Moving Target Detection in the Presence of Parallax
First Claim
1. A method for detecting a moving target, comprising the steps of:
- receiving a plurality of images from at least one camera;
receiving a measurement of scale from one of a measurement device and a second camera;
calculating the pose of the at least one camera over time based on the plurality of images and the measurement of scale;
selecting a reference image and an inspection image from the plurality of images of the at least one camera;
detecting a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and
displaying any detected moving target on a display.
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Accused Products
Abstract
A method for detecting a moving target is disclosed that receives a plurality of images from at least one camera; receives a measurement of scale from one of a measurement device and a second camera; calculates the pose of the at least one camera over time based on the plurality of images and the measurement of scale; selects a reference image and an inspection image from the plurality of images of the at least one camera; and detects a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and displays any detected moving target on a display. The measurement of scale can derived from a second camera or, for example, a wheel odometer. The method can also detect moving targets by combining the above epipolar method with a method based on changes in depth between the inspection image and the reference image and based on changes in flow between the inspection image and the reference image.
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Citations
29 Claims
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1. A method for detecting a moving target, comprising the steps of:
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receiving a plurality of images from at least one camera;
receiving a measurement of scale from one of a measurement device and a second camera;
calculating the pose of the at least one camera over time based on the plurality of images and the measurement of scale;
selecting a reference image and an inspection image from the plurality of images of the at least one camera;
detecting a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and
displaying any detected moving target on a display. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus for detecting a moving target, comprising:
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at least one camera for receiving a plurality of images;
means for receiving a measurement of scale from one of a measurement device and a second camera;
a processor communicatively connected to said at least one camera and said means for receiving a measurement of scale for calculating the pose of the at least one camera based on the plurality of images;
for selecting a reference image and an inspection image from the plurality of images of the at least one camera; and
for detecting a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and
a viewer for displaying any detected moving target. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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23. A computer-readable medium carrying one or more sequences for detecting a moving target, wherein execution of the one of more sequences of instructions by one or more processors causes the one or more processors to perform the steps of:
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receiving a plurality of images from at least one camera;
receiving a measurement of scale from one of a measuring device and a second camera;
calculating the pose of the at least one camera based on the plurality of images and the measurement of scale;
selecting a reference image and an inspection image from the plurality of images of the at least one camera;
detecting a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and
displaying any detected moving target on a display. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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Specification