Local maxima sub-integer position estimation in video processing
An apparatus include a processor and a coprocessor. The processor may be configured to track a plurality of positions of a plurality of maximum values in a plurality of images in a video signal. The coprocessor may have a circuit configured to (i) receive a plurality of sample values from the images and (ii) estimate the positions of the maximum values in the images. Each estimation generally includes a parabolic estimation operating on the sample values in a respective local region oriented parallel to an axis. The circuit may be implemented solely in hardware.
1. An apparatus comprising:
a processor configured to track a plurality of positions of a plurality of maximum values in a plurality of images in a video signal; and
a coprocessor having a circuit configured to (i) receive a plurality of sample values from said images and (ii) estimate said positions of said maximum values in said images, wherein (a) each estimation includes a parabolic estimation operating on said sample values in a respective local region oriented parallel to an axis and (b) said circuit is implemented solely in hardware.
2. The apparatus according to claim 1 , wherein (i) said sample values have an integer resolution spacing and (ii) said positions of said maximum values have a sub-integer resolution.
3. The apparatus according to claim 2 , wherein said positions of said maximum values have a quarter-integer resolution.
4. The apparatus according to claim 1 , wherein (i) said processor is further configured to send a command to said coprocessor to determine said positions of said maximum values and (ii) said coprocessor is configured to return said positions of said maximum values to said processor.
5. The apparatus according to claim 1 , wherein (i) said coprocessor comprises an additional circuit configured to (a) receive said sample values and (b) estimate a plurality of additional positions of a plurality of additional maximum values in said images, (ii) each estimation includes said parabolic estimation operating on said sample values in another local region oriented parallel to another axis and (iii) said additional circuit is implemented solely in hardware.
6. The apparatus according to claim 5 , wherein said processor is further configured to track said additional positions of said additional maximum values in said video.
7. The apparatus according to claim 1 , wherein (i) said circuit uses at most 2 K +1 of said samples in each of said images to estimate said positions of said maximum values and (ii) K is a positive integer value that determines a resolution of said positions of said maximum values.
8. The apparatus according to claim 1 , wherein said circuit is configured to (i) generate a first intermediate value as a first difference between a first of said samples and a second of said samples and (ii) generate a second intermediate value as a second difference between said second sample and a third of said samples.
9. The apparatus according to claim 8 , wherein said circuit is further configured to (i) generate a sum of said first intermediate value and said second intermediate value and (ii) generate a difference between said first intermediate value and said second intermediate value.
10. The apparatus according to claim 9 , wherein said circuit is further configured to determine each of said positions of said maximum values from at most five possible positions based on said sum and said difference.
11. The apparatus according to claim 9 , wherein said circuit is further configured to (i) determine if said first difference value is greater than said second difference value and (ii) determine each of said positions of said maximum values from at most three possible positions based on said sum and said difference.
12. The apparatus according to claim 1 , wherein (i) said circuit uses at most 2 (K−1) +1 of said samples in each of said images to estimate said positions of said maximum values and (ii) K is a positive integer value that determines a resolution of said positions of said maximum values.
13. The apparatus according to claim 1 , wherein said coprocessor is further configured to perform a non-maximum suppression operation on said samples to locate said respective local regions in said images.
14. The apparatus according to claim 1 , wherein said coprocessor is further configured to (i) perform a non-minimum suppression operation on said samples to locate said respective local regions in said images and (ii) invert said samples prior to estimating said positions of said maximum values.
15. The apparatus according to claim 1 , wherein said apparatus forms part of a video processing system.
16. A method for local maxima position estimation, comprising the steps of:
receiving a plurality of sample values in each of a plurality of images in a video signal;
estimating in a circuit a plurality of positions of a plurality of maximum values in said images, wherein (a) each estimation includes a parabolic estimation operating on said sample values in a respective local region oriented parallel to an axis and (b) said circuit is implemented solely in hardware; and
tracking said positions of said maximum values in said video signal.
17. The method according to claim 16 , further comprising the step of:
performing either (i) a non-maximum suppression operation on said samples or (ii) a non-minimum suppression operation on said samples to locate said respective local regions in said images.
18. The method according to claim 16 , wherein (i) said circuit uses at most 2 K +1 of said samples in each of said images to estimate said positions of said maximum values and (ii) K is a positive integer value that determine a resolution of said positions of said maximum values.