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Image-processing device for estimating the motion of objects situated in said image

  • US 4,760,445 A
  • Filed: 04/09/1987
  • Issued: 07/26/1988
  • Est. Priority Date: 04/15/1986
  • Status: Expired due to Fees
First Claim
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1. An image-processing device for estimating the motion displacement D(Zi) of objects situated in the image comprising a first estimation member which is an estimation member of a KALMAN filtering member providing for each image point "i" having the coordinates Zi, a displacement vector DK(Zi) from two successive images I(Zi, t) and I(Zi, t-TR) separated by a period TR, a second estimation member for providing a displacement vector DB(Zi) for each point "i" of the image, a quality measuring member for evaluating the vectors DK(Zi) and DB(Zi) and for controlling a vector selector to select that one of the two vectors DB(Zi) and DK(Zi) which provides the best estimation for the vector D(Zi), such that the first estimation member is adapted to receive said vector D(Zi), wherein means forming part of the Kalman filtering member provide the value DK(Zi) from predetermined parameters and means providing a value referred to as the innovation IFD so that


  • space="preserve" listing-type="equation">IFD(Z.sub.i)=I(Z.sub.i, t)-I(Z.sub.i -DK(Z.sub.i), t-TR)
and said means forming part of the Kalman filtering member further comprises a device for providing a succession of said parameters and the quality measuring member is also adapted to evaluate the minimum value of IFD as a function of the predetermined parameters.

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