Image tracking system and technique

• US 5,329,368 A
• Filed: 01/11/1993
• Issued: 07/12/1994
• Est. Priority Date: 08/02/1990
• Status: Expired due to Fees

• Current Assignee: Hughes Aircraft Company (Rtx Corporation)
• Original Assignee: Hughes Aircraft Company (Rtx Corporation)
• Inventors: Plotke, Elozor
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US08/002,517
• Time in Patent Office: 547 Days
• Field of Search: 338/105, 338/166, 338/125, 338/126, 250/332, 250/203.2, 250/203.5, 382/42, 382/43, 382/54, 382/56
• US Class Current: 348/701
• CPC Class Codes: G01S 3/7865 using correlation of the live video image with a stored image
• CPC Class Codes: G06T 7/262 using transform domain methods, e.g. Fourier domain methods
• CPC Class Codes: H04N 5/144 Movement detection for video coding H04N19/503; analysis of motion in general G06T7/20
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

An image motion tracking system (10) for use with an image detector (12, 14) having an array of elements in the x and y directions. First, frequency domain representations of an image are created to provide a reference frame of image data and an input frame of image data. A processor (30) is included for detecting a change in phase of the detector (12, 14) with respect to first and second samples of the reference frame relative to corresponding first and second samples of the input frame to discern a displacement of at least a portion of the input frame relative to at least a portion of the reference frame. Finally, the output signal is corrected to compensate for the displacement of the input frame relative to the reference frame.

Claims

1. An image motion tracking system for use with an image detector having an array of elements in the x and y directions, comprising:

first means for creating a first frequency domain representation of a reference frame of image data;

second means for creating a second frequency domain representation of an input frame of image data;

processing means for detecting changes in phase of said frequency domain representation of said reference frame relative to said frequency domain representation of said input frame to discern a displacement of at least a portion of said input frame relative to at least a portion of said reference frame, said processing means generating at least one output signal indicative of said displacement; and

compensation means, responsive to said at least one output signal, for providing compensation for said displacement of said input frame relative to said reference frame.

2. The system of claim 1, further including display means for displaying said frames of image data, wherein said compensating means includes electronic means, responsive to said at least one output signal, for adjusting said displayed frames of image data for said displacement.

3. The system of claim 1, further including an optical arrangement, wherein said compensating means includes means, responsive to said at least one output signal, for adjusting said optical arrangement.

4. The system of claim 1, wherein said compensating means includes

an alarm device, responsive to said at least one output signal, for signaling said displacement of at least a portion of said input frame relative to at least a portion of said reference frame.

5. The system of claim 1:

wherein said first means creates said first frequency domain representation for first and second pairs of selected frequencies;

wherein said second means creates said second frequency domain representation for said first and second pairs of selected frequencies; and

wherein said processing means detects said phase changes from said frequency domain representations of said input and reference frames.

6. An image motion tracking system for use with an image detector having an array of elements in the x and y directions, comprising:

first means for creating a first frequency domain representation of a reference frame of image data for first and second pairs of selected frequencies;

second means for creating a second frequency domain representation of an input frame of image data for said first and second pairs of selected frequencies;

processing means for detecting changes in phase between said first and second frequency representations to discern a displacement of at least a portion of said input frame relative to at least a portion of said reference frame;

means for displaying said frames of image data; and

electronic means for adjusting said displayed frames in response to said displacement.

7. An image motion tracking system for use with an image detector having an array of elements in the x and y directions, comprising:

first means for creating frequency domain representations of a reference frame of image data for first and second pairs of selected frequencies;

second means for creating frequency domain representations of an input frame of image data for said first and second pairs of selected frequencies;

processing means for detecting changes in phase between said first and second frequency representations to discern a displacement of at least a portion of said input frame relative to at least a portion of said reference frame;

an optical arrangement; and

means for adjusting said optical arrangement in response to said displacement.

8. An image motion tracking system for use with an image detector having an array of elements in the x and y directions, comprising:

first means for creating a first frequency domain representation of a reference frame of image data for first and second pairs of selected frequencies;

second means for creating a second frequency domain representation of an input frame of image data for said first and second pairs of selected frequencies;

processing means for detecting changes in phase between said first and second frequency representations to discern a displacement of at least a portion of said input frame relative to at least a portion of said reference frame; and

alarm means for outputting a signal indicative of said displacement of at least a portion of said input frame relative to at least a portion of said reference frame.

9. Apparatus for processing first and second time frames of image data, comprising:

transforming means for transforming said first and second time frames from time domains to first and second frequency domain representations for selected frequencies only; and

first processing means, responsive to an output of said transforming means, for determining at least one phase shift between said first and second frequency domain representations.

10. The apparatus of claim 9, wherein said selected frequencies include high frequencies for detecting jitter between said first and second time frames.

11. The apparatus of claim 9, wherein said selected frequencies include low frequencies for detecting motion of an image between said first and second time frames.

12. The apparatus of claim 9, each one of said frames displaying an image in n dimensions, where n≧

1, wherein said transforming means transforms each time frame for as many as n pairs of selected frequencies.

13. The apparatus of claim 9, said first and second time frames each displaying an image in an x-direction and in a y-direction, wherein said transforming means transforms said first time frame into said first frequency domain representation for selected first and second pairs of frequencies, and wherein said transforming means transforms said second time frame into said second frequency domain representation for said selected first and second pairs of frequencies.

14. The apparatus of claim 13, wherein only two frequencies among said first and second pairs are distinct.

15. The apparatus of claim 13, wherein said transforming means transforms a time frame (g) into a frequency domain representation (G) according to the following discrete fourier transform:

##EQU7## where fx and fy are the selected frequencies in the x,y directions

M and N are the number of pixels in the x,y directions, and

Δ

x and Δ

y are the pixel spacings in the x,y directions.

16. The apparatus of claim 15, wherein said first and second pairs of selected frequencies are determined as follows:

space="preserve" listing-type="equation">f.sub.x =k/MΔ

x where k=±

1,±

2,±

3, . . . or ±

((M/2)-1); and

space="preserve" listing-type="equation">f.sub.y =l/MΔ

y where l=±

1,±

2,±

3, . . . or ±

((N/2)-1).

17. The apparatus of claim 13, further comprising second processing means, responsive to an output of said first determining means, for determining a displacement of an image in said first and second time frames by considering only the imaginary component of said at least one phase shift.

18. The apparatus of claim 17, wherein said displacement in said x-direction (δ

_x) and said y-direction (δ

_y) are determined according to Cramer'"'"'s rule as follows;

##EQU8## and Q is a quotient of the input frame frequency domain representation to the reference frame frequency domain representation.

19. The apparatus of claim 9, further comprising second processing means, responsive to an output of said first determining means, for determining a displacement of an image in said first and second time frames by considering only the imaginary component of said at least one phase shift.

20. Apparatus for determining displacement in an x-direction (δ

_x) and a y-direction (δ

_y) of an image from a first time frame of image data to a second time frame of image data, comprising

means for storing said image data; and

means for processing said image data as follows;

##EQU9## where f_x1, f_y1 are a first pair of selected frequencies,

f_x2, f_y2 are a second pair of selected frequencies, ##EQU10## and where Q is a quotient of the fourier transform of the input time frame to the fourier transform of the reference time frame.