Video stabilization
AssigneeFord Global Technologies, LLC
InventorsEnrique Corona, Stephen Giardinelli, Bruno Sielly Jales Costa, Mostafa Parchami, Gintaras Vincent Puskorius
Life of this patent
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Abstract
A computing system can receive a stabilized image stream, wherein the stabilized image stream is drift-corrected based on determining that an input image stream is stable and then applying drift correction to maintain a stabilized field of view, wherein the field of view is stabilized with respect to the real world. The computing system can operate a vehicle based on determining at least one moving object in the stabilized image stream.
Claims20
A method, comprising:
- receiving a video data stream, wherein the video data stream is drift-corrected based on determining that an input video data stream is stable based on determining an eccentricity εk at a time k and comparing the eccentricity εk to an empirically determined threshold value, where eccentricity εk measures a rate at which data points associated with a pixel location xk are changing as a function of time k, and then applying drift correction to maintain a stabilized field of view, wherein the field of view is stabilized with respect to real world coordinates;
- and
- operating a vehicle based on determining at least one moving object in a stabilized image stream.
(canceled)
A system, comprising a processor;
- and
- a memory, the memory including instructions to be executed by the processor to:
- receive a video data stream, wherein the video data stream is drift-corrected based on determining that an input video data stream is stable based on
- determining an eccentricity εk at a time k and comparing the eccentricity εk to an empirically determined threshold value, where eccentricity εk measures a rate at which data points associated with a pixel location xk are changing as a function of time k, and then applying drift correction to maintain a stabilized field of view, wherein the field of view is stabilized with respect to real world coordinates;
- and
- operate a vehicle based on determining at least one moving object in a stabilized video data stream.
(canceled)
The system of claim 12, wherein the eccentricity εk is based on recursively processing the input video data stream based on an empirically determined constant a, an input image stream data point at time k xk, a mean of xk at time k μk, and variance of xk at time k σk2.
A system, comprising:
- means for controlling vehicle steering, braking, and powertrain;
- and
- computer means for:
- receiving a stabilized video data stream, wherein the stabilized video data stream is drift-corrected based on determining that an input video data stream is stable based on determining an eccentricity εk at a time k and comparing the eccentricity εk to an empirically determined threshold value, where eccentricity εk measures a rate at which data points associated with a pixel location xk are
- changing as a function of time k, and then applying drift correction to maintain a stabilized field of view, wherein the field of view is stabilized with respect to real world coordinates;
- and
- operating a vehicle based on determining at least one moving object in a stabilized image stream and the means for controlling vehicle steering, braking, and powertrain.
(canceled)
Dependencies are inferred from the claim text.