Optical sighting
Optical sighting is performed using plural optical sighting apparatuses that each comprise: a camera unit and a viewing system for viewing images. Geometric calibration of the camera units with respect to the imaged scene is performed by detecting features within captured images, generating descriptors from respective patches of the image at the features; detecting corresponding descriptors from different images, and deriving the geometric calibration from the positions in the respective images of the corresponding descriptors. A target location in a designator image captured at an earlier image-capture time is designated and a corresponding location relative to the current image captured at the current time is identified from the geometric calibration. A viewing system indicates where the corresponding location lies relative to the current image.
1. A method of optical sighting implemented in an optical sighting apparatus that comprises:
a camera unit comprising a lens system arranged to focus images of respective portions of a scene within the field of view of the lens system, and an image sensor arranged to capture images focused by the lens system; and a viewing system arranged to provide viewing by a user of the images focused by the lens system, the method comprising:
detecting features within each of plural images captured by the image sensor, being the current image captured at the current time and one or more earlier images captured at earlier image-capture times;
generating descriptors in respect of each of the plural images from patches of the respective images at the positions of each detected feature;
detecting corresponding descriptors generated in respect of the plural images;
deriving the geometric calibration of the camera unit at the current time and at the image-capture time of one of the one or more earlier images, referred to as a designator image, with respect to the scene from the positions in the respective images of the features corresponding to the detected, corresponding descriptors generated in respect of the plural images;
in respect of at least one target location in the designator image, identifying, from the derived geometric calibration of the camera unit at the current time and at the image-capture time of the designator image, a corresponding location relative to the current image that corresponds to a target location in the scene that itself corresponds to the target location in the designator image; and
indicating in the viewing system where the corresponding location lies relative to the current image.
2. The method according to claim 1 wherein, in the case that the target location in the scene that corresponds to the target location in the designator image is outside the field of view of the lens system at the current time, the step of indicating in the viewing system where the corresponding location lies relative to the current image comprises displaying a pointer towards the corresponding location.
3. The method according to claim 1 , wherein at least one target location in the designator image is at a predetermined position within that image.
4. The method according to claim 1 , wherein the designator image is selected on the basis of user input.
5. The method according to claim 1 , wherein the one or more earlier images consist of one earlier image.
6. The method according to claim 1 , wherein the optical sighting apparatus further comprises a housing in which the camera unit and the viewing system are housed.
7. The method according to claim 1 , wherein the step of detecting features comprises detecting features with scale-invariance and rotation-invariance.
8. The method according to claim 1 , wherein the step of generating descriptors comprises generating descriptors with scale-invariance and rotation-invariance.
9. The method according to claim 1 , wherein the step of detecting features comprises detecting maxima and/or minima in the differences between different scale spaces of the respective images.
10. The method according to claim 1 , wherein the step of generating descriptors comprises generating descriptors from patches of the respective images in scale space of the respective images in which maxima and/or minima in the differences of samples is detected.
11. The method according to claim 1 , wherein the step of generating descriptors comprises generating descriptors from patches of the respective images around each detected feature that are each oriented to the dominant gradient in the respective patches.
12. The method according to claim 1 , wherein the descriptors comprise histograms of image gradients in different directions across the respective positions of the detected features.
13. The method according to claim 1 , wherein the step of detecting corresponding descriptors generated in respect of the plural images comprises detecting descriptors generated from the plural images that match each other and that conform to a common mapping between the positions in the plural images of the features corresponding to those descriptors.
14. The method according to claim 1 , wherein the step of deriving the geometric calibration of the camera units with respect to the scene uses non-linear optimisation.
15. The method according to claim 1 , wherein the viewing system comprises a display device arranged to display images captured by the image sensor to provide viewing by a user.
16. The method according to claim 1 , wherein the viewing system comprises:
an optical viewer arranged to provide viewing by a user of the images focused by the lens system optically; and
an overlay display arranged to overlay a display on the viewed image, the step of indicating in the viewing system where the corresponding location lies relative to the current image comprising displaying an indication on the overlay display of where the corresponding location lies relative to the current image.
17. The method according to claim 1 , wherein the optical sighting apparatus is a mobile optical sighting apparatus.
18. An optical sighting apparatus for performing optical sighting, comprising:
a camera unit comprising a lens system arranged to focus images of respective portions of a scene within the field of view of the lens system, and an image sensor arranged to capture images focused by the lens system;
a viewing system arranged to provide viewing of the images focused by the lens system by a user; and
a processing unit, wherein the processing unit is configured to:
detect features within each of plural images captured by the image sensor, being the current image captured at the current time and one or more earlier images captured at earlier image-capture times;
generate descriptors in respect of each of the plural images from patches of the respective images at the positions of each detected feature;
detect corresponding descriptors generated in respect of the plural images;
derive the geometric calibration of the camera unit at the current time and at the image-capture time of one of the one or more earlier images, referred to as a designator image, with respect to the scene from the positions in the respective images of the features corresponding to the detected, corresponding descriptors generated in respect of the plural images;
in respect of at least one target location in the designator image, identify, from the derived geometric calibration of the camera unit at the current time and at the image-capture time of the designator image, a corresponding location relative to the current image that corresponds to a target location in the scene that itself corresponds to the target location in the designator image; and
control the viewing system to indicate where the corresponding location lies relative to the current image.