of the switch (53) signals scaled image and to the first input of the nonlinear filter (54) of the upper frequencies, the output of which is connected to the third input of the switch (53) signals scaled image, the fourth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the third input of the shaper (60)

signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object with the second inputs of the former (57) of the static and dynamic signals of the reference video images of the object and of the analyzer (55) of the terms of updating the static reference of the television image of the object, the fifth input of the unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the former (60) of the signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, a sixth input unit (11) determine the coordinates of the television image of the object relative to zenn with the third input of the former (57) of the static and dynamic signals of the reference video images of the object, the seventh input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the former (57) of the static and dynamic signals of the reference video images of the object and the fifth input of the former (60) of the signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the eighth input unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the nonlinear filter (54) of the upper frequencies, with the fifth input of the analyzer (55) of the terms of updating the static reference of the television image of the object, the fourth input selector (62) sequence minimum values of the signals measures the dissimilarity of television images and the seventh input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of comm is the disparity between the signals of television images in a two-dimensional search area of the displacements of television images of the object and the input of the first buffer random access memory (56), the output of which is connected to the first input of the former (57) of the static and dynamic signals of the reference video images of the object, the first output of the analyzer (55) of the terms of updating the static reference of the television image of the object is connected to the fifth input of the former (57) of the static and dynamic signals of the reference video images of the object, the output of which is connected to the input node (58) scaling of television image signals, the output of which is connected to the input of the second buffer random access memory (59), the output of which is connected to the sixth input of the former (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of which is connected to the input of the analyzer (61) of type sequences to the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the first output of which is connected with the second output unit (11) determine the coordinates of the television image of the object relative to the center of the current window based analysis fornia television static reference object image and the input selector (62) sequence minimum values of the signals measures the dissimilarity of television images the first output of which is connected to the input of the approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the first output of which is connected to the input of the coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, the second and third outputs of the selector (62) sequence minimum values of the signals measures the dissimilarity of television images are connected with the inputs of the coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and coordinator (66) the television image of the object in the analysis window by the coordinates of the center of the analysis window, the first outputs coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and coordinator (66) of the television image object television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the fourth input of the analyzer (55) of the terms of updating the static reference of the television image of the object, the third output unit (11) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second output of the analyzer (61) of type sequences to the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the analyzer (55) of the terms of updating the static reference of the television image of the object approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and coordinator (66) of the television image of the object in the analysis window by the coordinates of the center of the analysis window.

29. The method of processing the signals to determine the coordinates of the objects, nab the current field of the television image, characterized in that a controlled movement of the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, caused by the action on video surveillance control signals to move its field of view, determine to reception of the signals of the current field of the television image, determine the speed of the controlled movement of the axis of the field of view of video camera surveillance system data from a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, simultaneously with the reception of signals of the current field of the television image receive and store signals unmanaged move and roll the field of view of video camera surveillance systems and use them for generating signals of the television image of the current frame, forming a television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view during the time between reception signals of the previous and current fields of the television image signals of the current field of izobrazheniya, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, form and scale of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image obtained by processing the television image in the previous frame or using the extrapolated coordinates and speed of the object, with the initial conditions of the signals of location and dimensions of the current analysis window of the television image, formed in the beginning of the tracking object based on an external signal START/STOP, remember the scaled signals of the television image in the current analysis window, form the differential signals of the television image selector moving objects by subtraction of the scaled signals of the television image in the current analysis window of the scaled signals of the television image, the previously saved and shown to the current scale of the television image in the analysis window and shifted by the amount of movement of the axis of the field of view of video camera surveillance system, form the primary signals binary television moving objects, form the secondary signals binary television image selector moving objects from the binary signals of primary television image selector moving objects, past low-pass filtering, while storing the scaled signals of the television image in the current analysis window, formation of differential signals of the television image selector moving objects and formation of signals of the primary and secondary binary video images of the selector moving objects from the scaled signals of the television image in the current analysis window and taking into account the signals of the controlled movement of the axis of the field of view of video camera surveillance systems form the primary signals binary television image detector changes the background and the binary signals of the television image histogram classifier in the current analysis window, from the signals of the primary binary television image detector changes the background, past low-pass filtering, generate secondary signals binary television image detector changes the background form the horizontal and vertical proekti the th background and the horizontal and vertical projection of the binary signals of the television image histogram classifier, determine the coefficients of reliability of the signals of the secondary binary video images of the detector changes the background and selector moving objects, and binary signals of the television image histogram classifier, form the generalized horizontal and vertical projections of the generalized signals binary television image of the object from the horizontal and vertical projections of the signals of the secondary binary video images of the selector moving objects and detector changes the background, as well as from horizontal and vertical projections of the binary signals of the television image histogram classifier on the basis of their joint processing using coefficients of reliability of the signals of the binary video images of the histogram classifier, the signals of the secondary binary video images of the detector changes the background and selector moving objects, determine the horizontal and vertical boundaries, and the size of the television image object levels cut left and right, above and below the specified percent of the area of the generalized horizontal and vertical projections of the generalized signals binary t the traditional image of the object, inside formed the boundaries of the television image of the object, determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, determine the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, determine the coefficient of reliability of the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, simultaneously with the formation of signals of the primary and secondary binary video images of the selector moving objects and detector changes the background, binary television image histogram classifier, as well as the generalized horizontal and vertical projections of the generalized signals binary television image of the object determines the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images in the nonlinear high-frequency signal filtering masstube square of the generalized binary television image of the object threshold value, storing the received signals, signal conditioning television static reference image of the object or signals static and dynamic reference video images of the object, bring the static reference signals of the television image of an object or signal static and dynamic reference video images of the object to the current scale, the formation and storage of the signals measures the dissimilarity between the signals of the television image after non-linear high-frequency filtering of the scaled signals of the television image in the current analysis window and signals static or dynamic and static reference video images of the object in a two-dimensional search area of the displacements of television images of the object, determine the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, sequencing the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object type sequence minimum value of the signal measures the dissimilarity of television images for this position, namely, by means of analytical approximations sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree and determine the coordinates of the television image of the object as the position of the minimum of the approximating polynomial, provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences to the two boundaries of the areas of rapid growth of signal values of the measures of dissimilarity TV picture about the position of its minimum, or by determining the displacement of the border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and the formation position of the object in the analysis window as value, proportional to the received offset border region of rapid growth of signal values of the measures of dissimilarity television images provided the allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum and the presence of one area of rapid growth of signal values of the measures of dissimilarity television is a subject of allocation sequence minimum values of the signals measures the dissimilarity television images of type sequences flat at the position of the minimum values of the signals measures the dissimilarity of television images across the field of search displacements of television images of the object, determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, determine a confidence factor for the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, form a comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system of the data assessment of the current moving velocity of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images and assessment of the current speed of the object generalized projections signals of the generalized binary television image of the object, considering the coefficients of reliability of the components of the velocity of the moving television image of the object and a priori restrictions speed maneuvering object, average signals a comprehensive assessment of the speed of movement of the television image of the object in the Le of view of the video surveillance system by integrating the difference between comprehensive assessment of the current speed of movement of the television image of the object in the inertial coordinate system and the speed of the controlled movement of the axis of the field of view of video camera surveillance system in the inertial coordinate system with the initial conditions of position and velocity of the moving television image of the object, formed in the beginning of the tracking object based on an external signal START/STOP simultaneously with the formation of signals of the primary and secondary binary video images of the selector moving objects and detector changes the background, binary television image histogram classifier, the generalized horizontal and vertical projections of the generalized signals binary television image object shape analysis window background around the perimeter of the analysis window and define the projection of the binary signals of the television image histogram classifier in the Windows analysis background, define the size and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background obtained by the projection of the binary signals of the television image histogram classifier in the Windows analysis background generate control signals to move the axis of the field of view of video camera surveillance system, using the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, or using the extrapolated coordinates and DNEVNOY square of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background, and extrapolated the speed of movement of the television image of the object formed on the basis of the analysis of the stored values of the averaged complex estimate of the speed of movement of the television image of the object, form signals the position and size of current window analysis of the television image to the next frame using the coordinates of the television image of the object in the field of view of video camera surveillance systems, obtained as a result of processing television images in the current analysis window, or using the extrapolated coordinates and the speed of movement of the television image of the object with the initial conditions, formed in the beginning of the tracking object based on the external signal START/STOP button.

30. The method according to p. 29, characterized in that the controlled displacement dx[n] and dy[n] axis of the field of view of the camera horizontally and vertically, respectively, is determined by calculating the convolution of the control signals Xpanel[i] , Ypanel[i] move field Ho is e n - the number of the current frame;

i is the element number of the impulse response;

To the length of the impulse response.

31. The method according to p. 29, characterized in that the formation of the signals LFRAME(IX, j television image of the current frame with interlaced scanning signal LP-FRAME(i, p, npk) of the current frame of the television image and the television image L-1-UP(ix, jy) of the previous frame is performed by the prediction signal LFRAME(ix, j television image of the current frame by using the displacement of the television image L-1-UP(ix, jy) of the previous frame on the value of a managed move dx, dy axis of the field of view of video camera surveillance system horizontally and vertically, respectively, during the time between the receipt of the fields of the television image

LFRAME(ix, jy)= L-1-UP(ix-dx, jy-dy),

and displacement of points of the television image of the current frame points of the television image of the current frame of the compensation current unmanaged displacements rx(R), ry(p) and roll (p) field of view of video camera surveillance system

LFRAME[ix(i, p, npk), jy(i, p, npk)] = LP-FRAME(i, p, npk),

where i is the element number in the row is the first image of the current frame,

ix= l, . . . , PC;

R - the row number in the field,

jy - the line number in the frame, jy= 1, . . . , MK;

PC is the number of elements of the television image in the row;

MK is the number of rows in the frame of the television image;

npk - the index of the current field:

npk= 1 in odd fields,

npk= 0 in the even-numbered fields,

< / BR>
< / BR>
32. The method according to p. 29, characterized in that the signals LBINTHE WPPT(ix, jy) primary binary television image detector changes the background is formed by bringing the signals Ln-1eff(ix, jy) of the television image of the reference background, obtained in the previous n-1 frame to the current scale, the formation of the signals LpTHE WPPT(ix, jy) differential television image detector changes the background subtraction of the signals LnOA(ix, jy) scaled television image in the current analysis window signals Ln-1eff(ix, jy) of the television image of the reference background of the previous frame shift, take into account moving Vx, Vy center of the analysis window in the inertial coordinate system for the last frame:

LpTHE WPPT(ix, jy)= LnOA(ix, jy)- Ln-1eff(ix+Vx, jy+Vy),

the thresholding binarization PORO the values of the differential signals of the television image LGIF(IX, j) detector changes the background in the vicinity of the point with coordinates (ix, jy, an assignment of values to the primary binary television image LBINTHE WPPT(IX, j) detector changes the background

< / BR>
or

< / BR>
moreover, the signals Lneff(IX, jy) of the television image of the reference background is formed by the separation of the scaled signals of the television image in the current analysis window on the television image signals of three types: signals of the television image in the window object - OOthe WPPTthe signals of television images in the background OF theTHE WPPTthe signals of the television image in the window - New background - NF, where as signals of the television image in the window object detect signals of the television image in the rectangle located in the center of the current analysis window and include mostly elements of the image of the object, as signals of the television image window "New background" define the image elements on the external borders of the current analysis window, which due to the motion of the object and moving the axis of the field of view of video camera surveillance system, new elements of the television image background,image analysis window, remembering in the "New background" signals L?? a(ix, jy) from the current analysis window scaled television image current of the n-th frame:

Lneff(ix, jy)= LnOA(ix, jy), ix, jy NF,

where LnOA(ix, jy) - values of the luminance signal element scaled television image in the analysis window with coordinates (ix, jy,

the averaging window background signals scaled television image LnOA(ix, jy) from the current analysis window with a constant W and to account for the shift in the analysis window in the inertial coordinate system for the last frame:

Lneff(IX, j)= (1-W)*Ln-1eff(IX+Vx, j+V)+W*LnOA(ix, jy), ix, jy, SFTHE WPPT,

where Vx, Vy is the displacement of the center of the analysis window for the last frame horizontally and vertically, respectively,

in the inertial coordinate system, overwriting the window object signals of the television image of the reference background of the previous frame shift, taking into account the displacement of the center of the analysis window for the last frame:

Lneff(ix, jy)= Ln-1eff(IX+VX, jy+Vy), ix, jy OOTHE WPPT.

33. The method according to p. 32, wherein the low-pass filtering of the signals of the primary binary television image>where NF, MF - settings-aperture low-pass filter horizontally and vertically, respectively;

hLF[di, dj] is the impulse response low-pass filter.

34. The method according to p. 29, wherein the low-pass filtering of the signals of the primary binary television image LBINLMS(ix, jy) of the selector moving objects is performed using a two-dimensional convolution

< / BR>
where NF, MF - settings-aperture low-pass filter horizontally and vertically, respectively;

hLF[di, dj] is the impulse response low-pass filter.

35. The method according to p. 33, characterized in that the signals L2BINTHE WPPT(ix, jy) secondary binary television image detector changes the background form of the signals low-pass filter S_ filTHE WPPT(IX, j) in accordance with rule:

LBIN(ix, jy)= 1, if S_ filTHE WPPT(ix, jy)>PorogTHE WPPT1 and LBINTHE WPPT(ix, jy)= 1

or S_ filTHE WPPT(ix, jy)>PorogTHE WPPT0 and LBINTHE WPPT(ix, jy)= 0,

otherwise, L2BINTHE WPPT(ix, jy)= 0,

where RogadTHE WPPT1, RogadTHE WPPT0 - values of the threshold decision unit and zero elements of the primary BINARYMIME fact, that signals the secondary binary television image LBINLMS(ix, jy) of the selector moving objects are formed from signals S_ filLMS(ix, jy) low-pass filter in accordance with rule:

LBINLMS(ix, jy)= 1, if S_ filLMS(ix, jy)>PorogLMS1 and LBINLMS(ix, jy)= 1

or S_ filLMS(ix, jy)>PorogLMS0 and LBINLMS(ix, jy)= 0,

otherwise, L2BINLMS(ix, jy)= 0,

where PorogLMS1, PorogLMS0 - values of the threshold decision unit and zero elements of the primary binary television image selector moving objects, respectively.

37. The method according to p. 36, characterized in that the horizontal and vertical projection of GCRLMS(ix), VCRLMS(jy) signals of the secondary binary television image LBINLMS(IX, j) selector moving objects is determined in accordance with

for ix= 1, . . . , Nwin,

for jy= 1, . . . , Mwin,

where Nwin and Mwin - dimensions of the secondary binary television image selector moving objects horizontally and vertically, respectively.

38. The method according to p. 35, characterized in that the horizontal and Vertica the image LBINTHE WPPT(ix, jy) of the detector changes the background is determined in accordance with

for ix= 1, . . . , Nwin,

for j= 1, . . . , Mwin,

where Nwin and Mwin - dimensions of the secondary binary television image detector changes the background horizontally and vertically, respectively.

39. The method according to p. 29, characterized in that the horizontal and vertical projection of GCRCC(IX) VCRCC(j) of the binary signals of the television image LBINCC(ix, jy) of the histogram classifier is determined in accordance with

for ix= 1, . . . , Nwin,

for j= 1, . . . , Mwin,

where Nwin and Mwin - size binary television image histogram classifier horizontally and vertically, respectively.

40. The method according to p. 29, characterized in that the coefficients of reliability of WTHE WPPT, WLMS, WCCdefined as the product of the input functions of the initial conditions on the normalized average density of the binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively

< / BR>
< / BR>
< / BR>
moreover, the average density of the binary video images of the detector changes handicap, selectsimilar values and subsequent averaging recursive filters of the first order current densities of VTHE WPPT(n), VLMS(n), VCC(n) the corresponding binary television images

where

< / BR>
< / BR>
< / BR>
SODIF(n), STHE FOR(n), SOGK(n) - current square binary video images of the detector changes the background of the selector moving objects and histogram classifier, respectively, within the boundaries of the television image of the object;

SGS(n) is the current area within the boundaries of the television image of the object;

FNUDIT(n), FNUDO(n), FNUGC(n) is the input function of the initial conditions of the detector changes the background of the selector moving objects and histogram classifier;

n - the number of the current frame.

41. The method according to PP. 37,38,39 and 40, characterized in that the generalized horizontal and vertical projections of GCRABOUT(ix, n), VCRABOUT(jy, n) signals of the generalized binary television image of the object form a weighted sum of the projections of the binary video images of the detector changes the background of the selector moving objects and histogram classifier:

Gabout(IX, n)= WTHE WPPT(n)*GPDIF(IX) + WLMS(n)*GCRLMS(IX)+WCC(n)*GCRGC(IX)
IS IT
(j),

where n is the number of the current frame.

42. The method according to p. 41, characterized in that the current coordinates XAUBIN, YAUBINgeneralized binary television image of an object is defined as the weighted sum of the coordinates of the center of gravity XIT, YITand XOLD, YOLDthe median of the square of the generalized binary television image of the object

XAUBIN(n)= WCT(n)* XIT+ [1-WCT(n)] * XOLD,

YAUBIN(n)= WCT(n)* YIT+ [1-WCT(n)] * YOLD,

moreover, the weighting factor WCT(n) the coordinates of the center of gravity of the generalized binary television image of the object increases by reducing the average deviation of the coordinates of the television image of the object from their predicted values.

43. The method according to p. 29, characterized in that the current horizontal VGOBBINand vertical VVOBBINcomponents of the evaluation speed of the generalized binary television image of the object in the inertial coordinate system is determined in accordance with expressions

VGOBBIN= (dX+XOA+XOBAIN)/T,

VVOBBIN= (dY+ YOA+YOBAIN
XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XOBAIN, YOBAIN- change the coordinates of the generalized binary television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively.

44. The method according to p. 29, characterized in that the signal dynamic reference of the television image of the object formed by reading in each frame of signals from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ-XOAPZ,

YCFL= YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system.

45. Spot by reading and memorizing signals of the television image from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ- XOAPZ,

YCFL= YABOUTPZ- YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system;

when conditions change static reference of the television image of the object formed by the comparison of parameters of signals of dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and signals static and dynamic reference video images of the object, and comparing the parameters of the trajectories of the television image of the object obtained by the use of signals from static and dynamic reference video images of the object.

46. The method according to p. 29, characterized in that the signals of the static reference Telerate from the current analysis window in a rectangular box with dimensions equal to the dimensions of the generalized binary television image of the object center coordinates XCFL, YCFLwhich is determined by the difference

XCFL= XABOUTPZ-XOAPZ,

YCFL= YABOUTPZ-YOAPZ,

where XABOUTPZ, YABOUTPZ- coordinates of the television image of the object in the field of view of video camera surveillance system;

XOAPZ, YOAPZcoordinates the analysis window in the field of view of video camera surveillance system;

when conditions change static reference of the television image of the object formed on the basis of the analysis of parameters of signals of dissimilarity measures signals of the television image after non-linear high-frequency filtering in the current analysis window and the static reference signals of the television image of the object, as well as the parameters of the trajectory of the television image of the object obtained based on the signal analysis measures the dissimilarity of television images.

47. The method according to p. 29, characterized in that the current horizontal VGABOUTSHand vertical VVABOUTSHsostavlyaem on the basis of a signal measures the dissimilarity of television images determined in accordance with expressions

VGOBSH= (dX+XOA+XABOUNCH)/T,

VVOBSH= (dY+YOA+YABOUNCH)/T,

where dX, dY is the displacement axis of the field of view of video camera surveillance system time;

T between receiving the current and previous fields of the television image horizontally and vertically, respectively;

XOA, YOAby changing the position of the analysis window in the current frame relative to the previous frame horizontally and vertically, respectively;

XOAAAS, YOAAAS- change the coordinates of the television image of the object in the analysis window in the current frame relative to the previous frame horizontally and vertically, obtained on the basis of a signal measures the dissimilarity of television images.

48. The method according to p. 29, wherein the confidence factor WBIN(n) the current speed of movement of the generalized binary television image object get by determining the current density

< / BR>
generalized binary television image, minimum and maximum values of current density VBIN(n) the generalized binary televisionary recursive filter of the first order, rationing average density of the generalized binary television image of the object

< / BR>
where SAUBIN(n) is the current size of the generalized binary television image within the boundaries of the generalized binary television image of the object;

SGS(n) is the current area within the boundaries of the generalized binary television image of the object;

n - the number of the current frame;

- average coefficient of similarity obtained by determining the current similarity factor

< / BR>
limiting its maximum and minimum values, and averaging the recursive filter of the first order;

fmin(n) is the minimum value of the RMS value of the signals of the television image of the background in the Windows analysis background;

ENSHmin(n) is the minimum value of the signal measures the dissimilarity of the television image in the current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object.

49. The method according to p. 29, wherein the confidence factor WCH(n) the current speed of the moving television zobrazenibest determine the current similarity factor

< / BR>
limiting its maximum and minimum values, and averaging the recursive filter of the first order, regulation obtained average similarity factor

< / BR>
where n is the number of the current frame;

FMP(n) is the minimum value of the RMS value of the signals of the television image of the background in the Windows analysis background;

EHCXmin(n) is the minimum value of the signal measures the dissimilarity of the television image current analysis window and the static reference of the television image of the object in a two-dimensional search area of the displacements of television images of the object;

- the average density of the generalized binary television image of the object obtained from the current density

< / BR>
generalized binary television image of the object, the minimum and maximum values of current density VBIN(n) the generalized binary television image of the object, and then averaging the recursive filter of the first order limited current density VBIN(n) the generalized binary television image of the object;

SAUBIN(n) is the current size of the generalized BINAR
SGS(n) is the current area within the boundaries of the generalized binary television image of the object.

50. The method according to p. 29, characterized in that a comprehensive assessment of horizontal VGABOUT(n) and the vertical VVABOUT(n) components of the current velocity of the moving television image of the object in the inertial coordinate system determined by limiting the rate of movement of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images, the minimum and maximum values generated with regard to the previous values of the comprehensive assessment of the current moving velocity of the television image of the object and forming a weighted sum of the limited estimates the moving speed of binary television image of the object and the speed of movement of the television image of the object is obtained on the basis of a signal measures the dissimilarity of television images

VGABOUT(n)= WBIN(n)*VGOBBIN(n)+WCX(n)*VGABOUTNSH(n),

VVABOUT(n)= WBIN(n)*VVOBBIN(n)+WSH(n)*VVABOUTInnego binary television image of the object and the current speed of movement of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images, respectively;

VGOBBIN(n) and VOBBIN(n) - limited horizontal and vertical components of the current velocity of the generalized binary television image of the object;

VGABOUTNSH(n) and VABOUTHCX(n) - limited horizontal and vertical components of the current velocity of the moving television image of the object is obtained on the basis of a signal measures the dissimilarity of television images;

n - the number of the current frame.

51. The method according to p. 29, characterized in that the analysis of the current SAUBIN(n) and mean square generalized binary television image of the object produced by the following conditions: - for the transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system on extrapolated coordinates of the television image of the object or the conditions for transition to the formation of control signals by moving the axis of the field of view of video camera surveillance system at the coordinates of the television image of the object in the field of view of the camera system observing the ratio, ksl<l; ks2(n-nEC- the ratio decreasing with increasing frame number n, starting with frame number nECthe transition to the formation of control signals by moving the axis of the field of view cameras on extrapolated coordinates ks2(n-nEC)ksl.

52. Device signal processing to determine the coordinates of the objects observed in the sequence of television images containing processor (95) for processing the local data in the time-sharing on a common bi-directional bus, characterized in that the input unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the block (76) receiving and storing signals unmanaged move and roll the field of view of video camera surveillance system, block (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, the imaging unit (78) of the television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view VI is the considerations applying and signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements

and roll of the field of view of video camera surveillance system, driver (79) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the imaging unit (80) window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows of the analysis of the background, the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object block (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, block (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the switch (84) source code or t the overall speed of the generalized binary television image of the object in the inertial coordinate system, analyzer (86) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, block (87) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (92) of averaging the complex estimate of the current RMS is rolator (93) coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object, shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, and the first and second input devices are connected to first and second inputs of the unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, respectively, a third input device connected to the input unit (76) receiving and storing signals unmanaged move and roll the field of view of video camera surveillance systems, fourth and fifth inputs of the device connected to the first and second inputs of the switch (84) source codes or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system, respectively, the sixth input device connected with the second input of the unit (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between pickup the project signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device is connected to the first input of the shaper (78) signals of the television image of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, the second output unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device is connected to the third input of the unit (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, the fifth input of the shaper (79) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the fourth input of the shaper (78) signals of the television image of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation of Neupreis the analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows of the analysis of the background and block (87) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background the third input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the eighth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth input of the unit (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, the fifth input of the switch (84) code source or the current size of the object and the coordinates of the object in the field of view of video camera surveillance systems, fourth inputs of the analyzer (85) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system and analyzer (86) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal of the generalized binary television image of the object in the inertial coordinate system, the fifth input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the third input of the unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the sixth input of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the third inputs of the unit (92) averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered velocity and extrapolator (93) coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object and the sixth input of the former (94) control signals by moving the axis of the field of view of the camera system neblina coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output block (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image is connected with the second input of the shaper (78) of the television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, the output of block (76) receiving and storing signals unmanaged move and roll the field of view of the video surveillance system is connected to the third input of the shaper (78) of the television image signals of the current frame of the television image signals of the previous frame taking into account a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and tecumsehpower coordinate signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, with the fifth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, with the first input unit (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images with the second input of the unit (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system and to the first input unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the output of the shaper (78) signals of the television subramania axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image signals of the current field of the television image with atomic coordinate conversion signals of the current field of the television image, providing compensation uncontrollable movements and roll the field of view of video camera surveillance system, connected to the first input of the shaper (79) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the output of the shaper (79) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image is connected to the seventh input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and to the third input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the output of the shaper (80) window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows analysis background connected to the first input unit (87) determine the area of the first output of which is connected to the third input of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the first output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the first input of the shaper (80) window analysis of the background around the perimeter of the window of analysis and determine the projections of the binary signals of the television image histogram classifier in the Windows of the analysis of the background, the second output of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the switch (84) source codes or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system, the first input of the analyzer (85) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system and PNIA and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the third output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input unit (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, the fourth output unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected with the second input of the analyzer (85) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system and with a second input of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of histogram the stationary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the first input of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, the current average speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the sixth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the analyzer (86) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the seventh output of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output of the unit (82) determine the coordinates of the television image of the object otnositel connected with the second input of the unit (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object, obtained on the basis of a signal measures the dissimilarity of television images, the first output of which is connected to the third input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the second output unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images connected to the first input of the analyzer (86) the current speed of movement of the television image of the object in the inertial coordinate system obtained on the basis of a signal measures the dissimilarity of television images, the first output of which is connected with the second input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output switch (84) source codes or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system connected to the first input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and the third input of the shaper (79) the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the second output switch (84) source codes or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system is connected with the second input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, a sixth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the second input of the shaper (79) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output of the analyzer (85) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system connected to the first input unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, and a second output connected to a second input of the analyzer (86) current speed television measures the dissimilarity of television images the second output of which is connected to the third input of the analyzer (85) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system, the first output unit (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system connected with the fourth input of the unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, the first output unit (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system connected with the fourth input of the analyzer (91) terms of use extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background, the fifth input of the unit (82) determine the coordinates of the television image of the object relative to t the th input block (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered velocity and a second input unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, the first output unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system is connected to the fourth input of the switch (84) source codes or the current size of the object and the coordinates of the object in the field of view of video camera surveillance system, the first input extrapolator (93) coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object and the third input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the second output of which is connected to third inputs of the block (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the formation of signage binary television image of the object in the inertial coordinate system, the sixth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and fourth inputs of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images and shaper (79) of the television image signals in the current analysis window using the signals of the position and size of current window analysis of the television image, the first output of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image of the object, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background is connected with the second input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance systems and signals regulations and razmorozhenie object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, a second input unit (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing the filtered speed and the fourth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the second output of the analyzer (91) of the conditions of use of the extrapolated coordinates of the object using the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background is connected with the second input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images, the fourth output of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary the value of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background is connected with the third input of the unit (75) for receiving and storing signals of the current field of the television image from a video camera surveillance system and generate synchronization signals for the operation of the device, the first output unit (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered speed is connected to the fifth input of the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object, area and coordinates of the boundaries of the binary video images of the histogram classifier in the Windows of the analysis of the background and the second input extrapolator (93) coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object, the second output unit (92) of averaging the complex estimate of the current scores with the fifth input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output extrapolator (93) coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object is connected to the fourth input of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the first output of the shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object is an output device and connected to the first input unit (77) calculating a managed move the axis of the field of view of the camera system observed (95) for processing the local data in the time-sharing on a common bi-directional bus connected with the second output block (77) calculating a managed move the axis of the field of view of the camera system monitoring the time between reception signals of the previous and current fields of the television image, block (88) determine the current moving velocity of the generalized binary television image of the object in the inertial coordinate system, block (83) determine the current speed of movement of the television image of the object in the inertial coordinate system using the coordinates of the television image of the object obtained based on the signal measures the dissimilarity of television images, block (87) determination of the area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (89) a comprehensive assessment of the current moving velocity of the television image of the object in the inertial coordinate system, unit (90) a comprehensive evaluation of the coordinates of the television image of the object in the field of view of video camera surveillance system, extrapolator (93) coordinates and velocity of the moving television image of the object in the next frame on the basis of the analysis values of the averaged velocity of the moving television image of the object, the third outputs of the analyzer (85) the current speed of movement of the generalized binary television image of the object in the inertial coordinate system analyzer (86 what my on the basis of a signal measures the dissimilarity of television images the analyzer (91) of the conditions of use of the extrapolated coordinates of the television image of the object on the basis of the current and averaged area of the generalized binary television image, current and averaged speed of the television image of the object area and the coordinates of the boundaries of the binary video images of the histogram classifier in the Windows analysis background block (92) of averaging the complex estimate of the current speed of movement of the television image of the object and storing values of the filtered velocity and shaper (94) control signals by moving the axis of the field of view of video camera surveillance and signals the position and size of the analysis window in the next frame of the television image using the coordinates of the television image of the object in the field of view of video camera surveillance system or extrapolated coordinates and velocity of the moving television image of the object, the eighth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image objeciones television image of the object using the generalized horizontal and vertical projections of the generalized binary television image object contains the switch (31) video the first buffer random access memory (30), the second buffer random access memory (41) and the third buffer operatively storage device (43), the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the driver (36) of the primary signals binary television image detector changes the background shaper (38) of the secondary signals binary television image detector changes the background shaper (45) signals of the primary binary television image selector moving objects, the shaper (47) signals of the secondary binary television image selector moving objects, the first node (42) scaling and shift signals of the television image, the node (44) forming the differential signals of the television image selector moving objects, the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background shaper (48) gorgomyte objects block (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background, a spatial filter (37) of the lower frequency signals of the primary binary television image detector changes the background, a spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the analyzer (34) signals binary video images of the histogram classifier analyzer (40) signals of the secondary binary video images of the detector changes the background analyzer (49) signals of the secondary binary video images of the selector moving objects and the imaging unit (50) the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object, and the parser (52) of the conditions of failure of the automatic determination of the coordinates of the television image of the object, and the first and second inputs of the unit (81) of the determination of the current coordinates of the generalized binary television image is televizionnogo image of the object is connected with the first and second inputs of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and block (35) determine the relationship of the object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background and the fourth and third inputs of the former (36) of the primary signals binary television image detector changes the background respectively, the first input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected also to the first input of the first node (42) zoom and shift signals of the television image, the third input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the third input of the switch (31) video, the seventh input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second input of the shaper (33) horizontal and vertical projections of the binary signals of the television image histogram classifier, the second input of the analyzer (34) signals binary video images of the histogram classifier, the fifth input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows analysis of changes in background the second input of the analyzer (40) signals of the secondary binary video images of the detector changes the background, the fourth input of the first node (42) zoom and shift signals of the television image, the second input of the analyzer (49) signals of the secondary binary video images of the selector moving objects, the seventh input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image object and the second input of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object, the fourth input of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to the fourth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the fifth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical proccall primary binary television image detector changes the background and a second input of the first node (42) zoom and shift signals of the television image, the sixth input of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object is connected to a second input of the former (36) of the primary signals binary television image detector changes the background, the fifth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window and the third input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background, the seventh input of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object connected to the inputs of the first buffer memory device (30) and the second buffer random access memory (41), the first input node (44) forming the differential signals of the television image selector moving objects, the fifth entry form is of mutator (31) video the output of the first buffer memory device (30) is connected with the second input of the switch (31) video data, the first and second outputs of which are connected with the third and the sixth input of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, respectively, and the fourth input of the unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background, the first output of which is the fifth output of the unit (81) determine the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the first output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object and the first input of the shaper (33) g is of ficalora, the output of which is connected to the first input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and to the first input of the analyzer (34) signals binary video images of the histogram classifier, the first output of which is connected to a second input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the former (36) of the primary signals binary television image detector changes the background is connected to the input spatial filter (37) of the lower frequency signals of the primary binary video images of the detector changes the background, the output of which is connected to the input of the shaper (38) signals of the secondary binary television image detector changes the background, the output of which is connected to the input of the shaper (39) horizontal and vertical projections of the signals of the secondary binary television image detector changes the background, the output of which is connected to the third input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary TV, the interests of the detector changes the background the first output of which is connected to the fourth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the output of the second buffer memory device (41) is connected to the third input of the first node (42) zoom and shift signals of the television image, the output of which is connected to the input of the third buffer random access memory (43), the output of which is connected with the second input node (44) forming the differential signals of the television image selector moving objects, the output of which is connected to the input of the shaper (45) signals of the primary binary television image selector moving objects, the output of which is connected to the input spatial filter (46) of the lower frequency signals of the primary binary television image selector moving objects, the output of which is connected to the input of the shaper (47) signals of the secondary binary television image selector moving objects, the output of which is connected to the input of the shaper (48) horizontal and vertical projections of the signals of the secondary binary television Iorich binary video images of the selector moving objects and the sixth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output of the analyzer (49) signals of the secondary binary video images of the selector moving objects connected to the fifth input of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object, the first output of which is connected to the first input of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object and with the fourth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the first and second outputs of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image object are the second and third outputs of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, respectively, the third output of the transmitter (51) coordinates and sizes of the input of the analyzer (52) of the conditions of failure of the automatic determination of the coordinates of the television image of the object, the first output of which is the seventh output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the third output unit (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows analysis background is connected to the sixth output of the unit (81) of the determination of the current coordinates of the generalized binary television image of the object using the generalized horizontal and vertical projections of the generalized binary television image of the object, the eighth output of which is connected to the second outputs of the driver (32) signals binary television image histogram classifier in the current analysis window block (35) determine the relationship object/background and minimum RMS values of the signals of the television image of the background in the Windows of the analysis of the background of the analyzer (34) signals binary video images of the histogram classifier analyzer (40) signals of the secondary binary video images of detector objects analyzer (52) of the conditions of failure of the automatic determination of the coordinates of the television image of the object and of the former (50) of the generalized horizontal and vertical projections of the generalized signals binary television image of the object and the fourth output of the transmitter (51) coordinates and dimensions of the object, the current and averaged area of the generalized binary television image of the object.

54. The device according to p. 53, characterized in that the driver (32) of the binary signals of the television image histogram classifier in the current analysis window contains the transmitter (67) normalized histograms of the brightness signals of the television image of the object and the background and the node (68) of formation of binary television image histogram classifier, and the first, second, third, fourth and fifth inputs of the former (32) of the binary signals of the television image histogram classifier in the current analysis window is connected with the first, second, third, fourth and fifth inputs of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and background respectively, the sixth input is connected with the second of whoparticipated (32) of the binary signals of the television image histogram classifier in the current analysis window is connected to the sixth input of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and background, and the third input node (68) of formation of binary television image histogram classifier, the first output of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and the background is connected to the first input node (68) of formation of binary television image histogram classifier whose output is the first output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window, the second output of the transmitter (67) normalized histograms of the brightness signals of the television image of the object and the background is connected with the second output of the former (32) of the binary signals of the television image histogram classifier in the current analysis window.

55. The device according to p. 53, characterized in that the driver (36) of the primary signals binary television image detector changes the background contains the driver (70) of the television image signals of the reference background, the first (69) and second (72) buffer random access memory unit (71) scaling and shift signals of the television image of the reference background, the node (73) of the education of the differential signals of the television image detector changes the background and the node (74) of the primary Bina the CSOs television image detector changes the background connected with the first and second inputs of the former (70) signals of the television image reference and background site (71) scaling and shift signals of the television image of the reference background, respectively, the third and fourth inputs connected to the third and fourth inputs of the former (70) of the television image signals of the reference background, respectively, and the fifth input is connected to the first input node (73) of the education of the differential signals of the television image detector changes the background and the input of the first buffer random access memory (69), the output of which is connected to the fifth input of the former (70) of the television image signals of the reference background, and the sixth input of the former (36) of the primary signals binary television image detector changes the background connected with the third input node (73) education of the differential signals of the television image detector changes the background and the seventh input of the former (70) of the television image signals of the reference background, the output of which is connected to the third input node (71) scaling and shift signals of the television image of the reference background, the output of which is connected to the input of the second buffer random access memory (72), the output of which is connected to the sixth input of the former (70) of the television image signals of the reference background and the second input node (73) of the education differential signals televisie detector changes the background the output of which is connected to the output of the former (36) of the primary signals binary television image detector changes the background.

56. The device according to p. 52, characterized in that the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images contains a switch (53) signals scaled image, a nonlinear filter (54) upper frequency, the analyzer (55) of the terms of updating the static reference television image analyzer (61) of type sequences to the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the first (56) and second (59) buffer random access memory, the former (57) of the static and dynamic signals of the reference video images of the object, the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object node (58) scaling signals of the television image, the selector (62) is (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window, coordinator (66) of the television image of the object in the analysis window by the coordinates of the center of the analysis window, and the first input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the first inputs of the analyzer (55) conditions update static reference of the television image of the object and shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the second input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images connected to the first input of the switch (53) signals scaled image is the first analysis window on the basis of a signal measures the dissimilarity of television images is connected with the second input of the switch (53) signals scaled image and to the first input of the nonlinear filter (54) of the upper frequencies, the output of which is connected to the third input of the switch (53) signals scaled image, the fourth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the third input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object with the second inputs of the former (57) of the static and dynamic signals of the reference video images of the object and of the analyzer (55) of the terms of updating the static reference of the television image of the object, the fifth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the former (60) of the signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the sixth input of the unit (82) determine the coordinates of the television image of the object relative to the center those who etim entrance of the former (57) of the static and dynamic signals of the reference video images of the object, the seventh input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the fourth input of the former (57) of the static and dynamic signals of the reference video images of the object and the fifth input of the former (60) of the signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the eighth input of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second input of the nonlinear filter (54) of the upper frequencies, with the fifth input of the analyzer (55) of the terms of updating the static reference of the television image of the object, the fourth input selector (62) sequence minimum values of the signals measures the dissimilarity of television images and the seventh input of the shaper (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of comm is the disparity between the signals of television images in a two-dimensional search area of the displacements of television images of the object and the input of the first buffer random access memory (56), the output of which is connected to the first input of the former (57) of the static and dynamic signals of the reference video images of the object, the first output of the analyzer (55) of the terms of updating the static reference of the television image of the object is connected to the fifth input of the former (57) of the static and dynamic signals of the reference video images of the object, the output of which is connected to the input node (58) scaling of television image signals, the output of which is connected to the input of the second buffer random access memory (59), the output of which is connected to the sixth input of the former (60) signals measures the dissimilarity between the signals of television images in a two-dimensional search area of the displacements of television images of the object, the output of which is connected to the input of the analyzer (61) of type sequences to the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the first output of which is connected with the second output of the unit (82) determine the coordinates of the television image of the object relative to the center of the current window based analysis fornia television static reference object image and the input selector (62) sequence minimum values of the signals measures the dissimilarity of television images the first output of which is connected to the input of the approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, the first output of which is connected to the input of the coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, the second and third outputs of the selector (62) sequence minimum values of the signals measures the dissimilarity of television images are connected with the inputs of the coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and coordinator (66) the television image of the object in the analysis window by the coordinates of the center of the analysis window, the first outputs coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and coordinator (66) of the television image object television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of the television image and the fourth input of the analyzer (55) of the terms of updating the static reference of the television image of the object, the third output block (82) determine the coordinates of the television image of the object relative to the center of the current window analysis on the basis of a signal measures the dissimilarity of television images is connected with the second output of the analyzer (61) of type sequences to the minimum values of the signals measures the dissimilarity of the television image along rows and along columns of the two-dimensional search area of the displacements of television images of the object, the analyzer (55) of the terms of updating the static reference of the television image of the object approximator (63) sequence minimum values of the signals measures the disparity video images of a polynomial of the fourth degree, coordinator (64) of the television image of the object in the analysis window according to the position of the minimum of the approximating polynomial, coordinator (65) of the television image of the object in the analysis window at offset border region of rapid growth of signal values of the measures of dissimilarity television images relative to the center of the analysis window and coordinator (66) of the television image of the object in the analysis window by the coordinates of the center of the analysis window.

 

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