US6798897B1
Expired / Lapsed
US
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Real time image registration, motion detection and background replacement using discrete local motion estimation
Assignee: Protrack Ltd
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Filing: 2000-09-05
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Granted: 2004-09-28
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Expires: 2020-09-05
Abstract
Abstract A method for registration between first and second images, the method including defining, for each individual location from among a plurality of locations sparsely distributed over the first image, a local probability matrix in which each element represents the probability of a possible displacement between the individual location in the first image and its corresponding location within the second image, defining a combined probability matrix by combining corresponding elements over the plurality of probability matrices, and computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined probability matrix; and further, a method for detecting motion within a scene including at least one moving objects by comparing first and second time-separated images of the scene, the method comprising defining, for each individual location from among a plurality of locations distributed over the first image, a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image, representing an individual portion of the scene in the first image, and its corresponding location within the second image, and ranking the local probability matrices into a plurality of ranks of matrices, differing in the probability that the individual location corresponding to a matrix belonging to a rank was displaced between the first and second images, relative to what is known regarding camera motion between the first and second images.
Inventors
- 👤 Yoav Rosenberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 17:42
CPC Classifications
G; G06; G06T; G06T7/00; G06T7/30; G06T7/35; G06T7/33
Claims Analysis
Total Claims: 28
Claim 1
Independent Claim
105 words
A method for registration between first and second images, the method comprising: for each individual location from among a plurality of locations sparsely distributed over the first image, defining a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image and its corresponding location within the second image; defining a combined probability matrix by combining corresponding elements over the plurality of probability matrices; and computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined probability matrix.
Claim 2
Independent Claim
105 words
A method for registration between first and second images, the method comprising: for each individual location from among a plurality of locations sparsely distributed over the first image, defining a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image and its corresponding location within the second image; defining a combined probability matrix by combining corresponding elements over the plurality of probability matrices; and computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined probability matrix.
Claim 3
Dependent Claim
63 words
A method according to claim 1 wherein the corresponding elements which are combined in said combined probability matrix defining step comprise elements within the local probability matrices which are similarly positioned if each individual local probability matrix is shifted to represent the effect on the individual location corresponding to the individual matrix, of a particular non-translational transformation between the first and second images.
Claim 4
Dependent Claim
123 words
A method according to claim 2 and also comprising repeating said combined probability matrix defining step for each of a plurality of possible non-translational transformations between the first and second images; and selecting at least one most likely non-translational transformation from among said plurality of possible non-translational transformations; and wherein said step of computing an alignment comprises computing a relative non-translational transformation of the first and second images by computing a combination of said at least one most likely non-translational transformation; and computing a relative translation of the first and second images by computing a combination of at least one of the largest of the elements of the at least one combined probability matrices of the at least one most likely non-translational transformations.
Claim 5
Dependent Claim
94 words
A method according to claim 3 wherein said step of selecting at least one most likely non-translational transformations from among said plurality of possible non-translational transformations includes: comparing a set of at least one of the largest of the elements in each of the combined probability matrices of each of the plurality of possible non-translational transformations; selecting at least one set from among the compared sets whose members are largest; and selecting as most likely non-translational transformations, the at least one non-translational transformation corresponding to said at least one set whose members are largest.
Claim 6
Dependent Claim
52 words
A method according to claim 1 wherein the probability matrix is characterized in that each i,j element therewithin represents the probabilities that the individual point corresponds to an individual point in the second image, which is displaced correspondingly to the displacement of the i,j element from the center of the probability matrix.
Claim 7
Dependent Claim
22 words
A method according to claim 1 wherein the corresponding elements which are combined comprise similarly positioned elements within the local probability matrices.
Claim 8
Dependent Claim
12 words
A method according to claim 1 and also comprising executing said alignment.
Claim 9
Dependent Claim
28 words
A method according to claim 3 and also comprising executing said alignment by effecting said relative non-translational transformation and said relative translation of the first and second images.
Claim 10
Dependent Claim
31 words
A method according to claim 3 wherein said plurality of possible non-translational transformations between the first and second images includes at least one relative rotation between the first and second images.
Claim 11
Dependent Claim
31 words
A method according to claim 3 wherein said plurality of possible non-translational transformations between the first and second images includes at least one relative zoom between the first and second images.
Claim 12
Dependent Claim
38 words
A method according to claim 3 wherein said plurality of possible non-translational transformations between the first and second images includes at least one transformation which comprises a combination of zoom and rotation between the first and second images.
Claim 13
Dependent Claim
32 words
A method according to claim 3 wherein said plurality of possible non-translational transformations between the first and second images includes at least one non-translational affine transformation between the first and second images.
Claim 14
Independent Claim
130 words
A method for detecting motion within a scene by comparing first and second time-separated images of the scene, the method comprising: for each individual location from among a plurality of locations distributed over the first image, defining a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image, representing an individual portion of the scene in the first image, and its corresponding location within the second image; and ranking the local probability matrices into a plurality of ranks of matrices, differing in the probability that the individual location corresponding to a matrix belonging to a rank was displaced between the first and second images, relative to what is known regarding camera motion between the first and second images.
Claim 15
Independent Claim
130 words
A method for detecting motion within a scene by comparing first and second time-separated images of the scene, the method comprising: for each individual location from among a plurality of locations distributed over the first image, defining a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image, representing an individual portion of the scene in the first image, and its corresponding location within the second image; and ranking the local probability matrices into a plurality of ranks of matrices, differing in the probability that the individual location corresponding to a matrix belonging to a rank was displaced between the first and second images, relative to what is known regarding camera motion between the first and second images.
Claim 16
Dependent Claim
25 words
A method according to claim 13 wherein said ranking step comprises comparing the center region of each local probability matrix to the peripheral regions thereof.
Claim 17
Dependent Claim
57 words
A method according to claim 13 wherein said ranking step comprises: constructing a combined probability matrix in which each element represents the probability of a possible camera motion-caused displacement between said first image and said second image; and ranking the local probability matrices in accordance with the degree to which they respectively resemble said combined probability matrix.
Claim 18
Dependent Claim
64 words
A method according to claim 13 and also comprising deriving the second image from a third image of the scene, separated in time from the first image of the scene, including: selecting a transformation which, when applied to the third image, results in an image similar to said first image; and applying the transformation to the third image, thereby to derive the second image.
Claim 19
Dependent Claim
13 words
A method according to claim 16 wherein said transformation has a non-translational component.
Claim 20
Dependent Claim
17 words
A method according to claim 16 wherein said transformation having a non-translational component comprises a non-translational transformation.
Claim 21
Independent Claim
120 words
A system for registration between first and second images, the system comprising: a local probability matrix generator operative to define, for each individual location from among a plurality of locations sparsely distributed over the first image, a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image and its corresponding location within the second image; a combined probability matrix generator defining a combined probability matrix by combining corresponding elements over the plurality of probability matrices; and an image aligner computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined probability matrix.
Claim 22
Independent Claim
120 words
A system for registration between first and second images, the system comprising: a local probability matrix generator operative to define, for each individual location from among a plurality of locations sparsely distributed over the first image, a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image and its corresponding location within the second image; a combined probability matrix generator defining a combined probability matrix by combining corresponding elements over the plurality of probability matrices; and an image aligner computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined probability matrix.
Claim 23
Independent Claim
142 words
A system for detecting motion within a scene by comparing first and second time-separated images of the scene, the system comprising: a local probability matrix generator defining, for each individual location from among a plurality of locations distributed over the first image, a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image, representing an individual portion of the scene in the first image, and its corresponding location within the second image; and a location displacement evaluation unit operative to rank the local probability matrices into a plurality of ranks of matrices, differing in the probability that the individual location corresponding to a matrix belonging to a rank was displaced between the first and second images, relative to what is known regarding camera motion between the first and second images.
Claim 24
Independent Claim
142 words
A system for detecting motion within a scene by comparing first and second time-separated images of the scene, the system comprising: a local probability matrix generator defining, for each individual location from among a plurality of locations distributed over the first image, a local probability matrix in which each element represents the probability of a possible displacement between said individual location in the first image, representing an individual portion of the scene in the first image, and its corresponding location within the second image; and a location displacement evaluation unit operative to rank the local probability matrices into a plurality of ranks of matrices, differing in the probability that the individual location corresponding to a matrix belonging to a rank was displaced between the first and second images, relative to what is known regarding camera motion between the first and second images.
Claim 25
Independent Claim
160 words
A method for registration between first and second images, the method comprising: for each individual location from among a plurality of locations sparsely distributed over the first image, defining a local displacement score matrix in which each element's position within the matrix corresponds to a possible displacement between the first and second images, relative to an apriori model of registration between the first and second images and wherein each element in the matrix comprises a score representing the extent to which the individual location in the first image resembles a corresponding location within the second image to which the individual location in the first image is translated under the possible displacement; defining a combined displacement score matrix by combining corresponding elements over the plurality of local displacement score matrices; and computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined displacement score matrix.
Claim 26
Independent Claim
160 words
A method for registration between first and second images, the method comprising: for each individual location from among a plurality of locations sparsely distributed over the first image, defining a local displacement score matrix in which each element's position within the matrix corresponds to a possible displacement between the first and second images, relative to an apriori model of registration between the first and second images and wherein each element in the matrix comprises a score representing the extent to which the individual location in the first image resembles a corresponding location within the second image to which the individual location in the first image is translated under the possible displacement; defining a combined displacement score matrix by combining corresponding elements over the plurality of local displacement score matrices; and computing an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined displacement score matrix.
Claim 27
Independent Claim
173 words
A system for registration between first and second images, the system comprising: a local displacement score matrix generator operative to define, for each individual location from among a plurality of locations sparsely distributed over the first image, a local displacement score matrix in which each element's position within the matrix corresponds to a possible displacement between the first and second images, relative to an apriori model of registration between the first and second images and wherein each element in the matrix comprises a score representing the extent to which the individual location in the first image resembles a corresponding location within the second image to which the individual location in the first image is translated under the possible displacement; a combined displacement score matrix generator operative to combine corresponding elements over the plurality of local displacement score matrices; and an aligner operative to compute an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined displacement score matrix.
Claim 28
Independent Claim
173 words
A system for registration between first and second images, the system comprising: a local displacement score matrix generator operative to define, for each individual location from among a plurality of locations sparsely distributed over the first image, a local displacement score matrix in which each element's position within the matrix corresponds to a possible displacement between the first and second images, relative to an apriori model of registration between the first and second images and wherein each element in the matrix comprises a score representing the extent to which the individual location in the first image resembles a corresponding location within the second image to which the individual location in the first image is translated under the possible displacement; a combined displacement score matrix generator operative to combine corresponding elements over the plurality of local displacement score matrices; and an aligner operative to compute an alignment of the first and second images in accordance with a combination of at least one of the largest of the elements of the combined displacement score matrix.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-09-28 | 2008-03-29 | 2008-09-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-09-28 | 2012-03-29 | 2012-09-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-09-28 | 2016-03-29 | 2016-09-28 | $7700.00 | Window Closed / Lapsed |