Patent Application
20090079837
Devices that use images for functions that are subject vibrations have to deal with image quality. For example a camera riding on car will experience a vibration due to the motion of vehicle and in result, affect the quality of the image. This vibration between the object of interest and the camera assembly results in image slurs. The slurs hamper the precision of the navigation system. With increased image driven steering systems such as vehicle parking systems, target-tracking systems and automatons docking systems for space aircraft, there is need for removing the vibration caused by the host system.
One method used to deal with image slur due to vibrations is to remove its effect on the image with stabilization techniques that utilize motion estimation and motion correction hardware or algorithms that compensate for the effects of the vibrations. These techniques are necessary for applications that require image clarity such as security system, vehicle detection systems and robotic systems. However, these stabilization techniques consume a relatively large amount of processing resources.
For the reasons stated above and for other reasons stated below which will become apparent to those skilled in the art upon reading and understanding the present specification, there is a need in the art to electronically or digitally stabilize images of the object so that the object can be tracked without requiring a relatively large amount of processing resources.
The above-mentioned problems of current systems are addressed by embodiments of the present invention and will be understood by reading and studying the following specification. The following summary is made by way of example and not by way of limitation. It is merely provided to aid the reader in understanding some of the aspects of the invention.
In one embodiment, a method of stabilizing images used to track an object wherein the images are subject to slurs due to vibrations that are oscillatory in nature is provided. The method comprises determining the center of intensity in the images taken of the object and using the center of the intensity to track the object.
The present invention can be more easily understood and further advantages and uses thereof more readily apparent, when considered in view of the detailed description and the following figures in which:
In accordance with common practice, the various described features are not drawn to scale but are drawn to emphasize specific features relevant to the present invention. Reference characters denote like elements throughout Figures and text.
In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific embodiments in which the inventions may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, and it is to be understood that other embodiments may be utilized and that logical, mechanical and electrical changes may be made without departing from the spirit and scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is defined only by the claims and equivalents thereof.
Embodiments of the present invention provide an image stabilization method where vibrations are oscillatory in nature and image clarity is not an issue. In embodiments, once an object to be imaged is identified the center of intensity of the object is determined. Using the center of intensity compensates for image slurs cause by the oscillatory vibrations. Hence, embodiments use the fact that slurs caused by the oscillatory vibrations will generally be equal in opposite directions and the center of the object can be identified by the center of intensity. The invention as described below can be used in any application that needs to track an object that is subject to oscillatory vibrations.
In one embodiment, a system has three different modes of operation. The first mode is a search mode. In the search mode the controller 206 is processing a relatively large amount of information from images provided by the image recorder since the initial determination of the object of interest is critical. The second mode is a stabilize mode that focus on the center of image intensity. The stabilize mode uses less processing resources than the search mode because it only focuses on identifying the center of intensity of an image. Moreover, since the vibrations the device is subject to are oscillatory in nature, the center of intensity of an image is all that is needed to be determined to track the object of interest. Hence, in embodiments, a stabilize mode can be entered into that requires less processing resources. The third mode is intense mode which like the first search mode uses a relatively large amount of processing resources at the end of a task. Moreover, in a docking example, the intense mode ensures proper alignment as the physical docking takes place.
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The methods and techniques used by the controller as described above can be implemented in digital electronic circuitry, or with a programmable processor (for example, a special-purpose processor or a general-purpose processor such as a computer) firmware, software, or in combinations of them. Apparatus embodying these techniques may include appropriate input and output devices, a programmable processor, and a storage medium tangibly embodying program instructions for execution by the programmable processor. A process embodying these techniques may be performed by a programmable processor executing a program of instructions to perform desired functions by operating on input data and generating appropriate output. The techniques may advantageously be implemented in one or more programs that are executable on a programmable system including at least one programmable processor coupled to receive data and instructions from, and to transmit data and instructions to, a data storage system, at least one input device, and at least one output device. Generally, a processor will receive instructions and data from a read-only memory and/or a random access memory. Storage devices suitable for tangibly embodying computer program instructions and data include all forms of non-volatile memory, including by way of example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks such as internal hard disks and removable disks; magneto-optical disks; and DVD disks. Any of the foregoing may be supplemented by, or incorporated in, specially-designed application-specific integrated circuits (ASICs).
Although, the above embodiments, have been described as applying to a navigation system of a docking system it can be applied to any type of apparatus used to track an object where the apparatus or object is subject to vibrations that are oscillatory in nature. Such systems may include but are not limited to image driven steering systems such as vehicle parking systems, security systems, vehicle detection systems and robotic systems. Hence, the present invention is not limited to navigation systems.
Although specific embodiments have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that any arrangement, which is calculated to achieve the same purpose, may be substituted for the specific embodiment shown. This application is intended to cover any adaptations or variations of the present invention. Therefore, it is manifestly intended that this invention be limited only by the claims and the equivalents thereof.
