초록 ▼

A system and method for detecting breaklock for correlation trackers. The inventive system includes a first circuit (50) for computing energy EL in a residual image, a second circuit ( 52) for computing energy EI in an input image, and a third circuit (54) for computing a residual metric RL based on

A system and method for detecting breaklock for correlation trackers. The inventive system includes a first circuit (50) for computing energy EL in a residual image, a second circuit ( 52) for computing energy EI in an input image, and a third circuit (54) for computing a residual metric RL based on the residual image energy EL scaled by the input image energy EI. In the illustrative embodiment, the system further includes a fourth circuit (56) for comparing the residual metric RL to a threshold TR, and a fifth circuit (58) for setting a breaklock signal based on the output of the fourth circuit ( 56).

대표청구항 ▼

What is claimed is: 1. A system for detecting breaklock for correlation trackers comprising: first means for computing energy EL in a residual image; second means for computing energy EI in an input image; and third means for computing a residual metric R L based on the residual image energy EL sca

What is claimed is: 1. A system for detecting breaklock for correlation trackers comprising: first means for computing energy EL in a residual image; second means for computing energy EI in an input image; and third means for computing a residual metric R L based on the residual image energy EL scaled by the input image energy E I. 2. The system of claim 1 wherein said system further includes fourth means for comparing said residual metric RL to a threshold TR. 3. The system of claim 2 wherein said system further includes fifth means for setting a breaklock signal based on the output of said fourth means. 4. The system of claim 2 wherein said breaklock signal is set to TRUE if the residual metric RL is greater than the threshold TR and FALSE otherwise. 5. The system of claim 1 wherein said residual image energy EL is computed using the equation where L(r,c) is the residual image, {overscore (L)} is the average of the residual image pixel values, and Gate represents the set of (r,c) values in the image. 6. The system of claim 1 wherein said residual image energy EL is approximated by the energy ED in a difference image D(r,c). 7. The system of claim 6 wherein said difference image energy ED is computed using the equation where {overscore (D)} is the average of the difference image pixel values, and Gate represents the set of (r,c) values in the image. 8. The system of claim 1 wherein said input image energy E I is computed using the equation where I(r,c) is the input image, Ī is the average of the input image pixel values, and Gate represents the set of (r,c) values in the image. 9. The system of claim 1 wherein said residual metric RL is computed using the equation RL=EL/EI. 10. An autotracking system comprising: a sensor mounted on a gimbal for receiving an input image; an image processor which computes track errors, and a residual metric RL based on a residual image energy EL scaled by an input image energy EI; a servo control processor which computes commands for the sensor gimbal based on the track errors; and a system control processor which generates a breaklock signal for the servo control processor based on the residual metric RL. 11. A method for detecting breaklock for correlation trackers including the steps of: computing the energy EL in a residual image; computing the energy EI in an input image; computing a residual metric RL based on the residual image energy EL scaled by the input image energy EI; comparing said residual metric RL to a threshold TR; and setting a breaklock signal based on said comparison.