Object detection from image profiles within sequences of acquired digital images
First Claim
Patent Images
1. Within an image acquisition device, a method of determining moving objects in integral projection vectors, comprising:
- acquiring a sequence of image frames;
determining a measure of frame-to-frame rotation, including;
performing a global XY alignment of a first frame and second, following frame of said image sequence;
determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and
based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and
performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and
the method further comprises;
determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence;
normalizing said integral projection vector gradients; and
determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and
determining a global rotation based on normalized distances between the primary maximum and minimum peaks, andwherein the further action is also based on said determined global rotation.
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Abstract
A measure of frame-to-frame rotation is determined. A global XY alignment of a pair of image frames is performed. At least one section of each of the X and Y integral projection vectors is determined, where aligned global vectors demonstrate a significant localized difference. Based on X and Y locations of the at least one section of the X and Y integral projection vectors, location, relative velocity and/or approximate area of at least one moving object within the sequence of image frames is/are determined.
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Citations
48 Claims
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1. Within an image acquisition device, a method of determining moving objects in integral projection vectors, comprising:
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acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and determining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (2, 3, 4)
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5. Within an image acquisition device, a method of determining moving objects in integral projection vectors, comprising:
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acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vectors for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; successively convoluting a first integral projection vector with a variable length vector; convoluting a second integral projection vector with a fixed length vector; and determining an absolute sum of differences between filtered vectors based on the convoluting of the first and second integral projection vectors; and determining a global rotation based on a length of a variable vector N that leads to a minimum value of the absolute sum of the differences, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (6, 7, 8)
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9. Within an image acquisition device, a method of determining moving objects in integral projection vectors, comprising:
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acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global alignment of a first and second, following frame of said image sequence; determining at least one section of an integral projection vector where the aligned global vectors demonstrate a significant localized difference; and based on a location of each said at least one section of the integral projection vector, determining an approximate size or relative velocity, or both, of at least one moving object within the sequence of image frames; and performing a further action based on the determined approximate size or relative velocity, or both, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and
determining locations of primary maximum and minimum peaks of said integral projection vector gradients; anddetermining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (10, 11, 12)
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13. Within an image acquisition device, a method of determining moving objects in integral projection vectors, comprising:
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acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global alignment of a first and second, following frame of said image sequence; determining at least one section of an integral projection vector where the aligned global vectors demonstrate a significant localized difference; and based on a location of each said at least one section of the integral projection vector, determining an approximate size or relative velocity, or both, of at least one moving object within the sequence of image frames; and performing a further action based on the determined approximate size or relative velocity, or both, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vectors for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; successively convoluting a first integral projection vector with a variable length vector; convoluting a second integral projection vector with a fixed length vector; and determining an absolute sum of differences between filtered vectors based on the convoluting of the first and second integral projection vectors; and determining a global rotation based on a length of a variable vector N that leads to a minimum value of the absolute sum of the differences, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (14, 15, 16)
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17. An image acquisition device, comprising:
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a lens, shutter and image sensor for acquiring digital images; a processor; a memory having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors, wherein the method comprises; acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and determining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (18, 19, 20)
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21. An image acquisition device, comprising:
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a lens, shutter and image sensor for acquiring digital images; a processor; a memory having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors, wherein the method comprises; acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vectors for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; successively convoluting a first integral projection vector with a variable length vector; convoluting a second integral projection vector with a fixed length vector; and determining an absolute sum of differences between filtered vectors based on the convoluting of the first and second integral projection vectors; and determining a global rotation based on a length of a variable vector N that leads to a minimum value of the absolute sum of the differences, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (22, 23, 24)
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25. An image acquisition device, comprising:
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a lens, shutter and image sensor for acquiring digital images; a processor; a memory having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors, wherein the method comprises; acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global alignment of a first and second, following frame of said image sequence; determining at least one section of an integral projection vector where the aligned global vectors demonstrate a significant localized difference; and based on a location of each said at least one section of the integral projection vector, determining an approximate size or relative velocity, or both, of at least one moving object within the sequence of image frames; and performing a further action based on the determined approximate size or relative velocity, or both, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and determining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (26, 27, 28)
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29. An image acquisition device, comprising:
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a lens, shutter and image sensor for acquiring digital images; a processor; a memory having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors, wherein the method comprises; acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including; performing a global alignment of a first and second, following frame of said image sequence; determining at least one section of an integral projection vector where the aligned global vectors demonstrate a significant localized difference; and based on a location of each said at least one section of the integral projection vector, determining an approximate size or relative velocity, or both, of at least one moving object within the sequence of image frames; and performing a further action based on the determined approximate size or relative velocity, or both, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vectors for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; successively convoluting a first integral projection vector with a variable length vector; convoluting a second integral projection vector with a fixed length vector; and determining an absolute sum of differences between filtered vectors based on the convoluting of the first and second integral projection vectors; and determining a global rotation based on a length of a variable vector N that leads to a minimum value of the absolute sum of the differences, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (30, 31, 32)
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33. One or more non-transitory processor-readable media having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors for a sequence of acquired image frames, wherein the method comprises:
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determining a measure of frame-to-frame rotation, including; performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and determining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (34, 35, 36)
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37. One or more non-transitory processor-readable media having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors for a sequence of acquired image frames, wherein the method comprises:
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determining a measure of frame-to-frame rotation, including; performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vectors for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; successively convoluting a first integral projection vector with a variable length vector; convoluting a second integral projection vector with a fixed length vector; and determining an absolute sum of differences between filtered vectors based on the convoluting of the first and second integral projection vectors; and determining a global rotation based on a length of a variable vector N that leads to a minimum value of the absolute sum of the differences, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (38, 39, 40)
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41. One or more non-transitory processor-readable media having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors for a sequence of acquired image frames, wherein the method comprises:
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determining a measure of frame-to-frame rotation, including; performing a global alignment of a first and second, following frame of said image sequence; determining at least one section of an integral projection vector where the aligned global vectors demonstrate a significant localized difference; and based on a location of each said at least one section of the integral projection vector, determining an approximate size or relative velocity, or both, of at least one moving object within the sequence of image frames; and performing a further action based on the determined approximate size or relative velocity, or both, of the at least one moving object; and the method further comprises; determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and determining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (42, 43, 44)
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45. One or more non-transitory processor-readable media having code embedded therein for programming the processor to perform a method of determining moving objects in integral projection vectors for a sequence of acquired image frames, wherein the method comprises:
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determining a measure of frame-to-frame rotation, including; performing a global alignment of a first and second, following frame of said image sequence; determining at least one section of an integral projection vector where the aligned global vectors demonstrate a significant localized difference; and based on a location of each said at least one section of the integral projection vector, determining an approximate size or relative velocity, or both, of at least one moving object within the sequence of image frames; and performing a further action based on the determined approximate size or relative velocity, or both, of the at least one moving object; and wherein the method comprises; determining horizontal and vertical integral projection vectors for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; successively convoluting a first integral projection vector with a variable length vector; convoluting a second integral projection vector with a fixed length vector; and determining an absolute sum of differences between filtered vectors based on the convoluting of the first and second integral projection vectors; and determining a global rotation based on a length of a variable vector N that leads to a minimum value of the absolute sum of the differences, and wherein the further action is also based on said determined global rotation. - View Dependent Claims (46, 47, 48)
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Specification