Image processor for processing images received from a plurality of image sensors

A system for combining images received from image sensors positioned at different points around a platform in order to generate an image of the platform surroundings, the system comprising:

• a plurality of image sensors, each image sensor being configured to output a respective first and second image;
• a plurality of motion sensors, each motion sensor being associated with a respective one of the image sensors and configured to detect motion of the associated image sensor during the interval between capturing the first and second images;
• and
• an image processing module comprising an image processor for processing images received from a plurality of image sensors affixed to a platform,each image sensor having a field of view that at least partially overlaps with the field of view of another one of the other image sensors, the image processor comprising:
• an image data input for receiving a respective first image captured by each one of the plurality of image sensors and a respective second image subsequently captured by each one of the plurality of image sensors;
• a first motion data input for receiving motion data from a plurality of motion sensors, each motion sensor being associated with a respective one of the image sensors and configured to detect motion of the respective image sensor,
• a second motion data input for receiving reference motion data from a reference motion sensor located onboard the platforms;
• a motion determining unit configured to determine, based on the motion data received from each image sensor and the reference motion data, whether or not the respective image sensor has moved from an expected position during the interval between capturing the first and second images, and to output position data indicating the change in position of the respective image sensor from its expected position;
• an image adjustment module configured to use the position data to adjust the second image received from the respective image sensor, to thereby provide a respective adjusted image;
• and
• an image combining module for combining each one of the adjusted images to form a single output image.

A platform comprising a system for combining images received from image sensors positioned at different points around a platform in order to generate an image of the platform surroundings, the system comprising:

• a plurality of image sensors, each image sensor being configured to output a respective first and second image;
• a plurality of motion sensors, each motion sensor being associated with a respective one of the image sensors and configured to detect motion of the associated image sensor during the interval between capturing the first and second images;
• and
• an image processing module comprising an image processor for processing images received from a plurality of image sensors affixed to a platform, each image sensor having a field of view that at least partially overlaps with the field of view of another one of the other image sensors, the image processor comprising:
• an image data input for receiving a respective first image captured by each one of the plurality of image sensors and a respective second image subsequently captured by each one of the plurality of image sensors;
• a first motion data input for receiving motion data from a plurality of motion sensors, each motion sensor being associated with a respective one of the image sensors and configured to detect motion of the respective image sensor,
• a second motion data input for receiving reference motion data from a reference motion sensor located onboard the platform;
• a motion determining unit configured to determine, based on the motion data received from each image sensor and the reference motion data, whether or not the respective image sensor has moved from an expected position during the interval between capturing the first and second images, and to output position data indicating the change in position of the respective image sensor from its expected position;
• an image adjustment module configured to use the position data to adjust the second image received from the respective image sensor, to thereby provide a respective adjusted image;
• and
• an image combining module for combining each one of the adjusted images to form a single output image.

A method of processing images received from a plurality of image sensors affixed to a platform, each image sensor having a field of view that at least partially overlaps with the field of view of another one of the other image sensors, the method comprising:

• receiving a respective first image captured by each one of the plurality of image sensors and a respective second image subsequently captured by each one of the plurality of image sensors;
• receiving motion data from a plurality of motion sensors, each motion sensor being associated with a respective one of the image sensors and configured to detect motion of the respective image sensor,
• receiving reference motion data from a reference motion sensor located onboard the platform;
• determining, based on the motion data received from each image sensor and the reference motion data, whether or not the respective image sensor has moved from an expected position during the interval between capturing the first and second images,
• outputting position data indicating the change in position of the respective image sensor from its expected position;
• using the position data to adjust the second image received from the respective image sensor, to thereby provide a respective adjusted image;
• and
• combining each one of the adjusted images to form a single output image.

A non-transient computer readable storage medium storing computer executable code that when executed by a computer will cause the computer to carry out a method of processing images received from a plurality of image sensors affixed to a platform, each image sensor having a field of view that at least partially overlaps with the field of view of another one of the other image sensors, the method comprising:

• receiving a respective first image captured by each one of the plurality of image sensors and a respective second image subsequently captured by each one of the plurality of image sensors;
• receiving motion data from a plurality of motion sensors each motion sensor being associated with a respective one of the image sensors and configured to detect motion of the respective image sensor,
• receiving reference motion data from a reference motion sensor located onboard the platform;
• determining, based on the motion data received from each image sensor and the reference motion data, whether or not the respective image sensor has moved from an expected position during the interval between capturing the first and second images,
• outputting position data indicating the change in position of the respective image sensor from its expected position;
• using the position data to adjust the second image received from the respective image sensor, to thereby provide a respective adjusted image;
• and
• combining each one of the adjusted images to form a single output image.