Determining temperature of moving object by means of thermometric camera and such thermometric camera

Abstract

The invention relates to the determination of the temperature of a moving object by means of a thermometric camera and such a thermometric camera. A thermometric camera for determining a temperature of a moving object includes a bolometer sensor and circuitry. The bolometer sensor is configured to capture a sequence of image frames of an object as the object moves. The circuitry is configured to perform: an object recognition function configured to recognize a region corresponding to the object in each image frame of a series of image frames among the sequence of image frames; a combining function configured to combine the identified regions in each image frame from the series of image frames into an overlay image of the object, where pixel values in the overlay image of the object are estimated as a sum of pixel values of corresponding pixels in the image frames of the series of image frames; and a temperature determination function configured to determine a temperature of the moving object from pixel values in the superimposed image of the object.

Description

Technical Field

[0001] The present invention relates to a thermometric camera for determining the temperature of an object in motion. The present invention also covers a method of determining the temperature of an object in motion using a thermometric camera. Background Art

[0002] In many cases, temperature cameras are excellent devices for automatic detection and identification monitoring. Recently, people have focused on manufacturing temperature cameras for various temperature applications. One application is to monitor vehicles entering certain critical road passages (such as tunnels, bridges, etc.) for the purpose of screening for overheating, fractures, etc., thereby preventing fires. In doing so, the temperature threshold of dangerous events to non-dangerous events can be monitored. However, such monitoring usually requires the vehicle to slow down, or even stop completely, in order to make accurate measurements. This is because when the object is moving, the measurement with a temperature camera will usually suffer from motion blur. In addition, temperature cameras have limited thermal resolution and need to be subjected to thermal radiation for a certain minimum time to sense the temperature. Summary of the invention

[0003] In view of the above, an object of the present invention is to provide a temperature measuring camera and method for determining the temperature of a moving object.

[0004] According to a first aspect, a method for determining the temperature of an object in motion using a thermometric camera is provided. The thermometric camera is preferably arranged stably. The method comprises: using a bolometer sensor of the thermometric camera, capturing a sequence of image frames of the object while the object is moving; identifying an area corresponding to the object in each image frame in a series of image frames in the sequence of image frames; combining the identified areas from each image frame in the series of image frames into a superimposed image of the object, wherein the pixel values ​​in the superimposed image of the object are estimated as the sum of the pixel values ​​of the corresponding pixels in the image frames in the series of image frames; and determining the temperature of the object in motion based on the pixel values ​​in the superimposed image of the object.

[0005] This method of using a temperature measuring camera to determine the temperature of an object in motion facilitates the temperature determination of an object in motion. For example, it is ensured that sufficient statistical data about the thermal radiation of the object is used in order to obtain a reliable temperature determination result of the object. In this way, monitoring of dangerous events versus non-dangerous events based on the temperature of the object can be provided. As an example, a train break can be monitored during the train travel without slowing down the train or less stopping the train.

[0006] The method may further include: estimating a pixel velocity of an object in motion based on image frames in a sequence of image frames of the object; calculating a pixel exposure time of image frames of the sequence of image frames based on the pixel velocity of the object and a frame integration time; and determining a number of image frames to be used for the series of image frames based on the calculated pixel exposure time and a thermal time constant of a bolometer sensor.

[0007] The method may further comprise determining the thermal time constant of the bolometer sensor by one or more of: obtaining it as a value given by the manufacturer of the bolometer sensor; and calibrating the temperature measuring camera after installation.

[0008] The method may further include selecting the series of image frames among the image sequence as image frames for depicting an object in a central portion of the field of view of the thermometric camera.

[0009] The method may further include: estimating the angular distance moved during the total integration time α of the moving object based on the image frames in the image sequence of the object; using the module transfer function to estimate the blur of the radiance due to motion, where f is the spatial frequency; and to correct the pixels of the series of image frames based on the estimated blur. The angular distance moved during the total integration time can be expressed as α=v×t / D, where v is the velocity, t is the integration time, and D is the distance between the object and the camera. D can also be scaled by an angle β with the optical center axis, i.e., Dcosβ. This angle β is easy to estimate because the field of view is known as a function of the pixel position.

[0010] According to a second aspect, a non-transitory computer-readable storage medium is provided. The non-transitory computer-readable storage medium has computer code instructions stored thereon that can be executed by a device having processing capabilities. The computer code instructions are configured to instruct the device when executed to: receive a sequence of image frames of an object in motion captured using a bolometer sensor of a static temperature measurement camera; identify an area corresponding to the object in each image frame in a series of image frames in the image sequence; combine the identified areas in each of the image frames in the series of image frames into a superimposed image of the object, wherein the pixel values ​​in the superimposed image of the object are estimated as the sum of the pixel values ​​of the corresponding pixels in the image frames in the series of image frames; and determine the temperature of the object in motion based on the pixel values ​​in the superimposed image of the object.

[0011] The computer code instructions, when executed, may be further configured to instruct a device to: estimate a pixel velocity of an object in motion based on image frames in a sequence of image frames of the object; calculate a pixel exposure time of image frames of the sequence of image frames based on the pixel velocity of the object and a frame integration time; and determine a number of image frames to be used for the series of image frames based on the calculated pixel exposure time and a thermal time constant of a bolometer sensor.

[0012] The above mentioned features of the method also apply to the second aspect, where applicable. To avoid unnecessary repetitions, reference is made to the above.

[0013] According to a third aspect, a temperature measuring camera for determining the temperature of an object in motion is provided. The temperature measuring camera includes: a bolometer sensor configured to capture a sequence of image frames of the object as the object moves; and a circuit. The circuit is configured to perform: an object recognition function configured to recognize an area corresponding to the object in each of a series of image frames in the sequence of image frames; a combination function configured to combine the recognized areas from each of the series of image frames into a superimposed image of the object, wherein the pixel values ​​in the superimposed image of the object are estimated as the sum of the pixel values ​​of the corresponding pixels in the image frames in the series of image frames; and a temperature determination function configured to determine the temperature of the object in motion based on the pixel values ​​in the superimposed image of the object.

[0014] The combined function may be further configured to: estimate a pixel velocity of the object in motion based on image data in image frames in a sequence of image frames of the object; calculate a pixel exposure time of image frames of the sequence of image frames based on the pixel velocity of the object and a frame integration time; and determine a number of image frames to be used for the series of image frames based on the pixel exposure time and a thermal time constant of a bolometer sensor.

[0015] The above mentioned features of the method also apply to the third aspect, where applicable. To avoid unnecessary repetitions, reference is made to the above.

[0016] Further scope of applicability will become apparent from the detailed description given hereinafter. However, it should be understood that the detailed description and specific examples are given by way of example only.

[0017] It should be understood that the terms used herein are only used for the purpose of describing specific embodiments and are not intended to be limiting. It must be noted that, as used in this specification and the appended claims, the words "a", "an", "the" and "said" are intended to indicate the presence of one or more elements, unless the context clearly dictates otherwise. Thus, for example, references to "a unit" or "the unit" may include several devices, etc. In addition, the words "comprise", "include" and "contain" and similar words do not exclude other elements or steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other aspects will now be described in more detail with reference to the accompanying drawings. These drawings should not be considered limiting; rather, they are for explanation and understanding.

[0019] As illustrated in the figures, the sizes of layers and regions may be exaggerated for illustrative purposes and, therefore, are provided to illustrate the general structure. Like reference numerals refer to like elements throughout.

[0020] Figure 1 The figure shows a temperature measuring camera.

[0021] Figure 2 is a schematic illustration of a sequence of image frames captured by a thermometric camera.

[0022] Figure 3 is a block diagram of using a temperature measuring camera to determine the temperature of an object in motion. DETAILED DESCRIPTION

[0023] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments of the invention are shown. However, the present invention can be embodied in many different forms.

[0024] Figure 1 The figure shows a temperature measuring camera 100. The temperature measuring camera 100 is capable of determining the temperature of an object in motion. The temperature measuring camera 100 is generally configured to be stably arranged. Being stably arranged means that the temperature measuring camera 100 is arranged at a fixed position. In addition, the temperature measuring camera 100 can be a pan-tilt-zoom camera or a fixed camera without pan and tilt functions. In addition, the temperature measuring camera 100 generally has a fixed zoom setting for the image frame sequence of the captured object.

[0025] The temperature measuring camera includes a bolometer sensor 110 and a circuit 120. It should be understood that the temperature measuring camera 100 may include additional components and features such as a power supply, a network connection, a display, an input device, etc. However, these additional components and features will not be described in detail in this disclosure because they do not contribute to the functionality of the present invention.

[0026] Bolometer sensor 110 is configured to capture a sequence of image frames of an object. In particular, bolometer sensor 110 is configured to capture a sequence of image frames of an object while the object is moving.

[0027] exist Figure 2 An example of such an image frame sequence is schematically illustrated in FIG. The sequence includes a plurality of image frames 210 a to 210 j. Throughout the image frames 210 a to 210 j, an object 220 in motion is schematically illustrated. The object 220 enters the scene depicted in the image frame sequence from the left, moves in the scene, and leaves to the right.

[0028] Bolometer sensor 110 includes a plurality of pixels. The pixels of bolometer sensor 110 have a limited thermal resolution and need to be subjected to thermal radiation for a certain period of time in order to sense temperature. The limited thermal resolution is generally referred to as the thermal time constant τ of bolometer sensor 110. The thermal time constant τ depends on the thermal conductivity G and the heat capacity C of bolometer sensor 110 according to the following equation (1):

[0029]

[0030] The thermal time constant τ is usually specified by the manufacturer of the bolometer sensor and is usually given as a value of 1-1 / e≈63%. It usually has a value of approximately 10 to 15 milliseconds. In addition, the thermal time constant τ changes with the ambient temperature. Therefore, the thermal time constant τ can be given in a lookup table for different ambient temperatures. Such a lookup table is usually given by the manufacturer of the bolometer sensor. Alternatively, the thermal time constant τ can be found by calibrating the thermometric camera after installation. Such calibration can be performed, for example, by using the frame integration time. The frame integration time is set to be relatively short, for example 1 millisecond, and then the pixel readout signal is integrated using the known scene temperature or shutter mark temperature until it equals the thermometric calibration value.

[0031] In addition, the bolometer sensor 110 is arranged to capture thermal radiation from the scene during a frame integration time before the pixel value of the pixel is read out. Such a frame integration time is typically on the order of 10 milliseconds. According to one example, the bolometer sensor 110 is arranged to have a frame rate of 30 frames per second. Under such conditions, the frame integration time is approximately 30 milliseconds. Accordingly, under such conditions, the frame integration time is much higher than the thermal time constant τ, and the pixels of the bolometer sensor 110 are subjected to thermal radiation for a sufficient time to reliably sense the temperature. However, when the object whose temperature is to be determined / sensed is in motion, the information will be smeared across multiple pixels in the bolometer sensor 110. For example, if the object moves at a speed of six pixels per frame, it means that each pixel has approximately 1 / 6 of the real signal. In this example, the frame rate is set to 30 frames per second, which means that the frame integration time is approximately 30 milliseconds. Therefore, each pixel is then subjected to thermal radiation from a specific part of the object for only 5 milliseconds. The time for subjecting the pixel to thermal radiation from a specific part of the object is referred to herein as the pixel exposure time. Accordingly, the pixel exposure time will be lower than the thermal time constant τ, and the pixel is not exposed to thermal radiation for a sufficient time to have adequate statistics to sense the temperature. One way to compensate for the lack of statistics is to boost the radiance for that pixel by extrapolation, and thereby allow for a better radiance estimate / temperature estimate.

[0032] However, the inventors of the present invention have realized that using a thermometric camera to determine the temperature of an object in motion can be accomplished in another way. This is accomplished by identifying an area corresponding to the object in each of a series of image frames, and superimposing these areas to produce or synthesize a sufficiently long integration time. This manner of using a thermometric camera to determine the temperature of an object in motion will be discussed in more detail below. However, first, some more details will be given about the features of the thermometric camera 100.

[0033] As mentioned above, the temperature measuring camera 100 includes a circuit 120. The circuit 120 is configured to perform overall control of the functions and operations of the temperature measuring camera 100. The circuit 120 may include a processor 121, such as a central processing unit CPU, a graphics processing unit GPU, a microcontroller or a microprocessor. The processor 121 is configured to execute program codes stored in the memory 130 so as to perform the functions and operations of the temperature measuring camera 100.

[0034] The memory 130 may be one or more of a buffer, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile storage, a random access memory RAM, or other suitable memory units. In a typical arrangement, the memory 130 may include a non-volatile memory for long-term data storage and a volatile memory used as a system memory for the circuit 120. The memory 130 may exchange data with the circuit 120 via a data bus. There may also be accompanying control lines and an address bus between the memory 130 and the circuit 120.

[0035] The functions and operations of the temperature measuring camera 100 can be implemented in the form of executable logic routines (e.g., lines of code, software programs, etc.), which are stored on a non-transitory computer-readable medium (e.g., memory 130) of the temperature measuring camera 100 and executed by the circuit 120 (e.g., using the processor 121). In addition, the functions and operations of the temperature measuring camera 100 can be independent software applications, or form part of a software application for performing additional tasks related to the temperature measuring camera 100. The functions and operations described can be considered as a method, and the corresponding parts of the temperature measuring camera are configured to perform the method. In addition, although the functions and operations described can be implemented in software, such functions can also be performed via dedicated hardware or firmware or some combination of hardware, firmware and / or software.

[0036] As mentioned above, the inventors of the present invention have realized that when using a thermometric camera to determine the temperature of an object in motion, compensation can be made for the pixel exposure time being less than the thermal time constant τ by identifying an area corresponding to the object in each of a series of image frames and superimposing these areas to produce a sufficiently long integration time. To do so, the circuit 120 of the thermometric camera 100 is configured to perform a number of functions.

[0037] Circuitry 120 is configured to perform object recognition functionality 132. Object recognition functionality 132 is configured to identify an area corresponding to an object in motion in each of a series of image frames in a sequence of image frames captured by bolometer sensor 110. The series of image frames is typically a series of consecutive image frames. The series of image frames and the sequence of image frames may be the same image frames. However, the series of image frames may be a subset of the image frames in the sequence of image frames. Standard motion and / or object detectors may be used to identify pixels belonging to areas of different image frames in the series of image frames. The object to be monitored may be, for example, a wheel of a train or other type of vehicle.

[0038] The circuit 120 is further configured to perform a combining function 134. The combining function 134 is configured to combine the identified areas from each image frame in the series of image frames into a superimposed image of the object. Thus, a combined image of the object is formed by summing the pixel values ​​of corresponding pixels in the image frames in the series of image frames. Here, corresponding pixels in the image frames in the series of image frames refer to pixels at the same position of the object in different image frames. That is, pixels corresponding to, for example, the center of the object are identified in different image frames and then summed. In other examples, pixels corresponding to certain other points of the object may be identified in different image frames and then summed.

[0039] The combining function 134 may be configured to estimate a pixel velocity of the object in motion based on the image data in the image frames in the sequence of image frames of the object. According to one example, the pixel velocity of the object in motion is estimated to be six (6) pixels per frame. Subsequently, the combining function 134 may be further configured to calculate a pixel exposure time based on the pixel velocity of the object in motion and the frame rate of the bolometer sensor 110. In the above example, the frame rate of the bolometer sensor 110 is set to 30 frames per second, giving a frame integration time of approximately 30 milliseconds per frame. Therefore, the pixel exposure time is then calculated to be 30 / 6 milliseconds = 5 milliseconds. Subsequently, the combining function 134 may be further configured to determine the number of image frames to be used for the series of image frames based on the calculated pixel exposure time and the thermal time constant τ of the bolometer sensor 110. As illustrated above, the thermal time constant τ of the bolometer sensor 110 may be 15 milliseconds. If so, the number of image frames determined to be used for the series of image frames is 15 / 5 = 3 image frames. The determined number of image frames to be used for the series of image frames may be regarded as the minimum number of image frames to be used for the series of image frames. In practice, more image frames than the minimum number of image frames may be used.

[0040] The pixel values ​​in the superimposed image of the object can be estimated as the weighted sum of the pixel values ​​of the corresponding pixels in the image frames in the series of image frames. The weights used in the weighted sum are set to vary between 0 and 1. In the case where the number of image frames used to form the superimposed image of the object is set to the minimum number of image frames, the weight is preferably set to 1 or very close to 1. However, in the case where more image frames than the minimum number of image frames are used, a lower weight can be used. For example, the weight may vary depending on the position of the object in the camera's field of view. Image frames with objects in the center part of the field of view may be given higher weights than image frames in which the object has just entered the scene or has just left the scene. As an example, returning to the combination Figure 2In the illustrated sequence of image frames, relatively high weights may be given to image frames 210d to 210f, and relatively low weights (or zero weights) may be given to image frames 210a to 210c and image frames 210g to 210j.

[0041] The combining function 134 may further be configured to select, among the sequence of image frames, image frames to form part of the series of image frames. Such selection may be performed such that image frames depicting an object in a central portion of the field of view of the temperature measuring camera 100 are used for the series of image frames. Thus, image frames depicting only a portion of an object and / or image frames in which an object has just entered the scene or has just left the scene may be excluded from the selection of image frames used to form the superimposed image of the object. As an example, returning to combining Figure 2 For the illustrated sequence of image frames, the combining function 134 may select image frames 210d to 210f as image frames constituting the sequence of image frames.

[0042] The circuit 120 is further configured to perform a temperature determination function 136. The temperature determination function 136 is configured to determine the temperature of the object in motion based on the pixel values ​​in the superimposed image of the object. Thus, the object recognition function 132 and the combination function 134 are typically arranged to operate on the pixel values ​​in the radiance / "raw" signal mode, and then the temperature determination function 136 converts the pixel values ​​into a temperature reading.

[0043] The temperature camera 100 may include a transceiver 150 through which the temperature camera 100 is configured to communicate with other devices or services. For example, the transceiver 150 may be configured to send temperature readings to one or more other devices and / or services. The transceiver 150 may be configured to send / receive data via a data communication network that is configured to carry data between different devices. Typically, the data is digital data.

[0044] Combination Figure 3 , a method 300 for determining the temperature of an object in motion using a thermometric camera will be discussed. The method 300 is preferably performed by a processor. Therefore, it can be said that the method is a computer-implemented method. Some or all of the steps in the method 300 can be performed by the thermometric camera 100 described above. However, it is also recognized that some or all of the steps in the method 300 can be performed by one or more other devices with similar functions. The method 300 includes the following steps. These steps can be performed in any suitable order.

[0045] In step S302, a sequence of image frames of the object is captured while the object is moving. The capture is performed by a bolometer sensor of a temperature measurement camera. Such capture is discussed in more detail above, and reference is made to the above discussion to avoid excessive repetition.

[0046] At step 304, a region corresponding to the object is identified in each of a series of image frames in the sequence of image frames. This identification is discussed in more detail above, and reference is made to the above discussion to avoid undue repetition.

[0047] At step S306, the identified regions in each of the image frames in the series of image frames are combined into a superimposed image of the object. When combined, the pixel values ​​in the superimposed image of the object are estimated as the sum of the pixel values ​​of the corresponding pixels in the image frames in the series of image frames. This combination is discussed in more detail above, and reference is made to the above discussion to avoid excessive repetition.

[0048] In step S308, the temperature of the object in motion is determined based on the pixel values ​​in the superimposed image of the object. This determination is discussed in more detail above, and reference is made to the above discussion to avoid excessive repetition.

[0049] In other words, the method of determining the temperature of an object in motion using a thermometric camera can be summarized as follows: 1) Identify moving pixels and ignore stationary pixels. 2) Estimate the speed of the object, for example by estimating pixel velocity. 3) Based on the estimated pixel velocity of the object and knowledge of the frame rate of the thermometric camera, calculate how many frames need to be added together to satisfy the thermal time constant of the thermometric camera's bolometer sensor. All calculations can be performed in radiance / "raw" signal mode and then converted back to temperature readings.

[0050] Those skilled in the art realize that the present invention is by no means limited to what has been explicitly described above. On the contrary, many modifications and variations are possible within the scope of the appended claims.

[0051] For example, blurring due to the motion of an object in an image frame captured by a temperature measuring camera can be corrected. This is achieved by estimating the angular distance moved by the object in motion during the total integration time α from the image frames in the image frame sequence of the object; using the block transfer function to estimate the blur of the radiance due to motion, where f is the spatial frequency; and to correct the pixels of the series of image frames based on the estimated blur. The angular distance moved during the total integration time can be expressed as α=v×t / D, where v is the velocity, t is the integration time, and D is the distance between the object and the camera. D can also be scaled by an angle β with the optical center axis, i.e., Dcosβ. This angle β is easy to estimate because the field of view is known as a function of the pixel position. By correcting for motion blur, object detection can be made more reliable. This in turn can achieve more reliable temperature determination.

[0052] As implied above, there is a limit to the speed at which an object can travel while still achieving a sufficiently reliable temperature reading. If the object moves too quickly so that the necessary number of frames cannot be collected before the object moves out of the field of view of the thermometric camera, the temperature of the object may not be determined. This problem can be solved by using two or more thermometric cameras along the trajectory of the object, such as along a railroad track. A first series of image frames can be captured by the first thermometric camera as the object passes by the first thermometric camera, and a second series of image frames can be captured as the object passes by the second thermometric camera. The first series of image frames and the second series of image frames can then be combined to form a series of image frames long enough for combination into a superimposed image.

[0053] Additionally, variations can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

Claims

1. A method for determining the temperature of an object in motion using a temperature measuring camera, the temperature measuring camera being stably arranged, the method comprising: capturing, using a bolometer sensor of the temperature measuring camera, a sequence of image frames of the object while the object moves; identifying a region corresponding to the object in each image frame in a series of image frames in the sequence of image frames; combining the identified regions from each image frame in the series of image frames into a superimposed image of the object, wherein pixel values ​​in the superimposed image of the object are estimated as sums of pixel values ​​of corresponding pixels in image frames in the series of image frames; as well as The temperature of the object in motion is determined based on the pixel values ​​in the superimposed image of the object.

2. The method according to claim 1, further comprising: estimating a pixel velocity of the object in motion based on image frames in a sequence of image frames of the object; Calculating a pixel exposure time of an image frame of the image frame sequence according to a pixel speed of the object and a frame integration time; as well as A number of image frames to be used for the series of image frames is determined based on the calculated pixel exposure time and the thermal time constant of the bolometer sensor.

3. The method of claim 2, further comprising determining the thermal time constant of the bolometer sensor by one or more of: Take it as the value given by the manufacturer of the bolometer sensor; and The temperature measuring camera is calibrated after installation.

4. The method according to claim 1, further comprising: The series of image frames are selected among the image sequence as image frames for depicting the object in a central portion of a field of view of the thermometric camera.

5. The method according to claim 1, further comprising: estimating an angular distance moved during a total integration time α of the object in motion based on image frames in a sequence of image frames of the object; Using modules to pass functions to estimate the blurring of radiance due to motion, where f is the spatial frequency; and Based on the estimated blur, pixels of the series of image frames are corrected.

6. A non-transitory computer-readable storage medium having computer code instructions stored thereon, the computer code instructions being executable by a device having processing capabilities, wherein the computer code instructions when executed are configured to instruct the device to: receiving a sequence of image frames of an object in motion captured using a bolometer sensor of a stabilized temperature camera; identifying a region corresponding to the object in each image frame in a series of image frames in the image sequence; combining the identified regions in each of the image frames in the series of image frames into a superimposed image of the object, wherein pixel values ​​in the superimposed image of the object are estimated as sums of pixel values ​​of corresponding pixels in the image frames in the series of image frames; and The temperature of the object in motion is determined based on the pixel values ​​in the superimposed image of the object.

7. The non-transitory computer-readable storage medium of claim 6, wherein: The computer code instructions, when executed, are configured to instruct the device to: estimating a pixel velocity of the object in motion based on image frames in a sequence of image frames of the object; Calculating a pixel exposure time of an image frame of the image frame sequence according to a pixel speed of the object and a frame integration time; as well as A number of image frames to be used for the series of image frames is determined based on the calculated pixel exposure time and the thermal time constant of the bolometer sensor.

8. A temperature measuring camera for determining the temperature of an object in motion, the temperature measuring camera comprising: a bolometer sensor configured to capture a sequence of image frames of the object as the object moves; The circuit is configured to perform: an object recognition function configured to recognize a region corresponding to the object in each image frame in a series of image frames in the sequence of image frames; a combining function configured to combine the identified regions from each of the image frames in the series of image frames into a superimposed image of the object, wherein pixel values ​​in the superimposed image of the object are estimated as a sum of pixel values ​​of corresponding pixels in the image frames in the series of image frames; as well as The temperature determination function is configured to determine the temperature of the object in motion based on the pixel values ​​in the superimposed image of the object.

9. The temperature measuring camera according to claim 8, wherein: The combined function is further configured as: estimating a pixel velocity of the object in motion based on image data in image frames in a sequence of image frames of the object; Calculating a pixel exposure time of an image frame of the image frame sequence according to a pixel speed of the object and a frame integration time; as well as A number of image frames to be used for the series of image frames is determined based on the pixel exposure time and a thermal time constant of the bolometer sensor.

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