System and method for relating a passive sensor to a geographic environment

• US 5,576,964 A
• Filed: 06/07/1995
• Issued: 11/19/1996
• Est. Priority Date: 11/30/1992
• Status: Expired due to Term

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Choate, William C.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/475,693
• Time in Patent Office: 531 Days
• Field of Search: 364/453, 364/454, 364/458, 364/456, 364/514, 364/516, 364/443, 364/449, 382/103, 382/106, 382/190, 342/66, 342/64, 348/116, 348/117, 348/147, 348/139
• US Class Current: 701/223
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras

Abstract

A method and system are provided for relating a passive sensor (14) to a geographic environment (42, 44). The passive sensor (14) senses an image (40) of the geographic environment (42, 44). At least one feature (46) is extracted (26) from the image (40). At least one feature is generated (30) from map data (28) representative of the geographic environment. At least one extracted feature is related (22, 32) to at least one generated feature, such that the passive sensor (14) is related to the geographic environment (42, 44).

Claims

1. A system for relating a passive sensor to a geographic environment, the passive sensor being operable to sense an image of the geographic environment, comprising:

storage circuitry for storing map data having predetermined levels of complexity to relate with the image and representative of the geographic environment; and

process circuitry coupled to said storage circuitry and to the passive sensor and operable to;

extract at least one image range discontinuity from the image;

generate at least one map range discontinuity from said map data; and

relate said at least one said extracted image range discontinuity to said at least one said generated map range discontinuity with said predetermined levels of complexity, such that the passive sensor is related to the geographic environment.

2. The system of claim 1, wherein said process circuitry is operable to relate a position and attitude of the passive sensor to the geographic environment.

3. The system of claim 2, wherein said system further comprises an inertial navigation system coupled to said process circuitry for determining navigational information, wherein said inertial navigation system is operable to update said navigational information in response to said related position and attitude.

4. The system of claim 1, wherein said range discontinuity comprises a discontinuity contour boundary within the image between objects of the geographic environment at significantly different ranges away from the passive sensor.

5. The system of claim 1, wherein said range discontinuity comprises an intraterrain discontinuity contour boundary within the image.

6. The system of claim 1, wherein said extracted image range discontinuity comprises an observed horizon extracted from the image.

7. A method relating a passive sensor to a geographic environment, comprising the steps of:

sensing an image of the geographic environment with the passive sensor;

extracting at least one image range discontinuity from the image;

generating at least one map range discontinuity from map data having predetermined levels of complexity to relate to the image and representative of the geographic environment; and

relating at least one said extracted image range discontinuity to at least one said generated map range discontinuity with said predetermined levels of complexity, such that the passive sensor is related to the geographic environment.

8. The method of claim 7, wherein said relating step comprises the step of relating a position and attitude of the passive sensor to the geographic environment.

9. The method of claim 8, wherein said method further comprises the step of updating navigational information of an inertial navigation system in response to said related position and attitude.

10. The method of claim 9, wherein said extracting step comprises the step of delineating a discontinuity contour boundary within the image between objects of the geographic environment at significantly different ranges away from the passive sensor.

11. The method of claim 10, wherein said delineating step comprises the step of delineating an intraterrrain discontinuity contour boundary within the image.

12. The method of claim 7, wherein said extracting step comprises the step of extracting an observed horizon from the image.