Beacon-Augmented Pose Estimation
First Claim
1. A beacon-augmented system for determining the pose of a pose object, comprising:
- At least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates;
An imager on a pose object configured to image a field-of-view including at least one said positionable beacon and to determine each said beacon'"'"'s 2-D image coordinates; and
A pose object controller configured to process the at least one set of 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object.
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Accused Products
Abstract
A beacon-augmented pose estimation system includes positionable beacons that can determine their own 3-D geospatial coordinates and transmit those coordinates back to the pose object. An imaging sensor images the field-of-view of the pose object to provide 2-D image coordinates for any of the beacons in the FOV. A pose object controller processes the sets of 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object. The positionable beacons may include both static beacons that are pre-positioned and mobile beacons that are command-guided to position themselves in the pose object'"'"'s likely or actual FOV.
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Citations
26 Claims
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1. A beacon-augmented system for determining the pose of a pose object, comprising:
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At least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates; An imager on a pose object configured to image a field-of-view including at least one said positionable beacon and to determine each said beacon'"'"'s 2-D image coordinates; and A pose object controller configured to process the at least one set of 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A system for determining the pose of a pose object, comprising:
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A plurality of positionable beacons each configured to determine and transmit its 3-D geospatial coordinates; An imager on a pose object configured to image a field-of-view including at least one said positionable beacon and to determine each said beacon'"'"'s 2-D image coordinates; A GPS receiver on the pose object to provide its 3-D geospatial coordinates; An inertial sensor on the pose object to provide its pitch and roll; and A pose object controller configured to process a set of beacon 3-D geospatial coordinates and 2-D image coordinates to estimate the pose object yaw and provide an initial 6-D pose estimate of the pose object and thereafter to process the at least one set of beacon 3-D geospatial coordinates and 2-D image coordinates to refine the 6-D pose estimate. - View Dependent Claims (18, 19, 20, 21)
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22. A method for determining the pose of a pose object, comprising:
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Deploying at least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates; From a pose object, imaging a field-of-view including at least one said positionable beacon and determining each said beacon'"'"'s 2-D image coordinates; Providing an initial pose estimate of the pose object; and Processing the at least one set of 3-D geospatial coordinates and 2-D image coordinates to refine the pose estimate of the pose object. - View Dependent Claims (23, 24, 25, 26)
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Specification