CODED LOCALIZATION SYSTEMS, METHODS AND APPARATUS

• US 20150219437A1
• Filed: 01/03/2013
• Published: 08/06/2015
• Est. Priority Date: 01/03/2012
• Status: Active Grant

• Current Assignee: Ascentia Imaging, Inc.
• Original Assignee: Ascentia Imaging, Inc.
• Inventors: Dowski, Edward R., Sissom, Bradley, Johnson, Gregory
• Granted Patent: US 9,534,884 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A coded localization system includes a plurality of optical channels arranged to cooperatively image at least one object onto a plurality of detectors. Each of the channels includes a localization code that is different from any other localization code in other channels, to modify electromagnetic energy passing therethrough. Output digital images from the detectors are processable to determine sub-pixel localization of the object onto the detectors, such that a location of the object is determined more accurately than by detector geometry alone. Another coded localization system includes a plurality of optical channels arranged to cooperatively image partially polarized data onto a plurality of pixels. Each of the channels includes a polarization code that is different from any other polarization code in other channels to uniquely polarize electromagnetic energy passing therethrough. Output digital images from the detectors are processable, to determine a polarization pattern for a user of the system.

Claims

1. Coded localization system, comprising:

plurality of optical channels arranged to cooperatively capture information from at least one object onto a plurality of detectors;

the optical channels having a localization code to optically modify electromagnetic energy passing therethrough,

such that output data from the detectors are processable to determine localization of said object onto said detectors, and such that location of the object is determined more accurately than by detector geometry alone.

2. The system of claim 1, the localization code varying as a function of spatial or range location of the data or the object, and consisting of one of:

intensity screen, wavelength, phase screen, mask, aperture pattern, and polarization sensitive material.

3. The system of claim 1, the localization code comprising intensity code structure occupying frequency spaces corresponding to object frequency spectrum and having periodicity greater or equal to periodicity of the detectors.

7. The system of claim 1, wherein at least one of the channels has no localization code and measures average value of electromagnetic energy.

8. The system of claim 1, further comprising a processing subsystem having a plurality of algorithms configured to process said data and provide at least one of a range estimate for the object and localization information for the object.

13. The system of claim 1, further comprising:

plurality of second optical channels arranged to cooperatively capture information from at least said object onto a second plurality of detectors;

the second optical channels having a localization code to optically modify electromagnetic energy passing therethrough,

such that output second data from the second detectors are processable to determine localization of said object onto said detectors, and such that location of the object is determined more accurately than by second detector geometry alone, wherein the first and second data is processable to determine at least one of angle and range to said object.

4. (canceled)

5. (canceled)

6. (canceled)

9. (canceled)

10. (canceled)

11. (canceled)

12. (canceled)

14. (canceled)

15. Coded localization polarization measurement system, comprising:

plurality of optical channels arranged to cooperatively capture information from partially polarized objects onto a plurality of detectors;

the optical channels having a polarization code to uniquely polarize electromagnetic energy passing therethrough,

such that output data from the detectors are processable, to determine polarization pattern

and determine if said pattern differs from a model.

16. The polarization measurement system of claim 15, the partial polarized data comprising the sky, the output data sampling polarization pattern of the sky.

17. The polarization measurement system of claim 15, further comprising a processing subsystem having a plurality of algorithms and configured to process said data and provide compass heading.

19. The polarization measurement system of claim 17, the processing subsystem comprising at least one of Fourier processing and an inner product with a signal of interest.

21. The polarization measurement system of claim 17, the processing subsystem adjusting exposure to maximize partial polarization SNR.

23. The polarization measurement system of claim 17, wherein

the compass heading is usable in (a) a vehicle as feedback to stabilize heading, (b) a machine that affects local magnetic field to determine heading.

18. (canceled)

20. (canceled)

22. (canceled)

24. (canceled)

25. Coded localization navigation system, comprising:

plurality of optical channels arranged to cooperatively capture information from a moving scene onto a plurality of detectors;

each of the optical channels determining its two dimensional change in motion of the scene;

a rigid body model coupling output from the channels to constrain a global change in location and orientation to a physical motion; and

a processing subsystem for decomposing data from each channel into a global motion vector.

26. The system of claim 25, the optical channels providing non-parallel measurements in at least one of pointing direction, angle, orientation, magnification, and time.

30. The system of claim 25, the motion vectors usable in a vehicle for navigation.

27. (canceled)

28. (canceled)

29. (canceled)

31. Coded localization system, comprising:

plurality of coded localization channels wherein the system has Fisher Information greater than an optical system without localization codes.

32. A method of localizing optical data, comprising:

cooperatively imaging at least one object onto a plurality of detectors while implementing localization codes on each optical channel; and

processing output data from the detectors to determine localization of said object onto said detectors such that location of the object is determined more accurately than by detector geometry alone.

33. (canceled)

34. (canceled)

35. A method for controlling a vehicle, comprising:

utilizing a coded localization system to determine a present heading of the vehicle;

utilizing a global positioning system (GPS) to determine a current location of the vehicle;

determining a desired heading for the vehicle by comparing the current location of the vehicle with a desired destination; and

adjusting the heading of the vehicle from the present heading to the desired heading.

36. The method of claim 35, the step of utilizing the coded localization system including utilizing the coded localization system to identify a position of a known object in reference to the vehicle.

37. (canceled)