×

Method and parallel processor computing apparatus for determining the three-dimensional coordinates of objects using data from two-dimensional sensors

  • US 5,386,370 A
  • Filed: 09/21/1993
  • Issued: 01/31/1995
  • Est. Priority Date: 07/19/1991
  • Status: Expired due to Term
First Claim
Patent Images

1. A method for analyzing electromagnetic radiation from each of a plurality of objects to determine the positions of the objects relative to a predetermined reference point, comprising the steps of:

  • (a) sensing each object using a first sensor whose position relative to the predetermined reference point is known, the first sensor sensing electromagnetic radiation from each object and providing first angular data defining first lines-of-sight from the first sensor to the respective objects;

    (b) sensing each object using a second sensor whose position relative to the predetermined reference point is known, the second sensor sensing electromagnetic radiation from each object and providing second angular data defining second lines-of-sight from the second sensor to the respective objects, said first and second sensors sensing objects over respective angular ranges that include locations at which the angle with respect to the first sensor is greater than the angle with respect to the second sensor, and locations at which the angle with respect to the first sensor is less than the angle with respect to the second sensor;

    (c) determining, for each object, a distance range line along its respective first line-of-sight from a predetermined minimum range to a predetermined maximum range independent of the relative intensities of electromagnetic radiation sensed by each sensor from said object;

    (d) converting the range line for each object relative to the first sensor to range line coordinates relative to the second sensor independent of the relative intensities of electromagnetic radiation sensed by each sensor from each object;

    (e) matching the respective second angular data for each object to said range line coordinates for the respective object independent of the relative intensities of electromagnetic radiation sensed by each sensor from each other;

    (f) determining, for each object relative to the second sensor and independent of the relative intensities of electromagnetic radiation sensed by each sensor from each object, a position point which corresponds to the closest approach of its respective second line-of-sight to its respective range line; and

    (g) determining, for each object relative to the predetermined reference point and independent of the relative intensities of electromagnetic radiation sensed by each sensor from each object, coordinates of its respective position point;

    said coordinates of the respective position points relative to the predetermined reference point specifying said positions of the respective objects relative to the reference point.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×