Patent ID: 8587666

Claim:
Within an image acquisition device, a method of determining moving objects in integral projection vectors, comprising: acquiring a sequence of image frames; determining a measure of frame-to-frame rotation, including: performing a global XY alignment of a first frame and second, following frame of said image sequence; determining at least one section of each of the X and Y integral projection vectors where aligned global vectors demonstrate a significant localized difference; and based on X and Y locations of said at least one section of the X and Y integral projection vectors, determining location, relative velocity or approximate area, or combinations thereof, of at least one moving object within the sequence of image frames; and performing a further action based on the determined location, relative velocity or approximate area, or combinations thereof, of the at least one moving object; and the method further comprises: determining horizontal and vertical integral projection vector gradients for each of the same or a different first frame and the same or a different second, following, image frame in said sequence; normalizing said integral projection vector gradients; and determining locations of primary maximum and minimum peaks of said integral projection vector gradients; and determining a global rotation based on normalized distances between the primary maximum and minimum peaks, and wherein the further action is also based on said determined global rotation.