Inertial navigation sensor integrated obstacle detection system

• US 5,128,874 A
• Filed: 01/02/1990
• Issued: 07/07/1992
• Est. Priority Date: 01/02/1990
• Status: Expired due to Term

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Inventors: Roberts, Barry A., Bhanu, Bir
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/459,930
• Time in Patent Office: 917 Days
• Field of Search: 364/449, 364/453, 364/454, 364/458, 364/460, 364/461, 364/518, 342/54, 342/55, 342/65, 342/66, 358/103
• US Class Current: 701/301
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft

Abstract

A system that incorporates inertial sensor information into optical flow computations to detect obstacles and to provide alternative navigational paths free from obstacles. The system is a maximally passive obstacle detection system that makes selective use of an active sensor. The active detection typically utilizes a laser. Passive sensor suite includes binocular stereo, motion stereo and variable fields-of-view. Optical flow computations involve extraction, derotation and matching of interest points from sequential frames of imagery, for range interpolation of the sensed scene, which in turn provides obstacle information for purposes of safe navigation.

Claims

1. Inertial navigation sensor integrated optical system comprising:

a scene analysis unit for receiving screen imagery from sensors, and identifying and segmenting features of said imagery;

an integrated inertial navigation unit for detecting rotational and translational movements of a vehicle; and

an inertial sensor integrated optical flow unit connected to said integrated navigation unit for tracking the features of the scene imagery based on said rotation and translational movements of said vehicle, and to said scene analysis unit, for creating a map based on said scene imagery wherein range values to obstacles are calculated and alternate routes around the obstacles can be determined.

2. The apparatus of claim 1 further comprising;

at least one passive sensor connected to said screen analysis unit, for receiving reflected radiation from obstacles within the field of view of said passive sensor;

a selector unit connected to sad scene analysis unit and to said integrated inertial navigation unit for optionally providing active scanning wherein radiation is emitted from at least one active sensor and reflected off the obstacles, optionally providing passive scanning in the form of binocular and motion stereo, and optionally providing variable fields-of-view of a scene, wherein one of the obstacles can be detected and an alternate path to avoid the obstacle can be found with a selective aid of said active scanning, said passive scanning, and said variable fields-of-view of the scene; and

a range interpolation unit which computes approximate range values to portions of the obstacle between interest points extracted from the scene imagery of the obstacles, wherein the distances to the interest points are known.

3. The apparatus of claim 2 wherein said scene analysis unit comprises:

a context dependent image characterization unit connected to said passive sensor, to said integrated inertial navigation unit, to said inertial sensor integrated optical flow unit, and to said selector unit, for receiving said imagery from said passive sensor and identifying and segmenting said imagery into identifiable features of the scene within the field of view of said passive and active sensors;

a range predictor and smoother unit connected to said inertial integrated optical flow unit and to said integrated inertial navigation unit, utilizing frames of said imagery for determining locations of the interest points on the frames of said imagery; and

a qualitative scene model and range calculation unit connected to said inertial sensor integrated optical flow unit, to said range interpolation unit, to said range predictor and smoother unit, to said context dependent image characterization unit, and to said selector unit, for combining range calculations to the interest points with the locations of the interest points on the frames of said imagery.

4. The apparatus of claim 3 wherein said inertial sensor integrated optical flow unit comprises:

a first interest point extractor, connected to said scene analysis unit, for extracting interest points from a first frame of said imagery;

a second interest point extractor, connected to said scene analysis unit, for extracting interest points from a second frame of said imagery;

an interest point derotation unit connected to said second interest point extractor unit and to said integrated inertial navigation unit, for determining said translational movements of the vehicle between the said first and second frames of said imagery;

a focus of expansion computational unit connected to said integrated inertial navigational unit, for calculating the location of a common focus of expansion for the first and second frames of said imagery;

an interest point matching unit connected to said first interest point extractor, to said interest point derotation unit, to said integrated inertial navigational unit, and to said focus of expansion computational unit, for matching the common interest points which are extracted in the first frame of said imagery and the second frame of said imagery; and

a range to matched interest points measurement unit connected to said interest point matching unit, to said integrated inertial navigation unit, and to said range interpolation unit, for calculating the distance from the vehicle to some feature of the obstacle from which interest points were extracted.