Handheld article with movement discrimination

Abstract

A digital camera 10 has a pair of angular rate-sensing gyroscopic sensors 130 with mutually perpendicular axes and an electronic circuit 120 responsive to the sensor output signals to discriminate between voluntary and involuntary movements of the article as a function of the number of zero crossings per unit time of the signal and the average of the absolute amplitude of the signal.

Description

FIELD OF THE INVENTION

This invention relates to a handheld article, such as a digital camera, having apparatus to discriminate between voluntary and involuntary movement of the article.

BACKGROUND OF THE INVENTION

Handheld articles such as digital cameras are subject to movement in use, either involuntary (hand-jitter) or voluntary (e.g. panning). It would be useful to discriminate between these two types of movement.

The object of the present invention is to provide apparatus, in a handheld article, to discriminate between voluntary and involuntary movement of the article.

BRIEF SUMMARY OF THE INVENTION

According to the present invention there is provided a handheld article having at least one angular rate-sensing gyroscopic sensor and an electronic circuit responsive to the sensor output signal to discriminate between voluntary and involuntary movements of the article as a function of the number of zero crossings per unit time of the signal and the average of the absolute amplitude of the signal.

Preferably the article includes first and second angular rate-sensing gyroscopic sensors with transverse axes, the electronic circuit being responsive to both sensor output signals to discriminate between voluntary and involuntary movements of the article.

In an embodiment the article is a digital camera.

BRIEF DESCRIPTION OF DRAWINGS

An embodiment of the invention will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a block diagram of a digital camera operating in accordance with an embodiment of the present invention.

FIGS. 2 to 4 are waveforms useful in understanding the operation of the embodiment of the invention.

DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 is a block diagram of a portable digital camera 10, operating in accordance with an embodiment of the present invention. It will be appreciated that many of the processes implemented in the digital camera are implemented in or controlled by software operating on a microprocessor, central processing unit, controller, digital signal processor and/or an application specific integrated circuit, collectively depicted as processor 120. All user interface and control of peripheral components such as buttons and display is controlled by a microcontroller 122. The processor 120, in response to a user input at 122, such as half pressing a shutter button (pre-capture mode 32), initiates and controls the digital photographic process.

Ambient light exposure is determined using a light sensor 40 in order to automatically determine if a flash is to be used. The distance to the subject is determined using a focusing mechanism 50 which also focuses the image on an image capture device 60. If a flash is to be used, processor 120 causes a flash device 70 to generate a photographic flash in substantial coincidence with the recording of the image by the image capture device 60 upon full depression of the shutter button.

The image capture device 60 digitally records the image in colour. The image capture device is known to those familiar with the art and may include a CCD (charge coupled device) or CMOS to facilitate digital recording. The flash may be selectively generated either in response to the light sensor 40 or a manual input 72 from the user of the camera. The high resolution image recorded by image capture device 60 is stored in an image store 80 which may comprise computer memory such a dynamic random access memory or a non-volatile memory. The camera is equipped with a display 100, such as an LCD, for preview images.

In the case of preview images which are generated in the pre-capture mode 32 with the shutter button half-pressed, the display 100 can assist the user in composing the image, as well as being used to determine focusing and exposure. Temporary storage 82 is used to store one or plurality of the preview images and can be part of the image store 80 or a separate component. The preview image is usually generated by the image capture device 60. For speed and memory efficiency reasons, preview images usually have a lower pixel resolution than the main image taken when the shutter button is fully depressed, and are generated by sub-sampling a raw captured image using software 124 which can be part of the general processor 120 or dedicated hardware or combination thereof.

Various processing functions 90 carried out on the main, high-resolution, image, and/or low resolution preview images, such as redeye detection and correction 92 and de-blurring 94, can be integral to the camera 10 or part of an external processing device 20 such as a desktop computer.

The camera 10 also includes two angular rate-sensing gyroscopic sensors 130 having vertical and horizontal axes respectively (vertical and horizontal refers to the orientation of the axes when the camera is held perfectly upright and level). In the present embodiment each sensor 130 comprises an Analog Devices ADXRS401 single chip sensor capable of measuring up to 75 degrees per second about its axis. The analog output signals from the two sensors are sampled 40,000 times per second for analog-to-digital conversion and applied to the digital processor 120. This allows the processor 120 to discriminate between voluntary and involuntary movement of the camera, as well as between camera movement and electronic jitter, in the following manner.

In a digital camera one may encounter three situations:

1. There is no movement (FIG. 2). The sensor output signal is solely electronic jitter (sensor noise).

2. There is involuntary hand jitter (FIG. 3). It adds to the sensor noise. Here, the hand jitter is dominant.

3. There is voluntary, desired hand movement (FIG. 4), for example, while panning to follow a moving vehicle. This adds to the involuntary hand jitter and sensor noise, but is dominant.

Sensor noise has a small amplitude and a large percentage of energy in the high frequency domain. Hand jitter increases the amplitude of the sensor output signals and the energy in the low frequency bands, while voluntary movement has the largest amplitude (due to a non-zero DC component) and most of the signal energy near zero frequency. The present embodiment discriminates between these three situations as a function of the number of zero-crossings per second NZC of each sensor signal, which is a measure of frequency, and the average of the absolute amplitude of each sensor signal | W| in Volts. The number of zero crossings per second (NZC) of a discrete signal w(n), where n=1, . . . N, is:

$\mathrm{NZC}=\sum _{n=1}^{N-1}H\left(-w\left(n\right)·w\left(n+1\right)\right),\mathrm{where}H\left(x\right)=\{\begin{array}{c}0,x\le 0\\ 1,x>0\end{array}$

The value of NZC (which refers to the number of zero crossings per second) need not be established by counting zero crossings over a full second, since NZC changes relatively slowly over time and a count of the number of zero crossings taken over, for example, 1/10^th of a second can be scaled up (in this example by multiplying by 10) and expressed as the number per second. The absolute amplitude of the signal is preferably averaged over the same period as the zero crossing count, but again the absolute average changes relatively slowly over time so exact correspondence is not strictly necessary.

Our tests, using two Analog Devices ADXRS401 single chip sensors mounted on a test board with mutually perpendicular axes and sensor outputs sampled at 40,000 samples per second, have shown that for the three situations above the following criteria generally apply for both horizontal and vertical components of random movement:

1. No movement: NZCEε[180; 250] and | W|ε[0.01; 0.025]

2. Hand jitter: NZCEε[50; 160] and | W|ε[0.03, 0.2]

3. Voluntary movement: NZC<10 and | W|>0.5.

These ranges can therefore be used for discriminating between the three situations. However, unless the movement is predominantly in one direction, the discrimination is likely to be less accurate if the criteria for only one direction (horizontal or vertical) are used for a decision, as one can see in the example below (FIG. 4, NZC_hor).

Therefore, we have found that a high degree of discrimination accuracy can be obtained by combining the criteria and computing the term:

$\mathrm{TH}=\frac{{\mathrm{NZC}}_{\mathrm{hor}}}{{\stackrel{\_}{W}}_{\mathrm{hor}}}+\frac{{\mathrm{NZC}}_{\mathrm{vert}}}{{\stackrel{\_}{W}}_{\mathrm{vert}}}$

In our tests, we found empirically that if TH were greater than 1200, noise was the predominant factor; if not, hand jitter was present. We found this 1200 threshold to be highly accurate in discriminating between sensor noise and hand jitter. In our tests there were 2% false alarms (noise detected as jitter) and 1.8% misdetection. In 0.16% cases the test indicated voluntary movement instead of hand jitter.

To discriminate between hand jitter and voluntary movement we compared TH with 400, which we found empirically to be a useful threshold to differentiate between these two types of movement. A TH of less than 400 indicated voluntary movement while a TH greater than 400 indicated hand jitter. For soft movements it is hard to define the physical threshold between hand jitter and a voluntary movement. For hard movements, however, the tests proved 100% accurate.

Of course, if different sensors are used, there will be different threshold levels.

FIGS. 2 to 4 are typical waveforms of the sensor outputs for the three situations referred to above.

FIG. 2: Pure sensor noise. As one can see, both of the records have many zero-crossings, but no significant DC component. The high frequencies are much more important as compared to other cases. The energy level is low. The values computed from these records are:

NZC_hor=321

NZC_vert=140

| W|_hor=0.025

| W|_vert=0.0034

TH=54016.47

FIG. 3: Hand jitter is predominant. As one can see, both of the records have insignificant DC components and a rather high number of zero-crossings. The values computed from these records are:

NZC_hor=78

NZC_vert=119

| W|_hor=0.093

| W|_vert=0.079

TH=2345.03

FIG. 4: Voluntary movement is predominant. As one can see, both of the records have significant DC components which decreases the number of zero-crossings. The DC component shows the existence of the voluntary movement. The values computed from these records are:

NZC_hor=15

NZC_vert=0

| W|_hor=0.182

| W|_vert=0.284

TH=82.42

The above technique is embodied in the camera 10 by the processor 120 iteratively calculating TH from the output signals from the sensors 150, comparing the calculated value with the thresholds 400 and 1200, and setting or clearing a respective flag according to whether TH is greater than 1200, less than 400, or between 400 and 1200. The state of the flags at any given moment will indicate whether the immediately preceding measurement detected sensor noise only, hand jitter or voluntary movement to a high degree of accuracy. This is done cyclically at least while the camera is in preview mode with the shutter button half-depressed, right up to the moment that the final full resolution image is captured. The final state of the flags at the moment the shutter is pressed can be stored as metadata with the image, and used in processing the image, e.g. as an input to the de-blur function 94 or alternatively, the state of the flag can be fed directly to the image processing function. During the preview phase the state of the flags can be used to determine whether to enable or disable an image stabilisation function or otherwise used as input to such a function to modify its operation.

In another application, the image processing functions include a face tracking module 96 as described in U.S. patent application Ser. No. 11/464,083 filed Aug. 11, 2006, now U.S. Pat. No. 7,315,631. Such a module periodically analyses acquired images to detect faces within the images and subsequently tracks these faces from one image to another in an image stream. Face detection is relatively processor intensive and needs to be performed as judiciously as possible. Thus, using the information provided with the present embodiment, the module 96 can for example decide to switch off face detection/tracking when a camera is being voluntarily moved as it might presume that it could not track face movement during panning of the camera, whereas if hand jitter is being experienced, the module can use the degree and direction of movement to attempt to predict where a face candidate region being tracked may have moved from one image in a stream to the next. If noise rather than hand jitter is being experienced, the module 96 could decide to use an existing location for a face candidate region rather than attempting to predict its location based on camera movement.

The invention is not limited to the embodiments described herein which may be modified or varied without departing from the scope of the invention.

Claims

1. A digital camera-enabled portable device, comprising: a lens and image sensor for acquiring digital images;a processor;at least one angular rate-sensing gyroscopic sensor;an electronic circuit responsive to a sensor output signal to discriminate between voluntary and involuntary movements of the article as a function at least of the number of zero crossings per unit time of the signal; anda face tracking module configured to detect and track a face within the images and to select an operating condition based on a determination as to whether the article is undergoing voluntary movement, andwherein the operating condition comprises turning face tracking off upon determining that the article is undergoing voluntary movement.

2. The digital camera enabled portable device of claim 1, wherein the function is proportional to the number of zero crossings of the signal.

3. The digital camera enabled portable device of claim 1, including first and second angular rate-sensing gyroscopic sensors with transverse axes, the electronic circuit being responsive to both sensor output signals to discriminate between voluntary and involuntary movements of the article.

4. The digital camera-enabled portable device of claim 3, wherein the axes of the first and second angular rate-sensing gyroscopic sensors are substantially perpendicular to one another.

5. The digital camera-enabled portable device of claim 1, wherein the electronic circuit is responsive to the sensor output signal to discriminate between voluntary and involuntary movements of the article as a function also of the average of the absolute amplitude of the signal.

6. A digital camera-enabled portable device, comprising: a lens and image sensor for acquiring digital images;a processor;at least one angular rate-sensing gyroscopic sensor;an electronic circuit responsive to a sensor output signal to discriminate between voluntary and involuntary movements of the article as a function at least of the number of zero crossings per unit time of the signal; anda face tracking module configured to detect and track a face within the images and to select an operating condition based on a determination as to whether the article is undergoing voluntary movement,first and second angular rate-sensing gyroscopic sensors with transverse axes, the electronic circuit being responsive to both sensor output signals to discriminate between voluntary and involuntary movements of the article,wherein the function is proportional to the number of zero crossings of the signal and inversely proportional to the average of the absolute amplitude of the signal.

7. The digital camera-enabled portable device of claim 6, wherein the electronic circuit discriminates between involuntary and voluntary movements by determining whether the function falls below a first threshold indicating voluntary movement or above the first threshold indicating no voluntary movement.

8. The digital camera-enabled portable device of claim 7, wherein the electronic circuit further discriminates between involuntary movements and sensor noise by determining whether the function falls below a second predetermined threshold greater than the first threshold indicating involuntary movement or above the second threshold indicating no movement.

9. A digital camera-enabled portable device, comprising: a lens and image sensor for acquiring digital images;a processor;at least one angular rate-sensing gyroscopic sensor;an electronic circuit responsive to a sensor output signal to discriminate between voluntary and involuntary movements of the article as a function at least of the number of zero crossings per unit time of the signal; anda face tracking module configured to detect and track a face within the images and to select an operating condition based on a determination as to whether the article is undergoing voluntary movement,wherein the electronic circuit is responsive to the sensor output signal to discriminate between voluntary and involuntary movements of the article as a function also of the average of the absolute amplitude of the signal, andwherein the function is proportional to the number of zero crossings of the signal and inversely proportional to the average of the absolute amplitude of the signal.

10. The digital camera-enabled portable device of claim 9, wherein the electronic circuit discriminates between involuntary and voluntary movements by determining whether the function falls below a first threshold indicating voluntary movement, or above the first threshold indicating no voluntary movement.

11. The digital camera-enabled portable device of claim 10, wherein the electronic circuit further discriminates between involuntary movements and sensor noise when the function is above the first threshold by determining whether the function falls below a second predetermined threshold greater than the first threshold indicating involuntary movement, or above the second threshold indicating no movement.

12. The digital camera-enabled portable device of claim 11, wherein the face tracking module is further configured to select an operating condition based on a further determination as to whether the article is undergoing no movement.

13. The digital camera-enabled portable device of claim 12, wherein when the device is determined to have no movement, the operating condition comprises using an existing location for a face candidate region.

14. The digital camera-enabled portable device of claim 13, wherein the operating condition comprises not attempting to predict a location for the face based on any camera movement.

15. The digital camera-enabled portable device of claim 9, wherein the operating condition comprises turning face tracking off upon determining that the article is undergoing voluntary movement.

16. One or more non-transitory computer-readable storage device having code embedded therein for programming a processor to perform a method of tracking a face within multiple images of an image stream acquired with a digital camera-enabled portable device equipped with at least one angular rate-sensing gyroscope, wherein the method comprises: receiving an angular rate-sensing gyroscopic sensor output signal;calculating a value of a function at least of the number of zero crossings per unit time of the signal;discriminating between voluntary and involuntary movements of the digital camera-enabled portable device based on the value; anddetecting and tracking said face within the multiple images only when the device is not undergoing voluntary movement,wherein the detecting and tracking of said face comprises turning face tracking off upon determining that the device is undergoing voluntary movement.

17. The one or more computer-readable storage devices of claim 16, wherein the function is proportional to the number of zero crossings of the signal.

18. The one or more computer-readable storage devices of claim 16, wherein the device is equipped with first and second angular rate-sensing gyroscopic sensors with transverse axes, and the discriminating between voluntary and involuntary movements of the device comprises analyzing both sensor output signals.

19. The one or more computer-readable storage devices of claim 18, wherein the axes of the first and second angular rate-sensing gyroscopic sensors are substantially perpendicular to one another.

20. The one or more computer-readable storage devices of claim 16, wherein the function is also a function of the average of the absolute amplitude of the signal.

21. One or more non-transitory computer-readable storage device having code embedded therein for programming a processor to perform a method of tracking a face within multiple images of an image stream acquired with a digital camera-enabled portable device equipped with at least one angular rate-sensing gyroscope, wherein the method comprises: receiving an angular rate-sensing gyroscopic sensor output signal;calculating a value of a function at least of the number of zero crossings per unit time of the signal;discriminating between voluntary and involuntary movements of the digital camera-enabled portable device based on the value;detecting and tracking said face within the multiple images only when the device is not undergoing voluntary movement,wherein the device is equipped with first and second angular rate-sensing gyroscopic sensors with transverse axes, and the discriminating between voluntary and involuntary movements of the device comprises analyzing both sensor output signals,wherein the function is proportional to the number of zero crossings of the signal and inversely proportional to the average of the absolute amplitude of the signal.

22. The one or more computer-readable storage devices of claim 21, wherein the discriminating between involuntary and voluntary movements comprises determining whether the function falls below a first threshold indicating voluntary movement or above the first threshold indicating no voluntary movement.

23. The one or more computer-readable storage devices of claim 22, wherein the method further comprises discriminating between involuntary movements and sensor noise, including determining whether the function falls below a second predetermined threshold greater than the first threshold indicating involuntary movement or above the second threshold indicating no movement.

24. The one or more computer-readable storage devices of claim 21, wherein the detecting and tracking of said face comprises turning face tracking off upon determining that the device is undergoing voluntary movement.

25. One or more non-transitory computer-readable storage device having code embedded therein for programming a processor to perform a method of tracking a face within multiple images of an image stream acquired with a digital camera-enabled portable device equipped with at least one angular rate-sensing gyroscope, wherein the method comprises: receiving an angular rate-sensing gyroscopic sensor output signal;calculating a value of a function at least of the number of zero crossings per unit time of the signal;discriminating between voluntary and involuntary movements of the digital camera-enabled portable device based on the value; anddetecting and tracking said face within the multiple images only when the device is not undergoing voluntary movementwherein the function is also a function of the average of the absolute amplitude of the signal,wherein the function is proportional to the number of zero crossings of the signal and inversely proportional to the average of the absolute amplitude of the signal.

26. The one or more computer-readable storage devices of claim 25, wherein the discriminating between involuntary and voluntary movements comprises determining whether the function falls below a first threshold indicating voluntary movement, or above the first threshold indicating no voluntary movement.

27. The one or more computer-readable storage devices of claim 26, wherein the method further comprises discriminating between involuntary movements and sensor noise when the function is above the first threshold by determining whether the function falls below a second predetermined threshold greater than the first threshold indicating involuntary movement, or above the second threshold indicating no movement.

28. The one or more computer-readable storage devices of claim 27, wherein the detecting and tracking of said face further comprises selecting an operating condition based on a further determination as to whether the device is undergoing no movement.

29. The one or more computer-readable storage devices of claim 28, wherein when the device is determined to have no movement, the detecting and tracking of said face comprises using an existing location for a face candidate region.

30. The one or more computer readable storage devices of claim 29, wherein the detecting and tracking of said face does not include predicting its location based on any camera movement.

31. A method of tracking a face within multiple images of an image stream acquired with a digital camera-enabled portable device equipped with at least one angular rate-sensing gyroscope, wherein the method comprises: receiving an angular rate-sensing gyroscopic sensor output signal;calculating a value of a function at least of the number of zero crossings per unit time of the signal;discriminating between voluntary and involuntary movements of the digital camera-enabled portable device based on the value; anddetecting and tracking said face within the multiple images only when the device is not undergoing voluntary movement, andwherein the detecting and tracking of said face comprises turning face tracking off upon determining that the device is undergoing voluntary movement.

32. The method of claim 31, wherein the function is proportional to the number of zero crossings of the signal.

33. The method of claim 31, wherein the device is equipped with first and second angular rate-sensing gyroscopic sensors with transverse axes, and the discriminating between voluntary and involuntary movements of the device comprises analyzing both sensor output signals.

34. The method of claim 33, wherein the axes of the first and second angular rate-sensing gyroscopic sensors are substantially perpendicular to one another.

35. The method of claim 31, wherein the function is also a function of the average of the absolute amplitude of the signal.

36. A method of tracking a face within multiple images of an image stream acquired with a digital camera-enabled portable device equipped with at least one angular rate-sensing gyroscope, wherein the method comprises: receiving an angular rate-sensing gyroscopic sensor output signal;calculating a value of a function at least of the number of zero crossings per unit time of the signal;discriminating between voluntary and involuntary movements of the digital camera-enabled portable device based on the value; anddetecting and tracking said face within the multiple images only when the device is not undergoing voluntary movementwherein the device is equipped with first and second angular rate-sensing gyroscopic sensors with transverse axes, and the discriminating between voluntary and involuntary movements of the device comprises analyzing both sensor output signals,wherein the function is proportional to the number of zero crossings of the signal and inversely proportional to the average of the absolute amplitude of the signal.

37. The method of claim 36, wherein the discriminating between involuntary and voluntary movements comprises determining whether the function falls below a first threshold indicating voluntary movement or above the first threshold indicating no voluntary movement.

38. The method of claim 37, further comprising discriminating between involuntary movements and sensor noise, including determining whether the function falls below a second predetermined threshold greater than the first threshold indicating involuntary movement or above the second threshold indicating no movement.

39. A method of tracking a face within multiple images of an image stream acquired with a digital camera-enabled portable device equipped with at least one angular rate-sensing gyroscope, wherein the method comprises: receiving an angular rate-sensing gyroscopic sensor output signal;calculating a value of a function at least of the number of zero crossings per unit time of the signal;discriminating between voluntary and involuntary movements of the digital camera-enabled portable device based on the value; anddetecting and tracking said face within the multiple images only when the device is not undergoing voluntary movement,wherein the function is also a function of the average of the absolute amplitude of the signal,wherein the function is proportional to the number of zero crossings of the signal and inversely proportional to the average of the absolute amplitude of the signal.

40. The method of claim 39, wherein the discriminating between involuntary and voluntary movements comprises determining whether the function falls below a first threshold indicating voluntary movement, or above the first threshold indicating no voluntary movement.

41. The method of claim 40, further comprising discriminating between involuntary movements and sensor noise when the function is above the first threshold by determining whether the function falls below a second predetermined threshold greater than the first threshold indicating involuntary movement, or above the second threshold indicating no movement.

42. The method of claim 41, wherein the detecting and tracking of said face further comprises selecting an operating condition based on a further determination as to whether the device is undergoing no movement.

43. The method of claim 42, wherein when the device is determined to have no movement, the detecting and tracking of said face comprises using an existing location for a face candidate region.

44. The method of claim 43, wherein the detecting and tracking of said face does not include predicting its location based on any camera movement.

45. The method of claim 39, wherein the detecting and tracking of said face comprises turning face tracking off upon determining that the device is undergoing voluntary movement.