# US 2022/0286609 A1 · Method and apparatus for remanent imaging control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0286609 A1 - Document ID: US20220286609A1 - Status: Published application - Kind: A1 - Application number: 17/664,641 - Filed: 2022-05-23 - Published: 2022-09-08 - Earliest claimed: 2015-12-16 - Assignees: Martineau & Associates - Applicants: Martineau & Associates - Inventors: Pierre R. Martineau - Web page: https://patentgrep.com/patent/US20220286609A1 ## CPC - G08G 1/164: {Centralised systems, e.g. external to vehicles} - G06T 7/215: Motion-based segmentation - G06T 7/292: Multi-camera tracking - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 10/443: {by matching or filtering} - G06V 10/82: using neural networks - G06V 10/94: Hardware or software architectures specially adapted for image or video understanding - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - H04N 5/145: {Movement estimation (for video coding H04N19/51)} - H04N 23/60: Control of cameras or camera modules - H04N 23/6811: {based on the image signal} - H04N 23/73: by influencing the exposure time - B60R 2300/105: using multiple cameras - B60R 2300/303: using joined images, e.g. multiple camera images - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract The invention is drawn towards a method and apparatus for controlling a consumer based on motion detected in a data stream, comprising: receiving the data stream, extracting motion information from the image data, generating commands and parameters for the consumer according to the motion information and controlling the consumer according to the commands and parameters. ## Claims ### Claim 1 A non-transitory computer readable medium comprising instructions for performing a method, the instructions being executable by at least one processor, the method comprising: receiving at least one sequence of digital images from an image acquisition device, the sequence of digital images including at least one digital image, the at least one digital image resulting from a photographic exposure of a scene over a duration of exposure time, the scene including at least one motile object or medium within a field of view of the acquisition device, the at least one motile object or medium creating a motion blur within the photographic exposure when moving during the exposure time of the at least one digital image; determining if there is a motion blur in a particular image, the particular image being based on one or more of the one sequence of digital images; if there is the motion blur in the particular image: analysing the motion blur created by the at least one motile object or medium within the field of view by measuring spatial changes in pixel values based on the at least one digital image to generate motion parameters; and providing a first feedback signal based on the motion parameters to at least one controller to generate first control commands having sensitivity to movement of the at least one motile object or medium that varies in accordance with movement of the at least one motile object or medium; and if there is an absence of the motion blur in the particular image, providing a second feedback signal to the at least one controller to generate second control commands. ### Claim 2 (depends on 1) The non-transitory computer readable medium of claim 1, the method further comprising determining one or more trajectories of points in the at least one motile object or medium based on the spatial changes in pixel values, wherein providing the first feedback signal based on the motion parameters comprises providing the first feedback signal based on the one or more trajectories of points. ### Claim 3 (depends on 2) The non-transitory computer readable medium of claim 2, the method further comprising determining one or more velocities, each associated with a different trajectory of the one or more trajectories of points based on the spatial changes in pixel values to identify motion parameters of the at least one motile object or medium, wherein providing the first feedback signal based on the motion parameters comprises providing the first feedback signal based on one or more velocities. ### Claim 4 (depends on 2) The non-transitory computer readable medium of claim 2, wherein determining the one or more trajectories of points in the at least one motile object or medium based on the spatial changes in pixel values comprises generating a synthetic image containing the trajectories of points in the at least one motile object or medium. ### Claim 5 (depends on 4) The non-transitory computer readable medium of claim 4, wherein the synthetic image is generated from stacking at least two digital images of the at least one sequence of digital images, wherein the synthetic image is a three-dimensional matrix. ### Claim 6 (depends on 5) The non-transitory computer readable medium of claim 5, wherein each of the at least two digital images have different exposure time from each other. ### Claim 7 (depends on 5) The non-transitory computer readable medium of claim 5, wherein a matrix element at position (l, j, k) represent energy accumulated by a pixel at position (l, j) during a kth time exposure. ### Claim 8 (depends on 3) The non-transitory computer readable medium of claim 3, wherein each velocity of the one or more velocities include an angular value of at least one motile object or medium. ### Claim 9 (depends on 1) The non-transitory computer readable medium of claim 1, wherein the sequence of images were captured at 3.75 frames per second. ### Claim 10 (depends on 2) The non-transitory computer readable medium of claim 2, wherein determining the one or more trajectories of points in the at least one motile object or medium based on the spatial changes in pixel values comprises generating a motion map based on pixels within the at least one digital image, the pixels having at least two adjacent lower gray-level valued neighbours opposite each other. ### Claim 11 A method comprising: receiving at least one sequence of digital images from an image acquisition device, the sequence of digital images including at least one digital image, the at least one digital image resulting from a photographic exposure of a scene over a duration of exposure time, the scene including at least one motile object or medium within a field of view of the acquisition device, the at least one motile object or medium creating a motion blur within the photographic exposure when moving during the exposure time of the at least one digital image; determining if there is a motion blur in a particular image, the particular image being based on one or more of the one sequence of digital images; if there is the motion blur in the particular image: analysing the motion blur created by the at least one motile object or medium within the field of view by measuring spatial changes in pixel values based on the at least one digital image to generate motion parameters; and providing a first feedback signal based on the motion parameters to at least one controller to generate first control commands having sensitivity to movement of the at least one motile object or medium that varies in accordance with movement of the at least one motile object or medium; and if there is an absence of the motion blur in the particular image, providing a second feedback signal to the at least one controller to generate second control commands. ### Claim 12 (depends on 11) The method of claim 11, the method further comprising determining one or more trajectories of points in the at least one motile object or medium based on the spatial changes in pixel values, wherein providing the first feedback signal based on the motion parameters comprises providing the first feedback signal based on the one or more trajectories of points. ### Claim 13 (depends on 12) The method of claim 12, the method further comprising determining one or more velocities, each associated with a different trajectory of the one or more trajectories of points based on the spatial changes in pixel values to identify motion parameters of the at least one motile object or medium, wherein providing the first feedback signal based on the motion parameters comprises providing the first feedback signal based on one or more velocities. ### Claim 14 (depends on 12) The method of claim 12, wherein determining the one or more trajectories of points in the at least one motile object or medium based on the spatial changes in pixel values comprises generating a synthetic image containing the trajectories of points in the at least one motile object or medium. ### Claim 15 (depends on 14) The method of claim 14, wherein the synthetic image is generated from stacking at least two digital images of the at least one sequence of digital images, wherein the synthetic image is a three-dimensional matrix. ### Claim 16 (depends on 15) The method of claim 15, wherein each of the at least two digital images have different exposure time from each other. ### Claim 17 (depends on 15) The method of claim 15, wherein a matrix element at position (l, j, k) represent energy accumulated by a pixel at position (l, j) during a kth time exposure. ### Claim 18 (depends on 13) The method of claim 13, wherein each velocity of the one or more velocities include an angular value of at least one motile object or medium. ### Claim 19 (depends on 12) The method of claim 12, wherein determining the one or more trajectories of points in the at least one motile object or medium based on the spatial changes in pixel values comprises generating a motion map based on pixels within the at least one digital image, the pixels having at least two adjacent lower gray-level valued neighbours opposite each other. ### Claim 20 A system comprising: one or more processors; and memory containing instructions that are executable by the one or more processors to configure the one or more processors to: receive at least one sequence of digital images from an image acquisition device, the sequence of digital images including at least one digital image, the at least one digital image resulting from a photographic exposure of a scene over a duration of exposure time, the scene including at least one motile object or medium within a field of view of the acquisition device, the at least one motile object or medium creating a motion blur within the photographic exposure when moving during the exposure time of the at least one digital image; determine if there is a motion blur in a particular image, the particular image being based on one or more of the one sequence of digital images; if there is the motion blur in the particular image: analyse the motion blur created by the at least one motile object or medium within the field of view by measuring spatial changes in pixel values based on the at least one digital image to generate motion parameters; and provide a first feedback signal based on the motion parameters to at least one controller to generate first control commands having sensitivity to movement of the at least one motile object or medium that varies in accordance with movement of the at least one motile object or medium; and if there is an absence of the motion blur in the particular image, providing a second feedback signal to the at least one controller to generate second control commands.