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1.发明授权Determining angular rate for line-of-sight to a moving object, with a body-fixed imaging sensor 有权使用身体固定的成像传感器确定移动物体的视线角度公开(公告)号：US08946606B1
公开(公告)日：2015-02-03
申请号：US12660490
申请日：2010-02-26
CPC分类号： F41G7/2286 , F41G7/2246 , F41G7/2253 , F41G7/2293 , F42B15/01 , G01C21/20 , G01C21/3602 , G01S3/784 , G01S11/12 , G01S13/89 , G01S17/89 , G06T7/269 , G06T7/70 , G06T2207/10016 , G06T2207/30212 , G06T2207/30252
摘要： Apparatus/method estimate LOS rotation, to track, approach, pursue, intercept or avoid objects. Vehicle-fixed imagers approach/recede-from objects, recording image series with background. Computations, from images exclusively, estimate rotation vs. the vehicle, applying the estimate. Preferably, recording/estimating provide proportional navigation; scan mirrors extend strapdown-sensor FOR; applying includes measuring “range rate over range”, exclusively from interimage optical flow, using results to optimize proportional-navigation loop gain; estimating includes evaluating interframe optical flow, preregistering roughly as first approximation, selecting sequence anchor points, and applying a second, finer technique developing output registration that's a coordinate translation, aligning inertial surroundings. The approximation operates optical flow with efficient embedded registration/mapping, applying a homography matrix to nearby imagery. Alternatively, inexpensive low-quality inertial sensors establish preregistration, deriving a homography matrix. When contrast in the object direction is inadequate, dual sensors yield accurate virtual imaging with an object centroid superposed into background.
摘要翻译： 仪器/方法估计LOS旋转，跟踪，接近，追踪，拦截或避免物体。 车载固定摄像机接近/离开对象，录制带有背景的影像系列。 计算，从图像专门估计旋转与车辆，应用估计。 优选地，记录/估计提供比例导航; 扫描镜延伸伸缩传感器FOR; 应用包括测量“范围速率超范围”，专门从平面图像光流，使用结果来优化比例导航环路增益; 估计包括评估帧间光流，大致预先注册为第一近似，选择序列锚点，以及应用第二更精细的技术开发作为坐标平移的输出注册，对准惯性环境。 近似运算通过有效的嵌入式注册/映射来操作光流，将单应性矩阵应用于附近的图像。 或者，廉价的低质量惯性传感器建立预注册，导出单应性矩阵。 当对象方向的对比度不足时，双传感器产生准确的虚拟成像，并将物体重心叠加到背景中。
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