Method and system for image-sequence-based target tracking and range estimation
First Claim
1. A method for determining the range of an object using an imaging sensor and a motion sensor, comprising the steps of:
- taking an initial image,selecting from said initial image a reference template about an object whose range is to be determined,taking a subsequent image including said object,computing an expected initial image from said subsequent image using known sensor orientation and displacement change since selecting said reference template, anddetermining the range of the object using correlation between said reference template and said expected initial image.
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Accused Products
Abstract
A method of tracking targets across a sequence of images estimates the range of these tracked objects from the camera. The method assumes the motion of the camera between the successive frames is known. The distance from the sensor to the object is assumed to be much larger than the physical dimensions of the object. The method and system make use of the known sensor motion to generate "expected images" that are then used to establish a reliable correspondence and track the targets across the image sequence. The method and system use a mean/energy-normalized area correlation technique to establish inter-frame correspondence. With this correspondence, two new methods can estimate the range of the target from the sensor.
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Citations
11 Claims
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1. A method for determining the range of an object using an imaging sensor and a motion sensor, comprising the steps of:
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taking an initial image, selecting from said initial image a reference template about an object whose range is to be determined, taking a subsequent image including said object, computing an expected initial image from said subsequent image using known sensor orientation and displacement change since selecting said reference template, and determining the range of the object using correlation between said reference template and said expected initial image. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An improved passive range determining system for determining the range to an object comprising:
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an image sensor for sensing said object, a motion sensor for sensing sensor orientation and displacement, means coupled to said sensor for selecting from an image from said sensor a reference template about said object whose range is to be determined, said motion sensor being operated to take an initial image and a subsequent image of said object, circuitry for computing an expected initial image from said subsequent image using sensed orientation and displacement change from said initial image to said subsequent image, and circuitry for determining the range to said object using correlation between said reference template and said expected initial image. - View Dependent Claims (8, 9, 10, 11)
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Specification