Methods and Apparatus for Position Estimation Using Reflected Light Sources
First Claim
1. A location estimation system for estimating a location of a self-propelled object, the system comprising:
- a first guidance device comprising;
a first modulator;
a first light source coupled to the first modulator,wherein the first modulator is configured to modulate light of the first light source using a first modulation;
wherein the first light source is configured to project modulated light,whereby a first spot is projected onto a first surface when the first light source is positioned for operation with the self-propelled object;
a second guidance device comprising;
a second modulator;
a second light source coupled to the second modulator,wherein the second modulator is configured to modulate light of the second light source using a second modulation, the second modulation distinct from the first modulation;
wherein the second light source is configured to project modulated light,whereby a second spot is projected onto a second surface when the second light source is positioned for operation with the self-propelled object;
a first detector configured to;
detect the first light spot based at least in part on the first modulation;
detect the second light spot based at least in part on the second modulation;
a data processing unit configured to;
determine that the self-propelled object is in a first room at least partly in response to detecting the first light spot;
determine a first location of the self-propelled object based at least in part on the first light spot;
determine that the self-propelled object is in a second room at least partly in response to detecting the second light spot; and
determine a second location of the self-propelled object based at least in part on the second light spot.
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Abstract
The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
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Citations
1 Claim
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1. A location estimation system for estimating a location of a self-propelled object, the system comprising:
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a first guidance device comprising; a first modulator; a first light source coupled to the first modulator, wherein the first modulator is configured to modulate light of the first light source using a first modulation; wherein the first light source is configured to project modulated light, whereby a first spot is projected onto a first surface when the first light source is positioned for operation with the self-propelled object; a second guidance device comprising; a second modulator; a second light source coupled to the second modulator, wherein the second modulator is configured to modulate light of the second light source using a second modulation, the second modulation distinct from the first modulation; wherein the second light source is configured to project modulated light, whereby a second spot is projected onto a second surface when the second light source is positioned for operation with the self-propelled object; a first detector configured to; detect the first light spot based at least in part on the first modulation; detect the second light spot based at least in part on the second modulation; a data processing unit configured to; determine that the self-propelled object is in a first room at least partly in response to detecting the first light spot; determine a first location of the self-propelled object based at least in part on the first light spot; determine that the self-propelled object is in a second room at least partly in response to detecting the second light spot; and determine a second location of the self-propelled object based at least in part on the second light spot.
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Specification