| Abstract: | A technique for detecting changes in a scene perceived by a staring
sensor is disclosed. The technique includes acquiring a reference image
frame and a current image frame of a scene with the staring sensor. A raw
difference frame is generated based upon differences between the
reference image frame and the current image frame. Pixel error estimates
are generated for each pixel in the raw difference frame based at least
in part upon spatial error estimates related to spatial intensity
gradients in the scene. The pixel error estimates are used to mitigate
effects of camera jitter in the scene between the current image frame and
the reference image frame. |