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System and method for processing captured images

  • US 10,726,616 B2
  • Filed: 11/12/2019
  • Issued: 07/28/2020
  • Est. Priority Date: 06/17/2015
  • Status: Active Grant
First Claim
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1. A system for processing images captured by a moving platform comprising a steering system and a navigation system, the system comprising:

  • a central processing unit (CPU), said CPU being interconnected functionally via a system bus to;

    at least one sensor configured and disposed to capture a perceived environment including at least one of visual images of the environment and range data to objects in the environment;

    a graphics processing unit (GPU); and

    at least one memory device thereupon stored a computer model of the environment and a set of instructions which, when executed by said CPU, causes the image processing system to;

    capture a perceived environment through the at least one sensor, the perceived environment including visual images and range data;

    render the computer model of the environment in the GPU forming a rendered model of the environment using image processing, the rendered model comprising a plurality of grids indicating one of a presence and an absence of the objects;

    compare the rendered model of the environment with the perceived environment;

    selectively update the computer model of the environment based on the perceived environment;

    employ an iterative process to compute a position and orientation of the moving platform by performing an optimization of the perceived environment against the computer model of the environment, wherein the optimization comprises a direct numerical optimization on a per-point error metric; and

    provide the computer model to the navigation system to control the steering system to direct the moving platform through the environment.

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