Method and system for geo-referencing and visualization of detected contaminants
First Claim
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1. A method for visualizing a scene, comprising:
- scanning the scene with a substance detector to detect a substance in the scene;
tracking scanning positions of the substance detector in the scene with respect to a first frame of reference;
storing data representing three-dimensional scanning positions of the substance detector in the first frame of reference;
displaying a view of the scene from a second frame of reference;
tracking changes in a relationship between the first frame of reference and the second frame of reference due to changes in position and orientation of the substance detector and/or the view of the scene;
retrieving the data representing the three-dimensional scanning positions of the substance detector in the first frame of reference;
transforming the data from the first frame of reference to the second frame of reference, taking into account the changes in the relationship between the first frame of reference and the second frame of reference; and
augmenting the displayed view of the scene with graphical element data that represents the three-dimensional scanning positions of the substance detector in the second frame of reference.
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Abstract
A system and method are provided for visualizing a scene that is monitored for substance contamination. The scene is scanned with a substance detector to detect a substance, such as a harmful chemical or biological substance. The position of the substance is determined. Graphical element data that represents the detected substance in the scene is generated. A displayed view of the scene is augmented with the graphical element data based on the position of the detected substance to show the detected substance in the view of the scene and provide the user with the location and type of detected substance shown with reference to the environment.
30 Citations
37 Claims
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1. A method for visualizing a scene, comprising:
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scanning the scene with a substance detector to detect a substance in the scene; tracking scanning positions of the substance detector in the scene with respect to a first frame of reference; storing data representing three-dimensional scanning positions of the substance detector in the first frame of reference; displaying a view of the scene from a second frame of reference; tracking changes in a relationship between the first frame of reference and the second frame of reference due to changes in position and orientation of the substance detector and/or the view of the scene; retrieving the data representing the three-dimensional scanning positions of the substance detector in the first frame of reference; transforming the data from the first frame of reference to the second frame of reference, taking into account the changes in the relationship between the first frame of reference and the second frame of reference; and augmenting the displayed view of the scene with graphical element data that represents the three-dimensional scanning positions of the substance detector in the second frame of reference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A system for visualizing a scene that is monitored for substance contamination, comprising:
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a detection subsystem comprising a substance detector that scans the scene to detect a substance, and a position tracker that tracks scanning positions of the substance detector with respect to a first frame of reference; and a storage subsystem that stores data representing three-dimensional scanning positions of the substance detector in the first frame of reference; a visualization subsystem that displays a view of the scene in a second frame of reference, wherein the visualization subsystem retrieves data from the storage subsystem and transforms the data from the first frame of reference to the second frame of reference taking into account changes in a relationship between the first frame of reference and the second frame of reference due to changes in position and orientation of the substance detector and/or the view of the scene, and wherein the visualization subsystem augments the view of the scene with data that represents the three-dimensional scanning positions of the substance detector in the second frame of reference the displayed view of the scene with graphical element data. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A method for training operators to the use of a surface contaminant sensor, comprising:
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a. generating virtual data simulating a view of a contamination scene where a virtual substance is present; b. deploying the operator at the simulated contamination scene while operating the surface contaminant sensor; c. detecting the virtual substance in the scene with the surface contaminant sensor and generating geo-referenced detection data representative thereof; and d. displaying the virtual data simulating a view of the contamination scene; e. augmenting the displayed view of the contamination scene with said geo-referenced data representing detection of the virtual substance to show the detected substance in the view of the contamination scene.
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33. A method for displaying data associated with a scene that is monitored for substance contamination, comprising:
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scanning the scene with a substance detector to detect a substance in the scene; tracking scanning positions of the substance detector in the scene with respect to a first frame of reference; storing data representing three-dimensional geo-referenced scanning positions of the substance detector in the first frame of reference; displaying video images for a three-dimensional view of the scene from a second frame of reference; tracking changes in a relationship between the first frame of reference and the second frame of reference due to changes in position and orientation of the substance detector and/or the view of the scene; retrieving the data representing the three-dimensional geo-referenced scanning positions of the substance detector in the first frame of reference; transforming the data from the first frame of reference to the second frame of reference, taking into account the changes in the relationship between the first frame of reference and the second frame of reference; and augmenting the displayed video images of the scene with graphical element data that represents the three-dimensional scanning positions of the substance detector in the second frame of reference. - View Dependent Claims (34, 35)
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36. A method for visualizing a scene that has been scanned by a sensor for hazardous substances, comprising:
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retrieving from a database data representing geo-referenced three-dimensional scanning positions of the sensor in a first frame of reference as the sensor is scanned through areas of the scene, wherein the data includes indications, if any, of substances detected by the sensor and geo-referenced three-dimensional positions of such detections in the scene; displaying a real-time view of the scene from a second frame of reference; tracking changes in a relationship between the first frame of reference and the second frame of reference due to changes in position and orientation of the view of the scene; transforming the data from the first frame of reference to the second frame of reference, taking into account the changes in the relationship between the first frame of reference and the second frame of reference; and augmenting the view of the scene with graphical element data that represents the three-dimensional scanning positions of the substance detector in the second frame of reference.
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37. A system, comprising:
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a database storage subsystem that stores data representing geo-referenced three-dimensional scanning positions of a sensor in a first frame of reference as the sensor is scanned through areas of a scene, wherein the data includes indications, if any, of substances detected by the sensor and geo-referenced three-dimensional positions of such detections in the scene; and a display subsystem that displays a real-time view of the scene from a second frame of reference, wherein the display subsystem comprises a processor that tracks changes in a relation between the first frame of reference and the second frame of reference due to changes in position and orientation of the view of the scene, transforms the data from the first frame of reference to the second frame of reference taking into account changes in the relationship between the first frame of reference and the second frame of reference, and augments the view of the scene with graphical element data that represents the three-dimensional scanning positions of the substance detector in the second frame of reference.
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Specification