Using structured light to update inertial navigation systems
First Claim
1. A navigation system comprising:
- a host unit having;
a positioning device that determines at least one of a first absolute position and a first absolute orientation of the host unit;
a first communication device that communicates signals;
a first processor; and
a first memory;
a remote unit having;
a second communication device that receives the signals from the first communication device;
a second processor; and
a second memory;
wherein at least one of the first processor and the second processor compares first aspects of a known pattern with second aspects of an image of a captured pattern positioned on a surface at at least one of the host unit and the remote unit;
wherein at least one of the first processor and the second processor determines at least one of a relative position and a relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects;
wherein at least one of the first processor and the second processor determines at least one of;
a second absolute position of the remote unit based on the first absolute position and the relative position; and
a second absolute orientation of the remote unit based on the first absolute orientation and the relative orientation; and
wherein the signals include data selected from the group consisting of the first absolute position, the first absolute orientation, the relative position, the relative orientation, the second absolute position, and the second absolute orientation, wherein the data is communicated from the host unit to the remote unit using the first communication device and the second communication device.
1 Assignment
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Accused Products
Abstract
A navigation system includes host and remote units. Host unit includes positioning device to determine absolute position/orientation of host unit; first communication device to communicate signals; first processor; and first memory. Remote unit includes second communication device to receive signals from first communication device; second processor; and second memory. First or second processor compares first aspects of known pattern with second aspects of image of captured pattern positioned on surface at either host unit or remote unit. First or second processor determines relative position/orientation of remote unit relative to host unit based on comparison of first aspects and second aspects. First or second processor determines absolute position/orientation of remote unit based on relative position/orientation of remote unit relative to host unit and absolute position/orientation of host unit. Either absolute position/orientation of host unit or absolute position/orientation of remote unit are communicated from host unit to remote unit.
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Citations
20 Claims
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1. A navigation system comprising:
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a host unit having; a positioning device that determines at least one of a first absolute position and a first absolute orientation of the host unit; a first communication device that communicates signals; a first processor; and a first memory; a remote unit having; a second communication device that receives the signals from the first communication device; a second processor; and a second memory; wherein at least one of the first processor and the second processor compares first aspects of a known pattern with second aspects of an image of a captured pattern positioned on a surface at at least one of the host unit and the remote unit; wherein at least one of the first processor and the second processor determines at least one of a relative position and a relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects; wherein at least one of the first processor and the second processor determines at least one of; a second absolute position of the remote unit based on the first absolute position and the relative position; and a second absolute orientation of the remote unit based on the first absolute orientation and the relative orientation; and wherein the signals include data selected from the group consisting of the first absolute position, the first absolute orientation, the relative position, the relative orientation, the second absolute position, and the second absolute orientation, wherein the data is communicated from the host unit to the remote unit using the first communication device and the second communication device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method comprising:
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capturing an image of a pattern from a surface at an imaging device, wherein one of the imaging device and the pattern is positioned at a host unit and the other is positioned at a remote unit, the host unit and the remote unit including at least one processor; comparing first aspects of the image of the pattern with second aspects of a predetermined pattern using the at least one processor; determining at least one of a relative position and a relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects using the at least one processor; receiving at least one of a first absolute position and a first absolute orientation of the host unit at the at least one processor; determining at least one of; a second absolute position of the remote unit based on the relative position of the remote unit relative to the host unit and the first absolute position of the host unit using the at least one processor; and a second absolute orientation of the remote unit based on the relative orientation of the remote unit relative to the host unit and the first absolute orientation of the host unit using the at least one processor; and communicating data from the host unit to the remote unit, the data selected from the group consisting of the first absolute position, the first absolute orientation, the relative position, the relative orientation, the second absolute position, and the second absolute orientation. - View Dependent Claims (13, 14, 15)
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16. A system comprising:
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an image sensor configured to capture an image of a pattern positioned on a remote surface, wherein the remote surface is positioned at a device remote to the system; a processor configured to; receive at least one of a first absolute position and a first absolute orientation of the system; compare first aspects of the image of the pattern with second aspects of a predetermined pattern; and determine at least one of a relative position and a relative orientation of the system relative to the remote surface based on the comparison of the first aspects and the second aspects; a communication device configured to at least one of; receive at least one of the first absolute position and the first absolute orientation from the device remote to the system; receive at least one of the relative position and the relative orientation of the system relative to the remote surface from the device remote to the system; transmit at least one of the relative position and the relative orientation of the system relative to the remote surface to the device remote to the system; and transmit at least one of a second absolute position and a second absolute orientation of the remote surface to the device remote to the system; and wherein at least one of; the second absolute position of the remote surface is determined based on the relative position of the system relative to the remote surface and the first absolute position of the remote surface; and the second absolute orientation of the remote surface is determined based on the relative orientation of the system relative to the remote surface and the first absolute orientation of the remote surface. - View Dependent Claims (17, 18, 19, 20)
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Specification