Cooperative nesting of mechanical and electronic stabilization for an airborne camera system
First Claim
1. A method for stabilizing an image of an object being taken from a video camera, the video camera being moved by a transport mechanism and being controlled by a line-of-sight controller, the method comprising:
- receiving a plurality of images of the object; and
for each of the plurality of received images, receiving a velocity and orientation of the transport mechanism;
receiving an orientation of the camera relative to the transport mechanism;
receiving a scan and tilt rate of the camera;
receiving a distance from the camera to the object;
calculating an inter-frame stabilization adjustment based on the velocity and orientation of the transport mechanism, the orientation of the camera, the scan and tilt rate of the camera, and distance to the object;
calculating a line-of-sight adjustment for the line-of-sight controller based on the inter-frame stabilization; and
controlling the line-of-sight controller in accordance with the calculated line-of-sight adjustment.
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Accused Products
Abstract
A method and system for stabilizing images being taken by a video camera using electromechanical stabilization. The stabilization system performs inter-frame stabilization based on the velocity of a vehicle on which the video camera is mounted and the pan rate of a line-of-sight controller of the video camera. The inter-frame stabilization is performed by a software component by moving a display area (or viewport) within a larger image area. The stabilization system converts an inter-frame stabilization adjustment into a pan rate adjustment so that the line-of-sight controller will keep the desired object within the image area of the camera.
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Citations
40 Claims
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1. A method for stabilizing an image of an object being taken from a video camera, the video camera being moved by a transport mechanism and being controlled by a line-of-sight controller, the method comprising:
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receiving a plurality of images of the object; and
for each of the plurality of received images, receiving a velocity and orientation of the transport mechanism;
receiving an orientation of the camera relative to the transport mechanism;
receiving a scan and tilt rate of the camera;
receiving a distance from the camera to the object;
calculating an inter-frame stabilization adjustment based on the velocity and orientation of the transport mechanism, the orientation of the camera, the scan and tilt rate of the camera, and distance to the object;
calculating a line-of-sight adjustment for the line-of-sight controller based on the inter-frame stabilization; and
controlling the line-of-sight controller in accordance with the calculated line-of-sight adjustment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for stabilizing an image of an object being taken from a video camera, the video camera being moved by a transport mechanism and being controlled by a line-of-sight controller, the method comprising:
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determining a difference in the location of the object within the image from one frame to the next frame;
calculating an inter-frame stabilization adjustment based on the determined difference;
calculating a line-of-sight adjustment for the line-of-sight controller based on the inter-frame stabilization; and
controlling the line-of-sight controller in accordance with the calculated line-of-sight adjustment. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. An apparatus for stabilizing imagery from an airborne video camera, comprising:
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a mechanical line-of-sight controller for controlling line of sight of the video camera at a specified line-of-sight adjustment rate; and
an electronic stabilization component that provides frame-to-frame image stabilization based on the specified line-of-sight adjustment rate and that provides to the mechanical line-of-sight controller a new line-of-sight adjustment rate derived from an amount of frame-to-frame image stabilization. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. An apparatus for stabilizing imagery from an airborne video camera, comprising:
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a mechanical line-of-sight controller for controlling line of sight of the video camera at a specified line-of-sight adjustment rate; and
an electronic stabilization component that provides frame-to-frame image stabilization based on location of an object within the images and that provides to the mechanical line-of-sight controller a new line-of-sight adjustment rate derived from an amount of frame-to-frame image stabilization. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34)
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35. A method for stabilizing images being taken from a video camera mounted on a moving vehicle, the camera having a line of sight being controlled by a line-of-sight controller, the method comprising:
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calculating inter-frame stabilization adjustments to account for velocity of the vehicle;
displaying the images in accordance with the calculated inter-frame stabilization adjustments;
calculating line-of-sight adjustments for the line-of-sight controller based on the inter-frame stabilization adjustments; and
controlling the line-of-sight controller in accordance with the calculated line-of-sight adjustments. - View Dependent Claims (36, 37, 38, 39, 40)
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Specification