Delay Compensated Feature Target System
First Claim
1. A vehicle, comprising:
- a sensor, configured to generate a plurality of frames, including a current frame;
a transceiver, configured to send the plurality of frames and messages and to receive messages;
a processor;
data storage, configured to store at least a subset of the plurality of frames; and
machine-language instructions, stored in the data storage and configured to instruct the processor to perform functions comprising;
storing a subset of the plurality of frames, including a fast-forward frame,sending the plurality of frames, including the fast-forward frame,receiving a lock message identifying a target feature,determining that the lock message is associated with a fast-forward frame,determining that the fast-forward frame is in the stored subset of frames,determining a current location of the target feature in the current frame based on the determined target feature in the stored fast-forward frame, andresponsive to determining the current location of the target feature, sending a target-acquired message.
1 Assignment
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Accused Products
Abstract
Apparatus and methods are provided for acquiring a target. A vehicle generates video frames that are sent to a control. The vehicle stores a subset of the frames. The vehicle may receive a lock message from the control that identifies a feature. Based on the information in the lock message, the vehicle may find a stored “fast-forward” frame with the feature, locate the feature on the fast-forward frame, determine a trajectory of the feature, and then determine a current location of the feature in a current frame. Once the vehicle has determined the current location of the feature, the vehicle may send a target acquired message to the control. An estimate of communication latency between the control and the vehicle may be determined. Then, the fast-forward frame may be determined based on a time of arrival of the lock message and the latency.
60 Citations
20 Claims
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1. A vehicle, comprising:
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a sensor, configured to generate a plurality of frames, including a current frame; a transceiver, configured to send the plurality of frames and messages and to receive messages; a processor; data storage, configured to store at least a subset of the plurality of frames; and machine-language instructions, stored in the data storage and configured to instruct the processor to perform functions comprising; storing a subset of the plurality of frames, including a fast-forward frame, sending the plurality of frames, including the fast-forward frame, receiving a lock message identifying a target feature, determining that the lock message is associated with a fast-forward frame, determining that the fast-forward frame is in the stored subset of frames, determining a current location of the target feature in the current frame based on the determined target feature in the stored fast-forward frame, and responsive to determining the current location of the target feature, sending a target-acquired message. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 20)
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15. A method, comprising:
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sending a first frame of a plurality of frames from a video sensor of a vehicle; receiving the plurality of frames at a tracking unit of the vehicle; storing a subset of the plurality of frames in the tracking unit; receiving a lock message at the vehicle, the lock message identifying a target feature; based on the lock message, determining a fast-forward frame in the stored subset of frames and a location of the target feature of the fast-forward frame at the vehicle; determining a current location of the target feature based on the location of the target feature of the fast-forward frame at the vehicle; and responsive to determining the current location of the target feature, sending a target-acquired message from the vehicle. - View Dependent Claims (16, 17, 18, 19)
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Specification