Generalized biased centroid edge locator

• US 5,872,857 A
• Filed: 05/22/1996
• Issued: 02/16/1999
• Est. Priority Date: 05/22/1996
• Status: Expired due to Term

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Roszkowski, Stacy, Chodos, Steven L.
• Primary Examiner(s): CHANG, JON CARLTON
• Application Number:
  US08/651,470
• Time in Patent Office: 1,000 Days
• Field of Search: 382/103, 382/199, 382/107, 382/288, 348/169, 348/170, 348/171, 348/172, 235/411, 342/95, 244/3.16
• US Class Current: 382/103
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/66 of image moments or centre of gravity
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

An edge locator processor having memory and which employs a generalized biased centroid edge locator process to determining the leading edge of an object in a scene moving in a generally horizontal direction across a video screen. The generalized biased centroid edge locator process includes defining a gate and determining the centroid position for that portion of the object within the gate. This occurs for a succession of gates, until predetermined conditions are met. By constructing this series of successively expanding gates, a left gate edge position and centroid position may be determined for each gate to define a series of left edge and centroid positions. These values may be linearly correlated to provide a slope and an intercept, from which the edge may be determined.

Claims

1. In a tracking system for locating a leading edge of an object within a video frame of data, the video frame having pixels arranged generally vertically and horizontally, and the object is defined within the video frame in accordance with the intensity of the pixels,

a processor for examining the intensity of the pixels and for determining the leading edge of the object within the video frame, the processor comprising:

(a) means for defining a gate having a position within the video frame,

(b) means for determining a centroid of a portion of the object within the gate, the centroid having a position defined by a line having a slope,

(c) means for testing if the centroid falls within a preselected section of the gate, and moving an edge of the gate to define a new gate if the centroid does not fall within the preselected section of the gate, and redetermining the centroid for the portion of the object appearing within the new gate, and

(d) means for determining the leading edge of the object in accordance with the position of the gate, the position of the centroid, and the slope,

wherein said processor outputs the position of the leading edge of the object for use in tracking and intercepting the object.

2. The invention as defined in claim 1 further comprising a detecting array for detecting the object and for generating an electromagnetic signal for defining the video frame.

3. The invention as defined in claim 2 further comprising an image preprocessor for generating the electromagnetic signal defining the video frame.

4. The invention as defined in claim 1 wherein the processor is a microprocessor.

5. The invention as defined in claim 1 further comprising:

an image preprocessor for generating an electromagnetic signal defining the video frame; and

a microprocessor to control data transfer between each of the processor, the preprocessor, and the microprocessor.

6. The invention as defined in claim 1 wherein the processor further performs the step of calculating partial sums and a normalization value in accordance with the intensity of the pixels and in accordance with the position of the pixels.

7. The invention as defined in claim 1 wherein the video frame is defined by a plurality of pixels each having a discreet location (i,j), and I(i,j) defines the intensity of the (i,j) pixel, and the processor generates a horizontal partial sum Xp(L) for gates having edges L=L₁, L₂, . . . , L_n of the object within the gate for the I(i,j) pixels above a predetermined threshold according to the following relationship ##EQU7## and the processor generates a vertical partial sum Yp(L) of the object within the gate for the I(i,j) pixels above a predetermined threshold according to the following relationship ##EQU8## and the processor generates a normalization value Ip(L) of the object within the gate for the I(i,j) pixels above a predetermined threshold according to the following relationship ##EQU9##

8. The invention as defined in claim 7 wherein the processor generates a horizontal position Xc(L) for gates having edges L=L₁ . . . L_n of the centroid for the portion of the object appearing within the gate according to the following relationship ##EQU10##

9. The invention as defined in claim 8 wherein the gate includes a left edge having a horizontal position L and the centroid of the object has a horizontal position E, and the horizontal position edge E of the centroid Xc is defined in accordance with the following relationship ##EQU11## where 2≦

n≦

3.

10. The invention defined in claim 9 wherein Xc defines a line having an intercept Xo and slope m and the horizontal position E of the edge of the object is defined in accordance with the following relationships ##EQU12##

11. A method for locating a leading edge of an object within a video frame of data, the video frame having pixels arranged generally vertically and horizontally, and the object is defined within the video frame in accordance with the intensity of the pixels, the method comprising the steps of:

defining a gate having a predetermined width and position within the video frame,

determining a centroid of the object within the gate, the centroid having a position defined by a line having a slope;

testing if the centroid falls within a preselected section of the gate, and moving an edge of the gate to define a new gate if the centroid does not fall within the preselected section of the gate and redetermining the centroid for the portion of the object appearing within the new gate, where the determining and testing steps are repeated until the centroid falls within the preselected section of the gate; and

determining the leading edge of the object in accordance with the position of the gate, the position of the centroid, and the slope.

12. The method as defined in claim 11 further comprising the step of calculating for each gate partial sums and a normalization value in accordance with the intensity and position of the pixels.

13. The method as defined in claim 12 wherein the video frame is defined by a plurality of pixels each having a discreet location (i,j), and I(i,j) defines the intensity of the (i,j) pixel, and the step of generating partial sums and a normalization value further comprises:

generating a horizontal partial sum Xp(L) for gates having edges L=L₁, . . . L_n of the object within the gate for the I(i,j) pixels above a predetermined threshold according to the following relationship ##EQU13## generating a vertical partial sum Xp(L) of the object within the gate for the I(i,j) pixels above a predetermined threshold according to the following relationship ##EQU14## generating a normalization value Ip(L) of the object within the gate for the I(i,j) pixels above a predetermined threshold according to the following relationship ##EQU15##

14. The method as defined in claim 13 further comprising the step of generating a horizontal position Xc(L) of the centroid for the portion of the object appearing within the gate according to the following relationship ##EQU16##

15. The method as defined in claim 14 wherein the gate includes a left edge having a horizontal position L and the edge of the object E has a horizontal position E, and the horizontal position of the centroid Xc is defined in accordance with the following relationship ##EQU17## where 2≦

n≦

3.

16. The method as defined in claim 15 wherein Xc defines a line having an intercept Xo and slope m and the horizontal position E of the edge of the object, and further comprising the step of is defining the following relationships to determine E. ##EQU18##

17. An airborne object tracking and defeat system comprising:

a sensor for capturing an image of the object;

a track processor for receiving the image captured by the sensor and for locating a leading edge of the object appearing in the image within a single video frame of data, where the video frame has pixels arranged generally vertically and horizontally, and where the object is defined within the video frame in accordance with the intensity of the pixels;

an edge detector within the track processor for examining the intensity of the pixels from the memory and for determining the leading edge of the object within the video frame, the edge detector performing the steps of;

(a) defining a gate having a position within the video frame,

(b) calculating partial sums and a normalization value in accordance with the intensity of the pixels and in accordance with the position of the pixels,

(c) determining a centroid of a portion of the object within the gate in accordance with the partial sums and the normalization value, the centroid having a position defined by a line having a slope,

(d) testing if the centroid falls within a preselected section of the gate, and moving an edge of the gate to define a new gate if the centroid does not fall within the preselected section of the gate, and redetermining the centroid for the portion of the object appearing within the new gate, and

(e) determining the leading edge of the object in accordance with the position of the gate, the position of the centroid, and the slope;

an aim controller receiving the position of the leading edge of the object from the track processor and generating output commands based on the position of the leading edge of the object; and

a positional gimble receiving the output commands and translating in response thereto.