Gridlocking and correlation methods and arrangements

• US 6,803,997 B2
• Filed: 03/08/2002
• Issued: 10/12/2004
• Est. Priority Date: 03/08/2002
• Status: Expired due to Fees

• Current Assignee: Anzus, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Anzus, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Stanek, Clay J.
• Primary Examiner(s): Font, Frank G.
• Assistant Examiner(s): Lyons, Michael A.
• Application Number:
  US10/093,535
• Publication Number:
  US 20030169413A1
• Time in Patent Office: 949 Days
• Field of Search: 356/2, 382/278, 382/293, 382/294, 382/296
• US Class Current: 356/2
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G06E 3/005 using electro-optical or opto-electronic means
• CPC Class Codes: G06V 10/88 Image or video recognition using optical means, e.g. reference filters, holographic masks, frequency domain filters or spatial domain filters

Abstract

The present invention is in the area of tracking objects with systems such as correlation, gridlocking, optical correlation, and combinations thereof. Embodiments encompass systems of process and/or equipment to correlate objects and gridlock sensors with images based upon track data from sensors. In many of the embodiments the sensors may comprise radars, global positioning systems, laser target designators, seismic sensors or systems of seismic sensors comprising hydrophones and geophones, and other similar systems. While embodiments may comprise an optical correlator, many embodiments perform one or more analyzes statistically. Embodiments may refine coordinate transformations for the sensors and may account for errors by comparing a full or partial history of the track data associated with the same object from the same sensor. Further, many embodiments comprise software that can execute on a laptop, desktop, or similar computer.

Claims

1. A method, comprising:

receiving a reference image and a comparison image, wherein the reference image comprises track data of a first track about a first object and the comparison image comprises track data of a second track about a second object, the first track sensed substantially simultaneously with the second track;

displaying the reference image and the comparison image as coherent images at the input plane of an optical correlator;

detecting an interference intensity substantially proportional to a cross-correlation of the reference image with the comparison image; and

associating the first object with the second object based upon a comparison of the interference intensity with a second interference intensity, wherein the second interference intensity is substantially proportional to a cross-correlation of the reference image with a second comparison image.

2. The method of claim 1, further comprising transforming tracks from a second sensor to gridlock the second sensor with a first sensor, wherein the first sensor is associated with the first track and the second sensor is associated with the second track.

3. The method of claim 1, wherein said receiving comprises receiving a combined image.

4. The method of claim 1, wherein said receiving comprises receiving the reference image to describe objects as sensed by a first sensor and the comparison image to describe the objects as sensed substantially simultaneously by a second sensor.

5. The method of claim 1, wherein said receiving comprises receiving a reference image to describe an object based upon at least one track from a first sensor and a comparison image to describe the object based upon at least one track substantially simultaneously sensed by a second sensor.

6. The method of claim 1, wherein said displaying comprises illuminating the reference image and the comparison image with a coherent light at an input plane of the optical correlator.

7. The method of claim 1, wherein said displaying comprises displaying the reference image and the comparison image with a spatial light modulator.

8. The method of claim 1, wherein said detecting comprises locating an image detection device at a correlation plane of the optical correlator.

9. The method of claim 8, wherein locating the image detection device comprises capturing charge to measure the interference intensity.

10. The method of claim 8, wherein locating the image detection device comprises capturing an image to provide a digital value for pixels of the image detection device.

11. The method of claim 1, wherein said associating comprises determining a cost to match the first track with the second track.

12. The method of claim 11, wherein said associating further comprises comparing the cost to a reference cost to determine the first object is the second object.

13. The method of claim 1, wherein said associating comprises determining a rotation and a translation to transform track data of a sensor, wherein the comparison image and the second comparison image are based upon objects substantially concurrently sensed by the sensor.

14. The method of claim 13, wherein determining a rotation and a translation comprises:

determining an offset associated with the interference intensity; and

associating the comparison image with the rotation.

15. An apparatus, comprising:

a display to receive a reference image and a comparison image to display as coherent images, the reference image based upon a first track about a first object and the comparison image based upon a second track about a second object sensed substantially simultaneously with the first track;

an optical correlator coupled with said display to output an interference intensity substantially proportional to a cross-correlation of the reference image with the comparison image;

a detector coupled with said optical correlator to detect the interference intensity; and

a comparator coupled with said detector to associate the first object with the second object based upon the interference intensity and a second interference intensity, wherein the second interference intensity is substantially proportional to a cross-correlation of the reference image with a second comparison image.

16. The apparatus of claim 15, wherein said display comprises a spatial light modulator.

17. The apparatus of claim 16, wherein the spatial light modulator comprises an electrically-addressed spatial light modulator.

18. The apparatus of claim 16, wherein the spatial light modulator comprises an optically-addressed spatial light modulator.

19. The apparatus of claim 16, wherein the spatial light modulator comprises a gray-scale spatial light modulator.

20. The apparatus of claim 15, wherein said optical correlator comprises a joint transform optical correlator.

21. The apparatus of claim 20, wherein the joint transform optical correlator comprises a non-linear joint transform optical correlator.

22. The apparatus of claim 20, wherein the joint transform optical correlator comprises a correlation filter.

23. The apparatus of claim 15, wherein said detector comprises a frame-grabber to provide a digital value for pixels.

24. The apparatus of claim 15, wherein said detector comprises a charge-coupled device to measure the interference intensity.

25. The apparatus of claim 15, wherein said comparator comprises an association system to match the first track with the second track based upon the interference intensity.

26. The apparatus of claim 25, wherein the association system comprises a reference cost to determine the first object is the second object.

27. The apparatus of claim 15, wherein said comparator comprises a coordinate transformation determiner to determine an offset associated with the interference intensity and to associate the comparison image with the rotation.

28. An apparatus, comprising:

a display to receive a reference image and a comparison image to display as coherent images, the reference image based upon a first track about a first object and the comparison image based upon a second track about a second object sensed substantially simultaneously with the first track;

an optical correlator coupled with said display to output an interference intensity substantially proportional to a cross-correlation of the reference image with the comparison image;

a detector coupled with said optical correlator to detect the interference intensity;

a comparator coupled with said detector to associate the first object with the second object based upon the interference intensity and a second interference intensity, wherein the second interference intensity is substantially proportional to a cross-correlation of the reference image with a second comparison image; and

a theater system coupled with said comparator to determine a model of objects in an area based upon the interference intensity.

29. The apparatus of claim 28, wherein said theater system comprises memory to store a model.

30. The apparatus of claim 28, wherein said theater system comprises circuitry to update the model based upon the first track.

31. A machine-readable medium containing instructions, which when executed by a machine, cause said machine to perform operations, comprising:

receiving a reference image and a comparison image, wherein the reference image comprises track data of a first track about a first object and the comparison image comprises track data of a second track about a second object, the first track sensed substantially simultaneously with the second track;

displaying the reference image and the comparison image as coherent images at the input plane of an optical correlator;

detecting an interference intensity substantially proportional to a cross-correlation of the reference image with the comparison image; and

associating the first object with the second object based upon a comparison of the interference intensity with a second interference intensity, wherein the second interference intensity is substantially proportional to a cross-correlation of the reference image with a second comparison image.

32. The machine-readable medium of claim 31, further comprising transforming tracks from a second sensor to gridlock the second sensor with a first sensor, wherein the first sensor is associated with the first track and the second sensor is associated with the second track.

33. The machine-readable medium of claim 31, wherein said associating comprises determining a rotation and a translation to transform track data of a sensor, wherein the comparison image and the second comparison image are based upon objects substantially concurrently sensed by the sensor.

34. The machine-readable medium of claim 31, wherein said associating comprises determining a cost to match the first track with the second track, wherein the first track of a first sensor with a track of a second sensor.