Passive range estimation using image size measurements
First Claim
1. A range estimation method which comprises the steps of:
- (a) providing a data base containing data for identification of certain targets and data for estimating an initial range to each of said certain targets as a function of observed dimensions of said targets;
(b) observing a scene containing a target a plurality of spaced apart times while moving relative to said target;
(c) obtaining data from each observation of said scene relating to a dimension of said target;
(d) identifying said target from said data base, and using the corresponding initial range from said data base to initially estimate a remaining range to said target; and
(e) thereafter repeatedly estimating the remaining range to said target from said data obtained by a respective said observation and from a prior estimation of the remaining range to said target.
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Abstract
A range estimation system and method which comprises a data base containing data for identification of certain targets and data for estimating the initial range to each of the targets as a function of the observed dimensions of the targets. A sensor (1) observes a scene containing a target a plurality of spaced apart times while the sensor is moving relative to the target to provide data from each observation of the scene relating to the dimensions of the target within the scene. The remaining range to the target is estimated from the observed dimensions of the target from the range traveled since a prior estimation of range and from a prior estimation of the remaining range to the target. The sensor (1) provides electrical signals representing the observed scene (3) and can be a visible light or infrared sensor. A computer (9) is used to identify the target from the data base, estimate the initial range to the target and estimate the remaining range from the range traveled between successive observations of the scene and the change of dimensions of the target in the observed scene.
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Citations
13 Claims
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1. A range estimation method which comprises the steps of:
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(a) providing a data base containing data for identification of certain targets and data for estimating an initial range to each of said certain targets as a function of observed dimensions of said targets; (b) observing a scene containing a target a plurality of spaced apart times while moving relative to said target; (c) obtaining data from each observation of said scene relating to a dimension of said target; (d) identifying said target from said data base, and using the corresponding initial range from said data base to initially estimate a remaining range to said target; and (e) thereafter repeatedly estimating the remaining range to said target from said data obtained by a respective said observation and from a prior estimation of the remaining range to said target. - View Dependent Claims (4, 5)
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2. A range estimation method, comprising the steps of:
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observing a scene containing an object at a plurality of successive points in time while moving relative to the scene; determining size information regarding the object from each observation of the scene; and estimating, in response to each observation of the scene, a range to the object as a function of the prior estimate of the range and as a function of the size information from the most recent observation of the scene. - View Dependent Claims (3, 6, 7)
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8. A range estimation system, comprising:
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means for observing a scene containing an object at a plurality of successive points in time while said means for observing is moving relative to the scene; means for determining size information regarding the object from each observation of the scene by said means for observing; and means for estimating, in response to each observation of the scene, a range to the object as a function of a prior estimate of the range and as a function of the size information from the most recent observation of the scene. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification