Methods and system for communication and displaying points-of-interest

• US 8,116,526 B2
• Filed: 11/24/2008
• Issued: 02/14/2012
• Est. Priority Date: 05/22/2006
• Status: Active Grant

• Current Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Original Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Inventors: Sroka, Igal, Solomon, Ofer, Bar Yosef, Guy
• Primary Examiner(s): Chang, Jon
• Application Number:
  US12/276,446
• Publication Number:
  US 20090097710A1
• Time in Patent Office: 1,177 Days
• Field of Search: 382/103, 382/201, 382/276, 382/278, 382/291
• US Class Current: 382/103
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 2207/20101 Interactive definition of point of interest, landmark or seed
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/32 using correlation-based methods
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

A method for displaying point-of-interest coordinate locations in perspective images and for coordinate-based information transfer between perspective images on different platforms includes providing a shared reference image of a region overlapping the field of view of the perspective view. The perspective view is then correlated with the shared reference image so as to generate a mapping between the two views. This mapping is then used to derive a location of a given coordinate from the shared reference image within the perspective view and the location is indicated in the context of the perspective view on a display.

Claims

1. A method for providing a point-of-interest direction vector to an automated system, the method comprising:

(a) providing an imaging sensor mounted in known geometric relation to at least part of the automated system;

(b) deriving from said imaging sensor a perspective view;

(c) providing a shared reference image of a region at least partially overlapping a field of view of the perspective view, said shared reference image being associated with a defined coordinate system;

(d) correlating the perspective view with said shared reference image so as to generate a mapping between said shared reference image and said perspective view;

(e) employing said mapping to derive a location of a point-of-interest coordinate from said shared reference image within the perspective view; and

(f) providing to the automated system a point-of-interest direction vector indicative of a direction from the at least part of the automated system to the point-of-interest.

2. The method of claim 1, wherein the automated system includes a helmet worn by a user, wherein the image sensor is provided mounted on said helmet.

3. The method of claim 2, wherein the automated system further includes a head-up display, the method further comprising displaying a symbol visible to a user aligned with the point-of-interest direction vector.

4. The method of claim 3, wherein said head-up display is implemented as a helmet-mounted display.

5. The method of claim 3, further comprising, in a case where said location of the given coordinate in said shared reference image lies outside the perspective view, indicating on said head-up display a direction of angular displacement of the imaging device required to bring said location within the perspective view.

6. The method of claim 5, further comprising indicating on said head-up display a magnitude of angular displacement of the imaging device required to bring said location within the perspective view.

7. The method of claim 1, wherein the automated system includes an optical sight, the method further comprising displaying a symbol visible to a user aligned with the point-of-interest direction vector.

8. The method of claim 1, wherein the automated system includes a head-up display, the method further comprising displaying a symbol visible to a user aligned with the point-of-interest direction vector.

9. The method of claim 1, wherein the automated system includes a helmet-mounted display, the method further comprising displaying a symbol visible to a user aligned with the point-of-interest direction vector.

10. The method of claim 1, wherein the automated system includes an aimable device, the method further comprising automatically aligning said aimable device with the point-of-interest direction vector.

11. The method of claim 1, wherein the automated system includes a navigatable device, the method further comprising employing the point-of-interest direction vector to navigate said navigatable device to the point-of-interest.

12. The method of claim 1, wherein the automated system includes an inertial navigation system, the method further comprising employing the point-of-interest direction vector to correct errors of the inertial navigation system.

13. The method of claim 1, wherein the automated system includes an imaging sensor controller configured for controlling a direction of regard of at least said imaging sensor, the method further comprising, in a case where said location of the given coordinate in said shared reference image lies outside the field of view of the imaging sensor, activating said imaging sensor controller to automatically re-align said imaging sensor to bring said location within the field of view.

14. An apparatus for providing a point-of-interest direction vector to an automated system, the point-of-interest being designated by a coordinate in a shared reference image, the apparatus comprising:

(a) an imaging sensor mounted in known geometric relation to at least part of the automated system;

(b) a data storage device for storing data corresponding to a shared reference image of a region at least partially overlapping a field of view of said image sensor, said shared reference image having a defined coordinate system;

(c) an input arrangement for inputting coordinates in said shared reference image of the point-of-interest; and

(d) a processing system associated with said imaging sensor, said data storage device, said input arrangement and the automated system, said processing system being configured for;

(i) correlating a perspective view generated by said imaging sensor with said shared reference image so as to generate a

mapping between said perspective view and said shared reference image;

(ii) employing said mapping to derive a location of an input coordinate from said shared reference image within the perspective view; and

(iii) providing to the automated system a point-of-interest direction vector indicative of a direction from the at least part of the automated system to the point-of-interest.

15. The apparatus of claim 14, wherein the automated system includes a helmet worn by a user, wherein said image sensor is mounted on said helmet.

16. The apparatus of claim 15, wherein the automated system further includes a head-up display, the automated system being configured to provide a symbol visible to a user aligned with the point-of-interest direction vector.

17. The apparatus of claim 16, wherein said head-up display is implemented as a helmet-mounted display.

18. The apparatus of claim 14, wherein the automated system includes an optical sight, the automated system being configured to provide a symbol visible to a user aligned with the point-of-interest direction vector.

19. The apparatus of claim 14, wherein the automated system includes a head-up display, the automated system being configured to provide a symbol visible to a user aligned with the point-of-interest direction vector.

20. The apparatus of claim 14, wherein the automated system includes a helmet-mounted display, the automated system being configured to provide a symbol visible to a user aligned with the point-of-interest direction vector.

21. The apparatus of claim 14, wherein the automated system includes an aimable device, the automated system being configured to automatically align said aimable device with the point-of-interest direction vector.

22. The apparatus of claim 14, wherein the automated system includes a navigatable device, the automated system being configured to employ the point-of-interest direction vector to navigate said navigatable device to the point-of-interest.

23. The apparatus of claim 14, wherein the automated system includes an inertial navigation system, automated system being configured to employ the point-of-interest direction vector to correct errors of the inertial navigation system.

24. The apparatus of claim 14, further comprising an imaging sensor controller configured for controlling a direction of regard of at least said imaging sensor, wherein said processing system is further configured to actuate said imaging sensor controller such that, in a case where said location of the given coordinate in said shared reference image lies outside the field of view of the imaging sensor, said imaging sensor controller automatically re-aligns said imaging sensor to bring said location within the field of view.