Detection, classification, and tracking of surface contacts for maritime assets
First Claim
1. A processor-implemented method for object detection and tracking, the method comprising:
- receiving, by a processor, water surface image data from one or more imaging sensors associated with a maritime asset;
detecting, by the processor, an object based on anomalies in variance of pixels in the image data;
detecting, by the processor, a horizon line in the image data and estimating a range from the maritime asset to the object based on the location of the object in the image data relative to the horizon line;
analyzing, by the processor, motion of the object relative to water surface waves, the analyzing further comprising compensation for motion of the asset and associated sensors; and
classifying, by the processor, the object as an object of interest based on the estimated range and the analyzed motion of the object.
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Abstract
Techniques are provided for detection, classification and tracking of surface contacts based on multispectral image data from sensors on maritime assets. An example system may include an anomaly detection circuit configured to detect an object based on anomalies in the variance of pixels of water surface image data. The system may also include an object motion tracking circuit configured to analyze motion of the object relative to water surface waves. The analysis may compensate for motion of the asset and sensors. The system may further include an object classification circuit configured to classify the object as an object of interest, based on the analyzed motion of the object, and as a threat, further based on size estimation, edge detection, surface texture analysis, and volume analysis. The range from the asset to the object may be estimated based on the relation of the object to a detected or estimated horizon line.
35 Citations
21 Claims
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1. A processor-implemented method for object detection and tracking, the method comprising:
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receiving, by a processor, water surface image data from one or more imaging sensors associated with a maritime asset; detecting, by the processor, an object based on anomalies in variance of pixels in the image data; detecting, by the processor, a horizon line in the image data and estimating a range from the maritime asset to the object based on the location of the object in the image data relative to the horizon line; analyzing, by the processor, motion of the object relative to water surface waves, the analyzing further comprising compensation for motion of the asset and associated sensors; and classifying, by the processor, the object as an object of interest based on the estimated range and the analyzed motion of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for object detection and tracking, the system comprising:
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a variance anomaly detection circuit to detect an object based on anomalies in variance of pixels in water surface image data received from one or more imaging sensors associated with a maritime asset; the variance anomaly detection circuit further to detect a horizon line in the image data and estimate a range from the maritime asset to the object based on the location of the object in the image data relative to the horizon line; an object motion tracking circuit to analyze motion of the object relative to water surface waves, the analysis further comprising compensation for motion of the asset and associated sensors; and an object classification circuit to classify the object as an object of interest based on the estimated range and the analyzed motion of the object. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. At least one non-transitory computer readable storage medium having instructions encoded thereon that, when executed by one or more processors, result in the following operations for object detection and tracking, the operations comprising:
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receiving water surface image data from one or more imaging sensors associated with a maritime asset; detecting an object based on anomalies in variance of pixels in the image data; detecting a horizon line in the image data and estimating a range from the maritime asset to the object based on the location of the object in the image data relative to the horizon line; analyzing motion of the object relative to water surface waves, the analyzing further comprising compensation for motion of the asset and associated sensors; and classifying the object as an object of interest based on the estimated range and the analyzed motion of the object. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification