Abstract:
Systems and methods for detecting moving objects are provided. Systems illustratively include an image acquisition component, an image processing component, and a display component. Image acquisition components capture image data over a wide spatial area. Image processing components have dedicated algorithms for change detection and receive captured image data from image acquisition components. Image processing components utilize the captured data and the dedicated algorithms to perform image change detection. Display components receive processed image data from image processing components and provide visual indications that items of interest have been detected. Methods illustratively include obtaining first and second images covering a wide field-of-view. The second image is registered to and compared to the first image. Based at least in part on the comparison, a moving object within the wide field-of-view is detected. An indication of the moving object is provided.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     The present application is based on and claims the benefit of U.S. patent application Ser. No. 11/934,344, filed on Nov. 2, 2007, and of U.S. Provisional Patent Application Ser. No. 60/857,905, filed on Nov. 9, 2006, the contents of which are hereby incorporated by reference in their entireties. 
     BACKGROUND 
     The present disclosure relates generally to imaging systems, and more specifically, but not by limitation, to imaging systems configured to acquire image data of a wide area scene. 
     There are known imaging systems for capturing image data of a wide area scene (e.g., image data of a panoramic scene having a wide field-of-view (FOV)). There are also imaging systems that are configured to acquire multiple image frames of a wide area scene and utilize the multiple frames to construct a digital representation of the wide area scene. Further, some of these conventional systems employ a rotating minor to reflect images to a camera. Unfortunately, these conventional systems commonly require complex hardware and software components to acquire and process the captured images. Many of these conventional systems have a low spatial resolution and significant image distortion. Further, the rotating minor mechanisms employed by conventional systems skew and distort the reflected images. For instance, these conventional systems employ a mirror orientation that causes the reflected images to rotate on a lens of the camera. 
     For at least these reasons, there is a need for an image acquisition system that collects video data at a high rate, at a high spatial resolution, and without image distortion commonly seen with conventional systems. 
     The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter. 
     SUMMARY 
     An aspect of the disclosure relates to systems for detecting moving objects. Systems illustratively include an image acquisition component, an image processing component, and a display component. Image acquisition components capture image data over a wide spatial area. Image processing components have dedicated algorithms for change detection and receive captured image data from image acquisition components. Image processing components utilize the captured data and the dedicated algorithms to perform image change detection. Display components receive processed image data from image processing components and provide visual indications that items of interest have been detected. 
     Another aspect of the disclosure relates to methods for detecting moving objects. First and second images covering a wide field-of-view are obtained. The second image is registered to and compared to the first image. Based at least in part on the comparison, a moving object within the wide field-of-view is detected. An indication of the moving object is then provided. 
     These and various other features and advantages that characterize the claimed embodiments will become apparent upon reading the following detailed description and upon reviewing the associated drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram illustrating an image acquisition system, under one embodiment. 
         FIG. 2  is a schematic diagram illustrating an image acquisition component, under one embodiment. 
         FIGS. 3 and 4  illustrate image acquisition systems configured to perform a one-dimensional (1-D) scan to acquire images of a scene. 
         FIG. 5  illustrates an image acquisition system configured to perform a two-dimensional (2-D) scan to acquire images of a scene. 
         FIGS. 6 and 7  illustrate image acquisition systems configured to acquire images of a scene utilizing a plurality of image directing devices. 
         FIG. 8  is a schematic diagram of an embodiment of an image acquisition system including an illuminator. 
         FIG. 9  is a schematic diagram of a processing component configured to process image data, under one embodiment. 
         FIG. 10  is a schematic diagram of a display component configured to display image data, under one embodiment. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  is a schematic diagram of a system  100  for acquiring and processing image data, including displaying, storing, and/or transmitting the image data. System  100  includes an image acquisition component  102  configured to receive an optical image and generate a digital representation of the optical image. In one embodiment, image acquisition component  102  is a camera configured to acquire images such as still images and/or video. Data acquired by image acquisition component  102  can be provided in any suitable image format including, but not limited to, raw binary, AAF, 3GP, GIF, Animated GIF, ASF, AVI, MPEG (i.e., MPEG-1, MPEG-2, MPEG-3, MPEG-4), AVCHD (Advanced Video Codecs High Definition), DSH, FLV, MOV, WMV, JPG, GIF, TIFF, PNG, BMP, to name a few. 
     Image acquisition component  102  is configured to capture image data over a wide spatial area (i.e., a substantially wide field-of-view). In this manner, image acquisition component  102  can acquire image data of a panoramic scene, such as a landscape. In one embodiment, image acquisition component  102  is stationary with respect to the surrounding landscape and includes a rotatable image-directing device, such as a minor and/or a prism. In another embodiment, image acquisition component  102  includes a camera that pans (i.e., rotates) from side-to-side while acquiring video and/or a series of still images. In another example, image acquisition component  102  includes a wide-angle lens to capture panoramic image data. Although not illustrated in  FIG. 1 , image acquisition component  102  can include additional media acquisition components, such as a microphone. 
     The image data acquired by image acquisition component  102  is provided to a processing component  104  configured to perform processing operations such as image processing, image target tracking, image change detection, etc. Processing component  104  is configured to collect the image data and associate, with the acquired image data, information such as a time stamp indicative of when the image data was acquired and/or a location identifier indicative of a spatial position of the acquired image data. For example, in the case where a plurality of images frames are acquired over a wide area scene, the processing component  104  can assign information to each acquired frame indicative of the spatial position of the frame within the wide area scene. 
     Further, processing component  104  is configured to receive a plurality of frames of image data and perform image data processing to arrange the plurality of frames. In one embodiment, processing component  104  performs “autostitch” processing in which a plurality of frames of acquired imaged data are arranged side-by-side to form a wide area image. Further, spatial position information associated with each frame (e.g., information indicative of the location of the particular frame within the wide area image) can be utilized to arrange the plurality of frames together to form the wide area image. 
     Raw (i.e., unprocessed data) and/or processed image data can be provided to a storage component  106 . Storage component  106  is configured to archive image data for storage and/or subsequent retrieval. For example, the image data can be compressed to reduce the required memory for storing and/or transmitting the image data. Processing component  104  can further be configured to retrieve stored data from storage component  106 . 
     In the illustrated embodiment, processing component  104  is further configured to provide image data to a display component  108 . Display component  108  includes a visual display device, such as a monitor, for visually rendering the image data. In one embodiment, display component  108  includes an array of monitors configured to simultaneously display a plurality of frames of image data acquired by image acquisition component  102 . Display component  108  receives the acquired image data and visually renders the image data. As discussed above, spatial information relating to a position of the frame(s) of image data can be provided and can be utilized to visually render the image data. 
       FIG. 2  is a schematic diagram illustrating one embodiment of image acquisition component  102 . In the illustrated embodiment, a camera  204  is provided and is configured to receive an optical image  212  of a scene  210  along an optical axis  213 . It is noted that herein “optical axis” is utilized to refer to an optical image path along which camera  204  receives image data. The optical axis can be perpendicular to, or alternatively at an angle with respect to, a lens of camera  204 . Further, camera  204  is configured to acquire optical images centered along optical axis  213 , as well as optical images that are at an angle with respect to optical axis  213 . In other words, camera  204  has a field-of-view, wherein light is accepted at all angles with the field-of-view. 
     Camera  204  can be any suitable image acquisition device. In one embodiment, camera  204  is configured to acquire images at a rate of 60 frames-per-second (fps). In other embodiments, camera  204  can acquire more than, or less than, 60 fps. For example, camera  204  can be configured to operate at 200 fps. 
     As illustrated in  FIG. 2 , image acquisition component  102  is configured to acquire a plurality of frames  246  of image data from scene  210 . In the illustrated embodiment, camera  204  is mounted in a stationary, or substantially stationary, position with respect to scene  210 . To acquire the plurality of image frames  246  of scene  210 , an image-directing device  208  is provided for directing an optical image  212  to camera  204  along an optical image path  214 . In the embodiment illustrated in  FIG. 2 , the image directing device  208  includes a single scan minor  209  configured to pivot about a pivot axis (not shown in  FIG. 2 ). However, it is noted that in other embodiments image-directing device  208  can include a plurality of minors. For example, the image-directing device  208  can include a plurality of scan mirrors  209  configured to pivot about one or more pivot axes. Further, the image-directing device  208  can also include one or more stationary mirrors for directing images to camera  204 . 
     Camera  204  collects light energy reflected by light-directing device  208  along optical image path  214 . Herein, the term “light”, or “light energy”, is utilized to refer to, in addition to “visible light”, electromagnetic radiation having wavelengths less than or greater than “visible light.” For example, the term “light”, or “light energy”, can refer to infrared or near-infrared radiation, ultra-violet radiation, among others. In one embodiment image acquisition component  102  includes a multispectral and/or a hyperspectral imaging camera configured to simultaneously acquire images at multiple wavelengths. 
     At a particular angular position of scan mirror  209 , camera  204  receives image data from a frame  246  of scene  210  and has a field-of-view (FOV)  244  at a standoff range  242 . In one embodiment, FOV  244  of camera  204  is approximately one (1) degree with respect to the pivot axis of scan minor  208 . However, camera  204  and scan mirror  209  can have any suitable FOV  244 . For instance, FOV  244  can be less than, or greater than, one degree depending on the desired application of image acquisition component  102 . A suitable FOV  244  can be 0.3-10 degrees, for example. Further, in one embodiment standoff range  242  is approximately four (4) miles in length. However, standoff range  242  can be any suitable distance. For instance, standoff range  242  can be less than, or greater than, four miles depending on the desired application of image acquisition component  102 . 
     Pivoting of scan minor  209  enables camera  204  to acquire image data from each of the plurality of frames  246  over a scan range  240 . In one embodiment, scan range  240  is approximately eighty (80) degrees (with respect to the pivot axis of scan mirror  208 ). In one particular example, scan range  240  corresponds to a spatial width of scene  210  of approximately 7 miles. In other embodiments, scan range  240  can be greater than, or less than, 80 degrees. By acquiring each of frames  246  using scan minor  209 , camera  204  can acquire image data of scene  210  having a relatively high spatial resolution (i.e., “zoomed in”). In one embodiment, camera  204  has a ground sampling distance (GSD) of approximately six (6) inches at a standoff range  242  of three (3) miles. 
     To enable scan minor  209  to pivot over scan range  240 , an actuator  222  is operably coupled to electronics controller  220  and scan mirror  209 , and is configured to step scan mirror  209  through scan range  240  between each of a plurality of angular positions in response to a signal from controller  220 . Actuator  222  is configured to pivot scan mirror  209  through scan range  240  in successive and repeating cycles. As illustrated, a complete “scan” of minor  209  can obtain a total of “N” image frames  246 . In one embodiment, scan minor  209  “steps” through scene  210  to acquire  80  (i.e., “N”=80) frames. However, any number of frames “N” can be acquired. As will be discussed below, in one embodiment the “N” image frames  246  are subsequently arranged to form a 1×N wide area image of scene  210 . 
     In the illustrated embodiment, controller  220  is configured to receive a control signal to control operation of components of image acquisition component  102 . For instance, the control signal can include an activation signal and/or information regarding operation of camera  204  and/or scan minor  209 . Controller  220  is operably coupled to actuator  222  and camera  204  and synchronizes the timing between the scan minor  209  and camera  204 . In one embodiment, the controller  220  implements a field programmable gate array (FPGA) and/or includes calibration information. For instance, to calibrate the scan angles (i.e., scan mirror  209  step size), a re-configurable look-up-table (LUT) is loaded into a FPGA-based controller. The LUT maps the camera FOV  244  to the angular step size of the scan mirror  209  to limit overlapping data and gaps in the acquired image data for adjacent frames  246  of scene  210 . In one embodiment, for each successive cycle of scan minor  209  through scan range  240 , image data received from a particular frame  246  (e.g., Frame 1, Frame 2, Frame N) for each successive scan is received from substantially the same spatial location within scene  210 . In other words, each frame  246  of image data received at camera  204  for each successive cycle of scan mirror  209  defines substantially the same spatial boundaries within scene  210 . Preferably, overlapping data or gaps in the image data is minimized. 
     Further, the LUT can be re-configured either automatically or based on user entered parameters. For instance, in one embodiment the LUT is reconfigured automatically based on acquired image data. For example, if image processing determines that adjacent image frames  246  contain overlapping image data or significant gaps therebetween, the LUT can be automatically adjusted to modify the angular position of scan mirror  209  at the particular frame(s) to reduce the gaps and/or overlapping image data. In another embodiment, a user inspects the image data and, using a graphical user interface, makes manual adjustments to reduce the gaps and/or overlapping image data. In one embodiment, calibration information is provided to controller  220  over a program interface. For example, controller software provided in processing component  104 , described below, can include instructions for programming controller  220   
     Controller  220  sends a signal to actuator  222  to quickly “step” the scan minor  209  between adjacent frames in approximately a few milliseconds. For example, the scan mirror  209  can have a 0.5 degree step response time of 1.5 ms. The controller  220  also sends a signal to the camera  204  to cause the camera to acquire an optical image of the particular frame  246  while scan minor  209  “stares” at the particular frame. Preferably, controller  220  synchronizes the timing between the scan mirror  209  and camera  204  such that there is limited image smear and ghosting in the acquired image data. In accordance with another embodiment, scan minor  209  is configured to pivot through scan range  240  using a continuous motion. In other words, in this embodiment scan mirror  209  does not stop and “stare” at each frame  246 . Instead, camera  204  is configured to acquire each frame  246  of image data as scan minor  209  moves continuously through scan range  240 . 
     As discussed above, scan mirror  209  can be configured to pivot through scan range  240  in successive and repeating cycles. For instance, when scan minor  209  reaches a boundary of the scan range  240 , for example scan mirror  209  is acquiring optical image data from frame “N”, the scan minor  209  is configured to return to the first frame (i.e., “frame  1 ”) in scan range  240  to acquire another series of images from frames  243  of scene  210 . In another embodiment, the scan mirror  209  can be configured to reverse direction to acquire image data from the plurality of frames  246  in reverse order. Thus, image acquisition component  102  is configured to repeatedly acquire image data from frames  246  of scene  210  in a back-and-forth pivoting manner. In one example, the image data for each frame  246  is updated (i.e., additional image data is acquired for the frame) one or more times a second resulting in a framing rate of 1 Hz or greater. In another example, the framing rate is less than 1 Hz (i.e., image data is acquired for each frame  246  less than once per second). As will be discussed below in greater detail, the series of updated image data for each frame  246  is provided to processing component  104 . In one example, the image data is utilized to generate a video stream. 
     In accordance with one embodiment, scan mirror  209  directs optical image  212  toward a stationary imaging lens  206  associated with camera  204 . The optical image  212  is received through lens  206  and aperture stop  207  along the optical axis  213 . Camera  204  generates a digital data representation of the optical image  212  which can be provided to processing component  104 , illustrated in  FIG. 1 . In one embodiment, the lens  206  has a focal length of approximately 70-500 mm. Further, the lens can include a filter for blocking electromagnetic radiation having particular wavelengths. For example, the filter can be configured to block at least a portion of UV light and/or light in the blue range of the visible light spectrum (i.e., wavelengths of 450-495 nm). The aperture stop  207  is positioned between the lens  206  and image directing device  208  and is centered on the optical axis  212 . 
     In the illustrated embodiment, components of image acquisition component  102  are provided in an enclosure  248  configured to protect the components from environmental elements. Enclosure  248  can include a window  250  through which image data from scene  210  is acquired. While controller  220  is illustrated within enclosure  248 , it is noted that controller  220  can be provided external to enclosure  204 . For instance, controller  220  can be remotely positioned from camera  204 , such as within processing component  104 . 
       FIGS. 3-7  illustrate embodiments of camera  204  and image directing device  208 . As discussed above, image directing device  208  directs optical images to camera  204  along an optical image path  214 . Camera  204  receives the optical images from the optical image path  214  along an optical axis  213 . Further, as discussed above, image directing device  208  can include a single scan minor  209  configured to pivot about an axis. Further yet, image directing device  208  can include a plurality of mirrors. For example, image directing device  208  can include a plurality of scan mirrors  209  configured to pivot about one or more pivot axes. Further yet, the image-directing device  208  can also include one or more stationary mirrors. 
     In the embodiments illustrated in  FIGS. 3 and 4 , image directing device  208  is configured to perform a one-dimensional scan of scene  210 . As illustrated in  FIG. 3 , camera  204  is focused on a portion of scan minor  209  and is configured to receive optical images along optical image axis  213 . Images of scene  210  are directed by scan minor  209  along an optical image path  214  to camera  204 . In the illustrated embodiment, scan mirror  209  is configured to pivot about a single axis  330  that is substantially perpendicular to optical axis  213  to minimize distortion of the reflected images. Scan mirror  209  pivots over a scan range of less than 360 degrees. In one example, the scan range is less than 90 degrees. Further, as illustrated in  FIG. 3  axis  330  is substantially parallel to a light-reflecting surface  309  of minor  209 . In one example, axis  330  is substantially in the same plane as the light-reflecting surface  309  of minor  209 . 
     Camera  204  and light directing device  208  can be positioned at ground level or, alternatively, above ground level. For example, camera  204  can be mounted on a support, such as a post, a distance above the ground. In the illustrated embodiment, scan minor  209  is configured to pivot about a substantially vertical axis  330 . As such, camera  204  acquires images at a viewing angle that is substantially parallel to the ground (i.e., perpendicular to the vertical axis  330 ). In another embodiment, axis  330  can be oriented at an angle with respect to vertical. In this manner, camera  204  acquires images at a particular viewing angle with respect to the ground. 
     Because pivot axis  330  is substantially perpendicular to optical axis  213 , frames of image data acquired from scene  210  are oriented in the substantially the same direction at all positions of scan minor  209 . In other words, as scan mirror  208  pivots about axis  330  the orientation of the image frames does not rotate on a lens of camera  204 . 
     In the embodiment illustrated in  FIG. 4 , camera  204  acquires image data of a scene  210  that is oriented in a generally vertical direction. In this embodiment, scan mirror  209  is configured to pivot about a pivot axis  340  that is substantially perpendicular to optical axis  213  to direct images to camera  204  along optical image path  214 . As illustrated in  FIG. 4 , axis  340  is substantially parallel to a light-reflecting surface  309  of mirror  209 . In one example, axis  340  is substantially in the same plane as the light-reflecting surface  309  of mirror  209  and is oriented in a horizontal, or substantially horizontal, direction. 
     In the embodiment illustrated in  FIG. 5 , image directing device  208  is configured to perform a multi-dimensional scan of scene  210 . As illustrated in  FIG. 5 , image directing device  208  includes a scan mirror  209  configured to pivot about a first pivot axis  350  and a second pivot axis  352 . For instance, scan mirror  208  can be a 2-axis minor. Pivot axis  350  is illustratively similar to pivot axis  330  of  FIG. 3 . Further, in the illustrated embodiment second pivot axis  352  is substantially perpendicular with respect to first axis  350 . Scan mirror  209  is configured to pivot about multiple axes  350  and  352  to acquire M×N image frames from scene  210 . While  FIG. 5  illustrates a single, 2-axis scan minor  209 , it is noted that in other embodiments a plurality of scan minors can be utilized to perform a multi-dimensional scan of scene  210 . For example, in one embodiment two scan mirrors can be utilized wherein a first scan mirror is configured to pivot about a first pivot axis and a second scan mirror is configured to pivot about a second pivot axis. Further, it is noted that in another embodiment a multi-dimensional scan can be performed of scene  210  using a single axis minor. For example, scan mirror  209  can be configured to pivot about a single axis, such as axis  350 . Further, camera  204  can be configured to pan, or tilt, in a vertical direction. Tilting movement of camera  204  and pivoting movement of scan minor  209  can be controlled, and/or synchronized with image acquisition of camera  204 , using a controller such as controller  220 . 
     In the embodiments illustrated in  FIGS. 6 and 7 , image directing device  208  includes a plurality of minors utilized to acquire image data from scene  210 . In  FIG. 6 , image directing device  208  includes a scan mirror  209  and a stationary minor  369 . Minors  209  and  369  direct image data along image path  214  to camera  204 . Camera  204  receives the image data from path  214  along optical axis  213 . Scan minor  209  is configured to pivot about pivot axis  360 , to direct images of scene  210  to a stationary minor  369 , which directs the images to camera  204 . As illustrated in  FIG. 6 , axis  360  is parallel to a light-reflecting surface  309  of mirror  209 . In one example, axis  360  is substantially in the same plane as the light-reflecting surface  309  of mirror  209 . Further, pivot axis  360  defines a plane that is perpendicular or, substantially perpendicular, to optical axis  213 . As illustrated, axis  360  is substantially vertical and axis  213  is substantially horizontal. 
     In  FIG. 7 , image directing device  208  includes a scan minor  209  and a stationary minor  379 . Minors  209  and  379  direct image data along image path  214  to camera  204 . Camera  204  receives the image data from path  214  along optical axis  213 . Scan minor  209  is configured to pivot about pivot axis  370  to direct light from frames of scene  210  to stationary minor  379 . In one embodiment, axis  370  is parallel to a light-reflecting surface  309  of mirror  209 . For example, axis  370  can be substantially in the same plane as the light-reflecting surface  309  of mirror  209 . 
     It is noted that the orientations of image directing device  208  illustrated in  FIGS. 3-7  are exemplary and are not intended to limit the scope of the concepts described herein. 
     In accordance with another embodiment, image acquisition component  102  is configured to acquire images in environments having low light levels. For example, image acquisition component  102  can be configured to acquire images at night. As illustrated in  FIG. 8 , an illuminator  804  is provided proximate camera  204  and is configured to provide light energy to enable camera  204  to obtain images of scene  210  in reduced light levels. Scan mirror  209  is configured to pivot about an axis  810  that is substantially similar to axis  330  illustrated in  FIG. 3 . However, it is noted that illuminator  804  and scan minor  809  can also be utilized with the embodiments of image directing device  208  illustrated in  FIGS. 4-7 . Illuminator  804  includes a scan minor  809  that is illustratively similar to scan mirror  209  and configured to pivot about an axis  812 . 
     Scan mirror  809  can be synchronized with scan mirror  209  via a control signal. In this manner, illuminator  804  and camera  204  can be focused on the same portion of scene  210  such that the illuminator  804  is activated at substantially the same instance in time and on the same portion of the scene  210  as camera  204  acquires image data. Illuminator  804  is configured to transmit electromagnetic radiation including electromagnetic radiation having wavelengths in the visible light spectrum, as well as infrared or near-infrared radiation, and ultra-violet radiation, among others. In one embodiment, camera  204  is a multispectral and/or a hyperspectral imaging camera configured to simultaneously acquire images at multiple wavelengths. 
       FIG. 9  illustrates one embodiment of processing component  104 . Processing component  104  receives image data from image acquisition component  102  at an image acquisition module  902 . The image data received by processing component  104  from the image acquisition component  102  can be either analog or digital. In one particular example, the image data is communicated from image acquisition component  102  using a communication protocol such as Camera Link, or the like. Further, as discussed above, the image data received by processing component  104  can be data indicative of a video stream, a still image, a plurality of still images, among others. 
     Processing component  104  can include an analog-to-digital converter configured to receive an analog image data signal and output a digital signal representing the image. Further yet, component  104  can also be configured to compress the image data in real time using algorithms, such as, but not limited to, MPEG. 
     Image data acquisition module  902  can be configured to associate, with each portion of image data received from image acquisition component  102 , spatial and/or time information. For example, module  902  can assign a time stamp to the image data indicative of a time at which the image data was acquired. Further, image data acquisition module  902  can associate a positional identifier with each frame of image data. For example, a positional identifier indicates an angular position of the scan mirror when the image data was acquired. In one embodiment, a counter is implemented that increments for each frame of image data received. The counter can be utilized to associate a frame number (e.g., N=1, N=2 . . . N=80) to the acquired image data. It is noted that in other embodiments, image acquisition component  102  can be configured to provide spatial and/or time identifier information with the image data. For example, image acquisition component  102  can provide data such as a frame number or angular position of the scan mirror when the image data was acquired. Further, a time stamp can be provided with the image data. In one embodiment, a compass or global positioning system (GPS) receiver can be utilized to provide positional information with the image data. 
     Processing component  104  also includes an image processing module  903  configured to autostitch the plurality of frames of image data received by module  902  to form a wide area image. For example, module  903  can utilize positional information (such as frame number, etc.) to stitch the frames of image data. Module  903  can further be configured to remove overlapping image data and/or gaps from adjacent frames of image data. 
     Image processing module  903  also contains dedicated algorithms for performing target classification and change detection. Target classification contains processing logic to classify particular points or items of interest from the image data. For example, target classification can be configured to identify an unknown object as a person, a vehicle, an animal, to name a few, from the digital data representation of the acquired image. 
     Additionally, change detection is provided in module  903  and performs image registration and detects scene changes. Change detection can be performed by registering a frame, or frames, of image data and comparing successive frames of image data to each other. A number of testing procedures can be utilized to perform the change detection operations. For example, linear independence tests, vectorized tests, or edge motion tests can be utilized. Further, the change detection can be performed by utilizing application specific information such as region of interest or known sizes or shapes. In one embodiment, a Wronskian vector change detection algorithm is utilized. In this manner, a vector method is utilized that determines change at each image pixel (with respect to a reference image) based on a calculation using the test pixel and surrounding pixels in a square region (i.e., 3×3, 5×5, 7×7). In another embodiment, the spatial resolution of the change detection algorithm (the size of the square region) is utilized. 
     In one embodiment, change detection is performed on a plurality of frames of image data simultaneously. For instance, image processing module  903  receives a plurality of image data from frames  246  of scene  210 . Image processing module  903  registers each frame of image data to provide a reference for performing change detection. Additional image data is acquired from frames  246  of scene  210  during subsequent cycles of scan mirror  209  through scan range  240 . The additional image data from the frames are provided to image processing module  903 . Image processing module  903  compares the image data to the registered image data to detect changes. In one embodiment, module  903  detects changes in each of the plurality of image frames on a continuous basis. 
     The image data can be supplemented or annotated based on detected changes. For example, the image processing module  903  can supplement the image data with a visual indicator (e.g., highlighting the area of the image data including the detected change). Further, an audible indicator can be provided such as an alarm or indictor light to indicate that a change in the image data has been detected. A detected change can include an unknown object as a person, a vehicle, an animal, to name a few, identified from the digital data representation of the acquired image. 
     Processing component  104  can include controller software  904  to program controller  220  of image acquisition component  102  used to control operation of the camera  204  and scan mirror  209  of image acquisition component  102 . For instance, the controller software  904  can be used to program the synchronization and step size of the scan minor  209 . In one embodiment, processing component  104  sends a signal to an FPGA associated with controller  220  to re-configure an LUT containing mapping information of the camera  204  and scan minor  209 . It is noted that some of the processing functions illustrated within component  104  can be provided with image acquisition component  102  (for instance, within enclosure  248 ). 
     In one embodiment, processing component  104  is employed by a host computer and includes a user interface  914 . A user utilizes the interface  914  to input control parameters. For instance, a user can define parameters such as scan rate, step size, scan range, etc. In one embodiment, a user inspects the autostitched image and, using a graphical user interface, provides a user input to reconfigure the scan minor step size. For instance, a user can modify the number of frames acquired from scene  210  or modify the field-of-view for each frame  246 . The user input can be utilized to reconfigure controller  220  for controlling camera  204  and image directing device  208 . 
     The user interface  914  can provide a visual user interface for display of operating parameters and image data. For example, user interface  914  can provide a visual output from image processing module  903 . A monitor can be provided to display an indication that a point or item of interest has been detected, such as a person, automobile, boat, airplane, animal, etc. The user can adjust parameters (i.e., sensitivity, range, points of interest) through interface  914 . 
     The image data can be provided to a storage component, such as storage component  106  illustrated in  FIG. 1 . The stored image data can include a plurality of image frames stored as separate data files. In another embodiment, the autostitched image provided by image processing module  903  is stored in the storage component. 
     The image data can be provided to the storage component in compressed state to reduce the required memory for storing the image data. In one embodiment, the image data includes position and/or time stamp information associated with the image data stored in storage component  106 . Processing component  104  can further be configured to retrieve and process archived image data from the storage component  106 . For example, the image data can be retrieved using the position and/or time stamp information associated with the stored image data. In this manner, data can be retrieved from the storage component  106  based on the time at which the image data was acquired and/or the spatial position of the image data (e.g., a frame number). 
     In accordance with another embodiment, the processed image data is provided to a display component, such as display component  108  illustrated in  FIG. 1 .  FIG. 10  illustrates one embodiment of display component  108 . In the illustrated embodiment, display component  108  includes a processor  1002  configured to receive image data and provide the image data to a display device  1008  configured to visually render the image data. 
     In accordance with one embodiment, display software  1004  provides further processing of the image data. For instance, the software  1004  can analyze the image data and remove overlapping data and/or gaps between adjacent frames. Further, software  1004  implemented on processor  1002  utilizes positional information provided with portions of the image data (i.e., frame) to arrange the image data on display  1008 . 
     Further, a brightness and/or contrast of the image data can be adjusted by modifying a camera exposure time and/or using a histogram equalization. Adjustment of the brightness and/or contrast can be performed either manually (i.e., a user enters parameters to control the camera exposure time) or automatically (i.e., a processing component adjusts the camera exposure time based on observed brightness and/or contrast). 
     The processor  1002  displays the image data simultaneously on multiple displays  1010 . For example, the image data can be rendered on a frame-by-frame basis to a plurality of monitors wherein one or more frames of image data are displayed on a separate monitor. As illustrated, eight (8) monitors  1010  are arranged in a semicircle such that the plurality of monitors “wrap” around a user to maintain a constant viewing distance between the user and each of monitors  1010 . However, any number of monitors can be utilized to display the image data. For example, in one embodiment eighty (80) monitors  1010  can be utilized. 
     Processor  1002  can be implemented on a computer having multiple outputs (for example, multiple PCI express slots). In this manner, multiple displays (i.e., multiple monitors) can be driven by a single computer to enable enhanced synchronization of the multiple displays. 
     As described above, image acquisition device  102  is configured to acquire image data over successive and repeating cycles of scan mirror  209  of scene  210 . The image data acquired from the successive scans is provided to display component  108 , and is frequently updated based on the framing rate at which the successive scans of image data are acquired. For instance, image acquisition component  102  acquires image data across scan range  240  one or more times per second. The image data can be provided in real-time to display component  108 . In this manner, the images displayed on display device  1008  can be refreshed several times per second. Further, the processor  1002  is configured to display image data from the successive scans of scene  210  (e.g., Frame 1, Frame 2, Frame 3, etc.) in a stationary, or substantially stationary position on display device  708 . For instance, additional image data acquired from scene  210  during the successive scans is provided to display device  1008  such that each frame of image data (i.e., frame 1, frame 2, frame N, etc.) is provided in a similar position and orientation on display device  1008 . In this manner, the displayed image data of scene  210  does not have the appearance of “scrolling” across display  1008 . 
     Further, in one embodiment display  1008  is configured to visually render the detected changes in the image data. For instance, processor  1002  can be configured to visually render to display  1008  an indication of a detected change, such as a mark or highlighted indication. For example, a visual mark or identifier can be utilized to overlay a detected change in the image data. Further, an audible indication such as an audible alarm can be provided to indicate that a change has been detected. The visual and/or audio indication can indicate the presence of an unknown object such as a person, a vehicle, an animal, or the identification of an object of interest, such as a vehicle or person of interest in the image data. 
     It is to be understood that even though numerous characteristics and advantages of various embodiments of the invention have been set forth in the foregoing description, together with details of the structure and function of various embodiments of the invention, this disclosure is illustrative only, and changes may be made in detail, especially in matters of structure and arrangement of parts within the principles of the present invention to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed. For example, the particular elements may vary depending on the particular application for the recording medium while maintaining substantially the same functionality without departing from the scope and spirit of the present invention.