Light receiver position determination
First Claim
1. A non-transitory computer readable medium encoded with a computer program, including instructions to cause a processor to:
- access a sequence of images of at least a portion of an array of spatially separated modulated and unmodulated lights recorded by an image capture device;
identify images of lights of the array recorded in the sequence of images;
demodulate a light identifiers (ID) for each modulated light recorded in the sequence of images from the images of the respective modulated light;
retrieve a map of lights of at least a portion of the array based on the demodulated light IDs, wherein the map includes representations of modulated lights of the array that correspond to the demodulated light IDs, representations of unmodulated lights of the array, and light IDs of the unmodulated lights;
positionally align the map with the images of lights recorded in the sequence of images to determine light IDs of unmodulated lights recorded in the sequence of images;
retrieve position information for lights of the array recorded in the sequence of images, including to retrieve position information for each modulated light recorded in the sequence of images based on the respective demodulated light ID, and to retrieve position information for unmodulated lights of the array based on the light IDs of the unmodulated lights recorded in the sequence of images; and
photogrammetrically determine a position of the image capture device relative to the array based on the retrieved position information of the modulated and unmodulated lights recorded in the sequence of images accessed light positions.
1 Assignment
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Accused Products
Abstract
A light array includes lights that transmit modulated light to indicate their unique light identifiers (IDs) and lights that transmit unmodulated light. A light receiver records images of the light array and recovers the light IDs from the modulated light. The light receiver uses the IDs to retrieve a light map representative of the light array. The receiver aligns the retrieved light map with the recorded images of the light array, and accesses real-world positions of all of the light in the light array, as deployed, based on the aligned light map. The light receiver determines a 3-dimensional position of the light receiver relative to the light array.
66 Citations
20 Claims
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1. A non-transitory computer readable medium encoded with a computer program, including instructions to cause a processor to:
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access a sequence of images of at least a portion of an array of spatially separated modulated and unmodulated lights recorded by an image capture device; identify images of lights of the array recorded in the sequence of images; demodulate a light identifiers (ID) for each modulated light recorded in the sequence of images from the images of the respective modulated light; retrieve a map of lights of at least a portion of the array based on the demodulated light IDs, wherein the map includes representations of modulated lights of the array that correspond to the demodulated light IDs, representations of unmodulated lights of the array, and light IDs of the unmodulated lights; positionally align the map with the images of lights recorded in the sequence of images to determine light IDs of unmodulated lights recorded in the sequence of images; retrieve position information for lights of the array recorded in the sequence of images, including to retrieve position information for each modulated light recorded in the sequence of images based on the respective demodulated light ID, and to retrieve position information for unmodulated lights of the array based on the light IDs of the unmodulated lights recorded in the sequence of images; and photogrammetrically determine a position of the image capture device relative to the array based on the retrieved position information of the modulated and unmodulated lights recorded in the sequence of images accessed light positions. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus, comprising:
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an image capture device to record a sequence of images of at least a portion of an array of spatially separated modulated and unmodulated lights; a processor and memory configured to; identify images of lights of the array recorded in the sequence of images; demodulate a light identifiers (ID) for each modulated light recorded in the sequence of images from the images of the respective modulated light; retrieve a map of lights of at least a portion of the array based on the demodulated light IDs, wherein the map includes representations of modulated lights of the array that correspond to the demodulated light IDs, representations of unmodulated lights of the array, and light IDs of the unmodulated lights; positionally align the map with the images of lights recorded in the sequence of images to determine light IDs of unmodulated lights recorded in the sequence of images; retrieve position information for lights of the array recorded in the sequence of images, including to retrieve position information for each modulated light recorded in the sequence of images based on the respective demodulated light ID, and to retrieve position information for unmodulated lights of the array based on the light IDs of the unmodulated lights recorded in the sequence of images; and photogrammetrically determine a position of the image capture device relative to the array based on the retrieved position information of the modulated and unmodulated lights recorded in the sequence of images. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A method, comprising:
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recording a sequence of images of at least a portion of an array of spatially separated modulated and unmodulated lights; identifying images of lights of the array recorded in the sequence of images; demodulating a light identifiers (ID) for each modulated light recorded in the sequence of images from the images of the respective modulated light; retrieving a map of lights of at least a portion of the array based on the demodulated light IDs, wherein the map includes representations of modulated lights of the array that correspond to the demodulated light IDs, representations of unmodulated lights of the array, and light IDs of the unmodulated lights; positionally aligning the map with the images of lights recorded in the sequence of images to determine light IDs of unmodulated lights recorded in the sequence of images; retrieve position information for lights of the array recorded in the sequence of images, including to retrieve position information for each modulated light recorded in the sequence of images based on the respective demodulated light ID, and to retrieve position information for unmodulated lights of the array based on the light IDs of the unmodulated lights recorded in the sequence of images; and photogrammetrically determining a position of the image capture devices relative to the array based on the retrieved position information of the modulated and unmodulated lights recorded in the sequence of images. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification