[특허]Method of inferring sensor attitude through multi-feature tracking

Method of inferring sensor attitude through multi-feature tracking 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06K-009/20
출원번호	US-0487204 (1995-06-07)
발명자 / 주소	Choate William Clay (Dallas TX) Talluri Rajendra K. (Austin TX)
출원인 / 주소	Texas Instruments Incorporated (Dallas TX 02)
인용정보	피인용 횟수 : 31 인용 특허 : 0

초록 ▼

A method for inferring precise sensor attitude information in a tracking sensor system begins with storing at a first time a reference image in a memory associated with tracking sensor. Next, the method includes sensing at a second time a second image. The sensed image comprises a plurality of sensed feature locations. The method further includes determining the position of the tracking sensor at the second time relative to its position at the first time and then forming a correlation between the sensed feature locations and the predetermined feature locations as a function of the relative position. The method results in an estimation of a tracking sensor pose that is calculated as a function of the correlation. Because the method is primarily computational, implementation requires no new hardware in a tracking sensor system other than that which may be required to provide additional computational capacity.

대표청구항 ▼

A method of determining attitude of a tracking sensor, said tracking sensor including a memory, comprising the steps of: storing at a first time a reference image in said memory of said tracking sensor, said reference image including a plurality of reference feature locations; sensing at a second time first image using said tracking sensor, said first image including a plurality of sensed feature locations; mapping said reference feature locations and said sensed feature locations from a world coordinate system to a canonical coordinate system using a 3-by-3 rotational matrix, S, said world coordinate system having a center of focus, p, in accordance with the equation: x′=S(x-p) where x′is a 3-vector in said world coordinate system, x is a 3-vector in said canonical coordinate system; determining relative position of said tracking sensor between said second time and said first time; correlating each of said sensed feature locations with each of said reference feature locations in said canonical coordinate system as a function of said relative position; and calculating said tracking sensor attitude as a function of said correlation to provide signals representing said tracking sensor attitude.

이 특허를 인용한 특허 (31)

Otani, Hitoshi; Tanahashi, Atsushi; Inaba, Hiroshi; Ishida, Takeshi; Kaneko, Junki, Geographic data collecting system.
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Otani, Hitoshi; Nakamura, Mitsutaka, Geographical data collecting device.
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Otani, Hitoshi; Nakamura, Mitsutaka, Geographical data collecting device.
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Meier, Peter; Benhimane, Mohamed Selim, Image processing method, particularly used in a vision-based localization of a device.
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Morita Toshihiko,JPX ; Sawasaki Naoyuki,JPX, Image tracking apparatus for tracking an image within a local region to continuously track a moving object.
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Kumagai, Kaoru; Ohtomo, Fumio, Measuring method and measuring device.
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Olson, Teresa Lorae Pace; Lee, Harry; Slaski, James Joseph; Sefcik, Jason; Cannon, Jamie; Stanfill, Robert, Method and apparatus for tracking an object.
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Leib, Michael F.; Oldroyd, Lawrence A., Method and system for image registration quality confirmation and improvement.
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Carlbom, Pelle; Beckman, Thomas; Erlandsson, Ulf, Method estimating absolute orientation of a vehicle.
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Oldroyd, Lawrence A., Method for analyzing geographic location and elevation data and geocoding an image with the data.
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Oldroyd, Lawrence A., Method for automatic stereo measurement of a point of interest in a scene.
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Oldroyd, Lawrence A., Method for generating a synthetic perspective image.
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Langer, Marion; Meier, Peter; BenHimane, Selim, Method of determining a position and orientation of a device associated with a capturing device for capturing at least one image.
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BenHimane, Selim; Ulbricht, Daniel, Method of determining reference features for use in an optical object initialization tracking process and object initialization tracking method.
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Johnson, William M.; Musoff, Howard; Sargent, Darryl G.; Gilmore, Jerold P.; Dennehy, Cornelius J., Miniature attitude sensing suite.
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Aman, James A.; Haller, William R., Multiple object tracking system.
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Aman,James A.; Haller,William R., Optimizations for live event, real-time, 3D object tracking.
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Hunter, Jr., Robert O.; Smith, Adlai H., Precision geographic location system and method utilizing an image product.
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Hunter, Jr., Robert O.; Smith, Adlai H., Precision geographic location system and method utilizing an image product.
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Oldroyd, Lawrence A., Processing architecture for automatic image registration.
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Olson,Teresa Lorae Pace; Slaski,James Joseph; Sanford,Carl William; Han,Ruey Yuan; Contini,Casey Leonard; Reinig,Robert Russell, Real-time multi-stage infrared image-based tracking system.
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Sabato, Moshe, Remote tracking of objects.
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Weichselbaum, Meir, Remote tracking of objects.
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Kamel Ahmed A ; Ong Kwok M, Satellite camera attitude determination and image navigation by means of earth edge and landmark measurement.
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Smitherman, Chester L., Self-calibrated, remote imaging and data processing system.
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Oldroyd, Lawrence A., System and method for automatic stereo measurement of a point of interest in a scene.
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Wang, Wei-Han; Tsai, Ya-Hui; Lin, Yen-Chun, System and method for graphically allocating robot's working space.
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Tournes, Christian; Shtessel, Yuri, System and method for guiding and controlling a missile using high order sliding mode control.
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Karazi, Uri, System and method for tracking moving objects.
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Karazi, Uri, System and method for tracking moving objects.
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Fitzpatrick, Ben G.; Wang, Yun, Tracking apparatus and methods using image processing noise reduction.
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Method of inferring sensor attitude through multi-feature tracking 원문보기

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Method of inferring sensor attitude through multi-feature tracking 원문보기

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