Moving target detection method using two-frame subtraction and a two quadrant multiplier

摘要

A method and apparatus for detecting an object of interest against a cluttered background scene. In a first preferred embodiment the sensor tracking the scene is movable on a platform such that each frame of the video representation of the scene is aligned, i.e., appears at the same place in sensor coordinates. A current video frame of the scene is stored in a first frame storage device (14) and a previous video frame of the scene is stored in a second frame storage device (20). The frames are then subtracted by means of an invertor (24) and a frame adder (28) to remove most of the background clutter. The subtracted image is put through a first leakage reducing filter, preferably a minimum difference processor filter (32). The current video frame in the first frame storage device (14) is put through a second leakage-reducing filter, preferably minimum difference processor filter (36). The outputs of the two processors are applied to a two quadrant multiplier (42) to minimize the remaining background clutter leakage and to isolate the moving object of interest. In a second preferred embodiment the sensor does not track the scene and therefore the frames of video from the two storage devices (140, 200) must be aligned before the subtraction process can occur. The alignment function is performed by a background registration correlator (150) and a frame shifter (130). Once the two frames of video data are aligned they are then subtracted and preferably applied to the minimum difference processor filters (320, 360) as with the first embodiment. The outputs of the two minimum difference processors (320, 360) are again applied to a two quadrant multiplier (420) to eliminate the remaining background clutter. IMAGE