Method for estimating distance using point measurement and color depth

• US 10,311,590 B1
• Filed: 03/02/2017
• Issued: 06/04/2019
• Est. Priority Date: 03/01/2016
• Status: Active Grant

• Current Assignee: Ai Incorprated
• Original Assignee: Al, Inc.
• Inventors: Ebrahimi Afrouzi, Ali, Mehrnia, Soroush
• Primary Examiner(s): Tran, Trang U
• Application Number:
  US15/447,122
• Time in Patent Office: 824 Days
• Field of Search: 348135, 382106, 382291, 382199, 382281
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01C 3/085 with electronic parallax measurement
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/90 Determination of colour characteristics
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A method for gathering information about a work environment comprising using two laser rangefinders to obtain distances to two obstacles. A camera captures an image of the area and an image processor extracts the color depth at the two points of the laser rangefinders. The image processor then extracts the color depth of the line connecting the two points of the laser rangefinders. If the color depth of the two points of the laser rangefinders and the line connecting them is within a predetermined range, the system identifies the area as a substantially flat surface. When a substantially flat surface is found, the system can calculate the length and angle of the line connecting the two points of the laser rangefinders.

Claims

1. A method for a device to identify flat surfaces when mapping a work environment, the method comprising:

positioning two laser rangefinders on a device;

generating with each laser rangefinder a laser beam of which is sent to a location substantially opposite each laser rangefinder, each laser beam ending at a separate end point on a surface opposite the device;

positioning a camera on the device;

capturing with the camera an image of the surface opposite the device including the two points generated by the laser beams;

positioning a processor on the device;

the processor measuring the depth of color at the two points generated by the laser beams;

the processor generating a straight line between the two points generated by the laser beams if the processor determines that the depth of color of the two points is within a predetermined threshold of a range of color;

the processor measuring the depth of color of the pixels along the straight line generated by the processor; and

,

the processor identifying the straight line as being positioned on a substantially flat surface if the depth of color of the points of the straight line are within a predetermined range of color, within an internally generated map of the work environment of the device.

2. The method of claim 1 wherein the first and second laser rangefinders are positioned on the same horizontal plane at a preset angle diverging from each other.

3. The method of claim 1 wherein the first and second laser rangefinders are positioned on the same vertical plane at a preset angle diverging from each other.

4. The method of claim 2 wherein the first and second laser rangefinders are positioned at substantially the same origin.

5. The method of claim 4 wherein the first and second laser rangefinders are positioned at substantially the same origin.

6. The method of claim 1 further comprising using triangulation to determine a length and an angle of the straight line.

7. A distance estimation device comprising:

a housing including a first and a second laser rangefinder positioned in a like plane, a camera positioned such that a field of view thereof captures the lines of sight of the first and second laser rangefinders within a predetermined range, and a processor,

Whereby, each laser rangefinder generates a laser beam of which is sent to a location substantially opposite each laser rangefinder, each of the laser beams ending at a separate end point on a surface opposite the device, the camera capturing an image of the surface opposite the device including the two separate points, the processor measuring the depth of color at the two points, the processor generating a straight line between the two points if the processor determines that the depth of color of the two points is within a predetermined threshold of a range of color, the processor measuring the depth of color of the pixels along the straight line generated by the processor, and the processor identifying the straight line as being positioned on a substantially flat surface if the depth of color of the points of the straight line are within a predetermined range of color, within an internally generated map of the work environment of the device.

8. The distance estimation device of claim 7 wherein the first and second laser rangefinders are positioned on the same horizontal plane at a preset angle diverging from each other.

9. The distance estimation device of claim 7 wherein the first and second laser rangefinders are positioned on the same vertical plane at a preset angle diverging from each other.

10. The distance estimation device of claim 8 wherein the first and second laser rangefinders are positioned at substantially the same origin.

11. The distance estimation device of claim 9 wherein the first and second laser rangefinders are positioned at substantially the same origin.

12. The distance estimation device of claim 7 whereby the image processor uses triangulation to calculate an angle and length of the straight line between the first and second points.