Position determining techniques using image analysis of marks with encoded or associated position data

• US 10,235,769 B2
• Filed: 12/21/2017
• Issued: 03/19/2019
• Est. Priority Date: 02/12/2016
• Status: Active Grant

• Current Assignee: Vortex Intellectual Property Holding LLC
• Original Assignee: Vortex Intellectual Property Holding LLC
• Inventors: Houri, Cyril
• Primary Examiner(s): Strege, John B
• Application Number:
  US15/850,629
• Publication Number:
  US 20180114335A1
• Time in Patent Office: 453 Days
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/225 based on a marking or identifier characterising the area
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/20 in augmented reality scenes
• CPC Class Codes: G06V 30/422 Technical drawings; Geographical maps

Abstract

Method for determining position of a mobile device having an imaging device includes obtaining an image of a mark on a known-position object from the imaging device, the mark having an encoded position, decoding the mark to derive data about the position of the mark using a database of marks and their positions, and analyzing appearance of the mark in the image in combination with the derived data about the position of the mark to determine the position of the mobile device. Mark appearance analysis may involve analyzing an angle between an imaging direction of the imaging device and a surface of the mark.

Claims

1. A method for operating a mobile device having an imaging device, comprising:

determining position of the mobile device using unique position-representative marks, each of the marks having encoded information including a current position of the mark and being different than any other marks, by;

obtaining an image including one of the marks using the imaging device;

decoding the mark, using a processor, to obtain the position of the mark in the obtained image; and

analyzing differences between appearance of the mark in the obtained image and appearance of the mark from a known position and, using the processor, determining the position of the mobile device based on;

1) the analyzed differences between the appearance of the mark in the obtained image and the appearance of the mark from the known position and

2) the obtained position of the mark in the obtained image such that the determined position varies dependent on the analyzed differences between the appearance of the mark in the obtained image and the appearance of the mark from the known position; and

altering operation of at least one component of the mobile device based on the determined position of the mobile device.

2. The method of claim 1, wherein the mark is a two-dimensional mark.

3. The method of claim 1, wherein the mark included in the obtained image is on an object fixed in position.

4. The method of claim 1, wherein the processor is at least partly situated on the mobile device and the appearance difference analyzing step is performed by the part of the processor on the mobile device.

5. The method of claim 1, wherein the appearance difference analyzing step comprises:

comparing what the mark should look like when viewed from a position distanced from the mark and at a known angle between an imaging direction and a surface of the mark to what the mark looks like in the obtained image using the processor; and

determining an angle between the imaging direction of the imaging device when the image was obtained by the imaging device and the surface of the mark based on the comparison of what the mark should look like when viewed from the position distanced from the mark and at the known angle between an imaging direction and a surface of the mark to what the mark looks like in the obtained image,

whereby the position of the mobile device is determined based on the determined angle.

6. The method of claim 1, wherein the decoding step comprises accessing a database resident on at least one memory component and containing data about the marks including the unique position of each of the marks, to retrieve the position of the mark in the obtained image.

7. The method of claim 6, wherein the at least one memory component is situated on the mobile device.

8. The method of claim 1, wherein the decoding step comprises:

wirelessly transmitting the mark to a site remote from the mobile device, a database resident on at least one memory component and containing data about the marks including the unique position of each of the marks being accessed at the remote site to output the position of the mark wirelessly transmitted from the mobile device; and

receiving at the mobile device from the remote site, the data about the unique position of the mark output from the database.

9. The method of claim 1, wherein the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprises changing a display of a map on the mobile device based on the determined position of the mobile device.

10. The method of claim 1, further comprising;

determining a target location in response to receiving user input by means of a user interface coupled to the mobile device; and

determining, using the processor, a route between the determined position of the mobile device and the target location,

the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprising marking the route on a map and displaying the map with the marked route on a display of the mobile device.

11. The method of claim 1, wherein the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprises controlling a speaker on the mobile device.

12. The method of claim 1, further comprising;

determining a target location in response to receiving user input by means of a user interface coupled to the mobile device; and

determining, using the processor, a route between the determined position of the mobile device and the target location,

wherein the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprises conveying the route by generating oral directions conveyed by a speaker on the mobile device.

13. The method of claim 1, wherein the mobile device is an automated guided vehicle (AGV), the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprising controlling a navigation system on the AGV.

14. The method of claim 1, wherein the mobile device is an automated guided vehicle (AGV), further comprising:

determining a target location for the AGV; and

determining, using the processor, a route between the determined position of the AGV and the target location,

wherein the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprises controlling a navigation system on the AGV to cause the AGV to travel to the target location.

15. The method of claim 1, wherein the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprises presenting information selected based on the determined position of the mobile device using an output device of the mobile device.

16. The method of claim 1, further comprising determining information to present, from among a plurality of different information items, based on the determined position of the mobile device, the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprising presenting the determined information using an output device of the mobile device.

17. The method of claim 1, further comprising determining, using the processor, information from a database to present based on the determined position of the mobile device, the step of altering operation of at least one component of the mobile device based on the determined position of the mobile device comprising presenting the determined information using an output device of the mobile device.

18. The method of claim 1, wherein the step of determining position of the mobile device using unique position-representative marks involves using a database resident at a site remote from the mobile device and resident on at least one memory component and containing data about the marks including the unique position of each of the marks.

19. A method for operating an automated guided vehicle (AGV) having at least one imaging device, comprising:

determining position of the AGV using unique position-representative marks, each of the marks having encoded information including a current position of the mark and being different than any other marks, by;

obtaining an image including one of the marks using the at least one imaging device;

decoding the mark, using a processor, to obtain the position of the mark in the obtained image; and

analyzing differences between appearance of the mark in the obtained image and appearance of the mark from a known position and in combination with the obtained position of the mark in the obtained image, using the processor, to determine the position of the AGV which thus varies dependent on the differences between the appearance of the mark in the obtained image and the appearance of the mark from the known position; and

controlling a navigation system on the AGV based on the determined position of the AGV.

20. The method of claim 19, further comprising:

determining a target location for the AGV; and

determining, using the processor, a route between the determined position of the AGV and the target location,

wherein the step of controlling the navigation system on the AGV comprises controlling the navigation system on the AGV to cause the AGV to travel to the target location.