SYSTEMS AND METHODS FOR MAPPING SENSOR FEEDBACK ONTO VIRTUAL REPRESENTATIONS OF DETECTION SURFACES
First Claim
1. A method in a computing system of mapping onto a virtual representation of a detection surface feedback from an above-surface mobile detector of objects below the detection surface, the method comprising:
- receiving data characterizing a position and motion of the mobile detector from one or more of inertial sensors, a GPS receiver, ultrasound transducers, and optical sensors associated with the mobile detector;
determining, by the computing system and based on the received data, a pose of the mobile detector;
receiving information characterizing the detection surface from one or more imaging sensors associated with the mobile detector;
generating, by the computing system, a virtual representation of the detection surface based on the determined pose of the mobile detector and the received information characterizing the detection surface;
capturing feedback from the mobile detector regarding detection of an object below the detection surface at a certain time;
identifying a detected object location based on the captured feedback from the mobile detector and the determined pose of the mobile detector at the certain time; and
displaying a visualization of the identified detected object location integrated into the virtual representation of the detection surface.
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Abstract
Systems and methods for mapping sensor feedback onto virtual representations of detection surfaces are disclosed herein. A system configured in accordance with an embodiment of the present technology can, for example, record and process feedback from a sensing device (e.g., a metal detector), record and process user inputs from a user input device (e.g. user-determined locations of disturbances in the soil surface), determine the 3D position, orientation, and motion of the sensing device with respect to a detection surface (e.g., a region of land being surveyed for landmines) and visually integrate captured and computed information to support decision-making (e.g. overlay a feedback intensity map on an image of the ground surface). In various embodiments, the system can also determine the 3D position, orientation, and motion of the sensing device with respect to the earth'"'"'s absolute coordinate frame, and/or record and process information about the detection surface.
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Citations
23 Claims
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1. A method in a computing system of mapping onto a virtual representation of a detection surface feedback from an above-surface mobile detector of objects below the detection surface, the method comprising:
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receiving data characterizing a position and motion of the mobile detector from one or more of inertial sensors, a GPS receiver, ultrasound transducers, and optical sensors associated with the mobile detector; determining, by the computing system and based on the received data, a pose of the mobile detector; receiving information characterizing the detection surface from one or more imaging sensors associated with the mobile detector; generating, by the computing system, a virtual representation of the detection surface based on the determined pose of the mobile detector and the received information characterizing the detection surface; capturing feedback from the mobile detector regarding detection of an object below the detection surface at a certain time; identifying a detected object location based on the captured feedback from the mobile detector and the determined pose of the mobile detector at the certain time; and displaying a visualization of the identified detected object location integrated into the virtual representation of the detection surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for mapping feedback from a mobile subsurface object detector onto a virtual representation of a detection surface, the system comprising:
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one or more pose sensors, including— one or more inertial sensors configured to sense the position, orientation, heading, or motion of the mobile subsurface object detector; and an external reference point locator; an optical sensor configured to have a field of view of the detection surface; an input device configured to receive feedback from the mobile subsurface object detector; a processor configured to visually integrate the feedback from the mobile subsurface object detector onto a virtual representation of the detection surface; and a display device configured to display the virtual representation of the detection surface including the visually integrated feedback. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A system component for mapping sensor feedback from a detector of subsurface structure onto a virtual representation of a detection surface, the system component comprising:
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a detector pose component configured to record a pose of the detector; a detection surface component configured to record information about the detection surface; a user input component configured to record user input from a user input device; an object detection component configured to record detector feedback; a processing component configured to create a virtual representation of the detection surface based on the recorded pose of the detector and information about the detection surface; an object mapping component configured to map locations based on the recorded user input and detector feedback; and a display component configured to visually display the mapped locations integrated into the virtual representation of the detection surface. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification