US 11,734,834 B2
Systems and methods for detecting movement of at least one non-line-of-sight object
Alon Refael Heimer, Netanya (IL); Barak Alfassi, Netanya (IL); Ilya Leizerson, Netanya (IL); and Yaron Mayerowicz, Netanya (IL)
Assigned to Elbit Systems C4I and Cyber Ltd., Netanya (IL)
Filed by Elbit Systems C4I and Cyber Ltd., Netanya (IL)
Filed on Feb. 27, 2023, as Appl. No. 18/174,667.
Application 18/174,667 is a continuation of application No. 18/174,664, filed on Feb. 27, 2023.
Application 18/174,664 is a continuation of application No. PCT/IL2021/050683, filed on Jun. 8, 2021.
Claims priority of application No. 277062 (IL), filed on Aug. 30, 2020.
Prior Publication US 2023/0237674 A1, Jul. 27, 2023
Int. Cl. G06T 7/20 (2017.01)
CPC G06T 7/20 (2013.01) [G06T 2207/10016 (2013.01); G06T 2207/10048 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A system for detecting movement of at least one non-line-of-sight object, the system comprising:
a movable camera capable of acquiring, while moving, images of at least part of a first visible object located within a line-of-sight of the camera, the first visible object being impacted by light that is scattered from the non-line-of-sight object within a space outside the line-of-sight of the camera; and
a processing circuitry configured to:
obtain a sequence of at least two successive images acquired by the camera, each of the successive images including a respective set of pixels, wherein at least a subset of the respective set of pixels represent at least part of the first visible object, being a target;
register into a common coordinate system at least the respective set of pixels of a first image of the sequence, giving rise to a first registered image, and the respective set of pixels of a second image of the sequence, giving rise to a second registered image, wherein the first image is acquired from a first position of the camera and the second image is acquired from a second position of the camera, different than the first position, and wherein the registration enables identifying the target within the first registered image and within the second registered image;
calculate at least one target light intensity value for the first registered image and the second registered image based on at least part of the respective set of pixels representing the target in the respective registered image, thereby giving rise to target light intensity values for the first registered image and the second registered image; and
detect the movement within the space upon a variation in the target light intensity value between the first registered image and the second registered image meeting a criterion.