EP2194353B1 - Method and system for detecting improvised explosive devices or similar - Google Patents
Method and system for detecting improvised explosive devices or similar Download PDFInfo
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- EP2194353B1 EP2194353B1 EP09177072.7A EP09177072A EP2194353B1 EP 2194353 B1 EP2194353 B1 EP 2194353B1 EP 09177072 A EP09177072 A EP 09177072A EP 2194353 B1 EP2194353 B1 EP 2194353B1
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- 238000000034 method Methods 0.000 title claims description 16
- 238000012545 processing Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 description 9
- 230000001066 destructive effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010027146 Melanoderma Diseases 0.000 description 1
- 229920000297 Rayon Polymers 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000012550 audit Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
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- 239000002964 rayon Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D5/00—Safety arrangements
- F42D5/02—Locating undetonated charges
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
Definitions
- the present invention relates to a method and system for detecting improvised explosive devices (IEDs) or the like.
- IEDs improvised explosive devices
- Improvised explosive devices are known to be increasingly used to trap a route, such as a road or road and their aisles, from a conflict zone, because they are easily concealed by reason of their small size and that they can be designed and manufactured relatively easily and artisanally from components available commercially and / or mounted on equipment and appliances public by being diverted from their initial application. Thus, they pose a significant threat to vehicles and individuals, civilian or military, who use these trapped routes.
- the present invention aims to overcome these drawbacks and relates to a method and a system for detecting improvised explosive devices, which can be used on a moving vehicle without being constrained vis-à-vis the people in the vehicle or close to it.
- the image correlation detection method is totally passive since it emits no dangerous radiation and is not subject to regulatory constraints as a result of use, so that can be put technically into application very easily.
- Such an image analysis method makes it possible to notice a change in the current image compared to a previous image, which change may correspond to the presence of an explosive device, and therefore operates in real time with a moving vehicle.
- the method consists, in accordance with the present invention, of replacing one of every two current images with an earlier image and of successively displaying said current and anterior images thus alternated.
- Alternate image groups greater than two images
- Any change between images (or groups of images) representative of the road and its surroundings is thus highlighted step by step along the route, making it as secure as possible.
- Such a system easily integrates into a vehicle because of its reduced size and consumes, moreover, little energy for its operation, since its source of shooting is a simple camera and its display device a monitor .
- the detection range of the system can be important since it depends on the resolution of the sensor and the characteristics of the camera lens. A range of some tens to a few hundred meters is thus attainable depending on the size of the objects to be detected.
- said processing device replaces a current image out of two, taken by said source, with an earlier image of said database, so as to display on said display device an alternating succession of said current and previous images.
- the detection system 1 is mounted on board a vehicle 2 generally of the military type, symbolized by a mixed rectangular line and traveling on a route (road or track) likely to include improvised explosive devices that can be totally or partially buried and / or concealed in the road or its aisles.
- the system comprises, as will be seen in more detail below, a current image shooting source 3, a database 4 of reference images IA of said route, a processing device 5, an image registration means 6 and a display device 7.
- the shooting source 3 is a camera 3A embedded in the vehicle 2 and making it possible to take the current images I of the route and thus to display on the display device 7, the road and the aisles of the route on which the vehicle travels, so as to deliver in real time and continuously, the current images of the route.
- the database 4 contains previous IA images of the same route but previously filmed and contained on any appropriate computer storage medium, integrated into the vehicle. These images may have been taken by the same camera during a previous pass on the same route.
- the image processing device 5 is connected to the camera 3A and to the database 4 and thus receives the information (images I and IA) sent by the camera 3A and the database 4.
- the role of the processing device 5 is to replace current images I delivered by the camera by previous images IA provided by the database 4 and located in the same place.
- a current image I out of two is replaced by an earlier image IA, so that the alternative display of the current images I of the camera and the previous images IA of the
- the database allows you to immediately see the changes that have occurred along the current route compared to the previous one.
- the display device 7 is for example a visualization monitor 7A.
- the two images provided, respectively current I and previous IA, at a given moment in the same place, may not be strictly identical with respect to their spatial positioning, geographical.
- the vehicles do not travel exactly the same way along the route and / or the cameras are not placed in the same place on the vehicles. It is thus seen that the route R of the IT route with its two trees AR of the current image I delivered by the camera 3A is slightly shifted to the right with respect to the same route R of the IT route with the same two AR trees of the previous image IA issued by the database 4, which road is in the center of the previous image IA.
- the system 1 of the invention provides this and its resetting means 6 can consist of several interventions, for example: either to reset the current image I filmed by the camera 3A with that IA of the database 4 from the position of the vehicle or from the position of the vehicle and the orientation of the camera, so as to superimpose said images I and IA, either to use equipment specific to the detection system 1 or to use specific equipment of the vehicle such as that a satellite positioning system, inertial center, if it has one, which equipment allows to know where were taken the images I and IA, thus facilitating their registration.
- Such a registration of the current images I and earlier IA is also necessary to ensure a good visual comfort of the operator in charge of monitoring the images scrolling alternately on the display monitor 7A.
- the system 1 can identify, by image correlation, any change occurring between successive images scrolling on the monitor 7A.
- any change occurring between successive images scrolling on the monitor 7A For example, it can be seen that on the current image I represented and delivered by the camera 3A, as well as on the imaged IR image of monitor 7A, there is a black spot T, on the left-hand side of the road R, while it does not appear on the previous image IA.
- the operator sees a flashing on the monitor 7A representative of the change between the successive images and corresponding in the example to the spot T, which can be an improvised explosive device. If this is the case, the latter thus detected is then neutralized.
- the images taken by the camera during the displacement are used to feed, via a link 8, the database 4 which is thus updated.
- the replacement of old images with recent images makes it possible to overcome slow natural changes in the landscape, such as those of vegetation.
- the image processing device 5 can be performed automatically to detect and highlight the elements that have changed in the landscape.
- the image processing device 5 can also act on the images so as to reduce the effect of brightness variations or shadows worn between the two images that have been taken at different times.
- the image database referenced 4 can of course be shared between several vehicles that can use for example the same portion of the route.
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Description
La présente invention concerne un procédé et un système de détection d'engins explosifs improvisés (EEI) ou analogues.The present invention relates to a method and system for detecting improvised explosive devices (IEDs) or the like.
On sait que les engins explosifs improvisés sont de plus en plus employés pour piéger un itinéraire, tel qu'une route ou une piste et leurs bas-côtés, d'une zone de conflit, du fait qu'ils sont facilement dissimulables en raison de leur dimension réduite et qu'ils peuvent être conçus et fabriqués relativement facilement et artisanalement à partir de composants disponibles commercialement et/ou montés sur des matériels et appareils grands publics en étant détournés de leur application initiale. Ainsi, ils constituent une menace importante pour les véhicules et les individus, civils ou militaires, qui empruntent ces itinéraires piégés.Improvised explosive devices are known to be increasingly used to trap a route, such as a road or road and their aisles, from a conflict zone, because they are easily concealed by reason of their small size and that they can be designed and manufactured relatively easily and artisanally from components available commercially and / or mounted on equipment and appliances public by being diverted from their initial application. Thus, they pose a significant threat to vehicles and individuals, civilian or military, who use these trapped routes.
Pour sécuriser une telle route ou piste, on peut par exemple utiliser des systèmes destructifs attelés à des véhicules motorisés et à base de mécanismes de leurrage ou neutralisation qui déclenchent, lorsqu'ils passent sur les engins, l'explosion de leur charge entraînant par ailleurs l'endommagement d'une partie des mécanismes, ou, des systèmes non destructifs auxquels l'invention appartient et qui permettent de détecter des engins explosifs et, donc, de localiser lesdits engins à partir entre autres de rayons X ou analyses neutroniques.To secure such a road or track, one can for example use destructive systems coupled to motorized vehicles and based on decoy or neutralization mechanisms that trigger, when they pass on the gear, the explosion of their load causing otherwise damage to a part of the mechanisms, or non-destructive systems to which the invention belongs and which can detect explosive devices and, therefore, to locate said machines from among others X-ray or neutron analyzes.
Cependant, ces derniers systèmes sont difficilement applicables à un véhicule en mouvement destiné à la détection d'engins explosifs en raison notamment :
- du délai des mesures trop important nuisant à la progression du véhicule,
- de la faible portée des systèmes inférieure à quelques mètres, et
- de la législation sur l'utilisation de rayons X ou neutroniques sur les personnes.
- excessively long measurement delays affecting the vehicle's progress,
- the short range of systems less than a few meters, and
- legislation on the use of X-rays or neutrons on people.
La présente invention a pour but de remédier à ces inconvénients et concerne un procédé et un système de détection d'engins explosifs improvisés, qui peuvent être utilisables sur un véhicule en mouvement en étant sans contrainte vis-à-vis des personnes situées dans le véhicule ou proches de celui-ci.The present invention aims to overcome these drawbacks and relates to a method and a system for detecting improvised explosive devices, which can be used on a moving vehicle without being constrained vis-à-vis the people in the vehicle or close to it.
À cette fin, selon l'invention, le procédé pour la détection des cibles par corrélation d'images et consistant :
- ○ à délivrer en continu des images actuelles représentatives de scènes dans lesquelles lesdites cibles sont susceptibles de se trouver ;
- ○ à remplacer au moins certaines desdites images actuelles par des images antérieures précédemment enregistrées, prises au même endroit ; et
- ○ à afficher successivement lesdites images actuelles et lesdites images antérieures de remplacement pour permettre, par la corrélation des images actuelles et antérieures, la détection desdites cibles,
- ○ avant d'afficher lesdites images actuelles et antérieures, à recaler la position géographique desdites images actuelles et antérieures successives de manière que les points fixes desdites images successives coïncident ; et
- ○ à mettre à jour lesdites images antérieures précédemment enregistrées par lesdites images actuelles délivrées en continu et représentatives dudit itinéraire suivi.
- ○ to continuously deliver current images representative of scenes in which said targets are likely to be;
- ○ to replace at least some of said current images with previously recorded prior images taken at the same location; and
- ○ to successively display said current images and said replacement prior images to allow, by the correlation of the current and previous images, the detection of said targets,
- ○ before displaying said current and previous images, to readjust the geographical position of said successive current and previous images so that the fixed points of said successive images coincide; and
- ○ updating said previous images previously recorded by said current images continuously delivered and representative of said track followed.
Ainsi, grâce à l'invention, le procédé de détection par corrélation d'images est totalement passif puisqu'il n'émet aucune radiation dangereuse et ne fait pas l'objet en conséquence de contraintes réglementaires d'utilisation, de sorte qu'il peut être mis techniquement en application très facilement. Un tel procédé par analyse d'images permet de remarquer un changement dans l'image actuelle comparativement à une image antérieure, lequel changement peut correspondre à la présence d'un engin explosif, et fonctionne par conséquent en temps réel avec un véhicule en mouvement.Thus, thanks to the invention, the image correlation detection method is totally passive since it emits no dangerous radiation and is not subject to regulatory constraints as a result of use, so that can be put technically into application very easily. Such an image analysis method makes it possible to notice a change in the current image compared to a previous image, which change may correspond to the presence of an explosive device, and therefore operates in real time with a moving vehicle.
On remarquera que :
- ○ la partie pré-caractérisante de la définition ci-dessus du procédé conforme à la présente invention se rapporte au
document GB qui décrit un système de surveillance par télévision, disposé de façon statique à poste fixe, seule sa caméra étant éventuellement orientable en azimut ;2 103 901 - ○ le
document GB décrit un procédé et un système pour détecter, à partir d'un véhiculé, des engins explosifs improvisés, disposés dans une zone d'intérêt fixe, située en oblique par rapport audit véhicule ; et2 439 627 - ○ le
document GB décrit un système de surveillance statique d'un parking par corrélation d'images, ce système mettant à jour l'image de référence à l'arrivée ou au départ d'une automobile.2 243 266
- ○ the pre-characterizing part of the above definition of the method according to the present invention relates to the document
GB 2,103,901 - ○ the document
GB 2,439,627 - ○ the document
GB 2,243,266
De préférence, pour obtenir une analyse optimale de l'itinéraire emprunté par le véhicule, le procédé consiste, conformément à la présente invention, à remplacer une image actuelle sur deux par une image antérieure et à afficher successivement lesdites images actuelles et antérieures ainsi alternées. On peut aussi afficher des groupes d'images alternés (supérieures à deux images). Tout changement entre les images (ou groupes d'images) représentatives de la route et de ses abords est ainsi mis en évidence pas à pas le long de l'itinéraire, ce qui permet de le sécuriser au mieux.Preferably, in order to obtain an optimal analysis of the route taken by the vehicle, the method consists, in accordance with the present invention, of replacing one of every two current images with an earlier image and of successively displaying said current and anterior images thus alternated. Alternate image groups (greater than two images) can also be displayed. Any change between images (or groups of images) representative of the road and its surroundings is thus highlighted step by step along the route, making it as secure as possible.
L'invention concerne également un système de détection d'engins explosifs improvisés ou analogues, destiné à mettre en oeuvre le procédé défini précédemment. Ce système comprend :
- ○ au moins une source de prise de vues montée sur ledit véhicule circulant sur ledit itinéraire et délivrant lesdites images actuelles de celui-ci ;
- ○ une base de données desdites images antérieures précédemment enregistrées dudit itinéraire ;
- ○ un dispositif de traitement d'images en temps réel, auquel sont reliées ladite source de prise de vues et ladite base de données et qui remplace au moins certaines desdites images actuelles par des images antérieures de ladite base de données, prises au même endroit dudit itinéraire ; et
- ○ un dispositif d'affichage desdites images actuelles et antérieures ainsi combinées par ledit dispositif de traitement,
- ○ un moyen pour recaler la position géographique de deux images respectivement actuelle et antérieure successives ; et
- ○ une liaison entre ladite source de prise de vues et ladite base de données de manière à mettre à jour lesdites images antérieures de ladite base de données par les images actuelles prises par ladite source.
- At least one shooting source mounted on said vehicle traveling on said route and delivering said current images thereof;
- A database of said previously recorded prior images of said route;
- A real-time image processing device, to which said source of photography and said database are connected and which replaces at least some of said current images with previous images of said database, taken at the same location of said image route; and
- A display device of said current and previous images thus combined by said processing device,
- ○ a means for resetting the geographical position of two images respectively current and previous successive; and
- ○ a connection between said source of shooting and said database so as to update said previous images of said database by the current images taken by said source.
Ainsi, un tel système s'intègre aisément dans un véhicule de par sa dimension réduite et consomme, par ailleurs, peu d'énergie pour son fonctionnement, puisque sa source de prise de vues est une simple caméra et son dispositif d'affichage un moniteur. La portée de détection du système peut être importante puisqu'elle dépend de la résolution du capteur et des caractéristiques de l'objectif de la caméra. Une portée de quelques dizaines à quelques centaines de mètres est ainsi atteignable en fonction de la taille des objets à détecter.Thus, such a system easily integrates into a vehicle because of its reduced size and consumes, moreover, little energy for its operation, since its source of shooting is a simple camera and its display device a monitor . The detection range of the system can be important since it depends on the resolution of the sensor and the characteristics of the camera lens. A range of some tens to a few hundred meters is thus attainable depending on the size of the objects to be detected.
Avantageusement, ledit dispositif de traitement remplace une image actuelle sur deux, prise par ladite source, par une image antérieure de ladite base de données, de sorte à visualiser sur ledit dispositif d'affichage une succession alternée desdites images actuelles et antérieures.Advantageously, said processing device replaces a current image out of two, taken by said source, with an earlier image of said database, so as to display on said display device an alternating succession of said current and previous images.
De préférence, ladite base de données d'images antérieures contient des images fournies par la même source de prise de vues, conférant au système une fiabilité importante.
- La figure du dessin annexé fera bien comprendre comment l'invention peut être réalisée.
- La
figure 1 représente schématiquement le système de détection d'engins explosifs improvisés appliquant le procédé selon l'invention.
- The figure of the appended drawing will make it clear how the invention can be realized.
- The
figure 1 schematically represents the improvised explosive device detection system applying the method according to the invention.
Le système de détection 1 selon l'invention est monté à bord d'un véhicule 2 généralement du type militaire, symbolisé par un trait mixte rectangulaire et circulant sur un itinéraire (route ou piste) susceptible de comporter des engins explosifs improvisés qui peuvent être totalement ou partiellement enfouis et/ou dissimulés dans la route ou ses bas-côtés.The detection system 1 according to the invention is mounted on board a
Pour cela, le système comprend, comme on le verra plus en détail ci-après, une source de prise de vues 3 d'images actuelles I, une base de données 4 d'images antérieures de référence IA dudit itinéraire, un dispositif de traitement d'images 5, un moyen de recalage d'images 6 et un dispositif d'affichage 7.For this, the system comprises, as will be seen in more detail below, a current
En particulier, la source de prise de vues 3 est une caméra 3A embarquée dans le véhicule 2 et permettant de prendre les images actuelles I de l'itinéraire et de visualiser ainsi sur le dispositif d'affichage 7, la route et les bas-côtés de l'itinéraire sur lequel circule le véhicule, de sorte à délivrer en temps réel et en continu, les images actuelles de l'itinéraire.In particular, the
La base de données 4 contient des images antérieures IA du même itinéraire mais filmées précédemment et contenues sur tout support informatique approprié de stockage, intégré au véhicule. Ces images peuvent avoir été prises par la même caméra lors d'un passage précédent sur le même itinéraire.The database 4 contains previous IA images of the same route but previously filmed and contained on any appropriate computer storage medium, integrated into the vehicle. These images may have been taken by the same camera during a previous pass on the same route.
Le dispositif de traitement d'images 5 est relié à la caméra 3A et à la base de données 4 et reçoit ainsi les informations (images I et IA) envoyées par la caméra 3A et la base de données 4. Le rôle du dispositif de traitement 5 est de remplacer des images actuelles I délivrées par la caméra par des images antérieures IA fournies par la base de données 4 et situées au même endroit. Pour optimiser la détection d'engins explosifs le long de l'itinéraire, une image actuelle I sur deux est remplacée par une image antérieure IA, de sorte que l'affichage alternatif des images actuelles I de la caméra et des images antérieures IA de la base de données permet de voir immédiatement les changements survenus tout le long de l'itinéraire actuel comparativement à celui précédemment enregistré. Pour visualiser cela, le dispositif d'affichage 7 est par exemple un moniteur de visualisation 7A.The
Ainsi, comme le montre la
Le système 1 de l'invention prévoit cela et son moyen de recalage 6 peut consister en plusieurs interventions, par exemple : soit à recaler l'image actuelle I filmée par la caméra 3A avec celle IA de la base de données 4 à partir de la position du véhicule ou à partir de la position du véhicule et de l'orientation de la caméra, de manière à superposer lesdites images I et IA, soit à utiliser un équipement propre au système de détection 1 ou à utiliser un équipement spécifique du véhicule tel qu'un système de positionnement par satellites, centrale inertielle, s'il en possède un, lequel équipement permet de savoir où ont été prises les images I et IA, en facilitant ainsi leur recalage.The system 1 of the invention provides this and its resetting means 6 can consist of several interventions, for example: either to reset the current image I filmed by the
Un tel recalage des images actuelles I et antérieures IA est nécessaire aussi pour assurer un bon confort visuel de l'opérateur en charge de surveiller les images défilant alternativement sur le moniteur de visualisation 7A.Such a registration of the current images I and earlier IA is also necessary to ensure a good visual comfort of the operator in charge of monitoring the images scrolling alternately on the
Le système 1 ainsi décrit peut repérer, par corrélation d'images, tout changement survenant entre des images successives défilant sur le moniteur 7A. Par exemple, on remarque que sur l'image actuelle I représentée et délivrée par la caméra 3A, ainsi que sur l'image recalée IR du moniteur 7A, se trouve une tache noire T, sur le bas-côté gauche de la route R, alors qu'elle n'apparaît pas sur l'image antérieure IA. Ainsi, grâce à l'affichage alternatif des images actuelles et antérieures de la base de données, l'opérateur voit un clignotement sur le moniteur 7A représentatif du changement entre les images successives et correspondant dans l'exemple à la tache T, laquelle peut être un engin explosif improvisé. Si c'est le cas, ce dernier ainsi détecté est alors neutralisé.The system 1 thus described can identify, by image correlation, any change occurring between successive images scrolling on the
Pendant ou à l'issue de la mission du véhicule, les images prises par la caméra durant le déplacement servent à alimenter, par une liaison 8, la base de données 4 laquelle est ainsi mise à jour. Le remplacement des images anciennes par des images récentes permet de s'affranchir des changements naturels lents dans le paysage comme, par exemple, ceux de la végétation.During or at the end of the mission of the vehicle, the images taken by the camera during the displacement are used to feed, via a
Pour faciliter l'interprétation par l'opérateur, le dispositif de traitement d'images 5 peut s'effectuer automatiquement pour détecter et mettre en évidence les éléments ayant changés dans le paysage.To facilitate interpretation by the operator, the
Par ailleurs, le dispositif de traitement d'images 5 peut également agir sur les images de manière à réduire l'effet des variations de luminosité ou des ombres portées entre les deux images qui ont été prises à des instants différents.Furthermore, the
La base de données d'images référencées 4 peut bien entendu être partagée entre plusieurs véhicules pouvant utiliser par exemple une même portion d'itinéraire.The image database referenced 4 can of course be shared between several vehicles that can use for example the same portion of the route.
Claims (7)
- Method for detecting targets by correlation of images and comprising:• continuously supplying current images (I) representing scenes in which said targets are likely to be found;• replacing at least some of said current images (I) with earlier images (IA) recorded previously, taken at the same location; and• successively displaying said current images and said replacement earlier images to enable said targets to be detected by the correlation of the current and earlier images,characterised in that, with said targets being improvised explosive devices or the like, partially or totally hidden, on or close to a route, and said method being carried out from a vehicle travelling over said route, this process further comprises:• before displaying said current and earlier images, resetting the geographic position of said successive current (I) and earlier (IA) images so that the fixed points of said successive images coincide; and• updating said previously recorded earlier images (IA) with said current images (I) supplied continuously and representative of said route followed.
- Method according to claim 1, characterised in that it comprises replacing one in two current images (I) with an earlier image (IA) and successively displaying said current and earlier images alternating in this manner.
- System for detecting improvised explosive devices or the like, intended to implement the method as defined in one of claims 1 or 2, and comprising:- at least one image-shooting source (3) mounted on said vehicle (2) travelling over said route and supplying said current images (I) of said route;- a database (4) of said previously recorded earlier images (IA) of said route;- a device (5) for processing images in real time, which is connected to said image-shooting source and said database and which replaces at least some of said current images with earlier images from said database shot at the same location on said route; and- a device (7) for displaying said current and earlier images thus combined by said processing device (5),characterised in that it comprises:- means (6) for resetting the geographical position of two successive current and earlier images, respectively; and- a connection (8) between said image-shooting source (3) and said database (4) so as to update said earlier images (IA) of said database (4) with the current images (I) shot by said source (3).
- System according to the previous claim,
characterised in that said processing device (5) is of the image replacement type, one current image in two taken by said source being replaced by an earlier image from said database, so as to display on said display device (7) an alternating series of said current (I) and earlier (IA) images. - System according to one of claims 3 or 4,
characterised in that said image-shooting source (3) is a camera (3A) and said display device (7) is a monitor (7A). - System according to any one of claims 3 to 5, characterised in that said database (4) of earlier images contains images supplied by the same image-shooting source (3).
- System according to any one of claims 3 to 6, characterised in that said database (4) is shared between several vehicles.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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FR0806758A FR2939188B1 (en) | 2008-12-02 | 2008-12-02 | METHOD AND SYSTEM FOR DETECTING IMPROVED OR SIMILAR EXPLOSIVE DEVICES |
Publications (2)
Publication Number | Publication Date |
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EP2194353A1 EP2194353A1 (en) | 2010-06-09 |
EP2194353B1 true EP2194353B1 (en) | 2013-10-23 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP09177072.7A Active EP2194353B1 (en) | 2008-12-02 | 2009-11-25 | Method and system for detecting improvised explosive devices or similar |
Country Status (7)
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US (1) | US9696127B2 (en) |
EP (1) | EP2194353B1 (en) |
CA (1) | CA2744182C (en) |
ES (1) | ES2438602T3 (en) |
FR (1) | FR2939188B1 (en) |
WO (1) | WO2010063920A1 (en) |
ZA (1) | ZA201104009B (en) |
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GB2103901B (en) * | 1981-07-30 | 1986-01-15 | Secr Defence | Television surveillance systems |
GB9008003D0 (en) * | 1990-04-09 | 1990-06-06 | Marconi Co Ltd | Imaging filter |
ZA9510950B (en) * | 1994-12-27 | 1996-07-08 | Gavin Hough | Detection of movement |
JPH10307110A (en) * | 1997-05-06 | 1998-11-17 | Omron Corp | Image processing device |
BRPI0606200A2 (en) * | 2005-01-06 | 2009-11-17 | Alan Shulman | cognitive change detection system |
GB2432071A (en) * | 2005-11-04 | 2007-05-09 | Autoliv Dev | Determining pixel values for an enhanced image dependent on earlier processed pixels but independent of pixels below the pixel in question |
US7702183B1 (en) * | 2006-05-17 | 2010-04-20 | The Boeing Company | Methods and systems for the detection of the insertion, removal, and change of objects within a scene through the use of imagery |
-
2008
- 2008-12-02 FR FR0806758A patent/FR2939188B1/en active Active
-
2009
- 2009-11-25 WO PCT/FR2009/052293 patent/WO2010063920A1/en active Application Filing
- 2009-11-25 EP EP09177072.7A patent/EP2194353B1/en active Active
- 2009-11-25 US US13/132,133 patent/US9696127B2/en active Active
- 2009-11-25 ES ES09177072.7T patent/ES2438602T3/en active Active
- 2009-11-25 CA CA2744182A patent/CA2744182C/en active Active
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2011
- 2011-05-31 ZA ZA2011/04009A patent/ZA201104009B/en unknown
Also Published As
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CA2744182A1 (en) | 2010-06-10 |
CA2744182C (en) | 2017-01-03 |
ZA201104009B (en) | 2012-02-29 |
EP2194353A1 (en) | 2010-06-09 |
WO2010063920A1 (en) | 2010-06-10 |
ES2438602T3 (en) | 2014-01-17 |
US9696127B2 (en) | 2017-07-04 |
FR2939188A1 (en) | 2010-06-04 |
FR2939188B1 (en) | 2012-12-28 |
US20110228090A1 (en) | 2011-09-22 |
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