Methods and system for stabilizing live video in the presence of long-term image drift
First Claim
1. A surveillance system of an environment, comprising:
- a single camera mounted on a structure that is in a substantially fixed position relative to a ground of the environment for generating a plurality of frames of video of the environment, the single camera experiencing pole drift, wherein a plurality of fixed objects in a first video frame of the environment generated by the single camera have moved over a range of a plurality of pixels relative to the plurality of fixed objects in a base video frame of the environment generated by the single camera;
a memory to store the plurality of frames of video;
a processor in communication with the memory to process each of the plurality of frames of video by;
receiving a frame in the plurality of frames of video;
determining a transient transformation which transforms the frame to a transient coordinate system derived from a transient frame wherein the transient coordinate system is established periodically by selecting a frame from the plurality of frames of video;
determining a base transformation which transforms the transient coordinate system to a base coordinate system derived from a the base video frame;
determining a combined transformation that combines the transient and the base transformation; and
performing the combined transformation on the frame to correct for the pole drift.
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Accused Products
Abstract
Methods and systems stabilization of a camera image for short term or ‘pole shake’ and longer term ‘pole drift’ are provided. The camera is attached to a fixed structure. The pole drift is over periods of times long enough that the imagery can change significantly between a base reference frame and the current stabilized transient frame. A multitude of mapped frames and associated information is maintained. The slowly varying camera orientation (“pole drift”) is decoupled from the rapid motion jitter (“pole shake”), and separate transformations are calculated for each. Up to three transformations may be combined together for any one input frame. The separate transformations are combined together, so that only one full-blown image transformation computation is performed for each frame. A surveillance system applies a stabilization method.
33 Citations
20 Claims
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1. A surveillance system of an environment, comprising:
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a single camera mounted on a structure that is in a substantially fixed position relative to a ground of the environment for generating a plurality of frames of video of the environment, the single camera experiencing pole drift, wherein a plurality of fixed objects in a first video frame of the environment generated by the single camera have moved over a range of a plurality of pixels relative to the plurality of fixed objects in a base video frame of the environment generated by the single camera; a memory to store the plurality of frames of video; a processor in communication with the memory to process each of the plurality of frames of video by; receiving a frame in the plurality of frames of video; determining a transient transformation which transforms the frame to a transient coordinate system derived from a transient frame wherein the transient coordinate system is established periodically by selecting a frame from the plurality of frames of video; determining a base transformation which transforms the transient coordinate system to a base coordinate system derived from a the base video frame; determining a combined transformation that combines the transient and the base transformation; and performing the combined transformation on the frame to correct for the pole drift. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of managing a surveillance system of an environment, comprising:
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a processor receiving a frame in a plurality of frames of video generated by a single camera mounted on a structure that is in a substantially fixed position relative to a ground of the environment for generating the plurality of frames of video of the environment, the single camera experiencing pole drift, wherein a plurality of fixed objects in a first video frame of the environment generated by the single camera have moved over a range of a plurality of pixels relative to the plurality of fixed objects in a base video frame of the environment generated by the single camera; the processor determining a transient transformation which transforms the frame to a transient coordinate system related derived from a transient frame wherein the transient coordinate system is established periodically by selecting a frame from the plurality of frames of video; the processor determining a base transformation which transforms the transient coordinate system to a base coordinate system derived from the base video frame; the processor determining a combined transformation that combines the transient and the base transformation; and the processor performing the combined transformation on the frame to correct the pole drift. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification