Method of motion detection and autonomous motion tracking using dynamic sensitivity masks in a pan-tilt camera
AssigneeRobert Bosch GmbH
InventorMark Steven Bell
Life of this patent
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Abstract
A method of identifying motion within a field of view includes capturing at least two sequential images within the field of view. Each of the images includes a respective array of pixel values. An array of difference values between corresponding ones of the pixel values in the sequential images is calculated. A sensitivity region map corresponding to the field of view is provided. The sensitivity region map includes a plurality of regions having different threshold values. A presence of motion is determined by comparing the difference values to corresponding ones of the threshold values.
Claims20
A method of identifying motion within a field of view, the method comprising the steps of:
- capturing at least two sequential images within the field of view, each of the images including a respective array of pixel values;
- calculating an array of difference values between corresponding ones of the pixel values in the sequential images;
- providing a sensitivity region map corresponding to the field of view, the sensitivity region map including a plurality of regions having different threshold values;
- and
- determining a presence of motion by comparing the difference values to corresponding ones of the threshold values.
A method of identifying motion within a field of view, the method comprising the steps of:
- capturing at least two sequential images within the field of view, each of the images including a respective array of pixel values;
- calculating difference values between corresponding ones of the pixel values in the sequential images;
- providing a sensitivity region map corresponding to the field of view, the sensitivity region map including a plurality of regions, at least one of the regions having a threshold value dependent upon a corresponding group of the pixel values in at least one of the sequential images;
- and
- determining a presence of motion by comparing the difference values corresponding to the at least one region to the threshold value of the at least one region.
A method of identifying motion within a field of view, the method comprising the steps of:
- capturing at least two sequential images within the field of view, each of the images including a respective array of pixel values;
- calculating difference values between corresponding ones of the pixel values in the sequential images;
- providing a sensitivity region map corresponding to the field of view, the sensitivity region map including a plurality of regions;
- deciding whether to assign at least one of the regions a fixed threshold value or a variable threshold value, the variable threshold value being dependent upon a corresponding group of the pixel values in a corresponding one of the sequential images, the deciding being dependent upon an expected variability of the pixel values in a portion of the field of view, the portion of the field of view corresponding to the at least one region;
- and
- determining a presence of motion by comparing the difference values corresponding to the at least one region to the threshold value of the at least one region.
Dependencies are inferred from the claim text.