US12375808 - Real-time image motion correction or stabilization system and methods for projectiles or munitions in flight
This patent describes a system for real-time image motion correction and stabilization for projectiles or munitions equipped with image sensors during flight. The system utilizes an inertial measurement unit, a transceiver for communication with a UAV, and a processor that applies algorithms for feature selection, motion vector application, motion estimation, and stabilization of the captured image data.
Claim 1
- A projectile or munition with a real-time in flight image motion correction or stabilization system comprising: at least one image sensor adapted to acquire image data periodically or substantially continuously during flight of the projectile or munition; at least one inertial measurement unit (IMU); a transceiver adapted to enable communication between the projectile or munition and an unmanned air vehicle (UAV) from which the projectile or munition is dropped, released, or deployed and/or a remote system to provide sensor and/or image data from the projectile or munition to the UAV and/or the remote system; and at least one processor adapted to receive image data from the at least one sensor, movement data from the at least one IMU, sensor and/or image data from the projectile or munition, the processor comprising; a) a feature selection algorithm comprised in the processor and adapted to identify at least two key features in the image data based on the image data acquired during flight of the projectile or munition; b) a motion vector application algorithm comprised in the processor and adapted to apply vectors of motion corresponding to the at least two key features in the image data, the vectors of motion characterizing movement associated with the at least two key features within the image data; c) a motion estimation algorithm comprised in the processor and adapted to estimate motion of the image sensor based on the vectors of motion corresponding to the identified at least two key features in the image data by correlating a distance and direction of the movement associated with the at least two key features within the image data based at least in part on the vectors of motion; and d) a stabilization algorithm comprised in the processor and adapted to correct or stabilize movement of the image data based at least in part on the vectors of motion and the estimated motion of the image sensor by shifting one or more images or frames of image data based at least in part on the estimated motion, wherein at least the estimated motion is transmitted to the UAV and/or the remote system. at least one image sensor adapted to acquire image data periodically or substantially continuously during flight of the projectile or munition; at least one inertial measurement unit (IMU); a transceiver adapted to enable communication between the projectile or munition and an unmanned air vehicle (UAV) from which the projectile or munition is dropped, released, or deployed and/or a remote system to provide sensor and/or image data from the projectile or munition to the UAV and/or the remote system; and at least one processor adapted to receive image data from the at least one sensor, movement data from the at least one IMU, sensor and/or image data from the projectile or munition, the processor comprising; a) a feature selection algorithm comprised in the processor and adapted to identify at least two key features in the image data based on the image data acquired during flight of the projectile or munition; b) a motion vector application algorithm comprised in the processor and adapted to apply vectors of motion corresponding to the at least two key features in the image data, the vectors of motion characterizing movement associated with the at least two key features within the image data; c) a motion estimation algorithm comprised in the processor and adapted to estimate motion of the image sensor based on the vectors of motion corresponding to the identified at least two key features in the image data by correlating a distance and direction of the movement associated with the at least two key features within the image data based at least in part on the vectors of motion; and d) a stabilization algorithm comprised in the processor and adapted to correct or stabilize movement of the image data based at least in part on the vectors of motion and the estimated motion of the image sensor by shifting one or more images or frames of image data based at least in part on the estimated motion, a) a feature selection algorithm comprised in the processor and adapted to identify at least two key features in the image data based on the image data acquired during flight of the projectile or munition; b) a motion vector application algorithm comprised in the processor and adapted to apply vectors of motion corresponding to the at least two key features in the image data, the vectors of motion characterizing movement associated with the at least two key features within the image data; c) a motion estimation algorithm comprised in the processor and adapted to estimate motion of the image sensor based on the vectors of motion corresponding to the identified at least two key features in the image data by correlating a distance and direction of the movement associated with the at least two key features within the image data based at least in part on the vectors of motion; and d) a stabilization algorithm comprised in the processor and adapted to correct or stabilize movement of the image data based at least in part on the vectors of motion and the estimated motion of the image sensor by shifting one or more images or frames of image data based at least in part on the estimated motion, wherein at least the estimated motion is transmitted to the UAV and/or the remote system.
Google Patents
https://patents.google.com/patent/US12375808
USPTO PDF
https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/12375808