Detecting target movement

• US 5,194,908 A
• Filed: 11/29/1991
• Issued: 03/16/1993
• Est. Priority Date: 11/29/1991
• Status: Expired due to Term

• Current Assignee: Computing Devices Canada Ltd.
• Original Assignee: Computing Devices Canada Ltd.
• Inventors: Wardell, Mark, Lougheed, James H.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US07/799,969
• Time in Patent Office: 473 Days
• Field of Search: 356/28, 364/525, 364/560, 358/105, 250/332
• US Class Current: 356/28
• CPC Class Codes: F41G 3/06 with rangefinder rangefinders per se G01C
• CPC Class Codes: G01P 3/38 using photographic means
• CPC Class Codes: G01P 3/68 using optical means, i.e. using infrared, visible, or ultraviolet light G01P3/80 takes precedence ; by reflection of waves G01S17/58
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

In apparatus, such as a weapon sight, the speed of an object moving relative to a scene is determined by processing a plurality of successive frames of data, each obtained by scanning the scene, and detecting motion of the object relative to the background/foreground features of the scene. Each frame is compared with a reference comprising a different one of the frames and corresponding background features registered. Once the frames are registered, light intensity values of corresponding elements of the frames are subtracted. The registered background features, being stationary, cancel leaving the object features. Displacement of the object features over a predetermined number of frames is used to calculate the crossing speed of the object relative to the background features.

Claims

1. Apparatus for determining the speed of an object moving relative to a scene comprising:

means (20, 21,

     22) for providing a plurality of frames of data representing successive images of at least a portion of the scene, each frame comprising an object segment, in which features of the object predominate, and at least one background segment comprising part of the frame excluding the object segment;

means (23;

8.3) for effecting registration of features in a background segment of one of said plurality of frames with corresponding features in a background segment of a reference frame comprising a different one of said plurality of frames;

means (23;

8.5, 8.7) for determining displacement of features in said object segment of said one of said plurality of frames relative to the registered background segment features; and

means (23;

8.14) for computing from the displacement of the object features over a predetermined number of frames, the speed of movement of the object relative to the background features.

3. Apparatus as claimed in claim 1, wherein the registration effecting means includes means (10.2) for incrementally displacing intensity values of said one frame relative to intensity values of said reference frame and determining, at each displacement position, the difference between respective intensity values of individual elements of said one frame and said reference and, in dependence upon such determination, selecting one such displacement position as constituting registration.

4. Apparatus as claimed in claimed in claim 3, wherein the determining means determines a sum of absolute differences between intensity values of all said individual elements.

5. Apparatus as claimed in claim 3, further comprising means (10.4) for deriving a quality estimate for registration.

6. Apparatus as claimed in claim 5, wherein the means for deriving the quality estimate computes the quality estimate as the ratio between the mean of all of the sum of absolute differences values and the minimum value and compares such ratio with a reference.

7. Apparatus as claimed in claim 4, further comprising means (10.2) for verifying the registration by computing, for the displacement selected as constituting registration, the ratio between the mean value of the sums of absolute differences and the minimum such sum of absolute differences and comparing the ratio with a reference value.

8. Apparatus as claimed in claim 7, further comprising means (8.4) for indicating when the quality estimate is inadequate.

9. Apparatus as claimed in claim 1, wherein the object feature displacement determining means includes means for detecting (12.2, 12.3) in each frame at least one transition corresponding to an edge of the object and determining (13.2, 13.4) displacement of such transition over a said predetermined number of frames.

10. Apparatus as claimed in claim 9, wherein said means for detecting serves to detect (12.3, 12.9) transitions corresponding to leading and trailing edges, respectively, of said object.

11. Apparatus as claimed in claim 9, wherein said means for determining displacement of said transition comprises means for deriving (14.1, 14 2) a linear regression for said transition over said plurality of frames.

12. Apparatus as claimed in claim 10, wherein said means for determining displacement of said transition comprises means for deriving (14.1, 14.2) a linear regression for said transition over said plurality of frames.

13. Apparatus as claimed in claim 1, further comprising means for effecting (12.10, 12.11) registration of features in the object segment of said one of said plurality of frames with corresponding features in said object segment of said reference frame;

said object feature displacement determining means including means for determining (14.3) displacement of object features over said predetermined number of frames.

14. Apparatus as claimed in claim 1, further comprising means for effecting (12.10, 12.11) registration of features in the object segment of said one of said plurality of frames with corresponding features in said object segment of said reference frame, said object feature displacement determining means including means for determining (14.3) displacement of object features over said predetermined number of frames, and means for detecting (12.2, 12.3) in each frame at least one transition corresponding to an edge of the object and determining cumulative displacement of such transition over a said predetermined number of frames, the means for computing object speed serving to compute such speed from both the displacement of object features and the cumulative displacement of said transition.

15. Apparatus as claimed in claim 14, further comprising means (14.4) for verifying the computed speed in dependence upon the variance of the displacements of said transitions and said object features.

16. Apparatus as claimed in claim 15, wherein said registration means comprises means for deriving a quality estimate for the registration of the background segment and the computed speed verification is also dependent upon said quality estimate.

17. Apparatus as claimed in claim 1, wherein said means for providing a plurality of frames of data includes sensor means (20) for providing said images and storage means for storing a said plurality of said frames.

18. Apparatus as claimed in claim 1, further comprising means (25) for determining the range of the object, said means for providing being responsive to the range determining means to provide said plurality of frames.

19. Apparatus as claimed in claim 1, wherein said means for providing a plurality of frames comprises storage means (22) for storing said plurality of frames on a first-in first-out basis and means for selecting one of said plurality of frames as an initial reference.

20. Apparatus as claimed in claim 19, wherein the selecting means selects a medial one of said plurality of frames as said initial reference.

21. Apparatus as claimed in claim 1, further comprising means (25) for determining the range of the object and means for determining (12.1) the relative sizes of the background segment and object segment in dependence upon such range.

22. Apparatus as claimed in claim 1, further comprising means for determining the range of the object, said means for computing further comprising means for measuring a time interval between successive range measurements and computing therefrom the speed at which the object is approaching or receding from the apparatus.

23. Apparatus as claimed in claim 1, wherein the means for providing a plurality of images comprises a linear CCD array (20) positioned to provide images for a line extending in the direction of movement of the object.

24. Apparatus as claimed in claim 1, further comprising means for compensating (10.1) for differing sensitivities of elements of the sensor.

25. Apparatus as claimed in claim 1, wherein the means for providing a plurality of images comprises sensor means comprising a plurality of elements configured spatially to correspond to characteristics of the background features or object features.

2. Apparatus as claimed in claim wherein said registration effecting means includes means (8.1, 8.4, 8.6) for initially selecting a first of said plurality of frames as said reference frame and, when a subsequent frame has been registered successfully, substituting such subsequent frame as said reference frame for use in registering succeeding frames.

26. A method of determining the speed of an object moving relative to a scene comprising the steps of:

providing a plurality of frames of data representing successive images of at least a portion of the scene, each frame comprising an object segment, in which features of the object predominate, and a background segment comprising parts of the frame excluding the object segment and in which features of the object do not predominate;

effecting registration (8.3) of features in a background segment of one of said plurality of frames with corresponding features in a background segment of a reference frame comprising a different one of said plurality of frames;

determining displacement (8.5, 8.7) of features in said object segment of said one of said plurality of frames relative to the registered background segment features; and

computing (8.14), from the displacement of the object features over a predetermined number of frames, the speed of movement of the object relative to the background features.

27. A method as claimed in claim 26, wherein the step of effecting registration includes selecting initially (8.2) a first of said plurality of frames as said reference frame and, when a frame has been registered successfully, substituting (8.6) such registered frame as said reference frame for use in registering subsequent frames.

28. A method as claimed in claim 26, wherein the step of effecting registration includes incrementally displacing (10.2) intensity values said one frame relative to intensity values of said reference frame and determining, at each displacement position, the difference between respective intensity values of individual elements of said one frame and said reference and, in dependence upon such determination, selecting (10.3) one such displacement position as constituting registration.

29. A method as claimed in claim 26, wherein the step of determining the difference in respective intensity values includes determining a sum of absolute differences between intensity values of all said individual elements.

30. A method as claimed in claim 26, further comprising the step (10.4) of deriving a quality estimate for the registration.

31. A method as claimed in claim 29, wherein the step of deriving the quality estimate includes the step of computing the ratio between the mean of all of the sum of absolute differences values and the minimum value and comparing such ratio with a reference.

32. A method as claimed in claim 30, further comprising the step (10.2) of deriving a quality estimate for the registration by computing, for the displacement selected as constituting registration, the ratio between the mean value of the sums of absolute differences and the minimum such sum of absolute differences and comparing the ratio with a threshold value.

33. A method as claimed in claim 31, further comprising the step (8.4) of indicating when the quality estimate for registration is inadequate.

34. A method as claimed in claim 26, wherein the step of determining object feature displacement includes the step of detecting (12.2, 12.3) in each frame at least one transition corresponding to an edge of the object and determining displacement of such transition over a said predetermined number of frames.

35. A method as claimed in claim 34, wherein the step of detecting includes detecting (12.3-12.9) transitions corresponding to leading and trailing edges, respectively, of said object.

36. A method as claimed in claim 34, wherein said step of determining displacement of said transition includes the step of deriving (14.4, 14.2) a linear regression for said transition over said plurality of frames.

37. A method as claimed in claim 35, wherein said step of determining displacement of said transition includes the step (14.1, 14.2) of deriving a linear regression for said transition over said plurality of frames.

38. A method as claimed in claim 26, further comprising the step (12.10, 12.11) of effecting registration of features in the object segment of said one of said plurality of frames with corresponding features in said object segment of said reference frame;

said step of determining displacement of features including the step (14.3) of determining displacement of object features over said plurality of frames.

39. A method as claimed in claim 26, further comprising the step (12.10, 12.11) of effecting registration of features in the object segment of said one of said plurality of frames with corresponding features in said object segment of said reference frame, said step of determining displacement of features including the step (14.3) of determining displacement of object features over said predetermined number of frames, and detecting (12.2, 12.3) in each frame at least one transition corresponding to an edge of the object and determining displacement of such transition over a said predetermined number of frames, the step of computing object speed computing such speed from both the displacement of object features and the displacement of said transition.

40. A method as claimed in claim 39, further comprising the step (14.4) of verifying the computed speed on the basis of the variance of the displacements of said transition and said object features.

41. A method as claimed in claim 40, wherein the registration step includes the step of deriving a quality estimate for the registration of the background segment and verification of the computed speed is based also upon such quality estimate.

42. A method as claimed in claim 26, further comprising the step of determining the range of the object, the plurality of frames being determined in dependence upon the range determination.

43. A method as claimed in claim 26, wherein the step of providing a plurality of frames comprises (6.1, 6.2) storing said plurality of frames on a first-in first-out basis and selecting (6.3;

8.1) one of said plurality of frames as an initial reference.

44. A method as claimed in claim 43, wherein the frame selected as an initial reference comprises a medial one of said plurality of frames.

45. A method as claimed in claim 26, further comprising the step of determining the range of the object and adjusting (12.1) the relative sizes of the background segment and object segment in dependence upon such range.

46. A method as claimed in claim 26, further comprising the step of measuring the range of the object, measuring the time interval between successive range measurements, and computing therefrom the speed at which the object is approaching, or receding from the observer.

47. A method as claimed in claim 26, wherein each of the plurality of images is derived by a linear sensor extending in the direction of movement of the object.

48. A method as claimed in claim 47, further comprising the step (1.0) of compensating for differing sensitivities of elements of the sensor.