Method of correlating immediately acquired and previously stored feature information for motion sensing

摘要

Determinations of velocity and navigation of an imaging device relative to a region of interest are based on double correlation processing. A time series of images of detectable features within the region of interest is acquired and correlated with previously stored location information for uniquely distinguishing locations within the region of interest. Thus, one correlation step is to compare the positions of features within the time series with the previously stored location information. The other correlation step is to track the variations in positions of the features within the time series. Preferably, the imaged features that are used for correlation are randomly distributed. However, in some applications, a known systematic distribution of features may be used. The processing is applicable to hand scanning, robotic control, and similar operations.