System and method of visual orientation

• US 6,445,399 B1
• Filed: 01/20/1998
• Issued: 09/03/2002
• Est. Priority Date: 01/20/1998
• Status: Expired due to Term

• Current Assignee: Rafael - Armament Development Authority Ltd.
• Original Assignee: Rafael - Armament Development Authority Ltd.
• Inventors: Adiv, Gilad, Sroka, Yigal
• Primary Examiner(s): Huynh, Ba
• Application Number:
  US09/009,058
• Time in Patent Office: 1,687 Days
• Field of Search: 348/135-160, 382/103, 382/104, 382/105, 382/137, 382/141, 382/147, 382/148, 382/294, 382/128, 382/131, 382/154, 382/164, 382/165, 382/169, 382/170, 382/171, 382/172, 382/236, 382/289
• US Class Current: 715/767
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A system and method for providing images of a searching area and for assisting the visual orientation of a user observing the images of the area is provided. The system includes a reference memory, a camera, a transformation unit and a display unit. The reference memory stores a wide field of view (FOV) reference image of the searching area. The camera produces zoomed images of selected portions of the searching area, the zoomed images of the selected portions having an FOV not greater than the wide FOV of the reference image. Transformation means generate transformations between each of the zoomed images and the reference image, and the display means displays both the wide FOV reference image and one of the zoomed images currently viewed by the camera and, on the reference image, displays a frame indicating where, within the searching area, the camera is currently viewing the selected portion of the searching area.

Claims

1. A visual orientation system comprising,

a storage device which stores a reference image captured by a vision sensing device;

a camera which captures a sequence of second images;

a transformation unit which generates an image transformation from one or more pixels of said reference image and one or more pixels of said second images, said image transformation transforming said second images into relevant pixels of said reference image; and

display means which displays said reference image, said second image currently viewed by said camera, and a frame indicating location of said currently viewed second image within said reference image.

2. A system according to claim 1 and wherein said display means includes means for indicating an object of interest and means for displaying a mark in at least said reference image indicating the location of said object of interest.

3. A system according to claim 2 and wherein said means for displaying a mark includes means for displaying said mark additionally in said current image if said current image views a portion of said scene in which an object has already been marked.

4. A system according to claim 1 and wherein said transformation means comprises means for utilizing previous transformations to determine the current transformation.

5. A system according to claim 1 and wherein said transformation means comprises means for utilizing external camera information and for utilizing previous transformations to determine the current transformation.

6. A system according to claim 1 and wherein said camera is movable.

7. A system according to claim 1 and wherein said camera is stationary.

8. A system according to claim 1 and wherein said reference image is received from said camera.

9. A system according to claim 1 and wherein said reference image is received externally.

10. A system according to 1, wherein said reference image has a first field of view, and each of said second images has a second field of view, wherein each of said second fields of view is smaller than said first field of view.

11. A visual orientation system, said system comprises,

a first image;

a sequence of second images;

a transformation unit which generates an image transformation from at least a portion of said second images and at least a portion of said first image, said image transformation transforming said second images into relevant pixels of said reference image; and

a combination image of said first image and a frame indicating a location of a current second image within said first image.

12. A system according to 11 wherein said first image has a first field of view and each of said second images has a second field of view, wherein said second field of view is smaller than said first field of view.

13. A method for visual orientation, the method comprising the steps of:

storing a reference image;

capturing a sequence of second images;

when said second images overlap with at least a portion of said reference image, generating an image transformation from one or more pixels from said second images and one or more pixels of said reference image, said image transformation transforming said second images into relevant pixels of the reference image; and

continuously displaying said reference image, a currently captured second image, and a frame indicating location of said currently viewed second image within said reference image.

14. A method according to claim 13 and wherein said first step of displaying includes the step of indicating an object of interest and displaying a mark in at least said reference image indicating the location of said object of interest.

15. A method according to claim 14 and wherein said step of displaying a mark includes the step of displaying said mark additionally in said currently viewed zoomed image if said currently viewed zoomed image views a portion of said searching area in which an object has already been marked.

16. A method according to claim 13 and wherein said step of generating transformations comprises the step of utilizing previous transformations to determine the current transformation.

17. A method according to claim 13 and wherein said step of generating transformations comprises the steps of utilizing external information and of utilizing previous transformations to determine the current transformation.

18. A method according to claim 13 and wherein said reference image is received from a camera.

19. A method according to claim 13 and wherein said reference image is received externally.

20. A visual orientation system comprising:

a storage device which stores a reference image captured by a vision sensing device;

a camera which captures a sequence of second images;

a transformation unit which generates an image transformation from one or more pixels of said reference image and one or more pixels of said second images, said image transformation effecting a zoom in from said second image to a portion of said reference image; and

display means which displays said reference image, said second image currently viewed by said camera and a frame indicating location of said currently viewed second image within said reference image.

21. A system according to claim 20 and wherein said display means includes means for indicating an object of interest and means for displaying a mark in at least said reference image indicating the location of said object of interest.

22. A system according to claim 21 and wherein said means for displaying a mark includes means for displaying said mark additionally in said current image if said current image views a portion of said scene in which an object has already been marked.

23. A system according to claim 20 and wherein said transformation means comprises means for utilizing previous transformations to determine the current transformation.

24. A system according to claim 20 and wherein said transformation means comprises means for utilizing external camera information and for utilizing previous transformations to determine the current transformation.

25. A system according to claim 20 and wherein said camera is movable.

26. A system according to claim 20 and wherein said camera is stationary.

27. A system according to claim 20 and wherein said reference image is received from said camera.

28. A system according to claim 20 and wherein said reference image is received externally.