초록 ▼

A system and method for imaging a three-dimensional scene having one or more objects. The system includes a light source, a detector array, a timing circuit, an inertial guidance system and a processor connected to the timing circuit and the inertial guidance system. The light source generates an op

A system and method for imaging a three-dimensional scene having one or more objects. The system includes a light source, a detector array, a timing circuit, an inertial guidance system and a processor connected to the timing circuit and the inertial guidance system. The light source generates an optical pulse and projects the optical pulse on an object so that it is reflected as a reflected pulse. The detector array includes a plurality of detectors, wherein the detectors are oriented to receive the reflected pulse. The timing circuit determines when the reflected pulse reached detectors on the detector array. The inertial guidance system measures angular velocity and acceleration. The processor forms a composite image of the three-dimensional scene as a function of camera position and range to objects in the three-dimensional scene.

대표청구항 ▼

What is claimed is: 1. A method of calculating trajectory, comprising:providing a device wherein the device includes an inertial guidance system and an array of optical detectors;transmitting a first optical pulse so that a portion of the first optical pulse is reflected from the scene as a first re

What is claimed is: 1. A method of calculating trajectory, comprising:providing a device wherein the device includes an inertial guidance system and an array of optical detectors;transmitting a first optical pulse so that a portion of the first optical pulse is reflected from the scene as a first reflected pulse;detecting arrival of the first reflected pulse at the array of detectors;forming a first range image from data corresponding to the first reflected pulse arriving at the array of detectors;moving the camera relative to objects in the scene;monitoring angular velocity and acceleration via the inertial guidance system;transmitting a second optical pulse so that a portion of the second optical pulse is reflected from the scene as a second reflected pulse;detecting arrival of the second reflected pulse at the array of detectors;forming a second range image from data corresponding to the second reflected pulse arriving at the array of detectors;determining registration-derived camera motion as a function of registration of the first and second range images; anddetermining an estimated camera trajectory as a function of the registration-derived camera motion, the angular velocity measured by the inertial guidance system and the acceleration measured by the inertial guidance system using a process that minimizes sensor measurement errors and image alignment errors.