System, methods, and apparatus for in-vehicle fiducial mark tracking and interpretation

• US 10,417,510 B2
• Filed: 03/21/2017
• Issued: 09/17/2019
• Est. Priority Date: 12/29/2011
• Status: Active Grant

• Current Assignee: Tahoe Research Limited (f/k/a Learndale Limited) (Vector Capital Corporation)
• Original Assignee: Intel Corporation
• Inventors: Graumann, David L., Montesinos, Carlos, Healey, Jennifer
• Primary Examiner(s): Uhl, Lindsay J
• Application Number:
  US15/464,529
• Publication Number:
  US 20170351927A1
• Time in Patent Office: 910 Days
• Field of Search: None
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: G06T 2207/30268 Vehicle interior
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06V 20/59 inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

Certain embodiments of the invention may include systems, methods, and apparatus for in-vehicle fiducial mark tracking and interpretation According to an example embodiment of the invention, a method is provided for executing computer executable instructions by one or more processors. The method includes receiving the one or more images from at least one camera attached to a vehicle; selecting, from the one or more received images, a region of interest associated with an object in the vehicle; identifying fiducial marks within the selected region of interest by comparing the identified fiducial marks with one or more stored fiducial representations; determining, based at least in part on the comparison, spatial information associated with the object or an occupant of the vehicle; and sending information based at least in part on the determined spatial information.

Claims

1. A device for wireless communication, comprising:

at least one processor; and

at least one memory storing computer-executable instructions, that when executed by the at least one processor, cause that at least one processor to;

receive one or more images from at least one camera attached to a vehicle, wherein the one or more images comprise one or more fiducial marks;

determine, from the one or more images, a fiducial mark representation for a region of interest associated with an object in the vehicle, wherein the region of interest includes the one or more fiducial marks, and wherein the fiducial mark representation comprises a unique region and an align region;

determine an alignment grid corresponding to the region of interest, wherein the alignment grid is based on the align region;

determine an offset between the alignment grid and an alignment pattern;

determine, based at least in part on the offset and the unique region, spatial information associated with the object or an occupant of the vehicle; and

cause to send information based at least in part on the spatial information.

2. The device of claim 1, wherein the spatial information comprises one or more of:

position, angle, orientation, linear velocity, or angular velocity associated with the object.

3. The device of claim 1, wherein the spatial information comprises one or more of hand position, hand grip, hand pressure, hand gesture, driving response, driving accuracy, safety belt tension, body position, body movement, or intent associated with the occupant of the vehicle.

4. The device of claim 1, wherein the fiducial marks comprise an optically identifiable pattern that varies with respect to a frame of reference associated with the object.

5. The device of claim 4, wherein at least a portion of the optically identifiable pattern represents a position or angle associated with the object.

6. The device of claim 1, wherein determining the spatial information further comprises matching the offset to an associated one of an angle, orientation, or position of the object.

7. The device of claim 1, wherein selecting a region of interest comprises selecting at least a portion of a steering wheel or at least a portion of a safety belt.

8. The device of claim 1, wherein sending information comprises sending one or more of a steering wheel position, a steering wheel velocity, a hand position on a steering wheel, a fingertip location on a steering wheel, a safety belt shape, or a safety belt position.

9. A computer-readable medium storing computer-executable instructions, that when executed by at least one processor cause the at least one processor to:

receive one or more images from at least one camera attached to a vehicle, wherein the one or more images comprise one or more fiducial marks;

determine, from the one or more images, a fiducial mark representation for a region of interest associated with an object in the vehicle, wherein the region of interest includes the one or more fiducial marks, and wherein the fiducial mark representation comprises a unique region and an align region;

determine an alignment grid corresponding to the region of interest, wherein the alignment grid is based on the align region;

determine an offset between the alignment grid and an alignment pattern;

determine, based at least in part on the offset and the unique region, spatial information associated with the object or an occupant of the vehicle; and

cause to send information based at least in part on the spatial information.

10. The computer-readable medium of claim 9, wherein the object comprises one or more of a steering wheel or a safety belt.

11. The computer-readable medium of claim 9, wherein the at least one camera is one or more of a visible-light sensitive camera, a visible-light sensitive video camera, an infrared-sensitive camera, or an infrared-sensitive video camera.

12. The computer-readable medium of claim 9, wherein the spatial information comprises one or more of:

position, angle, orientation, linear velocity, or angular velocity associated with the object.

13. The computer-readable medium of claim 9, wherein the spatial information comprises one or more of hand position, hand grip, hand pressure, hand gesture, driving response, driving accuracy, safety belt tension, body position, body movement, or intent associated with the occupant of the vehicle.

14. The computer-readable medium of claim 9, wherein the fiducial marks comprise an optically identifiable pattern that varies with respect to a frame of reference associated with the object.

15. The computer-readable medium of claim 14, wherein at least a portion of the optically identifiable pattern represents a position or angle associated with the object.

16. A method, comprising:

receiving, by a processor, one or more images from at least one camera attached to a vehicle, wherein the one or more images comprise one or more fiducial marks;

determining, by the processor, from the one or more images, a fiducial mark representation for a region of interest associated with an object in the vehicle, wherein the region of interest includes the one or more fiducial marks, and wherein the fiducial mark representation comprises a unique region and an align region;

determining, by the processor, an alignment grid corresponding to the region of interest, wherein the alignment grid is based on the align region;

determining, by the processor, an offset between the alignment grid and an alignment pattern;

determining, by the processor, based at least in part on the offset and the unique region, spatial information associated with the object or an occupant of the vehicle; and

causing to send, by the processor, information based at least in part on the spatial information.

17. The method of claim 16, wherein the object comprises one or more of a steering wheel or a safety belt.

18. The method of claim 16, wherein the spatial information comprises one or more of:

position, angle, orientation, linear velocity, or angular velocity associated with the object.

19. The method of claim 16, wherein the fiducial marks comprise an optically identifiable pattern that varies with respect to a frame of reference associated with the object.

20. The method of claim 19, wherein at least a portion of the optically identifiable pattern represents a position or angle associated with the object.