Patent Application
20120229596
The present inventions relate to image data processing and more particularly to a system for the processing and display of imagery that combines panoramic viewing with an intelligent, adaptive display of real time images permitting simultaneous visual situational awareness and remote piloting and navigation under various and changing vehicle conditions.
The majority of the U.S. Navy's submarines still depend on the use of the age old periscope. At periscope depth, both the periscope and even the latest generation of non-penetrating photonics masts, which are installed on Virginia Class submarines for example, are still required to be rotated to view specific contacts. When operating passively in a contact dense environment, such manual contact identification can be time consuming and, in some instances, put the submarine in potentially hazardous situations.
Current panoramic systems primarily use one of two approaches. The first approach uses a specialized optic that images 360 degrees on the horizon onto a circle of the imaging focal plane. Image processing is used to map the circle into a straight line for display. However, this approach suffers from several shortcomings. Namely, the highest achievable resolution of the system is limited by the size of the focal plane/planes that can be physically utilized in the optical arrangement. In addition, optical resolution is not uniform over the field of view. Typically this is many fewer pixels than can be implemented using a number of separate cameras. This approach also suffers from mechanical challenges due to the need for a continuous transparent cylinder that must also provide a measure of structural rigidity.
The second approach uses several more standard video cameras arrayed on a circumference to image the complete circle. Typically, image processing software running on a general purpose processor would be used to reassemble or stitch the separate images into a single continuum, or alternatively several long image segments. This approach is computationally intensive, inefficient, cumbersome and may result in significant latency and processing overhead. Thus, there is a need in the art for an improved high resolution real time panoramic imaging system.
In addition, imaging systems currently in use on a variety of vehicles, including on military vehicles and in some automotive applications, employ generally fixed field of view, stationary cameras pointing directly ahead of the vehicle. In the case of military vehicles, these Driver Vision Enhancement (DVE) devices permit a driver to remotely steer or navigate even without the benefit of direct visual contact with the exterior environment. Similarly, some automobiles employ a thermal imaging camera pointed directly ahead of the vehicle providing the driver with additional visual cues at night or when visibility is reduced. The cameras used in these applications are typically a fixed field of view of approximately 40 degrees and are directed directly ahead of the vehicle. Some military camera systems mount the camera on a mechanical pan and tilt device that is under the manual control of an operator or driver. While this allows the camera line of sight to be redirected left or right so that more scene information may be gathered, it also poses the serious risk of distracting the driver from his main mission of piloting the vehicle.
In any case, standard DVE devices limit the total view and the amount of information available to the driver at any instant of time and may deprive him of valuable cues required to safely pilot his vehicle. Moreover, it is a consistent and stated requirement that military vehicles, being vulnerable to threats from many directions, should be capable of displaying fully panoramic imagery that provides situational awareness to the crew even as the driver is piloting the vehicle using his own dedicated remote display. Finally, other cameras facing toward the rear or side on both military and commercial vehicles are often installed that provide additional safety and security. Therefore, there is a need for a system that combines the unique demands of panoramic imaging for full situational awareness with the necessity to optimize vehicle piloting and navigation capabilities.
Disclosed and claimed herein are systems for low-latency, high-resolution, continuous motion, staring panoramic video imaging. Also disclosed and claimed herein are systems that combine the advantages of such panoramic video imaging with advanced capabilities for intelligent and adaptive piloting and navigation. These systems have potential application to all types of military, commercial, and industrial vehicles that take advantage of remote camera systems where the driver may be situated in the vehicle or may be a remote pilot. In particular, these systems are well-suited to applications on military armored vehicles, remotely piloted vehicles that are deployable on land, sea, or in the air, while exploiting the best qualities of available camera imaging technologies to enhance safety and maneuverability.
In one embodiment, the system includes a plurality of high-resolution video cameras generating near-real time video camera image signals. A support is provided for positioning the plurality of cameras at predetermined angular locations to generate video camera image signals encompassing a full 360 degree field of view. The system includes an image processor coupled to the plurality of cameras via a communication link and configured to receive the video camera image signals from the plurality of video cameras, process the video camera image signals together in parallel and generate a panoramic image signal. The image processor can be coupled to a display via a second communication link, the display capable of showing panoramic images in the field of view around the plurality of cameras in near-real time. The panoramic imaging system may be configured to cover the complete 360 degree circumference around a vehicle, or it may cover some lesser angle, depending on the particular application or specific needs. Accordingly, the panoramic imaging system delivers continuous high resolution, real time imagery of the full field of view being covered.
In another embodiment, the panoramic image is electronically shared with a separate display or displays, one of which may be used by the driver of the vehicle for a variety of purposes, including piloting and navigation. The imagery transmitted to the display used by the driver is herein termed the “driver's display window” and the process of sharing a portion of the 360 degree field of view does not affect the panoramic image in any way. The driver's display window provides selectable display options including any combination of a full panoramic image, and one or more segments or portions of the 360 degree panoramic image. The sizes and locations of these image segments are independent of one another and may be variable as described further herein. Intelligent and adaptive properties may be embedded into the selected driver's display window using various inputs gathered from vehicle systems. Image processing hardware in combination with software and firmware programming methods are employed to provide the features described herein. These features are available continuously and immediately and include, but are not limited to the following: (a) adaptive control of the size of the field of view of the driver's display window and its pointing direction, which may depend on any combination of vehicle speed, vehicle maneuvers and/or road conditions; (b) continuous control of the pointing direction of the center of the driver's display window such as is required when negotiating a turn or putting the vehicle into reverse gear; (c) intelligent modification of the field of view size and the central pointing direction of the driver's display window using any combination of global positioning system (GPS) data including GPS location and routing maps and/or other traffic information systems; (d) slewing of the line of sight of the driver's display window in response to external commands or commands from ancillary systems aboard the vehicle; (e) slewing of the line of sight in response to the physical state of the driver or a remote operator including body movements, head and/or eye motion, hand gestures or voice commands; (f) the appending and display of metadata onto the driver's display window including any combination of information such as vehicle speed and heading, fuel level, GPS maps, GPS routing and the status of external and ancillary systems; and (g) presenting more than one region or portion of the 360 degree panoramic view to the driver on the driver's display window, including a simultaneous view pointing frontward and rearward of the vehicle.
Other aspects, features, and techniques of the inventions will be apparent to one skilled in the relevant art in view of the following detailed description of the inventions.
The features, objects, and advantages of the inventions disclosed herein will become more apparent from the detailed description set forth below when taken in conjunction with the drawings in which like reference characters identify correspondingly throughout and wherein:
One aspect of the present invention relates to a panoramic imaging device. In one embodiment, an imaging device may be provided to include a plurality of high-resolution video cameras. The plurality of high-resolution cameras may be mounted in a housing or pod configured to arrange the video cameras in a one of a secure and adjustable fashion. Further, the video cameras may be configured to provide still images, motion images, a series of images and/or any type of imaging data in general.
As will be described in more detail below, the plurality of high-resolution video cameras may generate at least 500 kilopixel, per camera, at a minimum of 24 frames per second, near-real time video camera image signals representative of images in the field of view of the respective cameras. It should also be appreciated that other pixel values may be used. For example, in one embodiment, each camera may be configured to provide 1 megapixel image signals. A support for positioning the plurality of cameras at predetermined angular locations may be used to enable the plurality of cameras to operate in unison to generate video camera image signals encompassing a full 360 degree field of view around the cameras.
Another aspect of the invention is to provide video camera image signals from the plurality of video cameras to an image processor. In one embodiment, the image processor may be configured to process the video camera image signals in parallel in order to generate seamless video signals representative of seamless panoramic images. Thereafter, the video signals may be provided to a display device, over a communication link, which may in turn display seamless panoramic images in the field of view around the plurality of cameras in near-real time. As used herein, seamless panoramic images may relate to a continuous 360 degree panoramic image with no breaks or distortion of the field of view. According to another embodiment, video signals may be displayed as a generally seamless image, such that image data is displayed in a near continuous fashion. In another embodiment, the 360 degree seamless panoramic image and/or one or more segments or portions of the 360 degree panoramic image may be selected to be shared with one or more additional display devices which may be used for a variety of purposes, including driving or navigation.
Features of the panoramic imaging system may be useful in the context of submarine applications. In certain embodiments, the invention may provide a 360-degree continuous image of the horizon at video rates. In certain embodiments, the invention may enable a submarine to observe all contacts instantaneously without rotation of either the periscope or the mast. It should also be appreciated that the panoramic imaging system may be usable for other applications such as terrestrial based imaging, aerial imaging and any type of imaging in general.
In certain embodiments, panoramic imaging may improve a submarine's situational awareness and collision avoidance capabilities. The captain and crew, as users of the system, are expected to be able to assess ship's safety and the external environment quickly with minimal operator intervention. To that end, display of a seamless panoramic field of view is desirable on a single, high-resolution video monitor. In another embodiment, the panoramic imaging may provide situational awareness as well as navigation capabilities for a military ground vehicle. The vehicle commander would have the ability to monitor the full vehicle surroundings through the primary display, while the vehicle driver would have a dedicated display providing portions of the surrounding video relevant to piloting the vehicle.
Based on the teachings of the invention, resolution enhancements may be possible by the addition of cameras and processing resources for both single-display implementations, as well as multiple-display implementations. In other embodiments, a virtual display using projection goggles or a similar system may also be used in which the image displayed may be based detecting the operator's orientation. Additional embodiments, aspects, features, and techniques of the invention will be further detailed below.
As used herein, the terms “a” or “an” shall mean one or more than one. The term “plurality” shall mean two or more than two. The term “another” is defined as a second or more. The terms “including” and/or “having” are open ended (e.g., comprising). The term “or” as used herein is to be interpreted as inclusive or meaning any one or any combination. Therefore, “A, B or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B and C”. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.
Reference throughout this document to “one embodiment”, “certain embodiments”, “an embodiment” or similar term means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of such phrases or in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner on one or more embodiments without limitation.
When implemented in firmware, the elements of the invention are essentially the code segments to perform the necessary tasks. The program or code segments can be stored on any processor readable medium.
Referring now to the figures,
While the image processor 150 may be positioned proximate to the sensor pod 110, in another embodiment a system center may be used for communication with one or more video imaging systems (e.g., system 100). Similarly, the system center may be used for controlling operation of the one or more video imaging systems remotely as will be discussed in more detail with reference to
Although not depicted in
In one embodiment, the FPGA board(s) 1601−n may be integrated into a high-speed image processor 150, as shown in
It may be appreciated that data collected by the sensors within sensor pod 110 may be collected from fiber channel 125 using demux 130, interface board 140 and/or input/output (I/O) card 155. According to another embodiment, I/O card 155 may be used to receive and/or output one or more signals including imaging and non-imaging data. In that fashion, I/O card 155 may be used to receive various types of other data signals not provided by sensor pod 110 including, but not limited to, radar data, platform data, etc. In yet another embodiment, I/O card 155 may be configured to receive commands from a remote location over any of a wired or wireless link. According to another embodiment, I/O card 155 may receive metadata related to one or more of global positioning system (GPS) data, time stamp data, heading, speed and operating coordinates which may be associated with sensor pod 110. Further, I/O card 155 may be used to output video such as compressed video over IP.
In addition, system 100 may further comprise motion compensation algorithms for stabilizing image data. The motion compensation algorithm may be configured to modify video signals to adjust for movement. In one embodiment, inertial measurement unit (IMU) 115 may be configured to provide one or more output signals characterizing motion of sensor pod 110 to interface board 140. To that end, output of IMU 115 may be used to modify video signals to adjust for movement.
In one embodiment, the motion compensation algorithm may utilize a generally fixed object in the field of vision of one of the video cameras to adjust the video camera image signals generated from additional video cameras. In essence, a video data subtraction process may be used to establish a baseline using the video signal resulting from a fixed object in the field of vision of at least one of the video cameras relative to the video camera image signals from the other video cameras. According to another embodiment, system 100 may include a circuit configured to perform video data subtraction.
By way of an example, IMU 115 may be in the form of a level sensor including, but not limited to one of a mechanical gyro and fiber optic gyro, which may be located within, or in proximity to, the sensor pod 110 and configured to sense the orientation and motion of sensor pod 110. In one embodiment, sensor pod 110 can sense the orientation and motion in inertial space and transmit corresponding data to a high-speed image processor 150. In certain embodiments, the image processor 150 (and/or the FPGA(s) 1601−n thereon) may process the incoming video and perform one or more of the following:
Continuing to refer to
In one embodiment, the support may be carried on a mobile platform (e.g., submarine, naval surface vessel, tank, combat vehicle, etc.) subject to movement and the motion compensation algorithm may be used to modify the video signals to adjust for such movement.
According to another embodiment, the sensor pod 110 may include one or more non-visual sensors. For example, in one embodiment sensor 105 may be provided to gather non-visual data in the field of vision of the sensor pod 110, which may then be integrated with the output of the sensor pod 110. This output may then used to communicate the non-visual data to the image processor 150, wherein the image processor 150 may associate the non-visual data with the image data (e.g., seamless panoramic images) generated from the video camera image signals gathered at the same time as the non-visual data. Non-visual data detected by sensor 105 may be provided to image processor 150 via interface board 140.
In another embodiment, the sensor pod 110 may further include a global positioning sensor providing global positioning data to the image processor 150. Image processor 150 may then associate the global positioning data with the image data (e.g., seamless panoramic images) generated from the video camera image signals gathered at the same time as the non-visual data and/or metadata. By way of non-limiting examples, such non-visual data may relate to a true north indicator, bearing, heading, latitude, longitude, time of day, map coordinates, chart coordinates and/or platform operating parameters such as speed, depth and inclination.
In another embodiment, the cameras and optics of the system (e.g., sensor pod 110) may be designed to meet either Grade A (mission critical) or Grade B (non-mission critical) shock loads. In addition, thermal analysis may be used to dictate the cooling means required. Passive cooling methods may be used to conduct heat to the mast and ultimately to water when applied in marine applications. Active cooling methods may be less desirable for some applications. While sensor pod 110 has been described as including cameras and or optical components, it should equally be appreciated that electronically imaging devices may equally be used including electronic imaging devices and imaging devices in general.
Continuing to refer to
Although not depicted in
Referring now to
Referring now to
In certain embodiments, the camera enclosure material 305 may be a stainless steel cylinder. In addition, the wall thickness of the cylinder may be approximately ½ inch to survive deep submergence, although other appropriate material thicknesses may similarly be used. Further, it may be appreciated that the enclosure material 305 may be comprised of other types of material including, alloys, other metals, seamless, high strength materials in general, etc. The optical apertures for imaging devices 3101−n may be constructed of quartz or sapphire, and may be sealed into the enclosure using redundant O-ring seals, for example. As shown in
Power and signals may pass through the enclosure (e.g., enclosure material 305) using pressure-proof, hermetic connectors, such as those manufactured by SEACON® Phoenix, Inc. with offices in Westerly, R.I. In certain embodiments, the sensor pod 300 may be mounted to a mast (such as a submarine periscope) with a threaded coupling. The outside diameter of the mast or periscope may include threads, as may the outside diameter of the sensor enclosure. The coupling ring has threads on its inside diameter. In one embodiment, the mount 315 may serve as a support for positioning the imaging devices 3101−n at predetermined angular locations so as to enable the imaging devices 3101−n to together generate video camera image signals encompassing a full 360 degree field of view around the sensor pod 300.
While
By way of example, the following two operational scenarios are provided to show how the invention may be adapted for varying operational conditions, according to one or more embodiments of the invention.
Scenario 1 (Recognition of a Tanker at 5 Miles):
A tanker can be 300 meters in length. 5 mi is 8 km and the target subtense is 37.5 mRadians. Recognition requires at least 4 cycles or 8 pixels across the target dimension. Therefore, the pixel IFOV must be less than 4.7 mRad. A 1 mRad IFOV will easily satisfy this requirement.
Scenario 2 (Recognition of a Fishing Boat at 1 Mile):
A fishing boat is 10 meters in length. 1 mile is 1.6 km and the target subtense is 6.25 mRadians. Recognition requires at least 4 cycles or 8 pixels across the target dimension. Therefore, the pixel IFOV must be less than 0.78 mRad which is approximately 1 mRad. Therefore, a 1 mRad system should approximately satisfy this requirement.
A 1 mRad IFOV yields 6282 mRad around a 360 degree horizon. If allocated to 4 cameras, this gives approximately 1570 pixels required for each camera (e.g., imaging device 2101−n of sensor 200). Cameras having 1600 pixels in the horizontal format are available. Assuming 3 to 5 degrees of horizontal overlap will provide good image registration, the following values may be used:
With reference now to
Once adjusted for tilt, the received data may be translated at blocks 430a-430b using the known relative positions of the 4 cameras. Next, the image data may be blended at block 440 so as to create an essentially continuous panorama. After blending, pixels may be combined in the binner 450 since many displays may not have sufficient resolution to display full resolution. User input received at block 420 may indicate desired views including enlarging and/or manipulation of received image data. Thereafter, image cropping at block 460 may be performed to a chosen vertical size before splitting image date into two or more sections such that data may be displayed.
Continuing to refer to
In other embodiments, the FPGA(s) (e.g., FPGA(S) 1601−n) may perform processing of image data in order to accomplish automatic target detection. In general terms, the detection algorithm seeks regions where certain image features have been detected, such as local contrast, motion, etc. To that end, target recognition may similarly be performed, whereby objects are automatically characterized based on recognized properties of the image. According to one embodiment, target recognition may be based on objects detected by a sensor (e.g., sensor pod 110). Alternatively, or in combination, targets may be identified through user input. Users can further provide geographic coordinates for enlarging or manipulation of a display window generated using one or more of zoom features 4801−n.
It should further be appreciated that all of the various features, characteristics and embodiments disclosed herein may equally be applicable to panoramic imaging in the infrared band. However, since infrared cameras typically have a lower pixel count than do commercially available visible-spectrum cameras, the overall system resolution may be lower in such cases.
Finally, it should be appreciated that target tracking algorithms can be programmed into the FPGA(s) (e.g., FPGA(S) 1601−n). Exemplary target tracking algorithms may include centroid, correlation, edge, etc. In that fashion, tracked items may be represented on a 360 degree panoramic display.
Referring now to
In another embodiment, the panoramic video imaging system may be incorporated into, or used in conjunction with, an intelligent driver's viewer system 600, as shown in
Referring again to
The wide panoramic field may be selected for sharing and communicated from the image processor 150 to a vehicle driver's display 605 as shown in
In one embodiment, and as shown in
In another embodiment, an ancillary system, such as a remotely operated weapon control system, might be resident on a vehicle such as an army vehicle. Such a system generally has a separate display that is dedicated for use by the system operator. It is often advantageous to share with the vehicle driver the visual and contact information being observed by the weapon system operator. Information such as pointing coordinates and status information that is transmitted from the weapon control system to the image processor 150 may be used to quickly command and adjust the position and the field of view 701 displayed by the driver's display window 606 when circumstances so demand, and vice versa. Any information captured and/or generated by the intelligent driver's viewer system 600, such as the pointing coordinates of the driver's display window 606, can be shared with an ancillary system, such as the weapon system operator or with the operator of the first panoramic display. As shown in
In another embodiment, the direction of the center of the field of view of the driver's windows 701, 702, etc. can be adjusted or biased by the image processor 150 instantly and continuously toward the direction that the vehicle is turning to provide an optimum view to the driver. The changing vehicle direction is sensed by inertial sensors described above and the degree of bias is proportional to the turning rate and radius of the vehicle. Data from radar or range detectors that measures the distances or bearings to nearby vehicles or to obstacles and/or edge of road conditions can be used to automatically optimize the size and placement of the driver's display window 606. Details of any potential hazards or other relevant information can be displayed to the vehicle driver to improve his situational awareness.
GPS sensors and devices may provide geographical coordinates and mapping information as well as supplying routing directions. The driver's field of views 701, 702, etc. can be intelligently adapted and optimized using this GPS information. On a land vehicle, for example, the field of view displayed by the driver's display window 606 could be increased as the vehicle approaches an intersection to provide improved awareness of traffic conditions there. In addition, the field of view could be slewed toward the direction of an expected turn using the GPS data, which may be augmented with data from the inertial sensors.
It is particularly important that remotely piloted vehicles for land, sea or air applications, which do not have an onboard driver, can communicate data for display on both a driver's window for piloting and a wide field panoramic display for situational awareness. In one such embodiment shown in
In addition to the data used to optimize the driver's display window 802, any other vehicle data that can be made available in digital or analog form and considered important can be displayed to the driver and/or other system operators. Therefore metadata such as vehicle speed, vehicle status metrics like fuel level, temperature, voltages, etc. and GPS information, data from range and/or collision avoidance measurements, AIS, IFF, FBCB2, etc. can be displayed on the panoramic field of view 801 and/or the driver's display window 802. Additionally, various graphic overlays that are derived from scene based image processing may be selected to be superimposed on one or more of the display devices described. For example, line detection algorithms can define for display the location of road edges and intersections and other algorithms can detect and highlight objects or obstructions in the field. Such capabilities might be beneficial under certain visibility conditions or to accentuate features in the environment. Graphics, such as, for example, icons, that represent regions of particular interest, possible threats, or other information may also be overlaid onto the displayed images.
While certain exemplary embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that this invention not be limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those ordinarily skilled in the art. Trademarks and copyrights referred to herein are the property of their respective owners.
This application is a continuation-in-part of pending U.S. patent application Ser. No. 12/049,068, filed on Mar. 14, 2008, which claims the benefit of U.S. Provisional Patent Application Ser. No. 60/918,489, filed on Mar. 16, 2007, both of which are herein incorporated by reference in their entirety.
| Number | Date | Country | |
|---|---|---|---|
| 60918489 | Mar 2007 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 12049068 | Mar 2008 | US |
| Child | 13339035 | US |
