3-dimensional perception system and method for mobile platform

• US 8,219,274 B2
• Filed: 07/02/2009
• Issued: 07/10/2012
• Est. Priority Date: 07/02/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Becker, Jan, Kammel, Soeren, Pitzer, Benjamin
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US12/497,160
• Publication Number:
  US 20110004366A1
• Time in Patent Office: 1,104 Days
• Field of Search: 701/23, 701/28, 700/245, 318/568.12, 318/567, 706/45
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

In one embodiment, an autonomously navigated mobile platform includes a support frame, a projector supported by the frame, a sensor supported by the frame, a memory including a plurality of program instructions stored therein for generating an encoded signal using a phase shifting algorithm, emitting the encoded signal with the projector, detecting the emitted signal with the sensor after the emitted signal is reflected by a detected body, associating the detected signal with the emitted signal, identifying an x-axis dimension, a y-axis dimension, and a z-axis dimension of the detected body, and one or more of a range and a bearing to the detected body, based upon the associated signal, identifying a present location of the mobile platform, navigating the mobile platform based upon the identified location, and a processor operably connected to the memory, to the sensor, and to the projector for executing the program instructions.

Claims

1. An autonomously navigated mobile platform comprising:

a support frame;

a projector supported by the frame;

a sensor supported by the frame;

a memory including a plurality of program instructions stored therein for

generating an encoded signal using a phase shifting algorithm,

emitting the encoded signal with the projector,

detecting the emitted signal with the sensor after the emitted signal is reflected by a detected body,

associating the detected signal with the emitted signal,

identifying an x-axis dimension, a y-axis dimension, and a z-axis dimension of the detected body, and one or more of a range and a bearing to the detected body, based upon the associated signal,

identifying a present location of the mobile platform,

navigating the mobile platform based upon the identified location; and

a processor operably connected to the memory, to the sensor, and to the projector for executing the program instructions.

2. The platform of claim 1, wherein the first identifying step comprises:

phase unwrapping the detected signal.

3. The platform of claim 2, wherein phase unwrapping comprises:

using a first phase image and a second phase image to phase unwrap the detected signal.

4. The platform of claim 3, wherein the second phase image has a period that is shorter than the period of the first phase image.

5. The platform of claim 2, wherein phase unwrapping comprises:

using a plurality of phase images, each of the plurality of phase images having a period that is different from the period of the other of the plurality of phase images.

6. The platform of claim 5, wherein the plurality of phase images are obtained in an order starting with a first of the plurality of phase images and progressing to a last of the plurality of phase images, with each of the subsequent of the plurality of images in the order having a period that is shorter than the previously obtained phase image of the plurality of phase images in the order.

7. The platform of claim 6, wherein the last of the plurality of phase images is unwrapped using another of the plurality of phase images.

8. The platform of claim 7, further comprising:

a database of three dimensional data associated with a plurality of known objects stored within the memory, wherein the plurality of program instructions further comprise program instructions for associating the determined x-axis dimension, y-axis dimension, and z-axis dimension of the detected object with one of the plurality of known objects.

9. The platform of claim 8, the plurality of program instructions further comprising:

program instructions for identifying the location of each of a plurality of detected objects with respect to at least one of the plurality of known objects.

10. An autonomously navigated mobile platform comprising:

a support frame;

a projector supported by the frame;

a sensor supported by the frame;

a memory including a plurality of program instructions stored therein for

generating an encoded signal using a phase shifting algorithm,

emitting the encoded signal with the projector,

detecting the emitted signal with the sensor after the emitted signal is reflected by a detected body,

associating the detected signal with the emitted signal,

identifying an x-axis dimension, a y-axis dimension, and a z-axis dimension of the detected body, and one or more of a range and a bearing to the detected body, based upon the associated signal,

identifying a present location of the mobile platform, and

navigating the mobile platform based upon the identified location;

a processor operably connected to the memory, to the sensor, and to the projector for executing the program instructions; and

a database of three dimensional data associated with a plurality of known objects stored within the memory, wherein

the plurality of program instructions further comprise program instructions for associating the identified x-axis dimension, y-axis dimension, and z-axis dimension of the detected object with one of the plurality of known objects, and

identifying a present location further comprises identifying the present location based upon associating the identified x-axis dimension, y-axis dimension, and z-axis dimension of the detected object with one of the plurality of known objects.

11. A method of operating an autonomously navigated mobile platform comprising:

generating an encoded signal using a phase shifting algorithm;

emitting the encoded signal with a projector;

detecting the emitted signal with a sensor after the emitted signal is reflected by a detected body;

associating the detected signal with the emitted signal;

identifying an x-axis dimension data, a y-axis dimension data, and a z-axis dimension data of the detected body, and one or more of a range data and a bearing data to the detected body, based upon the associated signal;

storing the identified data in a memory;

executing first program instructions with a processor supported by the mobile platform to identify a present location of the mobile platform; and

executing second program instructions with the processor to navigate the mobile platform based upon the identified location.

12. The method of claim 11, further comprising:

associating the identified x-axis dimension, y-axis dimension, and z-axis dimension of the detected object with one of a plurality of known objects; and

wherein executing first program instructions further comprises;

identifying the present location based upon associating the identified x-axis dimension, y-axis dimension, and z-axis dimension of the detected object with one of the plurality of known objects.

13. The method of claim 11, wherein identifying comprises:

phase unwrapping the detected signal.

14. The method of claim 13, wherein phase unwrapping comprises:

using a first phase image and a second phase image to phase unwrap the detected signal.

15. The method of claim 14, wherein the second phase image has a period that is shorter than the period of the first phase image.

16. The method of claim 13, wherein phase unwrapping comprises:

using a plurality of phase images, each of the plurality of phase images having a period that is different from the period of the other of the plurality of phase images.

17. The method of claim 16, wherein emitting the encoded signal comprises:

emitting a first encoded signal with a first period; and

emitting a second encoded signal with a second period, wherein the second encoded signal is emitted after the first encoded signal is emitted and wherein the second period is selected based upon the first period.

18. The method of claim 17, wherein:

a first phase image is generated based upon the first encoded signal;

a second phase image is generated based upon the second encoded signal; and

the second phase image is unwrapped using the first phase image.

19. The method of claim 11, further comprising:

storing characterization data for a plurality of known objects within the memory;

associating the identified data with characterization data for one of the plurality of known objects.

20. The method of claim 11, the plurality of program instructions further comprising:

storing characterization data for a plurality of known objects within the memory;

identifying the location of the detected object with respect to at least one of the plurality of known objects.