Situational awareness for teleoperation of a remote vehicle
First Claim
1. A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle, the method comprising:
- receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image;
applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image;
combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and
displaying the 3D map display on an operator control unit used to control the remote vehicle.
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Accused Products
Abstract
A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle comprises: receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle.
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Citations
17 Claims
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1. A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle, the method comprising:
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receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle. - View Dependent Claims (2, 3, 4)
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5. A system for providing improved situational awareness for teleoperation of a remote vehicle having a chassis, the system comprising:
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a remote vehicle having a range data payload and a computational payload, the computation payload providing a visual odometry map construction for a 3D image; and an operator control unit including a display screen displaying the 3D image of an area around the remote vehicle. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system for providing improved situational awareness for teleoperation of a remote vehicle having a chassis, the system comprising:
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a remote vehicle having a range data payload and a computational payload, and a manipulator arm payload, the computation payload providing a visual odometry map construction for a 3D image; and an operator control unit including a display screen displaying the 3D image of an area around the remote vehicle, the 3D image being constructed from raw stereo vision data, visual odometry, fill-in algorithms, and plane fitting. - View Dependent Claims (16, 17)
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Specification