METHOD FOR DETECTING A MOVING OBJECT IN A SEQUENCE OF IMAGES CAPTURED BY A MOVING CAMERA, COMPUTER SYSTEM AND COMPUTER PROGRAM PRODUCT

• US 20100053333A1
• Filed: 11/20/2007
• Published: 03/04/2010
• Est. Priority Date: 11/20/2006
• Status: Active Grant

• Current Assignee: Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno
• Original Assignee: Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno
• Inventors: Dijk, Judith, de Lange, Dirk-Jan Jeroen, Schavemaker, Johannes Gerardus Maria, Schutte, Klamer
• Granted Patent: US 8,629,908 B2
• Time in Patent Office: Days
• US Class Current: 348/169
• 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 7/254 involving subtraction of images

Abstract

The invention relates to a method for detecting a moving object in a sequence of images captured by a moving camera. The method comprises the step of constructing a multiple number of difference images by subtracting image values in corresponding pixels of multiple pairs of images being based on captured images. Further, the method comprises the step of retrieving a moving object by extracting spatial information of pixels in the multiple number of constructed difference images having relatively large image values. In addition, from a pair of images in the construction step an image is a representation of a high resolution image having a higher spatial resolution than original captured images on which the high resolution image is based.

Claims

1. A method for detecting a moving object in a sequence of images captured by a moving camera, comprising the steps of

constructing a multiple number of difference images by subtracting image values in corresponding pixels of multiple pairs of images being based on captured images and

retrieving a moving object by extracting spatial information of pixels in the multiple number of constructed difference images having relatively large image values,

wherein, in the construction step, an image from a pair of images is a representation of a high resolution image having a higher spatial resolution than original captured images on which the high resolution image is based.

2. A method according to claim 1, wherein the representation of the high resolution image is obtained by applying a camera model to the high resolution image resulting in an image having substantially the same spatial resolution as the original captured images on which the high resolution image is based.

3. A method according to claim 1 or 2, wherein from a pair of images in the constructing step both images are a representation of high resolution images, respectively, each having a higher spatial resolution than original captured images on which the high resolution images are based.

4. A method according to any of the previous claims, wherein original captured images on which a high resolution image is based form temporal subsequent images in the sequence of images captured by the camera.

5. A method according to any of the previous claims, wherein the step of extracting spatial information comprises clustering pixels in the multiple number of constructed difference images having relatively large image values to a clustered object.

6. A method according to any of the previous claims, further comprising generating a temporal integrated difference image based on a multiple number of difference images.

7. A method according to any of the previous claims, wherein the step of extracting spatial information comprises applying a spatial filter to the temporal integrated difference image.

8. A method according to any of the previous claims, wherein the spatial filter has an elongate shape.

9. A method according to any of the previous claims, wherein the spatial filter is applied in a multiple number of spatial orientations to the temporal integrated difference image.

10. A method according to any of the previous claims, further comprising tracking a clustered object in difference images or temporal integrated difference images.

11. Computer system comprising a processor for detecting a moving object in a sequence of images captured by a moving camera, the processor being arranged to perform the steps of

constructing a multiple number of difference images by subtracting image values in corresponding pixels of multiple pairs of images being based on captured images and

retrieving a moving object by extracting spatial information of pixels in the multiple number of constructed difference images having relatively large image values,

wherein from a pair of images in the construction step an image is a representation of a high resolution image having a higher spatial resolution than original captured images on which the high resolution image is based.

12. Computer program product for detecting a moving object in a sequence of images captured by a moving camera, which computer program product comprises instructions for causing a processor to perform the steps of

constructing a multiple number of difference images by subtracting image values in corresponding pixels of multiple pairs of images being based on captured images and

retrieving a moving object by extracting spatial information of pixels in the multiple number of constructed difference images having relatively large image values,

wherein from a pair of images in the construction step an image is a representation of a high resolution image having a higher spatial resolution than original captured images on which the high resolution image is based.