# US 10,765,864 B2 · Retinal-inspired method and system for improved detection

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- Number: US 10,765,864 B2
- Document ID: US10765864B2
- Status: Granted
- Kind: B2
- Application number: 16/059,746
- Filed: 2018-08-09
- Published: 2020-02-13
- Granted: 2020-09-08
- Earliest claimed: 2018-08-09
- Assignees: National Technology & Engineering Solutions of Sandia, LLC
- Applicants: National Technology & Engineering Solutions of Sandia, LLC
- Inventors: Frances S. Chance; Christina E. Warrender
- Web page: https://patentgrep.com/patent/US10765864B2

## CPC

- G06N 3/063: using electronic means
- A61F 2/14: Eye parts, e.g. lenses or corneal implants; Artificial eyes
- A61N 1/36046: {of the eye}
- G06N 3/0464: Convolutional networks [CNN, ConvNet]
- G06N 3/049: Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs
- G06N 3/08: Learning methods
- G06V 10/147: Details of sensors, e.g. sensor lenses (fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19)
- G06V 10/20: Image preprocessing
- G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

The present disclosure provides a method and device for filtering sensor data. Signals from an array of sensor pixels are received and checked for changes in pixel values. Motion is detected based on the changes in pixel values, and motion output signals are transmitted to a processing station. If the sum of correlated changes in pixel values across a predetermined field of view exceeds a predetermined value, indicating sensor jitter, the motion output signals are suppressed. If a sum of motion values within a defined subsection of the field of view exceeds a predetermined threshold, indicating the presence of a large object of no interest, the motion output signals are suppressed for that subsection.

## Claims

### Claim 1

A sensor data preprocessing device, comprising:
a first layer of detectors configured to receive signals from an array of sensor pixels and determine changes in pixel values;
a second layer of detectors configured to receive the changes in pixel values from the first layer, detect motion based on the changes in pixel values and transmit motion value output signals to a processing station;
a third layer of detectors configured to receive the changes in pixel values from the first layer and detect global motion of objects represented by correlated changes in pixel values across a predetermined field of view, wherein the third layer is configured to produce a first suppressive signal that is applied to the motion value output signals of the second layer of detectors only if a sum of correlated changes in pixel values within the predetermined field of view exceeds a predetermined threshold; and
a fourth layer of detectors configured to receive motion output signals from the second layer and detect large environmental objects by integrating motion values within defined subsections of the predetermined field of view, wherein the fourth layer is configured to produce a second suppressive signal that is applied to the motion value output signals of detectors in the second layer for a subsection only if a sum of motion values within that subsection exceeds a predetermined threshold.

### Claim 2 (depends on 1)

The device according to claim 1, wherein the device is incorporated into a remote sensor.

### Claim 3 (depends on 2)

The device according to claim 2, wherein the remote sensor is selected from among the following:
a camera;
an unmanned aerial vehicle (UAV);
telescope;
satellite.

### Claim 4 (depends on 1)

The device according to claim 1, wherein the first layer is configured to transmit only positive changes in pixel values to the second layer.

### Claim 5 (depends on 1)

The device according to claim 1, wherein the first layer is configured to transmit only negative changes in pixel values to the second layer.

### Claim 6 (depends on 1)

The device according to claim 1, wherein the first layer is configured to transmit both positive and negative changes in pixel values to the second layer.

### Claim 7 (depends on 1)

The device according to claim 1, wherein the second layer is configured to detect motion across two pixels.

### Claim 8 (depends on 1)

The device according to claim 1, wherein the sum of correlated changes in pixel values across the field of view exceeding the predetermined threshold indicates sensor jitter.

### Claim 9 (depends on 1)

The device according to claim 1, wherein the sum of motion values within a subsection exceeding the predetermined threshold indicates the presence of an object larger than a predetermined size to be considered of interest.

### Claim 10 (depends on 1)

The device according to claim 1, wherein subsections of the field of view are defined by predetermined distances between sensor pixels.

### Claim 11 (depends on 1)

The device according to claim 1, wherein the device is implemented at least in part in neuromorphic hardware.

### Claim 12 (depends on 1)

The device according to claim 1, wherein the device is implemented at least in part in a field programmable gate array (FPGA).

### Claim 13

A method of preprocessing sensor data, comprising the steps of:
receiving, by a first layer of detectors, signals from an array of sensor pixels;
determining, by the first layer of detectors, changes in pixel values;
detecting, by a second layer of detectors, motion based on the changes in pixel values;
transmitting, by the second layer of detectors, motion value output signals to a processing station;
detecting, by a third layer of detectors, global motion of objects represented by correlated changes in pixel values across a predetermined field of view;
producing, by the third layer of detectors, a first suppressive signal that is applied to the motion value output signals of the second layer of detectors only if a sum of correlated changes in pixel values within the predetermined field of view exceeds a predetermined threshold;
detecting, by a fourth layer of detectors, large environmental objects by integrating motion values within defined subsections of the predetermined field of view; and
producing, by the fourth layer of detectors, a second suppressive signal that is applied to the motion value output signals of detectors in the second layer for a subsection only if a sum of motion values within that subsection exceeds a predetermined threshold.

### Claim 14 (depends on 13)

The method according to claim 13, wherein only positive changes in pixel values are used to detect motion.

### Claim 15 (depends on 13)

The method according to claim 13, wherein only negative changes in pixel values are used to detect motion.

### Claim 16 (depends on 13)

The method according to claim 13, wherein both positive and negative changes in pixel values are used to detect motion.

### Claim 17 (depends on 13)

The method according to claim 13, wherein change across two pixels indicates local motion.

### Claim 18 (depends on 13)

The method according to claim 13, wherein the sum of correlated changes in pixel values across the field of view exceeding the predetermined threshold indicates sensor jitter.

### Claim 19 (depends on 13)

The method according to claim 13, wherein the sum of motion values within a subsection exceeds the predetermined threshold indicates the presence of an object larger than a predetermined size to be considered of interest.

### Claim 20 (depends on 13)

The method according to claim 13, wherein subsections of the field of view are defined by predetermined distances between sensor pixels.