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Moving imager camera for track and range capture

  • US 6,693,666 B1
  • Filed: 12/11/1997
  • Issued: 02/17/2004
  • Est. Priority Date: 12/11/1996
  • Status: Expired due to Term
First Claim
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1. A moving imager camera comprising:

  • a first positioning mechanism capable of three-dimensional movement;

    a first imaging device having an imaging surface, the first imaging device being mounted upon a surface of the first positioning mechanism such that the first imaging device moves in concert with motion of the surface of the first positioning mechanism;

    a first measurement system operable to determine a position of the first imaging device within an external frame of reference defined by three axes X, Y, and Z;

    a first lens having a focal surface and a field of coverage, the first lens arranged such that the focal surface coincides with the imaging surface of the first imaging device, the field of coverage of the first lens being larger than the optically sensitive area of the imaging surface; and

    a processor configured to perform an automated range computation to determine the distance from the camera to an object within the field of coverage, the automated range computation comprising comparing (1) data associated with a first set of image data generated by the first imaging device while in a first position of the first imaging device within the field of coverage of the first lens with (2) data associated with a second set of image data generated by the first image device while in a second position of the first imaging device within the field of coverage of the first lens;

    wherein the position of the first lens relative to the object remains fixed during the generation of the first set of image data and the second set of image data and the automated range computation is based at least in part on parallel epipolar geometry.

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