 Method and device for preventing collisions with the ground for an aircraft |
| We claim: 1. In an aerial navigation aid device, the improvement comprising: (a) mass memory means ... |
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| Incremental route calculation |
| The present invention provides a way in which an intermediate route may be determined to a location ... |
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| Altitude sparse aircraft display |
| The invention provides a system, method, apparatus, and computer program product for avoiding ... |
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| System for recalculating a path |
| The present invention, roughly described, provides for a system for finding a new path from a new ... |
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| System for determination of optimal travel path in a multidimensional space |
| The present automated vehicle travel path determination system computes a travel path for a ... |
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| Method for automatically controlling a vehicle for the lateral avoidance of a fixed zone |
| The objective of the present invention is to eliminate these drawbacks. It is also aimed at ... |
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| Computation of routes for bounding overwatch operations |
| What is claimed is: 1. A computer method for determining the routes of at least first and second ... |
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| Control apparatus, control method, and engine control unit |
| The present invention has been made to solve the foregoing problem, and it is an object of the ... |
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| Electric power-assisted wheelchair |
| This invention is adapted to be embodied in a power-assisted, manually operated wheelchair having a ... |
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Video technique for indicating moving objects from a movable platform
| Details |
Inventors: Burt, Peter J.;
Assignee: David Sarnoff Research Center, Inc. (Princeton, NJ)
Primary Examiner: Britton; Howard W.
Assistant Examiner:
Attorney, Agent or Firm: Burke; William J.
An imaging technique, suitable for surveillance use by a moving robotic vehicle carrying two spatially displaced fixed cameras aligned with the direction of travel or, alternatively, a single camera movable to either of two positions on the vehicle corresponding to the positions occupied by the fixed cameras, is capable in a moving object indicator mode of deriving first image data of a viewed scene at a first time from a first position with respect to the vehicle and of deriving second image data of the viewed scene at a second time from a second position with respect to the vehicle that is spatially displaced a given distance from the first position such that the spatial position with respect to the viewed scene depicted by the second image data at least approximates the spatial position with respect to the viewed scene depicted by the first image data. As an aid to detecting driving hazards encountered by the moving vehicle, the imaging technique may also be operated in a stereo-vision mode, in which the first and second image data is derived at the same time from the same angle of gaze of the viewed scene. |
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DETAILED DESCRIPTION Any movement detected in the images of a scene viewed by a stationary video camera, such as the video camera employed in the surveillance apparatus disclosed in the aforesaid U.
S.
Pat.
No.
4,692,806, must be solely due to one or more moving objects in the scene.
However, as shown in FIG.
1, when the video camera 100 viewing a scene is situated on a movable platform, such as vehicle 102 moving from left to right at a forward velocity V, this is no longer true.
More particularly, video camera 100, which itself is moving at velocity V, is viewing a scene comprising stationary trash can 104 situated relatively close to video camera 100, stationary tree 106 situated relatively far from video camera 100, and moving person 108 situated between trash can 104 and tree 106 who is walking in about the same direction as vehicle 102 is moving.
FIG.
1a diagrammatically shows the images of the scene viewed by video camera 100.
As indicated by the relative length and direction of the arrows of the ongoing images shown in FIG.
1a, due to parallax, closer stationary trash can 104a moves in the image from right-to-left at a faster rate than does more distant tree 106a, while moving person 108a moves in the image from left-to-right at a relatively slow rate.
There is a need for an image processing technique for detecting moving objects in an environment using cameras mounted on a platform that is also moving through that environment.
Practical applications for such a capability include such examples as (1) a robotic vehicle performing duties of a security guard patrolling a warehouse, or other secure area, for detecting intruders based on their motion; (2) an autonomous vision system on a car or truck for discriminating between moving and stationary objects in the road, as an aid to detecting hazards to driving and (3) a target detection system on a moving surveillance platform for detecting moving objects in the battlefield.
However, a surveillance apparatus of the type disclosed in the aforesaid U
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Navigation and GPS 
