Cross-correlation video tracker and method

• US 4,270,143 A
• Filed: 12/20/1978
• Issued: 05/26/1981
• Est. Priority Date: 12/20/1978
• Status: Expired due to Term

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: General Electric Company
• Inventors: Morris, Edwin E.
• Primary Examiner(s): Ng, Jin F.
• Assistant Examiner(s): Coles, Edward L.
• Application Number:
  US05/971,197
• Time in Patent Office: 888 Days
• Field of Search: 358/125, 358/126, 358/105, 364/516, 250/203 CT, 244/3.16
• US Class Current: 348/169
• CPC Class Codes: G01S 3/7865 using correlation of the live video image with a stored image

Abstract

A cross-correlation video tracker and method for automatically tracking a relatively moving scene by storing elements from a frame of a video signal to establish a reference frame and comparing elements from a subsequent frame with the stored reference frame to derive signals indicating the direction and angular distance of scene relative movement. A cross-correlation difference signal is generated which represents the difference between a pair of cross-correlation signals dependent on the correlations of the subsequent frame elements and the stored reference elements at two predetermined opposite relative shifts. A circuit is responsive to this difference signal for generating an error signal indicative of the amount of shift required to center the stored reference frame with respect to the subsequent frame. In order to maintain feedback loop stability as the system tracks different scenes which result in varying degrees of decorrelation even with constant shifts in scene position, the circuit responsive to the error signal is also responsive to a gain control signal which represents the difference between a pair of autocorrelation signals dependent upon the correlations of the elements of a representative frame of the video signal at substantially a zero shift and at a fixed predetermined shift. The representative frame of the video signal may be either the subsequent frame or the stored reference frame.

Claims

1. A device for deriving a signal indicative of the direction and distance of movement between successive video frames, said device comprising:

an input for receiving a video signal;

means for storing elements from a frame of the video signal to establish a reference;

means comparing elements from a subsequent frame of the video signal with the stored reference elements for generating a difference signal representing the difference between a pair of cross-correlation signals dependent on the correlations of the subsequent frame elements and the stored reference elements at two predetermined opposite relative shifts;

means for generating a gain control signal;

means responsive to the difference signal and to the gain control signal for generating an error signal indicative of the amount of shift required to center the stored reference frame with respect to the subsequent frame; and

means for outputting the error signal.

2. A device according to claim 1, further comprising means for effectively moving the stored reference by an amount which is a function of the error signal.

3. A device according to claim 1, which comprises separate processing channels for movement in a pair of orthogonal axes, and wherein the error signal has a respective pair of components.

4. A device according to claim 1, wherein said means for generating the gain control signal comprises means for comparing each of the bits of a stream representing the elements of the representative frame with simultaneously received bits of a stream representing the elements of the representative frame shifted, and for counting the number of comparisons for which the bits are different.

5. A device according to claim 1, wherein the gain control signal represents the difference between a pair of autocorrelation signals dependent upon the correlations of the elements of a representative frame of the video signal at substantially zero shift and at a fixed predetermined shift.

6. A device according to claim 5, wherein the representative frame of the video signal is the subsequent frame.

7. A device according to claim 5, wherein the representative frame of the video signal is the stored reference frame.

8. A device according to claim 5, wherein the two predetermined opposite relative shifts for the cross-correlation signals and the predetermined shift for the shifted autocorrelation signal are substantially equal.

9. A device according to claim 1, wherein said means for generating an error signal divides the difference signal by the gain control signal.

10. A device according to claim 9, wherein said means for storing stores binary digitized representations of the stored reference elements;

and

wherein said means for generating an error signal comprises;

means for digitizing the elements of the subsequent frame of the video signal;

means for generating a pair of oppositely shifted versions of the elements of one of the frames with respect to the elements of the other of the frames;

means for generating serial binary bit streams representing the elements of said pair of oppositely shifted frames and representing the elements of said other of the frames;

logic means receiving the serial binary bit streams and comparing each of the bits of the stream representing said other of the frames with the simultaneously-received bits of each of the shifted versions of said one of the frames for generating a first output signal when the bits of one comparison are identical and the bits of the other comparison are not identical, a second output signal when the bits of the other comparison are identical and the bits of the one comparison are not identical, and no output signal when the results of both comparisons are the same;

a pair of division counters each having a clock input responsive to one of said logic means output signals, said division counters each having a preset input for receiving a digital number representing the gain control signal, and said division counters each arranged such that a respective division counter output signal is generated each time a number of clock input pulses equal to the number representing the gain control signal have been accumulated; and

an up/down counter which counts in one direction in response to the output of one of said division counters and which counts in the opposite direction in response to the output of the other of said dimension counters;

whereby the accumulated count in said up/down counter after all of the bits have been processed represents the error signal.

11. A device according to claim 10, wherein said one of the frames is the subsequent frame, and said other of the frames is the stored reference frame.

12. A device according to claim 10, wherein said logic means comprises a pair of binary digitized multipliers, one of said binary digital multipliers serially receiving the bits representing said other of the frames and the bits representing one shifted version of said one of the frames, and the other of said binary digital multipliers serially receiving the bits representing said other of the frames and the bits representing the other shifted version of said one of the frames, each of said digital multipliers generating respective multiplier output signals in response to input bits which are identical.

13. A device according to claim 12, wherein said logic means further comprises a digital logic network responsive to the multiplier output signals and generating the first output signal when the multiplier outputs are different in a first sense and operating the second output signal when the multiplier outputs are different in a second sense.

14. A device according to claim 12, wherein said binary digital multipliers comprise EXCLUSIVE OR gates.

15. A device for deriving a signal indicative of the direction and distance of movement between successive video frames, said device comprising:

an input for receiving a video signal;

means for storing elements from a frame of the video signal to establish a reference;

means comparing elements from a subsequent frame of the video signal with the stored reference elements for generating an error signal indicative of the amount of shift required to center the stored reference frame with respect to the subsequent frame, the error signal being dependent upon a signal representative of the difference between a pair of cross-correlation signals dependent on the correlations of the subsequent frame element and the stored reference elements at two predetermined opposite relative shifts, divided by a signal representative of the difference between a pair of autocorrelation signals dependent upon the autocorrelations of the elements of a representative frame of the video signal at substantially zero shift and at a predetermined shift; and

means for outputting the error signal.

16. A device according to claim 15, further comprising means for effectively moving the stored reference by an amount which is a function of the error signal, whereby the stored reference frame is centered with respect to the subsequent frame.

17. A device according to claim 16, wherein the representative frame of the video signal is the subsequent frame.

18. A device according to claim 16, wherein the representative frame of the video signal is the stored reference frame.

19. A device according to claim 16, wherein the two predetermined opposite relative shifts for the cross-correlation signals and the predetermined shift for the shifted autocorrelation signal are substantially equal.

20. A device according to claim 16, which comprises separate processing channels for scene movement in a pair of orthogonal axes, and wherein the error signal has a respective pair of components.

21. A cross-correlation video tracker comprising:

sensing means for generating a video signal representing a scene which may be moving, said sensing means including controllable means responsive to a signal for moving said sensing means to track the scene;

means for receiving and storing elements from a frame of the video signal to establish a reference;

means comparing elements from a subsequent frame of the video signal with the stored reference elements for generating an error signal indicative of the amount of shift required to center the stored reference frame with respect to the subsequent frame, the error signal being dependent upon a signal representative of the difference between a pair of cross-correlation signals dependent on the correlations of the subsequent frame elements and the stored reference elements at two predetermined opposite relative shifts, adjusted by a gain control signal;

means for effectively moving the stored reference by an amount which is a function of the error signal, whereby the stored reference frame is centered with respect to the subsequent frame;

feedback means for supplying the error signal to said controllable means whereby said sensing means follows the scene.

22. A cross-correlation video tracker according to claim 21, which comprises separate processing channels for each of a pair of orthogonal axes.

23. A cross-correlation video tracker according to claim 21, wherein the gain control signal represents the difference between a pair of autocorrelation signals dependent upon the autocorrelations of the elements of a representative frame of the video signal at substantially zero shift and at a predetermined shift.

24. A cross-correlation video tracker according to claim 23, wherein the representative frame of the video signal is the subsequent frame.

25. A cross-correlation video tracker according to claim 23, wherein the representative frame of the video signal is the stored reference frame.

26. A cross-correlation video tracker according to claim 23, wherein the two predetermined opposite relative shifts for the cross-correlation signals and the predetermined shift for the shifted autocorrelation signal are substantially equal.

27. A method of deriving a signal indicative of the direction and distance of movement between successive frames of a video signal, said method comprising the steps of:

storing elements from a frame of the video signal to establish a reference; and

comparing elements from a subsequent frame of the video signal with the stored reference elements and generating an error signal indicative of the amount of shift required to center the stored reference frame with respect to the subsequent frame, the error signal being dependent upon a signal representative of the difference between a pair of cross-correlation signals dependent on the correlations of the subsequent frame element and the stored reference elements at two predetermined opposite relative shifts, divided by a signal representative of the difference between a pair of autocorrelation signals dependent upon the autocorrelations of the elements of a representative frame of the video signal at substantially zero shift and at a predetermined shift.

28. A method according to claim 27, further comprising the step of effectively moving the stored reference by an amount which is a function of the error signal, thereby to center the stored reference frame with respect to the subsequent frame.

29. A method according to claim 27, wherein the representative frame of the video signal is the subsequent frame.

30. A method according to claim 27, wherein the representative frame of the video signal is the stored reference frame.

31. A method according to claim 27, wherein the two predetermined opposite relative shifts for the cross-correlation signals and the predetermined shift for the shifted autocorrelation signal are substantially equal.

32. A method according to claim 27, wherein error signals are generated for scene movement in each of a pair of orthogonal axes.