CN102077268A - Digital video filter and image processing - Google Patents

Abstract

The invention provides an apparatus for video digital color pixel filtering and digital image processing that eliminates the need for Furrier Transforms, thus eliminating time-consuming multiplication and additions. The apparatus utilizes a new distributed computer architecture that operates in conjunction with First In First Out memories, utilizing simple software for each processor to minimize latency issues of real time interactive digital image processing. The distributed processing architecture is set up to operate in a manner similar to factory assembly lines, wherein FIFO's carry semi processed data from one processor to another. A unique memory based system is used to measure motion vectors including distances and rotational vectors, of moving objects moving in a six degree of freedom.

Description

Digital video wave filter and Flame Image Process

Technical field

The Flame Image Process that the present invention relates to the digital video pseudo-colour filtering and be made of hardware and software, particularly image recognition, image identifying and image are followed the tracks of.

Background technology

The present invention relates to effective filtering of color video frequency image, thereby eliminate the needs that use complicated Fourier transform.Fourier transform has slowed down Digital Image Processing in essence.In addition, it utilizes unique computer organization, and it is similar to appearance, disappearance and direction and the rotation change of typical automobile assembly line with identification polychrome object in six spatial degrees of freedom.

Have various available filtering and image processing system, wherein no matter these systems still all do not provide the ability of this application at a plurality of technical elements at single technical elements.The real-time, interactive that such filtering and image processing system are difficult to be provided at mobile object move catch with interaction response in required critical speed.Be the patent No. and concise and to the point description of some systems below.

Gindele; Edward B.U.S.20050089240 discloses a kind of processing digital images to improve the method for tone scale (tone scale), may further comprise the steps: generate multivariant image expression of digital picture, this digital picture comprises a plurality of base digital images and a plurality of residual digital image; Base digital image is used texture reduce (texture reduced) spatial filter to produce the basic number word image that texture reduces; Basic number word image that the combination texture reduces and residual digital image are to generate the digital picture that texture reduces; From digital picture, deduct digital picture that texture reduces to produce the texture digital picture; The digital picture applied compression tone scale function that texture is reduced is to be created in the digital picture that the tone scale that has the tone scale of compression in the parts of images is at least adjusted; And the digital picture combination that texture digital picture and tone scale are adjusted to be to produce the digital picture after handling, and improves the contrast of digital picture thus and the contrast of compressed textures in digital picture not.

Srinivasan; Sridhar U.S.20030194009 discloses various technology and the instrument that is used for approximate bicubic filtering.For example, in moving estimation and compensation, when in reference video frame during in 1/4th location of pixels calculating pixel values, video encoder uses approximate bicubic filtering.Perhaps, in the motion compensation process, Video Decoder uses approximate bicubic filtering when at 1/4th position calculation pixel values.

Deering; Michael F.U.S.20030063095 discloses a kind of graphics system, comprises graphic process unit, sampling buffer memory and sampling to pixel calculation.Graphic process unit generates sampling in response to the graphics streams that receives.The sampling buffer memory can be used to store these samplings.Sample to pixel calculation able to programme by use wave filter to painted sampling filter to generate a plurality of output pixels.Can use wave filter with negative wave lobe.Graphics system is calculated the negative value that is used for first frame.This negative value is measured the negative quantity of pixel in first frame.In response to the negative value that is higher than a certain threshold value, graphics system adjustment filter function and/or wave filter support are to reduce the negative value of frame subsequently.

Debes; Eric U.S.7085795 discloses the equipment that is used for effective filtering and method and has described the convolution of content-data.This method comprises that shuffling instruction in response to the execution data organizes selected partial data in the destination data memory storage.Organize this partial data according to the layout of the coefficient in the coefficient data memory storage.In case be organized, in response to execution take advantage of add the instruction generate a plurality of and long-pending right.To form a plurality of products right by the data in the destination data memory storage being multiply by coefficient in the coefficient data memory storage.In case generate, add adjacent and long-pending right in response to carrying out adjacent addition instruction.In the destination data memory storage, add adjacently and long-pending,, this result is stored in the storage arrangement in case form one or more data processing operation results to form one or more data processing operation results.

Bolle; RudolfM.U.S.20020146178 discloses a kind of automatic finger print identifying or recognition system, and the restriction of obtaining processing has a strong impact on fingerprint image and obtains.The input of two patterns, promptly scan the fingerprint of the printing that comes from the paper record or use the direct from the input of pointing of real time scan fingerprint scanner, all there are the following problems: the following noise source in also being imported the standard noise in camera.Uneven printing ink uses, uneven pressure or the uneven pressure when pushing on the scanner surface when rolling on paper, and the Changes in weather in the moist content of the greasy dirt of external dirty and skin is the main cause that projection and sunk part are not known program.This invention is about studying the method for a component district least-square filtering device, its can given group image and ground truth to drawing as departing from the processing.The wave filter and the image of input fingerprint image convolution that obtains of studying to obtain to strengthen.

Lachine; Vladimir U.S.20060050083 discloses in unidirectional digital picture warpage the method and system to the circulation symmetry anisotropy filtering of ellipse that extends or rectangle fingerprint.Carry out filtering by the ellipse of at first in the input picture space, finding and adjust approximate asymmetric image zooming function in the mapping position of output pixel.Linear transformation in the output image space from the ellipse to the unit circle be confirmed as in the calculated fingerprint input pixel radius and corresponding to filter coefficient as the function of radius.The shape of fingerprint is confirmed as the balance between picture quality and the processing speed.In one embodiment, make up the summary of level and smooth and warpage element with the output image that produces clearly or details strengthens.The method and system of this invention produces the nature output image and does not have pseudomorphism, keeps or strengthen the sharpness of input picture simultaneously.

MacInnis; Alexander G.U.S.20040181564 discloses the system and method for arithemetic unit management in the decode system of application decoder streamline.Each input data unit has been assigned with memory component and has been stored in the memory component of distribution.Each decoder module obtains to want operated data and control data for given data unit from the memory component that distributes.After data unit was carried out decode operation, the deposit data that each decoder module will newly be handled was got back in the identical memory component.In one embodiment, the memory location of distribution comprises the head part that is used to preserve the control data corresponding with data unit, and the data division of the solid data of the preservation data unit of guaranteeing.The header write-once is inserted by each decoder module by the decoded stream waterline in the head part of the memory component that distributes and as required.Data division by a plurality of decoder module use/shared storages.

Yu; Dahai; U.S.7120286 discloses the method and apparatus of following the tracks of the edge contour of object in three dimensions.This method and apparatus is applied in the computer vision system that the accurate dimension that is designed to the object that obtains to scan measures.In order in the automatic tracing and measuring process, to preserve the focusing time, highly can collect and a plurality of images of degree of preservation for a plurality of Z for the ad-hoc location of XY level.The image of these preservations can be used for calculating the focal position of selected each marginal point testing position of XY zone after a while rather than obtain physics Z rank and move.In addition, can increase search speed significantly based on the Z height extrapolation of the Z of last marginal point height, be little by little and predictable object for the Z Level Change of profile particularly.

Siegel; Erwin Frederick U.S.20030123584 discloses the wave filter that comprises analyzer, threshold circuit and synthesizer.Analyzer generates low frequency component signal and high frequency signal from input signal.Threshold circuit generates the high frequency signal after handling from high frequency signal, it is zero that the high frequency signal after wherein handling has the amplitude that has in those zones of the amplitude lower than threshold value at high frequency signal.Generate filtered signal the input signal of the high frequency signal of synthesizer after comprising low frequency component signal and handling.If threshold value is zero, filtered signal equals input signal.Analyzer preferably is made of a plurality of finite impulse response filters, a bit of input signal of this wired impulse response filter single job.

Kawano; Tsutomu; U.S.20030095698 discloses a kind of feature extracting method, be used for each and the irradiation image of the corresponding irradiation view data formation of exposure of the object by x-ray bombardment, this feature extracting method has a plurality of different characteristic extraction step, and each step in described a plurality of different characteristic extraction steps has separately feature extraction condition to extract eigenwert separately; The eigenwert appraisal procedure is assessed the combination of a plurality of different characteristic values; And, controlled step, based on selecting at least one characteristic extraction step by the assessment result of eigenwert appraisal procedure from a plurality of different characteristic extraction steps, the feature extraction condition of the characteristic extraction step that change is selected and the characteristic extraction step of selecting are to extract eigenwert once more based on the feature extraction condition after changing from the irradiation image.

Naegle; U.S.20030052886 discloses a kind of video route system, comprises a plurality of video router VR (0) that connect with linear order, and VR (1) 1 ... VR (N.sub.R-1).Each video router in linear series can be operated continuously to digital video frequency flow.Each video router provides synchronous clock with outputting video streams, makes that the LI(link interface) buffer memory in next video router can be in response to synchronous clock value of catching from outputting video streams.Common clock signal is assigned to each video router.Each video router buffer memory common clock signal is to generate the output clock.The output clock is used as and reads clock with reading of data from link corresponding interface buffer memory.The output clock also is used to generate synchronous clock, and this synchronous clock is the downstream data flow that sends.

Matsuda; Hideki; U.S.20030234785 discloses a kind of image processing system etc., and it can reduce the alignment time, and this image processing system comprises: equipment is summarized storage part, storage ideal environment measurement data; The light separated part is based on draw light data and the ambient light data of indication from the output light of image projection portion by the difference between the first and second visual environment measurement data of sensor measurement; The reflection of projection plane is estimated based on exporting light data and ideal environment measurement data by projection plane reflection estimation portion; The sensed data generating unit generates the visual environment estimated data based on reflection, ecotopia measurement data and ambient light data; The LUT generating unit, the estimated data upgrades LUT based on visual environment; And correction unit, based on the LUT correcting image information after upgrading.

Busse; Richard J.U.S.7205520A discloses the emission detection system based on ground, comprises the sensor network of electro-optical sensor, is used to detect the emission that aims at the threat guided missile of commercial aircraft around commercial airport and the noncontact.Electro-optical sensor is used in the wireless network, and it is broadcast to dangerous circuit has overlapping visual field adjacent sensors.When having verified the threat guided missile, threat data is sent to the treatment facility that is positioned at the center, it determines that around which aircraft is target and sends to this aircraft and to distribute the countermeasure signal.

Nefian; Ara V.U.S.20040071338 discloses a kind of image processing system and security identification that can be used for face recognition and obtained the array of observing vector from the face-image that will be identified.Viterbi algorithm is applied to each object is provided the observation vector of the parameter of level statistical model, and discerns face by the highest coupling mark of discovery between observation sequence and level statistical model.

MacInnis; Alexander G U.S.20030187824 discloses the system and method for data unit management in the decode system of application decoder streamline.The data unit of each input is assigned to memory component and is stored in the memory component of distribution.Each decoder module obtains to be used for from the memory component that distributes to want operated data and control data to given data.After carrying out its decode operation for data unit, the data that each decoder module will newly be handled are deposited and are got back to identical memory component.In one embodiment, the memory location of distribution comprises the data portion that is used to preserve with the head part of the corresponding control data of data unit and is used to preserve the flesh and blood of data unit.Header by write-once to the head part of the memory component that distributes and by as required by each decoder module visit by the decoded stream waterline.The data division of a plurality of decoder module use/shared storages.

Summary of the invention and advantage

By the equipment that hardware and software is formed, be used for the input picture from video camera or sensor is transferred to numeric data in real time, and minimizing latency.The data that obtain provide the identification of object, the direction and the rotation parameter of mobile object in six-freedom degree.

Be used for and be converted to numeric data in real time from the input signal of video camera or sensor, thereby detection, identification and tracking are at the dynamic mobile object of 3d space.These data also provide the 3D position coordinates of each target, and follow the tracks of the 3D mobile vector of each single target.The hardware and software structure is used for eliminating the stand-by period between detection, tracking and the report of the mobile a plurality of targets of six-freedom degree.

This equipment utilization effective video filtering hardware, this hardware is discerned electromagnetic single primary colors by the precision of modulus (A/D) converter least significant bit (LSB).Wave filter also has the ability of the not desired color that filtering comprises background color and uses the color of any desired to substitute not desired color.

The main difference part of other digital image processing systems of the present invention is the present invention's filtering video chromatogram pixel color electronically.The precision of chromatogram color filter or will be distinguished and the number of the single color of filtering is 3 powers (D to the power of 3) of 3 of D that wherein D is the number of bit in the analog to digital converter that uses.For example,, in chromatogram, distinguish (1000*1000*1000) 1,000,000,000 single colors for the A/D converter of 10 bits.This is very powerful instrument in Digital Image Processing.It has eliminated in the software needs for the Fourier transform consuming time that uses in nearly all graphic process unit hardware.For each former color pixel detection time electronic memory handle up the time-delay or turn-on time, this is the order of magnitude of tens nanoseconds normally.

Another major advantage of the present invention is the Fourier transform that does not need calculated amount big.

Another main difference between other image processing systems of the present invention is its computer organization.This structure is used to minimize the detection time of a plurality of moving targets under the real-time, interactive environment.This structure is a distributed treatment, move similarly with the assembly line processor (being similar to the automobile production assembly line), wherein processor will and two processors between the work of FIFO (first in first out) memory combination.Move the strict stand-by period requirement that detects in real time in order to satisfy, equipment utilization is similar to the special distribution formula computer hardware of typical assembly line activity.FIFO is used to transmit half data of handling from a processor to another processor.Also use FIFO with ad hoc fashion, wherein the identification of object is very simple.The action of each single processor is enough simple, makes simple state machine hardware realize saving time.The individual task of the processor in handling line provides the means of eliminating common processing bottleneck in the most computers structure.

Another characteristics of the present invention are to measure the X of mobile object, Y, Z distance and rotating vector parameter.Another characteristics of the present invention are that it measures the rotation parameter of mobile object and the ability of range observation.Another advantage of the present invention is to use storer to be used for various Flame Image Process tasks, and avoids complicated software program.

Another advantage of the present invention is to use the distributed computer structure with the similar uniqueness of automobile making assembly line, and wherein each computing machine is carried out simple Flame Image Process task by the next FIFO that receives half data of handling from FIFO and will half data of handling be written to the line.It is obvious that other advantages of the present invention will become in embodiment.

Description of drawings

Fig. 1 is the block diagram of chromatic filter and recognizer.This chromatic filter and recognizer are from camera or sensor receiver, video simulating signal.This chromatic filter and recognizer show two stages of filtering and identification colors.Phase one is used for discerning the color that primary colors and Section Point are used to discern chromatogram.Numerical value identification primary colors and chromatogram color.As from block diagram as seen, be output as chromatogram color numerical value and chromatogram color-set numerical value.

Fig. 2 is audio video synchronization and steering logic block diagram table.

Fig. 2 A detects the hardware approach of slit with another object of identification from an object.

Fig. 3 is the block diagram of real-time distribution processor (assembly line processor).This processor is from chromatic filter and identification block diagram 1A receiving video data information.This processor provides the distance of mobile object and object identification and the mobile tracking data that rotation is moved.

Fig. 4 is the cubical chart of polychrome, wherein shows the mid point at the X and Y coordinates axle.

Fig. 4 A is the cubical chart of the polychrome shown in Fig. 4, wherein shows the polychrome cubical area of polychrome cube in each color that moves and cover in X, Y coordinate axis of z axle.

The chart of Fig. 5 polychrome hemisphere wherein shows the mid point of X and Y-axis.

Fig. 6 is the process flow diagram of a pixel groups recognition processor part of distribution processor shown in Figure 2.Pixel groups recognition processor function provides point coordinate among the reference x of next stage processor, mid point x and the needed object of y coordinate processor.

Fig. 6 A is the expression by the mid point x reference data of Fig. 6 generation.This expression is used to understand Fig. 6-midpoint reference activity.It shows the identification pixel of the group of objects of embarking on journey and the definition in gap.

Fig. 7 is x (OK) y (row) processor process flow diagram chart.Its major function is based on X and Y coordinates with reference to point coordinate in the reference of minute type objects.

Fig. 7 A shows for two successive frame alignment x, and the input of y (row) coordinate processor.

Fig. 7 B shows for two successive frame alignment x, and the output of y (row) coordinate processor.

Fig. 7 C shows mid point x, and the detail operations of y (row) coordinate processor, wherein deletes object and add another object when with the former frame comparison from previous frame.

Fig. 8 is an object identification processor process flow diagram, and appearing and subsiding on screen comes recognition object based on object for it.

Fig. 8 A is for the input of two successive frames to the object identification processor.

The mobile vector that Fig. 9 provides the distance of mobile object and rotation parameter is measured the block diagram of hardware.

Embodiment

Those of ordinary skills can carry out substitutions and modifications and without departing from the spirit and scope of the present invention for application described here.Thus, should be understood that the purpose that only is used for example describes embodiment, should not be construed as the scope of restriction equipment of the present invention and using method thereof.

Above-mentioned accompanying drawing shows described equipment and the using method of using thereof at least one preferred optimal mode embodiment, this will describe in detail in the embodiment below.

By the equipment that hardware and software is formed, be used for and transfer to numerical value (number) data of the mobility of a plurality of mobile objects of expression in real time from the input picture of video camera or sensor, and have minimum latency.These data provide the identification of object, the distance of mobile object (X, Y, Z) and rotation parameter in six-freedom degree.This equipment comprises effective video filtering technology, and the precision of the relevant A/D transducer of use is identified as electromagnetic each independent primary colors and chromatogram 3 power.This wave filter can filtering desired color not, comprise any desired color that background color and replacement are used to transmit.

In order to satisfy the requirement of moving the stand-by period of the strictness that detects in real time, equipment comprises the special distributed treatment computer hardware that is similar to typical assembly line activity.FIFO is used to from the data of a processor to another processor transmission half processing.Also use FIFO with the form of uniqueness, wherein the identification of object is very simple.The action of each separate processor is enough simple, makes state machine controller/processor hardware realize replacing typical CPU.The task of single processor is used in combination with FIFO will provide the means of elimination total bottleneck in most of distributed processors computer organizations.

Primary colors filtering and identification (Fig. 1)

With reference to the block diagram of figure 1, we find to be transferred to digital of digital video data from the analog video data of camera or CCD at point 2 (pieces 2).At point 7, the vision signal that the video data of known format is used to and imports is synchronous.During relevant timing in the signal of synchronous primary colors 14 and they in picture point time, generate 17.Primary colors timing and color identification are used to primary color data brightness is timed to appropriate maintenance and cut off in the register 3.

At point 4,5 and 6, digital former colour brightness is set to the address to appropriate primary colors storer.Storer comprise be used for each primary colors by prerecorded color filter of CPU and bandwidth information.The prerecorded data of storer are organized with identification primary colors numerical value and primary color set numerical value.

With the identification of primary colors numerical value, the prerecorded data of storer are also discerned any other primary colors of particular group.Grouping can be from 1 to m, and wherein m is the sum of the color-set of different objects.

With recognition data and grouping, storer will indicate whether to use a primary colors to replace another primary colors, and the brightness of the expectation that will be replaced by detected brightness is provided.Thus, the content of storer can comprise the information of record in advance, for example:

● identification

● primary colors numerical value

● group numerical value

● substitute

● replacement color brightness

Chromatogram color filter and identification (Fig. 1)

Refer again to Fig. 1, the primary colors numerical value (10) of all primary colors and their relevant group numerical value (11) are set to the chromatogram storer with the color numerical value in the identification chromatogram.

At each picture point time in the cycle, be set to the address of chromatogram storer from the primary colors numerical value of all three primary colors storeies, if wherein the data of storer greater than, be less than or equal to the center of the color in the color-set in chromatogram, the data indication identification of storer, selected color numerical value, selected color-set, the center of wave filter, the bandwidth of each color.Color is carried out the bandwidth of numerical value decision color of position of address of filtering and the group identification of color.

Another color that chromatogram storer wave filter also comprises being sent out substitutes the color of importing arbitrarily.

By adding pixel regularly, introduce all required digital control informations of Digital Implementation of design.This will be used to the remaining every other Digital Logic of controlling Design, for example video output streams control.

By from the data of storer, reading " 0 " or " 1 " is discerned.Primary colors is not discerned in " 0 " expression and former colour brightness has been discerned in " 1 " expression.Storer also comprises the numerical value of record in advance that is associated with certain primary color brightness.Identification primary color points 10 by from 1 to n the counting, wherein n is the primary colors numerical value of overall filtering.

Audio video synchronization and steering logic Fig. 2

Fig. 2 is the expansion of the piece 7 of Fig. 1.It comprises be imported into frame with reference to ROM 65 the pixel primary colors to be provided to filter apparatus 20 to specify regularly and the video frame header of other logic controls detects 61, the ranks profile 62 of frame, sub-pixel timer conter 63.

Distributed assembly line processor (Fig. 3)

Fig. 3 is the structured flowchart that is used for the distributed processors of time-critical Digital Image Processing.Owing to the structure of this distributed processors, be similar to the processor of the typical assembly line that is called as distributed assembly line processor.

The target of each processing in assembly line is handled is for the deal with data partly of the next processor in the line, and eliminates redundant data.The operation of a processor depends on last processor.Each processor reads the relevant data of previous stage FIFO, and according to further processing relevant data is written to next FIFO in the line.This processing is summarized as follows:

● the processing of recurring with consecutive order, wherein Processing tasks a plurality of simple task of being divided into the time of depending on and depending on function.

● the half data value first order FIFO that handles is handled and be written into to the pretreater of each FIFO.

● the preprocessor of each FIFO is read half data of handling and be written into next stage FIFO after further being handled from that FIFO.

Below with reference to the block diagram of Fig. 3, we find at point 20, pixel processor and chromatogram wave filter and video data FIFO A and the two interface of video data FIFO B.Read pixel after filtering and the identification from the chromatogram filter memory, and it is loaded into a FIFO.

Pixel filter also with audio video synchronization and steering logic interface to read associated frame regularly to be written into video data FIFO.Also finish with of the detection of gap signal (Fig. 2 A) interface with the group of the colour element in being expert at modification gap mark and declaration from clearance detector hardware reception gap signal.

The single processor of assembly line processor will come processed pixels based on color of pixel and group identification, and begin to handle object with identification colors based on the x of the pixel of finding pixel and y frame position coordinate then.The coordinate order of each pixel is characterised in that row first and row second.

The function of the definition of task and each processor and FIFO will become clear in the part below.

The utilization of FIFO to each processor provide advantage with only two address read write datas, in upgrading the pointer of data reading and data writing, save time thus.

Because the function of each processor is retained as minimum, in a clock period, changes the pattern of operating based on the logic state machine of storer, relative therewith, take many clock period based on the CPU of storer and finish an instruction set.

Gap detection (Fig. 2 A)

In the present invention, if the colored pixels that is not detected continuously by n in delegation and (same color) numerical value that " m " individual continuation column does not detect between the color object think that then an object and another object are separated.In this application, we claim this gap that is separated into.The gap lack in the delegation the particular color pixel and with go together mutually in another particular color pixel or same color pixel with column split.In checking process, if a color in belonging to one group of color and belong to not between another color in the color on the same group and do not have the gap is then stated the separation and the identification of two objects.

● the two-dimensional detection hypothesis of the object that moves in three dimensions is in near the same position of given frame per second initial detecting.

With reference to figure 2A, shift register is written into " n " again, and " n " is written into shift register when the identification of received signal from the chromatogram color memory.As long as there is the continuous detection pixel in delegation, the gap detection signal will remain low, but when reaching the signal of " n " individual not detection, this signal will be height, and indication separates two objects.

The mobility of the object (Fig. 4,4A and 5) that in three dimensions, moves

The x of the object that moves in three dimensions and y point midway are its two-dimentional focal plane (focal plane) mid point " x " (OK) and its mid points " y " (row) of being caught by the sensor of camera.The mid point X coordinate of polychrome device is at the minimum (Fig. 4 A point 202) of arbitrary color of any row detection and the mid point between the maximum pixel x coordinate (Fig. 4 A point 203).The mid point Y coordinate of polychrome object be detect arbitrary color first the mid point between the row (Fig. 4 A, point 204 and 205) is capable to the end.

With reference now to Fig. 4,, we find that the cubical approximate mid points coordinate of polychrome is two lines (200) and (201) point 209 intersected with each other.

Fig. 4 A is another chart of Fig. 4, and wherein compare each frame of distance and angle with Fig. 4 different.Point (202) is minimum x, and (the minimum x coordinate pixel of inspected object) and (203) are maximum x coordinates.Point (204) is wherein to detect cubical first row (minimum y), and point (205) is the detection (maximum y) that finishes object.

Fig. 5 is the reproduction of hemisphere, has wherein discerned middle point coordinate.Point (210,211,213 and 214) is at X, the area of each color that the Y plane is detected.The area of each color is total pixel counts of this color.The same color pixel that detects in a particular frame by counting obtains point (210,211,213 and 214).

The filter process device

The filter process device is connected with the chromatogram wave filter, when the output of chromatogram color filter (regularly) in appropriate pixel when " pixel detection mark " occurring from chromatogram memory read capture prime information, thereby the detection of indication pixel color and provide following content in this pixel timing process to video data FIFO:

A) filtered colored pixels data.

● the chromatogram identification value of polychrome object

● belong to the group numerical value of (color) of object

B) find in the row and column of pixel pixel coordinate about location of pixels numerical value.

C) pixel pitch detects.

Pixel groups identifier processor (Fig. 6)

Colored pixels after pixel groups identifier processor accepts filter from video data FIFO and relevant group numerical value.

The process flow diagram activity of Fig. 6 remarked pixel group identifier processor.The operation function of this processor is color and the color-set that identification belongs to the object in the delegation.The midpoint reference position of color-set is provided then, in the delegation of frame, finds this color-set.Fig. 6 A provides the more detailed expression to pixel groups identifier processor.

The row color-set locations of pixels identification that this only is used for having same color with reference to mid point x and belongs to a color-set.Actual mid point x identification occurs in the next stage processing.

Now in conjunction with Fig. 6 A with reference to numerical value logic numeral in the logical flow chart of figure 6, we find:

In point (100), color filter and be stored in video data FIFO and as the identification output of Fig. 1 of the input of pixel groups identifier processor.

In point (102), receive the pixel (this is the detection first time and the newline after the gap or the new object of the color of object) of new identification.

In point (103), keep pixel groups first with reference to mid point x coordinate, its color and color-set numerical value.Use conduct of colouring information and mid point x (OK) reference position and next pixel basis relatively.

In point (104), continue to read once more new pixel reference and color numerical value and group numerical value.

In point (105), check that color is identical with point (103) with group numerical value.

Attention: because the pixel of polychrome object is continuous at a frame, only relevant with color-set color should be detected before the gap.

In point (106),, then add the numerical value of the detected pixel (in delegation) of the group that belongs to same color if new pixel is identical with the color (point 103) of original identification.

Area under each color of object need detect rotating vector.The total area of all colours of object represents that it and detecting device are approaching.This will illustrate in the mobile vector measurement storer below.

In point (106), algorithm is also checked and is kept (random color in the group in delegation) minimum and maximum x coordinate.After a while this measurement is used for finding the middle point coordinate of the object of row subsequently.

In point (107), check to determine that detected color belongs to the color-set that is associated with object.This is the quadratic search except the bank of filters inspection of the color of Fig. 1 and identification.If phase color on the same group, reentry point (104) is to obtain the color numerical value of next pixel and group.

The point of arrival (108) when the color that detects not on the same group.Carry out following content:

● total pixel counts of all colours in the adding group

● keep the minimum and the maximum x coordinate of one group of color in the delegation

● keep capable number

● above-mentioned information is sent to next stage FIFO

When detecting the end of object (Fig. 3), the gap signal mark is revised as original detected pixel, when interrupting the detection of the random color relevant, detect the gap with notification processor with color-set.

Attention:

If new detected pixel color is different (not belonging to mutually on the same group), suppose to detect the color (this detection with different objects is identical) in the different colours group.

In point (109), check the gap label of revising by Fig. 3.If there is the gap, suppose correct interval, if do not find the gap, provide rub-out signal.

In point (111), check last row in the frame.If last row, change the old order with new FIFO (A to B or B to A) of next stage.

This handles the data volume between the minimum and maximum X coordinate of eliminating in the row.

With reference now to group pixels,, with the input of the form that occurs object on the CCD camera as pixel groups identifier processor.The object numerical value that occurs on the chart is used for reference and understands the only further data processing of next logical diagram.In this, processor is not known any situation about the appearing and subsiding of object.The object identification processor of distributed processors is partly carried out object identification.

Fig. 6 A is illustrated in the notion that CCD goes up the color-set that occurs, and the notion in the gap between two objects.

The pixel groups processor has following form from the method for FIFO reading of data: going the detection pixel arbitrarily to the ending of this row and then from next line.

Fig. 7 A shows the output of the pixel groups identifier processor that is used for successive frame.

Mid point X﹠amp; Y coordinate processor (Fig. 7)

X (OK) and Y (row) coordinate processor from group identifier FIFO read with reference to point coordinate and it is classified about their relevant position coordinate.

In this processing procedure, check that the relevant position of each mid point is associated with the same color group to guarantee them.

Now in conjunction with Fig. 7 A, 7B and 7C with reference to the numerical value logic number in the logical flow chart of figure 7:

At point 131, seek first mid point inlet and maintenance and read other inlets that are closely related to detect with first coordinate.

In point (132), read next inlet, and for position by the next inlet of first access check, second hunting zone of reading is extended some+/-pixel.

At point 133, begin and check once more to enter the mouth in first of point 131 receptions from minimum extension numerical value.If mid point+/-closer to each other in the n location of pixels, and closer to each other in the row (point 134) of " m " numerical value, then transfer to a little 135.

At point 135,, then it is joined in the numerical value of row, and keep minimum and the highest mid point X coordinate if two inlets exist coupling and them to have the row of " m " numerical value.

Because the order of the midpoint reference coordinate that receives is a pixel identifier processor from the beginning to finishing seeking with reference to mid point of row, and repeats aforesaid operations for remaining row, there is correlativity between data in same number of frames and the object.In order to make by oneself, every class midpoint x is distributed numerical value.This numerical value is based on first group and last group x mid point in Fig. 4,4A and 5.

In point (135), if with reference to the x coordinate by the column split of " m " numerical value, think that then it is to have the new object of identical midpoint reference x coordinate and transfer to point (132) and seek next inlet.

In point (136), check the ending of tabulation, and, be used for the beginning of next frame if ending changes the order of network FIFO and turns back to point (130).

In point (138), if+/-ending of the scope of n, between reading, the coordinate of two midpoint reference x do not have coupling, and this indication second is read and is belonged to different objects and transfer to point (139).

In point (139), point coordinate x identification finishes in supposing.Calculate the real mid point X coordinate of object and the Y coordinate of mid point then, the result is sent to next stage FIFO.Also read and be labeled as first and transfer to point (132) to seek the coupling of second object with second.

The X and Y coordinates processor reduces the data volume between the row that belongs to color-set.

The interior group pixels of next line (next column) is followed by the delegation that Fig. 7 A shows two frames.Its indication is as the new appearing and subsiding of the object of the input of X and Y coordinates processor.

Fig. 7 B is the expression of the result of X and Y coordinates processor, and wherein each object is by as having the mid point x of frame reference coordinate and the point of mid point y is represented.

Object identification processor (Fig. 8)

The object identification processor reads X and Y coordinates information from X and Y coordinates FIFO.The coordinate of main newer FIFO (new frame) and the coordinate of old FIFO (old frame), and if the new coordinate in new frame equals old frame, less than old frame or greater than old frame, then mark determines.Generally speaking, following action relates to this processor:

Carry out the action of object identification processor easily by the mode of operation of utilizing FIFO.Generally speaking, the operation of this processor is summarized as follows:

● read old mid point x and y from old (A or B) FIFO

● read new mid point x and y from new (B or A) FIFO

● the franchise of " m " is provided and the franchise of " n " is provided for the x coordinate for row-coordinate

● by older and new coordinate, recognition object

● together The above results is write the mobile tracking processor with relevant pixel number

Because between two frames, compare, the 3rd FIFO is added circuit to prevent mixing old and new data.

With reference now to the numerical value logic number in the logical flow chart of Fig. 8,, in point (150), processor begins with the new Y coordinate that obtains in the original processing, and the hunting zone of new row-coordinate is extended+/-m after, the comparison of begin column.The hunting zone+/-m is little the moving of guaranteeing to consider the change from a frame to next frame.

In point (152), if do not compare, then the scope with search increases by one, and transfers to a little 154, wherein if not the end of y coordinate search scope, then gets back to a little 152.

If have coupling at point 152, then transfer to a little 155, wherein will+/-n time in searching mate the pfx coordinate.If, then indicate and in new frame, detect identical object once more in point 155 couplings that exist between the old x coordinate.Carry out following operation then:

● the mid point of same object is written to mobile tracking FIFO

● the same object mark is written to mobile tracking FIFO

In point (154), if in the scope of m, do not detect until old with new in identical y coordinate, then indicate new y coordinate less than old y coordinate.The analysis of Fig. 7 C is indicated this to be the appearance of new object and to transfer to a little 161 to carry out following operation:

● with new object marker the x and the y coordinate of new object write mobile tracking FIFO

● be set to y-m and x from the hunting zone that FIFO reads new x and y coordinate and y to y-n

● keep the x of old frame and y coordinate and transfer to a little 152

At point 157, if in scope n, do not detect until old with new in identical x coordinate, then indicate new x and y coordinate greater than old coordinate.The disappearance of the object that the analysis of Fig. 7 C indication is old and transfer to a little 162 to carry out following operation:

● be written to the detection end mark of object mobile

● read x and y coordinate from old FIFO

● keep new x and y coordinate and new hunting zone y to y-m and x to y-n

● transfer to a little 152

Mobile vector is measured storer (Fig. 9)

The polychrome three-dimensional body that moves at three dimensions with following provide object moving in six-freedom degree relevant apart from x, the transient measurement of y and z and rotation value:

A) when detecting by camera, the polychrome object that moves in three dimensions will be registered unique signature of different colours area in every frame, wherein, the area of each color will be illustrated in the unique instantaneous angle of selecting in the three dimensions in all colours in the group of predetermined color, and the total area of different colors provides the instantaneous value of z direction distance.

B) area of each color by relevant colors and color numerical value is set to the address to storer, and the correlation of three position of rotation of the object that obtains to move wherein is registered to the data of three angle positions in the storer in calibration process.

● move in real time detect and processing procedure in, the area counting of all colours that comprises the relevant colors numerical value of all colours is organized as the address to storer, and absolute value and three angle dimensions of the z of the original measurement of correspondence are read as data.

C) though in any polychrome object set on the z direction measurement of instantaneous angle position and instantaneous position be the result that experience that comparison is measured and carried out in calibration process is measured.

D) number of pixels of the particular color in the color set that detects in move detecting in real time by the counting frame is measured the surface area of each color.

E) the experience measurement result of the area that the calibration of movement value and three instantaneous angle movement values are each colors on the z direction, and in by the storer of the area of detection addressing of each color numerical value and each relevant colors the known vector movement value of record.

F) calibration instantaneous value and the x of record z in storer, y and z rotating vector, the address to storer is the area of each particular color and the color numerical value that detects appointment simultaneously.

G) the mobile emulation by polychrome object in the moving process and with frame in each pixel measurement of moving relevant different colours area implement last processing (e).

H) if the rotation value is little, the ratio of the value of the total correlation color area that detects by past and hatred be similar to change mobile on the z direction.

I) two dimension of the above-mentioned x by using the polychrome object and y transient measurement and gimbal (gimbal) is rotated and is carried out tracking, and wherein camera is assemblied on this gimbal.

J) use above-mentioned information, make optics or pixel zoom become possibility.

With reference now to the numerical value among Fig. 9,, rotation moving detector storer (41) receives each total pixel value (43,45,46) of each color of the object of each group together from object identification storer and relevant group numerical value.Is the address of rotating vector traverse measurement storer with the chromatogram identification value with this information setting, and mobile (48) of the three-dimensional rotation value (47) of reception object and Z direction.Figure (4,4A and 5) is illustrated in moving of polychrome cube that three dimensions moves and hemisphere.

Move and change the detector processes device

Move and change the detector processes device from vector management RAM reception rotation x, y and z vector and Z coordinate figure.Also calculate the elapsed time relevant from this frame of object to former frame.Measure speed and the acceleration that calculates each object to measure former frame from this.The following calculating elapsed time:

● the elapsed time between the detection in two frames is the mid point that the mid point of the time of this frame detection arrives the time of former frame detection.

● the mid point time be in the frame that detects first row to the end between the delegation time difference divided by 2.

Change by vector measurement in two frame processes is in the elapsed time and obtains vector velocity.This information is transmitted to mobile tracking FIFO.

The record that the realization of describing in detail above is considered to for prior art is new, and is considered to for the operation of at least one aspect of an optimal mode embodiment of the present invention and is crucial for the realization of above-mentioned target.The word that is used to describe embodiment in this instructions should be understood that the implication that comprises that not only it is described usually also to comprise the characterizing definition in the instructions: the structure outside the intended scope of common definition, material or action.If in the context of the present specification key element is interpreted as thus to comprise more than an implication, and its use must be understood that for the instructions support and describe key element the word support might implication be common.

Yet, in this manual, with embodiments of the invention described here and do not have the word of related embodiment described here or the definition of key element to be restricted to the combination of the key element that not only comprises literal elaboration, and comprise and be used for carrying out the essence identical functions to obtain the identical result's of essence all equivalent structures, material or action in the identical mode of essence.At this on the one hand, be appreciated that the equivalent substitution that can carry out two or more key elements for any key element among the present invention and the various embodiment thereof, perhaps single key element can substitute two or more key elements in the claim.

It is equivalent that the change of the flesh and blood of the claim of learning for those of ordinary skills (known or learn after a while) is considered in the scope of the present invention and various embodiment thereof.Thus, for those of ordinary skills now or the obvious replacement of knowing after a while be defined in the scope of key element of qualification.Illustrate especially and describe above the present invention and various embodiment thereof are understood to include thus, it is conceptive to be equivalent to, obviously substitute and main integrated key point of the present invention.

Described the present invention with reference at least one preferred embodiment, it will be recognized by those of skill in the art that the present invention and be not limited to this.But scope of the present invention is interpreted as only combining with the claim of attaching, and knows very that here the inventor believes that the flesh and blood of claim is the present invention.

Claims (10)

1. one kind is used to carry out the equipment that grating is imported the digital video filtering of picture element signal sequence, and each grating input pixel has from the good n unit set of the arrangement of the value of video camera or sensor, discerns with the n unit color of remarked pixel, and described equipment comprises:

A) digital video synchronously and regularly, with the head of input digit video data bit stream synchronously, and provide required numeral regularly and control signal with each and the position of each primary colors in the pixel timing in the n unit set of identification primary colors;

A) primary colors digital filter is coupled the n that is used to receive grating input original signal and topples over the brightness of sequence, and each former colour brightness of n unit is mapped to each primary colors storage address, and wherein each storage address has:

Each storage address in the predetermined memory address realm,

Each primary colors that the n of the polychrome object that each predetermined memory address realm is interior with this scope topples over input is identified as the original identification value of polychrome, and the color-set that will belong to the object in this scope is identified as the group identification value of polychrome object;

The identification of each storage address belongs in the color-set of object and at the not polychrome object primary colors on the same group of polychrome object;

B) chromatogram number of colours character filter, the primary colors identification value that is coupled the polychrome object that is used to receive the color-set that belongs to the polychrome object is as the input to storage address, and wherein each storage address has:

Each storage address in the predetermined memory address realm,

Each predetermined memory address realm is identified as the polychrome identification value with each color of the n unit input of the polychrome object in this scope, and the color-set that will belong to the object in this scope is identified as the group identification value of polychrome object;

The color identification marking is used to represent the detection of the color in the color chromatogram;

The identification of each storage address belongs in the color-set of object and each color of polychrome object in the not chromatogram on the same group of polychrome object.

2. equipment according to claim 1, wherein, be coupled to the output of digital chromatogram wave filter based on the hardware block of shift register, detection the lacking of " n " pixel in the delegation of frame,, wherein " n " is any number of the pixel separation between two objects of following detection same color or different colours:

A) each when detecting the pixel identification marking from the output of chromatogram storer, " n " is written into shift register with numerical value;

● " n " is any number that is illustrated in the number of the pixel that does not detect continuously in being expert at after the last pixel detection mark;

● in the time, " n " in shift register subtracted one at each contiguous pixels of not finding the pixel detection mark;

B) when the end of " n " counting, during generating and represent to be expert at, register lacks the gap signal of " n " individual pixel;

A) pixel processor is revised as this gap information the last detected pixel identification data that writes among the video data FIFO;

B) gap is to specify lacking of colored pixels in this row for another designated color pixel in going together mutually or same color pixel;

C) gap is to specify colored pixels lacking for another designated color pixel or same color pixel in being expert at.

3. distributed processors, comprise level and vertical a plurality of sub-processors, wherein, with a plurality of pushup storages, arrange single processor during pre-service that is being relative to each other in the level functional structure of time synchronized and aftertreatment are arranged, wherein FIFO is linked to another processor so that half data of handling are sent to another processor from crossing a processor with a processor;

A) distributed processors is handled the data that receive from digital filter continuously, and will such data be converted to coordinate position, speed and the acceleration of color body mobile in six-freedom degree, and described equipment comprises:

The filter process device;

Video data FIFO;

Pixel groups identifier processor;

The group identifier processor;

Row (x) and row (y) coordinate processor;

Mid point x (OK) and row (y) coordinate FIFO;

The Delta time processor;

The object identification processor;

Displacement and rotation detector;

Vector traverse measurement RAM;

Mobile tracking FIFO;

The mobile tracking processor;

B) single processor and video frame synchronization, wherein the beginning of the task of each processor and frame synchronously and each task must before the end of same number of frames, finish;

C) the sub-processor functional task on the vertical direction extends, and wherein each processor tasks keeps minimum;

D) functional task of the processor on the horizontal direction prolongs to be extended and makes each processor carry out complete identical functions for the different piece of the data in the time of frame;

E) utilize the timing of frame to come designation data stream, make each processor data is interweaved and to indicate based on the detailed timing in the frame.

4. equipment according to claim 3, wherein, the filter process device is coupled to the chromatogram wave filter, in case when the pixel detection mark in the output of chromatogram color filter, occurring, from chromatogram memory read capture prime information, with the detection that is illustrated in pixel color in this pixel timing process and following contents value video data FIFO is provided:

A) through the colored pixels data of filtering filtering;

● the chromatogram identification value of polychrome object;

● belong to (color) group numerical value of object;

B) from the capable counting of frame of the line endings of frame of video linage-counter;

C) in the column count of the ending (ending of frame) that is listed as from the frame of video coulomb counter;

D) pixel pitch detects;

E) write with pixel identifier processor for the filter process device and read the order of video data FIFO is changed to B and changes to A from B from A.

5. according to the described equipment of claim 1 to 4, wherein, pixel groups identifier processor is based on color of pixel, color-set identifier and x (OK) coordinate address of the reception that detects in filtering, other statisticss of the pixel of handling with next stage, classification and the color of pixel of separating reception said method comprising the steps of (numerical value in the bracket refers to the point among Fig. 6):

A), check new pixel from video FIFO in point (102);

B) in point (102), with the x coordinate reference that reads and keep first pixel from the color numerical value of video data FIFO and group numerical value;

C) in point (104), with the x coordinate reference that reads and keep second pixel from the color numerical value of video data FIFO and group numerical value;

D) in point (105), if identical color is transferred to point (106) and carried out following operation:

● the number of the pixel of same color in the row in the adding group;

● keep minimum and maximum x coordinate in the row;

● abandon the x coordinate data between the maximum minimum x coordinate;

● transfer to a little 104;

E),, transfer to point (107) if not identical color in point (105);

F),, transfer to point (104) if belong to phase color on the same group in point (107);

G),, following content is written to group identifier FIFO if color does not belong to identical group in point (107);

● the adding of all pixels of the color-set of finding in being expert at;

● the midpoint reference x of the color-set of finding in being expert at;

■ belongs to group and the beginning and the end coordinate address of the color-set that finishes with the gap mark;

The starting and ending of ■ same color color of pixel pixel before not detecting the gap detects;

● the columns value of the color of finding in being expert at;

● transfer to point (109);

H) in point (109), check the gap mark, if very close to each other, generation error information and transfer to point (104);

I),, transfer to a little 111 if there is the gap in point (109);

J) in point (111), check the video data fifo empty signal, if not sky, transfer to point (102);

K) in point (111), if FIFO is empty, transfer to point (113),

L) in point (113), for the next frame data that will write group identifier FIFO is become B from A, for the next stage processor that will read group identifier FIFO is become A from B, and transfer to point (102).

6. equipment according to claim 3 wherein, is coupled to the mid point x (OK) of group identifier FIFO and y (row) coordinate processor mid point x and the y coordinate with classification and recognition object.This is based on and initially checks two midpoint reference coordinates, and if described two midpoint reference coordinates equate, check the numerical value of the row that they are separated.If do not separate, then suppose identical object, otherwise the new object that detects of hypothesis.Expression this method and detailed functions action in Fig. 7,7A, 7B and 7C, and may further comprise the steps (point among the numeric reference Fig. 7 in bracket):

A) in point (131), first coordinate address statement from group identification FIFO, first inlet that reads the mid point of x is used for comparison;

B) in point (132), read next inlet from group identifier FIFO, and with the expansion of second mid point+/-" n ", wherein " n " expression from two x that are listed as another row with reference to the separation and at interval of point coordinate;

C),, compare the degree of closeness of two x mid points since an x-" n " coordinate address in (133);

D) in (133), if two mid point x equate, transfer to point (134);

E) in point (133), if two coordinates read and are not to equate, transfer to point (137) with continue+/-search in the scope;

F), x is increased by 1 and transfer to a little 138 in point (137);

G),, transfer to point (133) if not end for the hunting zone of mid point x reference coordinate in point (138);

● in point (138), in the end of search, if do not find two x coordinates in identical scope, this represents that second coordinate belongs to new object and transfers to point (139);

H) in (134), check that whether two mid points are separated by " m ", wherein m represents the number of the separation that is listed as, and if then transfer to (136);

I) in (134), if two middle point coordinate are not separated by m, false coordinate be same object and transfer to point (135);

J) in point (135), false coordinate is the same object of close position row, and carries out following operation:

● keep minimum and maximum x coordinate to be used for calculating after a while the x mid point parameter of continuous row;

● first and the rank rear that keep not finding;

● transfer to point (132);

K), check fifo empty signal in point (136);

L) in point (136),, turn back to a little 131, otherwise X and Y coordinates FIFO is changed to B from A, and next processor reads and proceed to step 131 from B to A) for writing of next frame if FIFO is not empty;

M) in point (139), carry out following operation:

● calculate point coordinate among x and the y;

● add phase all pixels on the same group of finding in the different rows;

● read second and to write back to group identifier FIFO;

● turn back to point (131).

7. equipment according to claim 3, wherein, the object identification processor that is coupled to x and y coordinate FIFO based on the mid point coordinate address of the new frame relevant with row (y) with row (x) they appearing and subsiding and old coordinate in old frame and new frame in the comparison of new coordinate, come recognition object, said method comprising the steps of (numerical value refers to the mid point at Fig. 8):

A), from FIFO A or B, read the y of last (old) frame, point coordinate among the x, and the y that from FIFO B or A, reads new frame, point coordinate among the x at point 150;

B) new mid point y coordinate is set to y-m, and wherein " m " is illustrated among the witch number that two objects are considered the row of separation;

C) by x-n new mid point x coordinate is set, wherein 2 multiply by " n " and be illustrated among the witch number that two objects are considered the pixel of separation;

D) at point 152, the scope of " m " in, seek the coupling of old (last) y coordinate and arbitrarily new coordinate, and if equal, transfer to a little 155, otherwise transfer to a little 153;

E) at point 155 ,+/-seek the coupling of old (last) x coordinate and new x coordinate in the scope of n, if equal, transfer to a little 158, otherwise proceed to a little 156;

F) at point 158, carry out following processing:

● the mark with same object is written to mobile tracking FIFO with object coordinates;

● next x and y coordinate are write back to new FIFO;

● transfer to a little 163;

G) at point 163, if not the end of frame flag, repeating step is a) up to the end of frame, if the end of frame, turns back to a little 150, otherwise waits for new frame and proceed to a little 150;

H),, this means that new y address is little, carries out following operation then owing to the appearance of new object because can not find new y at point 154:

● with new object marker new object coordinates is written to new one-level FIFO;

● keep point coordinate among the y of old frame and the x;

● read point coordinate among the y of new frame and the x;

● new mid point y is set to y-m, and new x mid point is set to x-n, and proceeds to a little 152;

I) at point 157, owing to do not find new x, this means new y and x coordinate address, and old object disappears from screen greater than old, carry out following operation then:

● the disappearance mark of old object is written to next stage FIFO;

● keep point coordinate among the y of new frame and the x;

● read point coordinate among the y of old frame and the x;

● new mid point y is set to y-m, and new x mid point is set to x-n, and proceeds to a little 152.

8. equipment according to claim 3, wherein, rotation and recording processor device coupled are to X and Y coordinates FIFO, based on independent pixel color counting towards camera, measurement is in the anglec of rotation of the polychrome object of six-freedom degree spatial movement and the distance on the z, and described equipment and step comprise following content:

A) will be as each color total area of total pixel counts of color and number of color group as address to storer, wherein the data of storer are illustrated in the prerecorded instantaneous angle position of the mobile object that writes down in the calibration process;

● the color area of the polychrome three-dimensional body that moves in three dimensions provides z transient measurement and object rotation value in six-freedom degree as the distance of direction;

● when detecting the polychrome object that in three dimensions, moves by camera, in each frame, will register unique signature of different colours area, wherein in the predetermined color group in all colours area of each color will represent the unique instantaneous angle of the rotation in three dimensions and the total area of different colours, be provided at the instantaneous value of distance on the z direction;

● in calibration process, move detection in real time based on the experience of the object of the area counting of the color that is exposed to camera and all colours part and their relevant color numerical value and be organized as for the address of storer and be recorded so that instantaneous value to be provided;

B) result that measures of the experience of the calibration of the movement value in the z direction and three the instantaneous angle movement values area that is each color, and in by the storer of the surveyed area addressing of each group number of color and each relevant colors the known vector movement value of record;

● calibration instantaneous value and the x of record z in storer, y and z rotating vector simultaneously are the color numerical value of the appointment of the area of each particular color and detection for the address of storer;

C) if the rotation value is little, the change of moving on the z direction was similar to by the past of total correlation color area and the ratio of hatred detected value;

D) this information is sent to mobile tracking FIFO.

9. equipment according to claim 3, wherein, the following vector measurement that carries out distance, speed and acceleration from a frame to another frame:

A) in the process of two frames dividing by elapsed time, draw vector velocity by the change in vector measurement;

B) speed of the calculating that draws from the previous step of being divided by elapsed time draws vector acceleration;

● in two frames, measure elapsed time between the detection of the mid point of same object.

10.

Equipment according to claim 3 wherein, makes the following elimination of distributed processors structure handle the numerical value time:

A) single processor comprises the state machine based on storer, wherein in a time cycle, handle, elimination is obtained the required clock of instruction from storer in based on the CPU of typical memory, this instruction comprises decoding instruction and increase or reduces pointer address;

B) FIFO is only as the storage of data, wherein only exists to be used for the individual address that state machine reads and to be used for the individual address that state machine writes.

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