公开(公告)号：US09683832B2

公开(公告)日：2017-06-20

申请号：US14292355

申请日：2014-05-30

Applicant: Trimble Navigation Limited

Inventor： Sy Bor Wang ,  Hongbo Teng ,  Gregory C. Best ,  Omar Pierre Soubra ,  Bruno M. Scherzinger ,  Peter Glen France ,  James M. Janky

IPC: G01S13/00 ,  G01B11/14 ,  G01C15/00 ,  G01C15/06 ,  G01S19/49 ,  G01S19/51 ,  G06K9/00 ,  G06T7/73

CPC classification number: G01B11/14 ,  G01C15/00 ,  G01C15/06 ,  G01S19/49 ,  G01S19/51 ,  G06K9/00664 ,  G06T7/73

Abstract: Method and apparatus are provided for image based positioning comprising capturing a first image with an image capturing device. Wherein said first image includes at least one object. Moving the platform and capturing a second image with the image capturing device. The second image including the at least one object. Capturing in the first image an image of a surface; capturing in the second image a second image of the surface. Processing the plurality of images of the object and the surface using a combined feature based process and surface tracking process to track the location of the surface. Finally, determining the location of the platform by processing the combined feature based process and surface based process.

公开(公告)号：US09562764B2

公开(公告)日：2017-02-07

申请号：US13830955

申请日：2013-03-14

Applicant: Trimble Navigation Limited

Inventor： Peter Glen France

IPC: G01B11/26 ,  G01S19/48 ,  G06G7/70 ,  G01C3/08 ,  G01C15/00 ,  G01C17/00 ,  G01J4/04 ,  G01S17/06 ,  G01S19/43 ,  G01S19/53

CPC classification number: G01B11/26 ,  G01C3/08 ,  G01C15/00 ,  G01C17/00 ,  G01J4/04 ,  G01S17/06 ,  G01S19/43 ,  G01S19/48 ,  G01S19/53 ,  G06G7/70

Abstract: A method for determining absolute orientation of a platform is disclosed. In one embodiment, a first sky polarization data set for a first time Ti is measured using a sky polarization sensor disposed on a platform. A second sky polarization data set is obtained at a second time Tj. A difference in orientation between the first sky polarization data set and the second sky polarization data set is determined using an orientation determiner. The difference in orientation is provided as at least one orientation parameter for the platform at time Tj. The at least one orientation parameter is used to provide a direction relative to a reference point on the platform.

Abstract translation: 公开了一种用于确定平台的绝对定向的方法。 在一个实施例中，使用设置在平台上的天空偏振传感器来测量第一次Ti的第一天空极化数据集。 在第二时间Tj获得第二天空偏振数据集。 使用方向确定器来确定第一天空偏振数据集和第二天空偏振数据集之间的取向差异。 方向上的差异作为平台在时间Tj的至少一个取向参数被提供。 使用至少一个取向参数来提供相对于平台上的参考点的方向。

公开(公告)号：US20140267700A1

公开(公告)日：2014-09-18

申请号：US14292355

申请日：2014-05-30

Applicant: Trimble Navigation Limited

Inventor： Sy Bor Wang ,  Hongbo Teng ,  Gregory C. Best ,  Omar Pierre Soubra ,  Bruno M. Scherzinger ,  Peter Glen France ,  James M. Janky

IPC: G01B11/14

CPC classification number: G01B11/14 ,  G01C15/00 ,  G01C15/06 ,  G01S19/49 ,  G01S19/51 ,  G06K9/00664 ,  G06T7/73

Abstract: Method and apparatus are provided for image based positioning comprising capturing a first image with an image capturing device. Wherein said first image includes at least one object. Moving the platform and capturing a second image with the image capturing device. The second image including the at least one object. Capturing in the first image an image of a surface; capturing in the second image a second image of the surface. Processing the plurality of images of the object and the surface using a combined feature based process and surface tracking process to track the location of the surface. Finally, determining the location of the platform by processing the combined feature based process and surface based process.

Abstract translation: 提供了用于基于图像的定位的方法和装置，包括用图像捕获装置捕获第一图像。 其中所述第一图像包括至少一个对象。 移动平台并用图像捕获设备捕获第二个图像。 第二图像包括至少一个对象。 在第一张图像中捕获一张表面的图像; 在第二图像中捕获表面的第二图像。 使用基于组合特征的过程和表面跟踪处理来处理对象和表面的多个图像以跟踪表面的位置。 最后，通过处理基于组合特征的过程和基于表面的过程来确定平台的位置。