IMAGING BASED STABILIZATION
First Claim
Patent Images
1. An apparatus comprising mobile part, the mobile part comprising:
- a first light emitter for forming a first light emission comprising a plurality of emitted rays on a cone or cylinder that is symmetrical about a central axis of the mobile part; and
a first imager for acquiring images from a point of view along the central axis showing an illumination pattern at intersections of the emitted rays and a first surface upon which the first light emission impinges;
wherein the apparatus further includes a first estimator for processing the acquired images and using the acquired images to determine at least one of (a) an orientation of the central axis of the apparatus with respect to the first surface, and (b) a distance from the surface along the central axis.
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Abstract
An image-based sensor system for a mobile unit makes use of light emitters and imagers to acquire illumination patterns of emitted light impinging on the floor and/or walls surrounding the unit. The illumination pattern is used to estimate location and/or orientation of the unit. These estimates are used for one or more functions of stabilization, calibration, localization, and mapping of or with respect to the unit.
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Citations
21 Claims
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1. An apparatus comprising mobile part, the mobile part comprising:
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a first light emitter for forming a first light emission comprising a plurality of emitted rays on a cone or cylinder that is symmetrical about a central axis of the mobile part; and a first imager for acquiring images from a point of view along the central axis showing an illumination pattern at intersections of the emitted rays and a first surface upon which the first light emission impinges; wherein the apparatus further includes a first estimator for processing the acquired images and using the acquired images to determine at least one of (a) an orientation of the central axis of the apparatus with respect to the first surface, and (b) a distance from the surface along the central axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for calibrating a image-guided apparatus, comprising:
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placing the apparatus in a calibration unit, the calibration unit having a substantially cylindrical inner surface, the apparatus being placed to align a central axis of the apparatus with the central axis of the cylinder; emitting a light emission from a light emitter affixed to the apparatus, the light emission comprising rays in a symmetrical pattern about the central axis, the rays impinging on the inner surface of the cylinder; acquiring images from an imager affixed to the apparatus, the images showing an illumination pattern at intersections of the emitted rays and the inner surface of the cylinder; and calibrating an estimator of the apparatus according to known dimensions of the calibration unit and the illumination pattern.
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Specification