Real-time image motion correction or stabilization system and methods for projectiles or munitions in flight

1. A method of performing real-time image motion correction or stabilization for a projectile or munition comprising steps of:

firing, launching, or deploying a projectile or munition, the projectile or munition comprising at least one sensor adapted to acquire image data and a processor comprising at least one algorithm, the processor and at least one algorithm adapted to receive image data from the at least one sensor;

capturing periodic or substantially continuous image data with the at least one sensor during flight of the projectile or munition;

identifying at least two key features in the image data based on the image data acquired during flight of the projectile or munition;

applying vectors of motion corresponding to the at least two key features in the image data, the vectors of motion characterizing movement associated with the at least two key features within the image data;

estimating motion of the image sensor based on the vectors of motion corresponding to the identified at least two key features in the image data; and

correcting or stabilizing movement of the image data based at least in part on the vectors of motion and the estimated motion of the image sensor by shifting one or more images or frames of image data based at least in part on the estimated motion,

wherein motion of the image data exhibits an amplitude of 25 degrees or more and a frequency of 0.1 Hz or greater, and the processor and algorithm are adapted to perform the method on image data exhibiting such motion.

2. The method of claim 1 , wherein the method further comprises the step of sending a command with the processor to the at least one sensor to switch focus of the image data from one of the at least two key features to another of the at least two key features while capturing image data.

3. The method of claim 1 , wherein the at least one algorithm includes a motion estimation algorithm adapted to perform the estimating step by correlating a distance and direction of the movement associated with the at least two key features within the image data based at least in part on the vectors of motion.

4. The method of claim 1 , wherein the at least two key features identified is not the horizon.

5. The method of claim 1 , wherein the at least one algorithm includes a feature selection algorithm adapted to perform the identification step and to identify pixels or voxels as the key features, and is further adapted to calculate a corner quality measure at every pixel or voxel in the image data by calculating a covariation matrix of derivatives and computing eigenvalues.

6. The method of claim 5 , wherein the feature selection algorithm is further adapted to sort the pixels or voxels according to their calculated quality measure and the pixels or voxels with the highest calculated quality measure are selected and identified as key features to be used in tracking and correction or stabilization of motion of the image data.

7. A method of performing real-time image motion correction or stabilization for a projectile or munition comprising steps of:

firing, launching, or deploying a projectile or munition, the projectile or munition comprising at least one sensor adapted to acquire image data and a processor comprising at least one algorithm, the processor and at least one algorithm adapted to receive image data from the at least one sensor;

capturing periodic or substantially continuous image data with the at least one sensor during flight of the projectile or munition;

identifying at least one key feature in the image data acquired during flight of the projectile or munition;

applying vectors of motion corresponding to the at least one key feature in the image data, the vectors of motion characterizing movement associated with the at least one key feature within the image data;

estimating motion of the image sensor based on the vectors of motion corresponding to the identified at least one key feature in the image data; and

correcting or stabilizing movement of the image data based at least in part on the vectors of motion and the estimated motion of the image sensor by shifting one or more images or frames of image data based at least in part on the estimated motion,

wherein motion of the image data exhibits an amplitude of 25 degrees or more and a frequency of 0.1 Hz or greater, and the processor and algorithm are adapted to perform the method on image data exhibiting such motion.

8. The method of claim 7 , wherein the identification step identifies at least two key features and the method further comprises the step of sending a command with the processor to the at least one sensor to switch focus of the image data from one of the at least two key features to another of the at least two key features while capturing image data.

9. The method of claim 7 , wherein the at least one algorithm includes a motion estimation algorithm adapted to perform the estimating step by correlating a distance and direction of the movement associated with the at least one key feature within the image data based at least in part on the vectors of motion.

10. The method of claim 7 , wherein the at least one key feature identified is not the horizon.

11. The method of claim 7 , wherein the at least one algorithm includes a feature selection algorithm adapted to perform the identification step and to identify pixels or voxels as the key features, and is further adapted to calculate a corner quality measure at every pixel or voxel in the image data by calculating a covariation matrix of derivatives and computing eigenvalues.

12. The method of claim 11 , wherein the feature selection algorithm is further adapted to sort the pixels or voxels according to their calculated quality measure and the pixels or voxels with the highest calculated quality measure are selected and identified as key features to be used in tracking and correction or stabilization of motion of the image data.