WO1998041950A1 - Kompaktes sensorsystem zur optischen bewegungserkennung in echtzeit - Google Patents
Kompaktes sensorsystem zur optischen bewegungserkennung in echtzeit Download PDFInfo
- Publication number
- WO1998041950A1 WO1998041950A1 PCT/DE1998/000413 DE9800413W WO9841950A1 WO 1998041950 A1 WO1998041950 A1 WO 1998041950A1 DE 9800413 W DE9800413 W DE 9800413W WO 9841950 A1 WO9841950 A1 WO 9841950A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor system
- image data
- optical flow
- image
- compact sensor
- Prior art date
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- 238000012935 Averaging Methods 0.000 description 6
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/269—Analysis of motion using gradient-based methods
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
Definitions
- the difference procedures work against it with local image properties, such as the partial spatial-temporal derivatives of locally and temporally neighboring pixels. In addition, they have good performance at speeds below the pixel, which means that these methods are of particular importance for applications with further processing of the optical flow, for example for calculating the time to possible collision (time-to-crash) between two observed objects. In the case of the difference method, however, one must exclude those in which second derivatives also occur, since these result in the corresponding hardware being very susceptible to noise.
- the image data processing unit has a specially developed user-specific logic module with a regular microstructure, in which data preprocessing to increase the signal-to-noise ratio (edge enhancement) and the processing of the actual algorithm via special software in a directly controlled dependence on a microcontroller he follows.
- the data is output image-wise, in between there are further processing steps.
- the technical problem area with which the invention is concerned relates to a como-active sensor system with high calculation speed of the type described at the outset in such a way that it can be inexpensively equipped, manufactured and combined with generally available means and thereby enables continuous calculation of the optical flow in real time, even for very large and segmentable image areas with good image resolution, processing speed and accuracy.
- the compact sensor system should have a wide range of uses, in particular it should be capable of being designed in such a miniaturized form that application requirements can be met with extremely little space for the sensor.
- the new pipeline architecture in the image data processing unit is essential for the invention for a continuous calculation of the optical flow in real time.
- an algorithm specified in a known software solution is completely converted into real-time hardware by using only hardware-technical relationships in a straightforward solution.
- the optical flow can be calculated with the sensor according to the invention over large image areas, for example up to 512 x 512 motion vectors. All applications in which Different movements are segmented, require an optical flow calculation for very large image areas.
- the software relief of the user-oriented logic module (CMOS-ASIC) by hardware implementation increases the image processing capacity in the direction of the large image areas.
- the image processing speed can be up to 1500 images / second and is ultimately only dependent on the performance of the image data generator.
- the preprocessing and calculation logic are consistently inserted into the pipeline structure by inserting shift registers.
- the shift registers each consist of two memory elements with random access and a common address counter.
- Most standard cell processes offer the option of using RAM memory cells in a particularly compact way.
- Tietze and Schenk show how RAMs can be operated as shift registers if a counter counts the addresses cyclically. If several values are required simultaneously for a calculation, two can be used, for example RAMs can be used with a common address counter, see the special description section for more information.
- control unit can advantageously be implemented in the user-specific logic module. As a result, it can be produced together with this in a simple standard cell process.
- the observed objects only undergo constant movements and deformations in real situations.
- neighboring points have similar speeds.
- the intensity values change only slightly with time. Therefore, a smoothness condition is introduced.
- the flow components u (x, y) and v (x, y) can be determined by minimizing the following equation:
- the indices n and n + 1 indicate the iteration steps.
- Components 17 and v can be approximated by the mean of the adjacent flow components, as calculated in the previous iteration step.
- the iteration can be reduced to a loop (iteration value 1).
- FIG. 1 schematically shows a sensor system 1 which is made up of several functional units.
- a functional image data generator unit 2 consists of an image data generator 3 and an adaptation area 4.
- the adaptation region 4 lies outside the image data generator 3 and is formed here by an external, freely programmable logic module 5 in the form of an FPGA as an independent further functional unit.
- This generates the addresses for the image data generator 3 and additionally generates synchronization signals in the horizontal (HSYNC) and vertical image direction (VSYNC). It also outputs the clock signal (pixel clock). All of these signals can be required in a further processing unit (not shown) for the components of the optical flow.
- the image data generator 3 supplies the input values for an image data processing unit 6 as a further functional unit.
- these input values consist of a serial stream of the gray values of the pixels and are 8-bit (1 byte) wide, which corresponds to the gray values from 0 to 255.
- the data stream is driven by the clock signal and controlled by a synchronization signal (FrameSync), which marks the beginning of a new picture.
- the image data processing unit 6 reads this data and calculates the optical flow from it.
- the result is a two-dimensional field of motion vectors that can be temporarily stored in a result memory or processed directly by external image processing devices.
- the vectors represent the x and y components of the velocity field, which are also represented as an 8-bit value, and each correspond to a pixel.
- the unit of speed is distance / time.
- the unit of time results from the frame rate.
- the optical flow is measured in pixels / image (pixel / frame) and coded in the form of 8-bit values in the invention.
- the value 127 corresponds to 0 pixel / frame.
- Speeds between -4 and +4 pixel / frame can be displayed. The smallest speed that can be represented corresponds to approximately 0.016 pixel / frame.
- a processing pipeline forms the ideal hardware architecture for this.
- the data path is subdivided into several functional blocks: preprocessing logic 13, block for derivation formation 17, block for calculating the optical flow 21 and block for local averaging of the optical flow components 22, which represents the iterative data feedback path.
- the blocks 17, 21 and 22 are combined in the calculation logic 14.
- the pipeline length (latency) in the selected exemplary embodiment for the entire image data processing unit 6 relates to four image lines and 13 pixels.
- the first arithmetic unit 16 calculates the gray value for a smoothed image for a pixel from the value for the central pixel and the values of the neighboring pixels by multiplying the value of the middle pixel by four, adding it to the values of the neighboring pixels and then using Division normalized by eight. Multiplication and division are implemented by shifting operations.
- the smoothing operation is inserted into the pipeline structure, since this requires a parallel access to several image data values for a pipeline structure not very suitable i st.
- the parallel reading in of the data of two image lines with a sliding register is explained in more detail in FIG. 3 and the structure of a shift register integrated in a CMOS standard cell process in FIG. 4.
- the block for the derivation 17 for calculating the local (l x , l y ) and the temporal (l t ) derivations is constructed similarly to the preprocessing logic 13. It consists of a shift register 18 and a further arithmetic unit 19. I x is the difference between the right and left intensity values with respect to the center pixel, l y is the difference between the upper and lower values. I t is the difference to the value of the corresponding pixel in the previous image. All derivatives are calculated in parallel. In order to form the time difference, the image data of a complete smoothed image must be buffered. Therefore, a first external DualPorted SRAM 20 is used. This makes it possible to carry out write and read access during a pixel clock.
- FIG. 5 schematically shows the pipeline structure of the block for calculating the optical flow 21.
- v (t ⁇ ) From the local and temporal Derivatives l x , l y and l as well as the mean values of the components of the optical flow «(/ - •), v (t ⁇ ) from the feedback are the new components u (n + 1), v (n + 1) according to the above Equation (3) described.
- This is implemented in block 21.
- pipeline stage 1 the sizes MY and NY for divisor and dividend are calculated in the equation.
- these are then prepared for the division by shifting operations.
- pipeline stages 3..10 the division is carried out by repeated comparison and subtraction processes. Values that are not currently required for a calculation are read into the shift register (...- PIPE) and pushed through to the last pipeline stage 11, in which the flow components are calculated.
- the output signal of the image data calculation unit can be fed directly to image processing units which are further processed by commercially available DSP modules.
- First order models related to two dimensions can be applied to the measured optical flow.
- suitable parameters of segmented moving objects and surface properties such as the spatial orientation and the time until the collision, can be obtained from the two-dimensional projection of the spatial movement. Further details on the chip design method, implementation and design data for a real execution case in an application of a navigable robot platform can be found in the unpublished article "A Real-Time Smart Sensor System for Visual Motion Estimation" by Th. Röwekamp et al.
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE59801214T DE59801214D1 (de) | 1997-03-15 | 1998-02-11 | Kompaktes sensorsystem zur optischen bewegungserkennung in echtzeit |
EP98907892A EP0966727B1 (de) | 1997-03-15 | 1998-02-11 | Kompaktes sensorsystem zur optischen bewegungserkennung in echtzeit |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19712017.2 | 1997-03-15 | ||
DE19712017A DE19712017A1 (de) | 1997-03-15 | 1997-03-15 | Kompaktes Sensorsystem zur optischen Bewegungserkennung in Echtzeit |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998041950A1 true WO1998041950A1 (de) | 1998-09-24 |
Family
ID=7824254
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1998/000413 WO1998041950A1 (de) | 1997-03-15 | 1998-02-11 | Kompaktes sensorsystem zur optischen bewegungserkennung in echtzeit |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0966727B1 (de) |
DE (2) | DE19712017A1 (de) |
WO (1) | WO1998041950A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT414056B (de) * | 2001-03-13 | 2006-08-15 | Siemens Ag Oesterreich | Verfahren zur überwachung einer lifttrasse und ihrer umgebung |
ES2233202B1 (es) * | 2003-11-24 | 2006-10-16 | Universidad De Granada | Dispositivo para la estimacion de flujo optico en imagenes mediante fpgas. |
ATE450019T1 (de) | 2006-03-23 | 2009-12-15 | Nds Ltd | System zur analyse von bewegung |
DE102007049706A1 (de) * | 2007-10-17 | 2009-04-23 | Robert Bosch Gmbh | Verfahren zur Schätzung der Relativbewegung von Video-Objekten und Fahrerassistenzsystem für Kraftfahrzeuge |
DE102008052930B4 (de) * | 2008-10-23 | 2011-04-07 | Leuze Electronic Gmbh & Co Kg | Bildverarbeitender Sensor |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0596409A2 (de) * | 1992-11-02 | 1994-05-11 | Matsushita Electric Industrial Co., Ltd. | Bewegungsvektornachweisgerät |
-
1997
- 1997-03-15 DE DE19712017A patent/DE19712017A1/de not_active Withdrawn
-
1998
- 1998-02-11 WO PCT/DE1998/000413 patent/WO1998041950A1/de active IP Right Grant
- 1998-02-11 DE DE59801214T patent/DE59801214D1/de not_active Expired - Fee Related
- 1998-02-11 EP EP98907892A patent/EP0966727B1/de not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0596409A2 (de) * | 1992-11-02 | 1994-05-11 | Matsushita Electric Industrial Co., Ltd. | Bewegungsvektornachweisgerät |
Non-Patent Citations (1)
Title |
---|
WHITTEN G: "INDEPENDENT MOTION TARGET CUEING FOR MOVING SENSOR SYSTEMS", APPLICATIONS OF ARTIFICIAL INTELLIGENCE, ORLANDO, APR. 4 - 6, 1988, no. CONF. 6, 4 April 1988 (1988-04-04), TRIVEDI M M, pages 336 - 341, XP000044467 * |
Also Published As
Publication number | Publication date |
---|---|
DE59801214D1 (de) | 2001-09-20 |
DE19712017A1 (de) | 1998-09-17 |
EP0966727B1 (de) | 2001-08-16 |
EP0966727A1 (de) | 1999-12-29 |
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