Laser beam image contrast enhancement
First Claim
Patent Images
1. A mobile object equipped for position or orientation determination, comprising:
- a laser source configured to output a laser beam;
a polarization filter;
an imaging apparatus configured to receive an output of the polarization filter and output an image comprising a plurality of pixels; and
a processor in communication with the imaging apparatus and configured to;
identify a reflection of the laser beam from a marker in the image by performing image scanning to identify a threshold number of contiguous pixels of the plurality of pixels that are at or above a threshold intensity level; and
determine a position or an orientation of the mobile object relative to the marker based upon the identified reflection of the laser beam from the marker.
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Abstract
An apparatus and method for providing image contrast enhancement is disclosed. A mobile object is equipped with a laser source, polarization filter, and imaging apparatus. The reflection of the laser source output passes through the filter and is received by the imaging apparatus. If the output of the laser source impinges a metallic marker plate located at a pre-determined location, the filter decreases the intensity level of image components not associated with the reflection of the laser source output. The imaging apparatus uses such filtered image components to determine the position and/or orientation of the mobile object.
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Citations
18 Claims
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1. A mobile object equipped for position or orientation determination, comprising:
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a laser source configured to output a laser beam; a polarization filter; an imaging apparatus configured to receive an output of the polarization filter and output an image comprising a plurality of pixels; and a processor in communication with the imaging apparatus and configured to; identify a reflection of the laser beam from a marker in the image by performing image scanning to identify a threshold number of contiguous pixels of the plurality of pixels that are at or above a threshold intensity level; and determine a position or an orientation of the mobile object relative to the marker based upon the identified reflection of the laser beam from the marker. - View Dependent Claims (2, 3, 4, 5, 6, 7, 17, 18)
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8. A method for determining position or orientation of a mobile unit, comprising:
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providing a laser beam from a laser included in the mobile unit; generating an image comprising a plurality of pixels at an imaging apparatus; providing a filter in front of the imaging apparatus; and identifying a reflection of the laser beam from a marker in the image by performing image scanning to identify a threshold number of contiguous pixels of the plurality of pixels that are at or above a threshold intensity level; and determining a position or an orientation of the mobile unit relative to the marker based upon the identified reflection of the laser beam from the marker. - View Dependent Claims (9, 10, 11, 12)
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13. A system for determining a position or orientation of a mobile unit based on laser contrast enhancement, comprising:
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a target; and a mobile unit including; a laser configured to output a beam, an imaging apparatus configured to capture images, each captured image comprising a plurality of pixels, a polarization filter located in front of the imaging apparatus and configured to decrease intensity of incoming light not having a plane of polarization substantially parallel to a main plane of transmission of the polarization filter; a processor in communication with the imaging apparatus and configured to identify a reflection of the laser beam from the target in the captured images by performing image scanning to identify a threshold number of contiguous pixels in the captured images that are at or above a threshold intensity level; and a positioning system configured to determine a position of the mobile unit based on the identified reflection of the laser beam from the target. - View Dependent Claims (14, 15, 16)
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Specification