OBJECT DETECTION AND TRACKING
First Claim
Patent Images
1. A method of improving an image of an object for machine control, comprising:
- illuminating the object with electromagnetic radiation having a first optical characteristic;
selectively sensitizing a first subset of optically sensitive picture elements of a sensor to the first optical characteristic and selectively sensitizing a second subset of optically sensitive picture elements of the sensor to a second optical characteristic;
capturing an image of the object, the image including a first image information subset derived from the first subset of optically sensitive picture elements and a second image information subset derived from the second subset of optically sensitive picture elements; and
removing noise from the image to form an improved image by determining a difference between the first image information subset and the second image information subset.
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Abstract
Imaging systems and methods improve object recognition by more strongly enhancing contrast between the object and non-object (e.g., background) surfaces than would be possible with a simple optical filter tuned to the wavelength(s) of the source light(s). In some embodiments, the overall scene illuminated by ambient light is preserved (or may be reconstructed) for presentation purposes—e.g., combined with a graphical overlay of the sensed object(s) in motion.
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Citations
30 Claims
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1. A method of improving an image of an object for machine control, comprising:
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illuminating the object with electromagnetic radiation having a first optical characteristic; selectively sensitizing a first subset of optically sensitive picture elements of a sensor to the first optical characteristic and selectively sensitizing a second subset of optically sensitive picture elements of the sensor to a second optical characteristic; capturing an image of the object, the image including a first image information subset derived from the first subset of optically sensitive picture elements and a second image information subset derived from the second subset of optically sensitive picture elements; and removing noise from the image to form an improved image by determining a difference between the first image information subset and the second image information subset. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An image capture and analysis system comprising:
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a camera oriented toward a field of view, the camera comprising an image sensor comprising light-sensing pixels; a first type of filter applicable to a first plurality of the pixels; a second type of filter applicable to a second plurality of pixels, different from the first plurality of pixels, to provide an image optically different from an image taken with the first type of filter; and an image analyzer coupled to the camera and configured to; capture using the camera a plurality of images including a first image corresponding to the first plurality of pixels and a second image corresponding to the second plurality of pixels; and determine based at least in part upon the first image and the second image, pixels corresponding to an object of interest in the field of view. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A non-transitory machine readable medium, storing one or more instructions which when executed by one or more processors cause the one or more processors to perform the following:
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illuminating the object with electromagnetic radiation having a first optical characteristic; capturing an image of the object, the image including a first image information subset derived from selectively sensitizing a first subset of optically sensitive picture elements of a sensor to the first optical characteristic and a second image information subset derived from selectively sensitizing a second subset of optically sensitive picture elements of the sensor to a second optical characteristic; and removing noise from the image to form an improved image by determining a difference between the first image information subset and the second image information subset.
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Specification