SYSTEM AND METHOD FOR ESTIMATING THREE-DIMENSIONAL MEASUREMENTS OF PHYSICAL OBJECTS

• US 20160334210A1
• Filed: 05/13/2016
• Published: 11/17/2016
• Est. Priority Date: 05/15/2015
• Status: Active Grant

• Current Assignee: TATA Consultancy Services Limited (Tata Sons Pvt Ltd.)
• Original Assignee: TATA Consultancy Services Limited (Tata Sons Pvt Ltd.)
• Inventors: DAS, Sudeb, MALLIK, Apurbaa, BHOWMICK, Brojeshwar, SINHA, Aniruddha, VISVANATHAN, Aishwarya
• Granted Patent: US 10,890,444 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 21/06 specially adapted for measuring length or width of objects while moving
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 5/00 Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels G01C3/20, G01C3/30 take precedence
• CPC Class Codes: G01P 15/18 in two or more dimensions
• CPC Class Codes: G01R 33/0206 Three-component magnetometers
• CPC Class Codes: G01V 7/06 Analysis or interpretation of gravimetric records

Abstract

Method and System for estimating three dimensional measurements of a physical object by utilizing readings from inertial sensors is provided. The method involves capturing by a handheld unit, three dimensional aspects of the physical object. The raw recordings are received from the inertial sensors and are used to develop a raw rotation matrix. The raw rotation matrix is subjected to low pass filtering to obtain processed matrix constituted of filtered Euler angles wherein coordinates from the processed rotation matrix is used to estimate gravitational component along the three axis leading to determination of acceleration values and further calculation of measurement of each dimension of the physical object.

Claims

1. ) A system for estimating three-dimensional measurements of a physical object, the system comprising:

a handheld unit for capturing three dimensional aspects of the physical object;

one or more process;

a memory coupled to the one or more processor, wherein the processor is capable for executing programmed instructions stored in the memory to;

receive the raw data recordings using a gyroscope, a magnetometer, and an accelerometer to develop a raw rotation matrix;

perform, low pass filtering of the rotation matrix to obtain processed Matrix constituted of filtered Euler angles;

estimate, gravitational component along X-axis, Y-axis and Z-axis by taking coordinates from the processed rotation matrix into consideration;

determine acceleration values by subtracting gravitational components from every raw data recordings obtained from the accelerometer;

calculate a distance covered by the accelerometer for each dimension;

estimate the measurement of each dimension of the physical object by summation of the distance calculated for each dimension covered by the accelerometer.

2. ) The system of claim 1, wherein the dimensions of the physical object is length, width and height.

3. ) The system of claim 1, wherein the physical object can be of both regular and irregular shape.

4. ) The system of claim 1, wherein for capturing three dimensional aspects of the physical object, one of the handheld unit and the physical object is moved while the other is kept stationary.

5. ) The system of claim 1, wherein the rotation matrix is a 3×

3 matrix wherein each element represents one coordinate describing rotated position of one of unit vectors relative to reference set of coordinates.

6. ) The system of claim 1, wherein the distance covered by the accelerometer is estimated using Newton'"'"'s law of motion.

7. ) The system of claim 1 is further configured to estimate structural information of the physical object.

8. ) A method for estimating three-dimensional measurements of a physical object, the method comprising:

capturing, by a handheld unit, three dimensional aspects of the physical object;

receiving, by a processor, the raw data recordings using a gyroscope, a magnetometer, and an accelerometer to develop a raw rotation matrix;

performing, by the processor, low pass filtering of the rotation matrix to obtain processed Matrix constituted of filtered Euler angles;

estimating, by the processor, gravitational component along X-axis, Y-axis and Z-axis by taking coordinates from the processed rotation matrix into consideration;

determining, by the processor, acceleration values by subtracting the estimated gravitational components from every raw data recordings obtained from the accelerometer;

calculating, by the processor, a distance covered by the accelerometer for each dimension;

estimating, by the processor, the measurement of each dimension of the physical object by summation of the distance calculated for each dimension covered by the accelerometer.

9. ) The method of claim 8, wherein the dimensions of the physical object is length, width and height.

11. ) The method of claim 8 is further configured to estimate structural information of the object.

12. ) The method of claim 8, wherein for capturing three dimensional aspects of the physical object, one of the handheld unit and the physical object is moved while the other is kept stationary.

13. ) The method of claim 8, wherein the rotation matrix is a 3×

3 matrix wherein each element represents one coordinate describing rotated position of one of unit vectors relative to reference set of coordinates.

14. ) The method of claim 8, wherein the distance covered by the accelerometer is estimated using Newton'"'"'s law of motion.

15. ) The method of claim 8, wherein the gravitational components X-axis, Y-axis and Z-axis are calculated by taking coordinates from the processed rotation matrix into consideration.

10. ) The method of claim herein the physical object can be of both regular and irregular shape.