Distributed Position Identification

• US 20140098990A1
• Filed: 10/09/2012
• Published: 04/10/2014
• Est. Priority Date: 10/09/2012
• Status: Active Grant

• Current Assignee: University of Tokyo
• Original Assignee: The Boeing Co.
• Inventors: Vian, John Lyle, Saad, Emad William, Reynolds, Carson Jonathan
• Granted Patent: US 9,214,021 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/20 in augmented reality scenes

Abstract

A method and apparatus for identifying a position of a mobile platform. Images are provided by a camera system on a first mobile platform. The images include images of a second platform. An identified position of the first mobile platform is generated using the images and the position information for the second platform. The position information for the second platform identifies a location of the second platform.

Claims

1. A method for identifying a position of a mobile platform, the method comprising:

receiving, by a processor unit, images provided by a camera system on a first mobile platform, wherein the images include images of a second platform; and

determining, by the processor unit, an identified position of the first mobile platform using the images and position information for the second platform, wherein the position information for the second platform identifies a location of the second platform.

2. The method of claim 1 further comprising:

identifying, by the processor unit, an accuracy of the identified position of the first mobile platform.

3. The method of claim 2 further comprising:

using the accuracy of the identified position of the first mobile platform to control the first mobile platform.

4. The method of claim 2 further comprising:

displaying the identified position of the first mobile platform and the accuracy of the identified position of the first mobile platform.

5. The method of claim 1, wherein the position information for the second platform is generated using images provided by a camera system on the second platform.

6. The method of claim 1, wherein the first mobile platform and the second platform are selected from a robot and an unmanned air vehicle.

7. An apparatus comprising:

a camera system on a first mobile platform, wherein the camera system is configured to provide images and wherein the images include images of a second mobile platform;

a communications system configured to receive position information for the second mobile platform, wherein the position information for the second mobile platform identifies a location of the second mobile platform; and

a position identifier configured to determine an identified position of the first mobile platform using the images and the position information for the second mobile platform.

8. The apparatus of claim 7, wherein the position identifier is further configured to identify an accuracy of the identified position of the first mobile platform.

9. The apparatus of claim 8 further comprising:

a platform controller configured to use the accuracy of the identified position of the first mobile platform to control the first mobile platform.

10. The apparatus of claim 9, wherein the platform controller is further configured to display the identified position of the first mobile platform and the accuracy of the identified position of the first mobile platform.

11. The apparatus of claim 7, wherein the position information for the second mobile platform is generated using images provided by a camera system on the second mobile platform.

12. The apparatus of claim 7, wherein the identified position of the first mobile platform is a first identified position and wherein the position identifier is further configured to:

determine a second identified position of the first mobile platform without using the position information for the second mobile platform; and

determine a final identified position of the first mobile platform using the first identified position of the first mobile platform and the second identified position of the first mobile platform.

13. The apparatus of claim 7, wherein the first mobile platform and the second mobile platform are selected from a robot and an unmanned air vehicle.

14. A method for identifying a position of a mobile platform, comprising:

determining, by a processor unit, a plurality of identified positions for the mobile platform using a plurality of different methods; and

combining, by the processor unit, the plurality of identified positions for the mobile platform to generate a final identified position for the mobile platform.

15. The method of claim 14, wherein the mobile platform is a first mobile platform and wherein one of the plurality of different methods comprises:

receiving, by the processor unit, images provided by a camera system on the first mobile platform, wherein the images include images of a second mobile platform;

receiving, by the processor unit, position information for the second mobile platform, wherein the position information for the second mobile platform identifies a location of the second mobile platform; and

determining, by the processor unit, one of the plurality of identified positions for the mobile platform using the images and the position information for the second mobile platform.

16. The method of claim 15, wherein the position information for the second mobile platform is generated using images provided by a camera system on the second mobile platform.

17. The method of claim 14 further comprising:

identifying, by the processor unit, an accuracy of the final identified position for the mobile platform.

18. The method of claim 17 further comprising:

using the accuracy of the final identified position for the mobile platform to control the mobile platform.

19. The method of claim 17 further comprising:

displaying the final identified position for the mobile platform and the accuracy of the final identified position for the mobile platform.

20. The method of claim 14, wherein the mobile platform is selected from a robot and an unmanned air vehicle.