Topology preserving intensity binning on reduced resolution grid of adaptive weighted cells
An image sensor and a pre-processing circuit adapted to associate weights respectively with cells of a grid. The cells respectively may include multiple contiguous picture elements of the image sensor. The pre-processing circuit may be configured to adaptively change the weights responsive to changes in the scene being imaged by the image sensor. The number of the cells per distance on the surface of the image sensor may be substantially less than the resolution of the image sensor. The cells which share the same weights may specify a region of interest on the image sensor.
1. A camera system including:
an image sensor that is controlled by one or more camera parameters; and
a pre-processing circuit adapted to associate weights respectively with cells of a grid, wherein the weights differ from the one or more camera parameters, wherein the cells respectively include a plurality of contiguous picture elements of the image sensor; wherein the pre-processing circuit is configured to adaptively change the weights responsive to changes in the scene being imaged by the image sensor; and
wherein the pre-processing circuit is adapted to perform a weighted histogram by summing instances of a key over the cells of the grid, wherein the key includes the weights as a multiplicative factor.
2. The camera system of claim 1 , wherein the number of the cells per distance on the surface of the image sensor is substantially less than the resolution of the image sensor.
3. The camera system of claim 1 , wherein cells which share the same non-zero weights specify a region of interest on the image sensor.
4. The camera system of claim 3 , wherein the weights associated with cells of the grid outside the region of interest are zero.
5. The camera system of claim 3 , wherein the image sensor is mountable on a vehicle, and wherein said region of interest includes an image of a road in the environment of the vehicle.
6. The camera system of claim 1 , wherein the pre-processing circuit calculates a pre-processing result over the region of interest, the camera system further comprising: an image processor operatively connectable to the image sensor, wherein the image processor is configured to receive the pre-processing result from the pre-processing circuit, wherein the image processor responsive to the pre-processing result resets a camera parameter of the one or more camera parameters.
7. The camera system of claim 6 , wherein said camera parameter is selected from the group consisting of: gain, exposure time and aperture.
8. A camera system including:
an image sensor that is controlled by one or more camera parameters;
a pre-processing circuit adapted to associate weights respectively with cells of a grid, wherein the weights differ from the one or more camera parameters, wherein the cells respectively include a plurality of contiguous picture elements of the image sensor; wherein the pre-processing circuit is configured to adaptively change the weights responsive to changes in the scene being imaged by the image sensor; wherein the pre-processing circuit calculates a pre-processing result over the region of interest; and
an image processor operatively connectable to the image sensor;
wherein the image processor is configured to receive the pre-processing result from the pre-processing circuit, wherein the image processor responsive to the pre-processing result resets a camera parameter of the one or more camera parameters; and
wherein said camera parameter is an aperture.
9. The camera system of claim 1 , wherein the key is a function of at least one image parameter selected from the group consisting of: image intensity, color intensity of at least one color, gradient of image intensity and gradient of color intensity.
10. The camera system of claim 1 , further comprising: an image processor operatively connectable to the image sensor, wherein said image processor estimates ego-motion of the image sensor, wherein the image processor responsive to the estimated ego-motion of the image sensor resets at least one the weights of at least one of the cells.
11. The camera system of claim 1 , further comprising: an image processor operatively connectable to the image sensor, wherein said image processor estimates image motion of an object in the field of view of the image sensor and responsive to the estimated image motion resets at least one of the weights of at least one of the cells.
12. The camera system of claim 1 , wherein the key is a function of at least one image parameter selected from the group consisting of: gradient of image intensity and gradient of color intensity.
13. A computerized method for pre-processing image data of an image frame in an image sensor, the computerized method comprising:
associating weights respectively with cells of a grid, wherein the cells respectively include a plurality of contiguous picture elements of the image sensor; wherein the image sensor is controlled by one or more camera parameters; wherein the weights differ from the one or more camera parameters,
adaptively changing the weights responsive to changes in the scene being imaged by the image sensor; and
performing a weighted histogram by summing instances of a key over the cells of the grid, wherein the key includes the weights as a multiplicative factor.
14. The computerized method of claim 13 , further comprising: grouping contiguously picture elements of the image sensor into the cells of the grid with a number of cells per distance on the surface of the image sensor substantially less than the resolution of the image sensor.
15. The computerized method of claim 13 , further comprising: mounting the image sensor on a vehicle as a part of a driver assistance system, wherein a region of interest is determined to include cells of non-zero weight which image at least a portion of a road in the environment of the vehicle when traveling.
16. The computerized method of claim 13 , further comprising: responsive to the weights, calculating a pre-processing result.
17. The computerized method of claim 16 , further comprising: resetting a camera parameter of the one or more camera parameters responsive to the pre-processing result.
18. The computerized method of claim 13 , wherein the key is a function of at least one image parameter selected from the group consisting of: image intensity, color intensity of at least one color, gradient of image intensity and gradient of color intensity.
19. The computerized method of claim 13 , further comprising: estimating ego-motion of the image sensor; responsive to the estimated ego-motion, resetting at least one of the weights of at least one of the cells.
20. The computerized method of claim 13 , further comprising: estimating image motion of an object being tracked in the field of view of the image sensor; responsive to the estimated image motion, resetting at least one of the weights of at least one of the cells.
21. The computerized method of claim 13 , wherein the key is a function of at least one image parameter selected from the group consisting of: gradient of image intensity and gradient of color intensity.
22. The camera system of claim 8 , wherein the pre-processing circuit is adapted to perform a weighted histogram by summing instances of a key over the cells of the grid, wherein the key includes the weights as a multiplicative factor.
23. The camera system of claim 8 , wherein said image processor estimates ego-motion of the image sensor, wherein the image processor responsive to the estimated ego-motion of the image sensor resets at least one of the weights of at least one of the cells.
24. The camera system of claim 8 , wherein said image processor estimates image motion of an object in the field of view of the image sensor and responsive to the estimated image motion resets at least one of the weights of at least one of the cells.
25. A computerized method for pre-processing image data of an image frame in an image sensor, the computerized method comprising:
associating weights respectively with cells of a grid, wherein the cells respectively include a plurality of contiguous picture elements of the image sensor; wherein the image sensor is controlled by one or more camera parameters; wherein the weights differ from the one or more camera parameters;
adaptively changing the weights responsive to changes in the scene being imaged by the image sensor; and
resetting a camera parameter of the one or more camera parameters responsive to the pre-processing result;
wherein said camera parameter is an aperture.
26. The computerized method of claim 25 , further comprising: performing a weighted histogram by summing instances of a key over the cells of the grid, wherein the key includes the weights as a multiplicative factor.
27. The computerized method of claim 25 , further comprising: estimating ego-motion of the image sensor; responsive to the estimated ego-motion, resetting at least one of the weights of at least one of the cells.
28. The computerized method of claim 25 , further comprising: estimating image motion of an object being tracked in the field of view of the image sensor; responsive to the estimated image motion, resetting at least one of the weights of at least one of the cells.