GEOLOCATION OF OBJECTS IN AN AREA OF INTEREST

• US 20110122257A1
• Filed: 11/25/2009
• Published: 05/26/2011
• Est. Priority Date: 11/25/2009
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Kirk, James C.
• Granted Patent: US 8,577,083 B2
• Time in Patent Office: Days
• US Class Current: 348/187
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30208 Marker matrix
• CPC Class Codes: G06T 2207/30212 Military
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/285 using a sequence of stereo image pairs
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A system comprises a plurality of fixed cameras that each having a field of regard. Each point within an area of interest is covered by the field of regard of at least two of the cameras. Each camera captures an image of its field of regard and a plurality of calibration points within the area of interest. A processor calibrates the imaging system by at least associating the coordinates of each of the plurality of calibration points with a calibration pixel corresponding to an image of the calibration point in the image of each of the cameras. The processor geolocates the object of interest within the area of interest by at least comparing the location an image of the object of interest to the calibration pixels in the images generated by each of the plurality of cameras.

Claims

1. A system comprising:

a plurality of fixed cameras each having a field of regard, wherein each point within an area of interest is covered by the field of regard of at least two of the plurality of cameras, and wherein each of the plurality of cameras captures a video image of its respective field of regard;

a plurality of calibration points within the area of interest; and

a processor that calibrates the system by at least associating coordinates of each of the plurality of calibration points with a calibration pixel corresponding to an image of the calibration point in the video image of each of at least two cameras of the plurality of cameras, wherein the processor generates coordinates of an object of interest in the area of interest by at least comparing a position of an image of the object of interest in the video images generated by the at least two cameras of the plurality of cameras to the calibration pixels in the video image of each of the at least two cameras of the plurality of cameras.

2. The system of claim 1, further comprising a calibration target placed at each of the plurality of calibration points, wherein the processor determines the coordinates of the calibration target placed at each of the plurality of calibration points.

3. The system of claim 2, wherein the calibration target comprises a global positioning system device that indicates the coordinates of the calibration target.

4. The system of claim 3, wherein the calibration target transmits the coordinates of the calibration target to the processor.

5. The system of claim 1, further comprising a plurality of calibration targets, wherein each calibration target is placed at one of the plurality of calibration points, wherein the processor determines the coordinates of each of the plurality of calibration targets.

6. The system of claim 1, wherein the processor determines the coordinates of each of the calibration points by at least referencing a terrain database comprising information about coordinates of a plurality of geographic points within the area of interest.

7. The system of claim 1, wherein the plurality of cameras are separated from each other at an angle of between about 10°

and about 180°

with respect to the center of the area of interest.

8. The system of claim 7, wherein the plurality of cameras are separated from each other at an angle of about 45°

with respect to the center of the area of interest.

9. The system of claim 1, wherein each camera of the plurality of cameras is elevated above the area of interest at an angle of between about 10°

and about 90°

from horizontal.

10. The system of claim 1, wherein the plurality of calibration points comprises at least three calibration points.

11. The system of claim 1, wherein the plurality of calibration points comprises at least five calibration points.

12. The system of claim 11, wherein the at least five calibration points are located generally at four corners of the area of interest and generally at the center of the area of interest.

13. A method for geolocating an object, the method comprising:

selecting an area of interest;

determining coordinates of each of a plurality of calibration points within the area of interest;

with each of a plurality of fixed cameras each having a field of regard, capturing a video image of the field of regard, wherein the area of interest is covered by the field of regard of at least two cameras of the plurality of camera, and wherein each calibration point comprises a single pixel within the video image;

associating the coordinates of each calibration point with a calibration pixel corresponding to an image of the calibration point in the video image captured by each of at least two cameras of the plurality of cameras; and

determining a geolocation of an object of interest within the area of interest by comparing a position of an image of the object of interest within in the video images generated by each of the at least two cameras of the plurality of cameras to the calibration pixels within the video image generated by each of the at least two camera of the plurality of cameras.

14. The method according to claim 13, wherein each of the calibration points comprises a calibration target.

15. The method according to claim 13, further comprising providing the geolocation of the object of interest within the area of interest to a user.

16. The method according to claim 13, further comprising directing an imaging system to focus on the object of interest within the area of interest.

17. The method according to claim 13, further comprising determining coordinates of the object of interest within the area of interest and providing the coordinates to a system that deploys guided munitions.

18. A system comprising:

an aerial vehicle flying over an area of interest, the aerial vehicle comprising a camera with a field of regard covering the area of interest, wherein the camera captures a video image of the field of regard;

a plurality of calibration targets placed within the area of interest, wherein the coordinates of each of the calibration targets is known; and

a processor that calibrates the system by at least associating coordinates of each of the plurality of calibration targets with a calibration pixel corresponding to an image of the respective calibration target in the video image of the camera, wherein the processor geolocates the coordinates of an object of interest in the area of interest by comparing a position of an image of the object of interest in the video image to the calibration pixels in the video image of the camera.

19. The system of claim 18, wherein the aerial vehicle is an unmanned aerial vehicle.

20. The system of claim 18, wherein each of the plurality of calibration targets comprise a global positioning system device that indicates the coordinates of each of the plurality of calibration targets.