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1. 发明授权

US06396961B1 Method and apparatus for fixating a camera on a target point using image alignment 有权
标题翻译：使用图像对准将相机固定在目标点上的方法和装置
公开(公告)号：US06396961B1
公开(公告)日：2002-05-28
申请号：US09143910
申请日：1998-08-31
申请人： Lambert Ernest Wixson , Robert Mandelbaum , Michael Wade Hansen , Jayakrishnan Eledath , Deepam Mishra
发明人： Lambert Ernest Wixson , Robert Mandelbaum , Michael Wade Hansen , Jayakrishnan Eledath , Deepam Mishra
IPC分类号： G06K932
CPC分类号： H04N5/23264 , G06T7/70 , G06T7/80 , H04N5/23248 , H04N5/23254 , H04N5/23287
摘要： A method for fixating a camera, mounted on a motorized mount, on a target point. The method includes receiving a plurality of images representative of a scene; selecting, within the plurality of images, a first display reference image containing the target point at a first coordinate location; estimating, in a current image within the plurality of images, a transformation that maps the current image to the first display reference image; estimating a second coordinate location of the target point in the current image using the transformation; computing an image slip between the target point in the current image and the target point in the first display reference image; converting the image slip into an angular correction for fixating the camera; modifying the angular correction by using closed-loop control with the motorized mount; and warping the current image using the transformation to align the current image with the first display reference image. This warping step provides a stable view of the scene even in the presence of camera movements that cannot be eliminated using mechanical stabilization, and in the presence of motor control lags and oscillations due to measurement and actuator latencies.
摘要翻译：一种将安装在电动安装座上的相机固定在目标点上的方法。该方法包括：接收表示场景的多个图像; 在所述多个图像内选择包含所述目标点在第一坐标位置处的第一显示参考图像; 在所述多个图像中的当前图像中估计将所述当前图像映射到所述第一显示参考图像的变换; 使用变换来估计当前图像中的目标点的第二坐标位置; 计算当前图像中的目标点与第一显示参考图像中的目标点之间的图像滑动; 将图像转换成角度校正以固定相机; 通过使用电动安装座的闭环控制修改角度校正; 并使用变换对当前图像进行翘曲，以使当前图像与第一显示参考图像对准。这种翘曲步骤即使在存在无法通过机械稳定化以及由于测量和执行器延迟引起的电机控制滞后和振荡的情况下存在不能消除的相机运动的情况下，也能够提供场景的稳定视图。

2. 发明授权

US06303920B1 Method and apparatus for detecting salient motion using optical flow 有权
标题翻译：使用光流检测突出运动的方法和装置
公开(公告)号：US06303920B1
公开(公告)日：2001-10-16
申请号：US09434028
申请日：1999-11-04
申请人： Lambert Ernest Wixson
发明人： Lambert Ernest Wixson
IPC分类号： H01L2700
CPC分类号： G06K9/4671 , G06K9/00335 , G06T7/269
摘要： Method and apparatus for detecting salient motion in an image sequence using optical flow. For each pixel in an image, frame-to-frame optical flow information are collected over time for computing a rough estimate of the total image distance traveled by each pixel. Specifically, an optical flow field is generated for every two successive image frames. The resulting optical flow field is applied to warp one or more intermediate measure images that contain intermediate cumulative measurements. The warped measure images for an image sequence are used to compute a sum of frame-to-frame optical flow fields for the image sequence to yield a cumulative flow field that can be used to generate a measure of salience for each image point.
摘要翻译：用于使用光流检测图像序列中的突出运动的方法和装置。对于图像中的每个像素，随着时间的推移收集帧到帧的光流信息，以计算每个像素行进的总图像距离的粗略估计。具体地，对于每两个连续的图像帧产生光流场。所产生的光流场被应用于对包含中间累积测量的一个或多个中间测量图像进行翘曲。用于图像序列的翘曲测量图像用于计算图像序列的帧到帧光学流场的总和，以产生可用于生成每个图像点的显着度量的累积流场。

3. 发明授权

US06434254B1 Method and apparatus for image-based object detection and tracking 失效
标题翻译：用于基于图像的物体检测和跟踪的方法和装置
公开(公告)号：US06434254B1
公开(公告)日：2002-08-13
申请号：US08742432
申请日：1996-10-30
申请人： Lambert Ernest Wixson
发明人： Lambert Ernest Wixson
IPC分类号： G06K900
CPC分类号： G08G1/04 , G06K9/00785 , G06K9/00791 , G06K9/3241 , G06T7/254 , G06T2207/10016 , G06T2207/20016 , G06T2207/30232 , G06T2207/30236 , G08B13/19604 , G08B13/19608
摘要： A method and apparatus for detecting objects from a sequence of images of a scene containing an object by using two distinct methods for object detection. One is suited for well-lit scenes (e.g., daytime), while the other is suitable for poorly-lit scenes (e.g., nighttime) where the objects have lights mounted on them. Further, the method and apparatus are adaptive to the image statistics of the objects being detected, and can be programmed to filter out “weak” detections that lie below a certain percentile in the observed statistical distribution of image measures. The specific percentile is determined based on whether the scene has been determined to be well- or poorly-lit and whether it contains shadows or not.
摘要翻译：一种用于通过使用两种不同的对象检测方法从包含对象的场景的图像序列中检测对象的方法和装置。一个适用于光线充足的场景（例如白天），而另一个适用于物体在其上安装有灯的不良照明场景（例如，夜间）。此外，该方法和装置适应于被检测物体的图像统计，并且可以被编程为过滤掉在观察到的图像测量的统计分布中位于某一百分位数之下的“弱”检测。具体的百分位数是根据场景是否被确定为光线不足或是否包含阴影确定的。

4. 发明授权

US6037976A Method and apparatus for determining ambient conditions from an image sequence, such as fog, haze or shadows 失效
标题翻译：用于根据图像序列确定环境条件的方法和装置，例如雾，雾或阴影
公开(公告)号：US6037976A
公开(公告)日：2000-03-14
申请号：US742433
申请日：1996-10-30
申请人： Lambert Ernest Wixson
发明人： Lambert Ernest Wixson
IPC分类号： G06T7/20 , G06T7/40 , H04N5/232 , H04N7/18 , G09B9/00
CPC分类号： G06K9/00785 , G06T7/2053 , G06T7/401 , H04N5/23248 , H04N5/23267 , H04N7/188 , G06T2207/10016 , G06T2207/30232
摘要： A method and apparatus for determining certain ambient conditions in a scene by analyzing a sequence of images that represent the scene. The apparatus uses only image information to determine scene illumination, or the presence of shadows, fog, smoke, or haze by comparing properties of detected objects, averaged over a finite video sequence, against properties of the reference image of the scene as that scene would appear without any objects present. Such a reference image is constructed in a manner similar to time-averaging successive camera images.
摘要翻译：一种用于通过分析表示场景的图像序列来确定场景中的某些环境条件的方法和装置。该装置仅使用图像信息来确定场景照明，或者通过将有限视频序列上平均的检测对象的属性与该场景的参考图像的属性进行比较来确定场景照明，雾，烟雾或雾度的存在出现没有任何物体存在。这样的参考图像以与时间平均连续相机图像相似的方式构造。

5. 发明授权

US5963272A Method and apparatus for generating a reference image from an image sequence 失效
标题翻译：用于从图像序列生成参考图像的方法和装置
公开(公告)号：US5963272A
公开(公告)日：1999-10-05
申请号：US742434
申请日：1996-10-30
申请人： Lambert Ernest Wixson
发明人： Lambert Ernest Wixson
IPC分类号： G08G1/07 , H04N7/18 , H04N7/26 , H04N7/36 , H04N5/14
CPC分类号： G08G1/07 , H04N19/23 , H04N19/503 , H04N19/507 , H04N7/188
摘要： A locally-adaptive method and apparatus for constructing a reference image containing only the background from an image sequence containing moving or temporarily-stationary objects. Specifically, the apparatus contains a sample mask selector and a reference updater. The selector generates a mask which is used by the updated to perform updating of a reference image using only portions of the input image that contain background imagery. The updater enhances the masking function using a statistical analysis to avoid updating pixels using non-background imagery.
摘要翻译：一种局部自适应方法和装置，用于从包含移动或临时静止对象的图像序列构建仅包含背景的参考图像。具体地，该装置包含样本掩模选择器和参考更新器。选择器产生一个掩膜，被更新的掩码用于仅使用包含背景图像的输入图像的部分来更新参考图像。更新器使用统计分析来增强掩蔽功能，以避免使用非背景图像更新像素。

6. 发明授权

US5847755A Method and apparatus for detecting object movement within an image sequence 失效
标题翻译：用于检测图像序列内的物体移动的方法和装置
公开(公告)号：US5847755A
公开(公告)日：1998-12-08
申请号：US755376
申请日：1996-12-11
申请人： Lambert Ernest Wixson , Stephen Charles Hsu
发明人： Lambert Ernest Wixson , Stephen Charles Hsu
IPC分类号： H04N7/18 , G06K9/32 , G06T1/00 , G06T1/20 , G06T7/20 , G08G1/04
CPC分类号： G06K9/00785 , G06K9/3241 , G06T1/20 , G06T7/2053 , G08G1/04 , G06K2209/23
摘要： Method and apparatus for processing a sequence of images to detect object movement within the sequence. Specifically, the method comprises the steps of: (a) supplying a sequence of image frames; (b) initializing a reference image that contains image information regarding stationary objects within a scene represented by the sequence of images; (c) supplying a next image frame which temporally follows the sequence of image frames; (d) comparing the next image to the reference image to produce a motion image representing motion information regarding movement of objects within the scene; (e) updating the reference image with information within the next image that represents stationary objects within the scene; and (f) repeating steps (c), (d), and (e) for each next image supplied. The method is implemented by image processing apparatus. A specific embodiment of the method and apparatus is a traffic monitoring system that identifies vehicles in varying illumination levels and eliminates erroneous identification of non-physical movement in the scene such as shadows and headlight reflections.
摘要翻译：用于处理图像序列以检测序列内的物体运动的方法和装置。具体地说，该方法包括以下步骤：（a）提供一系列图像帧; （b）初始化包含由图像序列表示的场景内的关于静止物体的图像信息的参考图像; （c）提供在时间上跟随图像帧序列的下一个图像帧; （d）将下一图像与参考图像进行比较，以产生表示关于场景内物体运动的运动信息的运动图像; （e）使用代表场景内静止物体的下一图像内的信息更新参考图像; 和（f）对于所提供的每个下一个图像重复步骤（c），（d）和（e）。该方法由图像处理装置实现。该方法和装置的具体实施例是一种交通监控系统，其以不同的照明水平识别车辆，并消除在场景中的非物理运动的错误识别，例如阴影和头灯反射。

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