Digital imaging stabilization

• US 7,773,116 B1
• Filed: 02/08/2006
• Issued: 08/10/2010
• Est. Priority Date: 02/08/2006
• Status: Active Grant

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Stevens, Rick C.
• Primary Examiner(s): VU, NGOC YEN T
• Application Number:
  US11/349,760
• Time in Patent Office: 1,644 Days
• Field of Search: None
• US Class Current: 348/208.4
• CPC Class Codes: F41G 3/02 using an independent line of sight
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G01S 7/481 Constructional features, e.g. arrangements of optical elements

Abstract

One apparatus embodiment includes a target tracking apparatus. The apparatus includes a reference camera, a processor to receive image data from the reference camera, and memory connected to the processor. The apparatus includes instructions storable in the memory and executable by the processor to process the image data to determine a target region within a first frame of the image data. The device also includes instructions that can be executed to compare image data of the first frame with image data of a second frame to locate the target region in the second frame.

Claims

1. A target tracking apparatus for use on a moving vehicle, comprising:

a reference camera;

a processor to receive image data from the reference camera;

a memory connected to the processor;

instructions storable in the memory and executable by the processor to;

process the image data to determine a stationary target region within a first frame of the image data;

compare image data of the first frame with image data of a second frame, wherein all of the image data of the first frame has shifted to a different location either within the second frame or out of the second frame due to movement of the vehicle, to locate the stationary target region in the second frame;

calculate a frame shift between the first frame and the second frame by using the position of the stationary target region within the first frame and the shifted position of the stationary target region within the second frame without use of data from a navigation system of the moving vehicle; and

adjust a user'"'"'s view of an entirety of an image associated with the image data to maintain the stationary target region in a particular position on a viewable interface from frame to frame by moving the reference camera based on the calculated frame shift.

2. The apparatus of claim 1, including instructions executable by the processor to automatically select the stationary target region based on particular characteristics identifiable in the image data.

3. The apparatus of claim 1, including instructions executable by the processor to calculate a movement of the reference camera, for capturing a third frame, by using the calculated frame shift.

4. The apparatus of claim 1, including instructions executable by the processor to adjust the user'"'"'s view of the image data to maintain the stationary target region in the center of the viewable interface from frame to frame.

5. The apparatus of claim 1, including a gimbaled targeting device oriented in a first position.

6. The apparatus of claim 5, wherein the gimbaled targeting device is oriented such that a pointing device of the gimbaled targeting device points at an object within the stationary target region based upon the comparison of the first and second frames of image data of the reference camera.

7. The apparatus of claim 6, wherein the reference camera and the gimbaled targeting device are separately attached to the moving vehicle.

8. The apparatus of claim 5, including instructions executable by the processor to move the gimbaled targeting device to a second position based upon the frame shift calculated by the comparison of the first and second frames of image data of the reference camera.

9. The apparatus of claim 8, wherein the gimbaled targeting device includes at least one of:

an imaging sensor;

a laser rangefinder; and

a laser spot tracker.

10. The apparatus of claim 1, wherein the reference camera has a digital zooming capability.

11. The apparatus of claim 1, wherein the reference camera has a digital panning capability.

12. The apparatus of claim 1, wherein the reference camera is mounted to a movable mount structure.

13. A method for digital image stabilization, comprising:

capturing a first image of a stationary target region at a first time with a camera attached to a moving vehicle;

capturing a second image of the stationary target region at a second time with the camera, wherein all of the image data of the first image has shifted to a different location either within the second image or out of the second frame due to the movement of the vehicle;

determining a change in position of the moving vehicle by comparing image data from the first image and the second image;

calculating a shift between the first image and the second image by using the position of the stationary target region within the first image and the shifted position of the stationary target region within the second image without use of data from a navigation system of the moving vehicle; and

adjusting a user'"'"'s view of the second image to maintain the stationary target region in a particular position on a viewable interface after the change in position of the vehicle by moving the camera based on the calculated shift, wherein the user'"'"'s view comprises an entirety of the captured second image.

14. The method of claim 13, wherein the method includes controlling a gimbaled apparatus based upon the calculated shift.

15. The method of claim 14, wherein the method includes controlling the gimbaled apparatus on a per-image basis.

16. The method of claim 13, wherein the method includes determining an amount to move a gimbaled apparatus based upon the calculated shift.

17. The method of claim 13, wherein the method includes determining a direction to move a gimbaled apparatus based upon the calculated shift.

18. The method of claim 13, wherein the method includes sending the calculated shift to a remote device.

19. A system for controlling a movable apparatus on a moving vehicle, comprising:

a digital imager;

a movable apparatus physically coupled to the digital imager;

a processor to receive image data from the digital imager;

a memory connected to the processor;

instructions storable in the memory and executable by the processor to;

select a stationary target region within a first frame of the image data;

compare the first frame of the image data with a subsequent frame of the image data to locate the stationary target region in the subsequent frame;

determine a frame shift between the first frame and the subsequent frame based on the position of the stationary target region within the first frame and the position of the stationary target region within the subsequent frame, wherein all of the image data of the first frame has shifted to a different location either within the second frame or out of the second frame due to movement of the vehicle without use of data from a navigation system of the moving vehicle;

determine an amount of movement of the movable apparatus based on the frame shift; and

adjust a user'"'"'s view of an entirety of an image associated with the image data to maintain the stationary target region in a particular position on a viewable interface from frame to frame by moving the movable apparatus based on the determined frame shift.

20. The system of claim 19, wherein the system includes a remote device capable of receiving the image data and transmitting a control signal to the movable apparatus based on the determined amount of movement.

21. The system of claim 20, wherein the movable apparatus includes circuitry to receive the control signal from the remote device.

22. The system of claim 21, wherein the movable apparatus includes circuitry to move the movable apparatus by the determined amount based upon the received signal.

23. The system of claim 19, wherein the movable apparatus is an imaging system having at least one imaging component from the group including:

an imaging sensor;

a laser designator; and

a laser spot tracker.

24. The system of claim 23, including instructions executable by the processor to point the at least one imaging component of the imaging system at a particular spot within the stationary target region in the subsequent frame based on the determined amount of movement.

25. The system of claim 19, including instructions executable by the processor to calculate a movement of the digital imager based on the frame shift.

26. The system of claim 19, wherein the digital imager is a mega-pixel imager.