Method and apparatus for tracking an object

• US 10,109,034 B2
• Filed: 07/30/2014
• Issued: 10/23/2018
• Est. Priority Date: 07/31/2013
• Status: Active Grant

• Current Assignee: MBDA UK Ltd. (MBDA SAS)
• Original Assignee: MBDA UK Ltd. (MBDA SAS)
• Inventors: Matson, Gary Paul, Sherriff, Andrew John, Middleton, Robert James
• Primary Examiner(s): Strege, John
• Application Number:
  US14/908,641
• Publication Number:
  US 20160171715A1
• Time in Patent Office: 1,546 Days
• Field of Search: 382103, 382199, 382274, 382284, 382278, 382295, 1 1, 600437, 600443, 2502036, 2502061, 250225
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30212 Military
• CPC Class Codes: G06T 3/20 Linear translation of whole images or parts thereof, e.g. panning
• CPC Class Codes: G06T 3/4053 based on super-resolution, i.e. the output image resolution being higher than the sensor resolution
• CPC Class Codes: G06T 3/4069 by subpixel displacements
• CPC Class Codes: G06T 3/4076 using the original low-resolution images to iteratively correct the high-resolution images
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

In a method of tracking an object, a plurality of images of a target object is obtained. A super-resolved image of the target object is calculated from the plurality of images. A further image of the target object is obtained. The further image is correlated with the super-resolved image, in order to identify the location of the target object in the further image.

Claims

1. A method of tracking an object comprising the steps of:

(i) obtaining from a first imager a plurality of images of a target object;

(ii) calculating by an image processor a super-resolved image of the target object from the plurality of images;

(iii) obtaining from a second imager a further image of the target object, the plurality of images and the further image being obtained at the same viewing angle or at viewing angles of negligible difference;

(iv) de-resolving the super resolved image; and

(v) correlating by the image processor the further image with the de-resolved image, in order to identify the location of the target object in the further image, whereby the, higher quality, super-resolved image may thus be used in order to better identify the location of the target object in the, lower quality, further image.

2. The method of claim 1, in which the correlating is a correlation in the spatial domain.

3. The method of claim 1, in which the correlating is a phase correlation in the frequency domain.

4. The method of claim 1, in which the calculation of the super-resolved image includes averaging all regions of interest in the plurality of images that are of the same phase.

5. The method of claim 1, including the steps of:

(a) extracting a current frame portion from an image from the plurality of images, the frame portion being at least a portion of the pixels forming the image, corresponding to a region of interest in the image, the region of interest comprising the target object;

(b) providing a previously calculated current super-resolved frame portion, corresponding to the region of interest in the image; and

(c) calculating an updated super-resolved frame portion from the current frame portion and the current super-resolved frame portion.

6. The method of claim 5, in which the current super-resolved frame portion is decayed by giving it a lower weighting in the calculation of the updated super-resolved frame portion than a weighting given to the current frame portion.

7. The method of claim 1, in which the calculation of the super-resolved image of the target object from the plurality of images includes the steps of:

(a) providing a stack for storing a predetermined number of frame portions;

(b) obtaining an image including a target object, the image being formed by an array of pixels;

(c) extracting a frame portion from the image, the frame portion being at least a portion of the pixels forming the image, corresponding to a region of interest in the image, the region of interest comprising the target object;

(d) storing the frame portion in the stack, the storing including discarding an oldest previously stored frame portion from the stack if the number of frame portions stored in the stack has reached the predetermined number;

(e) repeating steps (b) to (d) a plurality of times; and

(f) calculating a super-resolved image from the plurality of stored frame portions.

8. The method of claim 7, in which calculating a super-resolved image from the plurality of stored frame portions includes updating a super-resolved image calculated in a previous iteration by changing in the calculation only the phases which have changed in a new frame.

9. The method of claim 5, in which a shift in the position of the target object in successive images is calculated, and the integer part of the calculated shift is used to shift the region of interest in the later image relative to the position of the region of interest in the earlier image.

10. The method of claim 5, in which the region of interest is defined in a first image and then calculated in subsequent images.

15. The method of claim 1, wherein the first and second imagers are the same imager used in steps (i) and (iii) to obtain the images.

11. An image-processing apparatus comprising:

(i) an imager for obtaining a plurality of images and a further image, each including a target object and being formed by an array of pixels; and

(ii) an image processor configured to;

a. calculate a, higher quality, super-resolved image of the target object from a plurality of images;

b. de-resolve the super resolved image; and

c. correlate the, lower quality, further image with the, higher quality, de-resolved image, in order to identify the location of the target object in the further image.

12. The image-processing apparatus of claim 11, in which the image-processing apparatus includes a graphical user interface for a user to define the region of interest.

13. A missile seeker including an image processing apparatus according to claim 11.

14. A computer program product embodied on non-transitory computer-readable medium, the product being configured to cause, when the computer program is executed, data-processing apparatus to:

(i) receive a plurality of images of a target object;

(ii) calculate a, higher quality, super-resolved image of the target object from the plurality of images;

(iii) obtain a further image of the target object, the plurality of images and the further image being obtained at the same viewing angle or at viewing angles of negligible difference;

(iv) de-resolve the super resolved image; and

(v) correlate the, lower quality, further image with the, higher quality, de-resolved image, in order to identify the location of the target object in the further image.