Motion compensated image registration for overlaid/fused video
First Claim
1. A system for compensating image misregistration between at least two image sensors comprising:
- first and second image sensors disposed on a platform and configured to provide first and second output images, respectively;
a motion sensor for sensing movement of the platform; and
a processor configured to calculate an image offset based on the movement of the platform sensed by the motion sensor;
wherein the image offset is calculated by determining (a) horizontal and vertical velocities of the platform, and (b) processing delay time between the first and second output images, andthe processor provides a vector defining a number of pixels in horizontal rows and vertical columns by which the first and second output images are shifted to compensate for the image misregistration between the first and second output images;
wherein the processor is configured to calculate horizontal and vertical image offsets using the following equation;
offsetx,y=υ
x,yLagT,where;
υ
x,y is a velocity vector of the horizontal and vertical linear velocities,LagT is the lag time, andoffsetx,y is a vector of the calculated horizontal and vertical image offsets.
9 Assignments
0 Petitions
Accused Products
Abstract
A system for compensating image misregistration between at least two image sensors includes a first image sensor and a second image sensor which are disposed on a platform and are configured to provide first and second output images, respectively. The system also includes a motion sensor and a processor. The motion sensor senses movement of the platform. The processor calculates a lag time between the first and second image sensors based on first and second processing delay times of the first and second image sensors, respectively. The processor also calculates an image offset based on the lag time and the movement of the platform sensed by the motion sensor and offsets one of the first or second output image with respect to the other one of the first or second output image based on the image offset. A fuser combines the offset image with the non-offset image.
47 Citations
21 Claims
-
1. A system for compensating image misregistration between at least two image sensors comprising:
-
first and second image sensors disposed on a platform and configured to provide first and second output images, respectively; a motion sensor for sensing movement of the platform; and a processor configured to calculate an image offset based on the movement of the platform sensed by the motion sensor; wherein the image offset is calculated by determining (a) horizontal and vertical velocities of the platform, and (b) processing delay time between the first and second output images, and the processor provides a vector defining a number of pixels in horizontal rows and vertical columns by which the first and second output images are shifted to compensate for the image misregistration between the first and second output images; wherein the processor is configured to calculate horizontal and vertical image offsets using the following equation;
offsetx,y=υ
x,yLagT,where; υ
x,y is a velocity vector of the horizontal and vertical linear velocities,LagT is the lag time, and offsetx,y is a vector of the calculated horizontal and vertical image offsets. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A system for compensating image misregistration between at least two image sensors comprising:
-
first and second image sensors disposed on a platform and configured to provide first and second output images, respectively; a motion sensor for sensing movement of the platform; a processor configured to calculate an image offset based on the movement of the platform sensed by the motion sensor; the motion sensor includes an accelerometer configured to sense horizontal and vertical linear accelerations of the platform; and an integrator for integrating over time the horizontal and vertical linear accelerations to provide respective horizontal and vertical linear velocities of the platform; and first and second frame memories configured to store respective first and second previous frames of the first or second output image, and wherein the processor is configured to zero the integrator when the processor determines that the first and second previous frames are spatially correlated to within an error limit. - View Dependent Claims (8, 9, 10, 11, 12)
-
-
13. A system for compensating image misregistration between at least two image sensors comprising:
-
first and second image sensors disposed on a platform and configured to provide first and second output images, respectively; a motion sensor for sensing movement of the platform; and a processor configured to calculate an image offset based on the movement of the platform sensed by the motion sensor; wherein the motion sensor includes a rate sensor configured to sense angular velocities of the platform, and the processor is configured to calculate a horizontal linear velocity of the first or second output image, using the following equation; - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
-
Specification