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

• US 5,719,773 A
• Filed: 05/15/1997
• Issued: 02/17/1998
• 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:
  US08/856,735
• Time in Patent Office: 278 Days
• Field of Search: 364/453, 364/454, 364/458, 364/456, 364/516, 364/443, 364/449.1, 364/449.2, 382/104, 382/106, 382/103, 382/190, 382/199, 342/64, 342/66, 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 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 feature from the image;

generate at least one feature from said map data; and

relate at least one said extracted feature to at least one said generated feature, such that the passive sensor is related to the geographic environment, wherein said extracted feature comprises an observed horizon extracted from the image and wherein said generated feature comprises a synthetic horizon generated from said map data representative of the geographic environment as viewed by a hypothetical observer from an assumed pose.

2. The system of claim 1, wherein said process circuitry is operable to relate said observed horizon to said synthetic horizon, such that the passive sensor is related to the geographic environment.

3. The system of claim 2, wherein said process circuitry is operable to relate said observed horizon to said synthetic horizon according to a linear least squares cost function.

4. The system of claim 2, wherein said process circuitry is operable to adjust said assumed pose in response to said relation of the passive sensor to the geographic environment.

5. A method of 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 feature from the image;

generating at least one feature from map data representative of the geographic environment; and

relating at least one said extracted feature to at least one said generated feature, such that the passive sensor is related to the geographic environment, wherein said extracting step comprises the step of extracting an observed horizon from the from the image and wherein said generating step comprises the step of generating a synthetic horizon from said map data representative of the geographic environment as viewed by a hypothetical observer from an assumed pose.

6. The method of claim 5, wherein said relating step comprises the step of relating said observed horizon to said synthetic horizon, such that the passive sensor is related to the geographic environment.

7. The method of claim 6, wherein said relating step comprises the step of relating said observed horizon to said synthetic horizon according to a linear least squares cost function.

8. The method of claim 6, wherein said method further comprises the step of adjusting said assumed pose in response to said relation of the passive sensor to the geographic environment.