Coded localization systems, methods and apparatus

• US 10,024,651 B2
• Filed: 12/29/2016
• Issued: 07/17/2018
• Est. Priority Date: 01/03/2012
• Status: Active Grant

• Current Assignee: Ascentia Imaging, Inc.
• Original Assignee: Ascentia Imaging, Inc.
• Inventors: Johnson, Gregory, Dowski, Jr., Edward R.
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/394,573
• Publication Number:
  US 20170108330A1
• Time in Patent Office: 565 Days
• Field of Search: 701 1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A coded localization system includes a plurality of optical channels arranged to cooperatively distribute electromagnetic energy from at least one object onto a plurality of detectors. Each of the channels includes a localization code that is different from any other localization code in other channels, to modify electromagnetic energy passing therethrough. Digital outputs from the detectors are processable to determine sub-pixel localization of the object onto the detectors, such that a location of the object is determined more accurately than by detector geometry alone. Another coded localization system includes a plurality of optical channels arranged to cooperatively distribute a partially polarized signal onto a plurality of pixels. Each of the channels includes a polarization code that is different from any other polarization code in other channels to uniquely polarize electromagnetic energy passing therethrough. Digital outputs from the detectors are processable to determine a polarization pattern.

Claims

1. A navigation system for a repositionable object, comprising:

a first optical motion unit having a first plurality of optical channels and configured to capture information from a first portion of a moving scene;

a second optical motion unit having a second plurality of optical channels and configured to capture information from a second portion of the moving scene, the second optical motion unit being displaced from the first optical motion unit by a first distance in a first direction; and

a processing subsystem configured to determine a two dimensional change in motion of the scene based upon data output from the first and second motion units and the first direction and distances;

each of the first plurality of optical channels and the second plurality of optical channels including;

a detector configured to receive electromagnetic energy incident thereon and propagating from the moving scene; and

a localization code that is (i) configured to optically modify the electromagnetic energy passing therethrough to the detector, (ii) one of an amplitude mask, a phase mask, an aperture pattern, and a polarizer, and (iii) different from the localization code of each other optical channel of the plurality of optical channels.

2. The navigation system of claim 1, the first and second portion of the moving scene being at least partially overlapping.

3. The navigation system of claim 1, the first and second optical motion units being rigidly positioned with respect to each other such that the first distance and the first direction are unchanging.

4. A method for controlling motion of a repositionable object, comprising:

determining a present heading of the repositionable object by capturing information from a moving scene using a plurality of optical channels each collocated with the repositionable object and having a detector and a localization code configured to optically modify electromagnetic energy passing therethrough from the scene to the detector, each localization code (a) being one of an amplitude mask, a phase mask, an aperture pattern, and a polarizer, and (b) differing from the respective localization code of each other of the plurality of optical channels;

determining a current location of the repositionable object using a satellite navigation system;

determining a desired heading for the repositionable object by comparing the current location of the repositionable object with a desired destination; and

adjusting the heading of the repositionable object from the present heading to the desired heading.

5. The method of claim 4, the step of determining a current location further comprising determining a relative position of the repositionable object with respect to a known position of a reference object.

6. The method of claim 5, the reference object being located on a surface upon which the repositionable object is traveling.

7. A navigation system for a repositionable object, comprising:

a plurality of optical channels arranged to cooperatively capture information from a moving scene, each of the optical channels being collocated with the repositionable object and having (i) a detector and (ii) a localization code configured to optically modify electromagnetic energy passing therethrough from the moving scene to the detector, the localization code being one of an amplitude mask, a phase mask, an aperture pattern, and a polarizer, and differing from the localization code of each other of the plurality of optical channels;

a receiver configured to communicate with a satellite navigation system; and

a digital signal processor configured to;

determine a present heading of the repositionable object from the information captured by the plurality of optical channels;

determine a current location of the repositionable object using the receiver; and

determine a desired heading for the repositionable object by comparing the current location of the repositionable object with a desired destination.

8. The navigation system of claim 7, wherein in the step of determining location, the digital signal processor is further configured to determine a relative position of the repositionable object with respect to a known position of a reference object.

9. The navigation system of claim 8, the reference object being located on a surface upon which the repositionable object is traveling.