Try with this code it will give you the url of video image.
$url = "http://www.youtube.com/embed/ATYklyGZU4I?feature=oembed";
echo getYouTubeVideoImage($url);
function getYouTubeVideoImage($youtube_code){
preg_match('/youtube\.com\/v\/([\w\-]+)/', $youtube_code, $match);
if(!isset($match[1]) || $match[1] == ''){
preg_match('/youtube\.com\/embed\/([\w\-]+)/', $youtube_code, $match);
}
if(!isset($match[1]) || $match[1] == ''){
preg_match('/v\=(.+)&/',$youtube_code ,$match);
}
$full_size_thumbnail_image = "http://img.youtube.com/vi/".$match[1]."/0.jpg";
$small_thumbnail_image1 = "http://img.youtube.com/vi/".$match[1]."/1.jpg";
$small_thumbnail_image2 = "http://img.youtube.com/vi/".$match[1]."/2.jpg";
$small_thumbnail_image3 = "http://img.youtube.com/vi/".$match[1]."/3.jpg";
// return whichever thumbnail image you would like to retrieve
return $full_size_thumbnail_image;
}