Motion-based tracking with pan-tilt-zoom camera
First Claim
1. A method of aligning a first image to a second image, comprising;
- determining a first alignment approximation, based on distances between one or more points in the first image and the second image, aligning the second image to the first image, based on the first alignment approximation, to form an initially aligned second image, determining a second alignment approximation, based on distances between one or more points in the first image and the initially aligned second image, and aligning the second image to the first image, based on a combination of the first and second alignment approximations.
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Abstract
A motion-estimation scheme is provided that employs a combination of motion estimation and compensation techniques. Low resolution images are computed from two consecutive image frames, and feature points are determined and matched between the two low resolution images. Statistical methods are used to estimate the motion in terms of a translation and rotation of the image plane. Corresponding feature points in the original images are matched, based on the estimated motion of the low-resolution images. Statistical techniques are then applied to determine a homography matrix that describes the motion between the corresponding feature points in the original images, and this matrix is used to align the original images. Differences between the aligned images are identified, to indicate the movement of one or more objects in the image.
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Citations
20 Claims
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1. A method of aligning a first image to a second image, comprising;
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determining a first alignment approximation, based on distances between one or more points in the first image and the second image, aligning the second image to the first image, based on the first alignment approximation, to form an initially aligned second image, determining a second alignment approximation, based on distances between one or more points in the first image and the initially aligned second image, and aligning the second image to the first image, based on a combination of the first and second alignment approximations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of tracking an object based on a first image and a second image, comprising:
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aligning the first and second images to form a set of aligned images, and detecting motion by comparing the set of aligned images, wherein aligning the first and second images includes;
determining a first alignment approximation, based on distances between one or more points in the first image and the second image, aligning the second image to the first image, based on the first alignment approximation, to form an initially aligned second image, determining a second alignment approximation, based on distances between one or more points in the first image and the initially aligned second image, and aligning the second image to the first image, based on a combination of the first and second alignment approximations. - View Dependent Claims (10, 11, 12, 14, 15, 16, 17, 18, 19, 20)
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13. A motion detecting system comprising:
a processor that is configured to;
align a first image and a second image, to form a set of aligned images, by;
determining a first alignment approximation, based on distances between one or more points in the first image and the second image, aligning the second image to the first image, based on the first alignment approximation, to form an initially aligned second image, determining a second alignment approximation, based on distances between one or more points in the first image and the initially aligned second image, and aligning the second image to the first image, based on a combination of the first and second alignment approximations; and
compare the set of aligned images to identify motion of objects within the first and second images.
Specification