Three-dimensional triangulation and time-of-flight based tracking systems and methods
First Claim
1. A system for tracking a target, comprising:
- one or more transmitters that transmit one or more outgoing light beams at one or more outgoing angles towards the target;
one or more receivers that detect one or more incoming light beams at one or more incoming angles, wherein the one or more incoming light beams correspond to the one or more outgoing light beams that are reflected at the target;
a memory device for storing instructions; and
a processor device that executes the instructions to enable actions, comprising;
transmitting, by the one or more transmitters, the one or more outgoing light beams at the one or more outgoing angles towards the target;
detecting, by the one or more receivers, the one or more incoming light beams at the one or more incoming angles;
determining a proximate location of the target based on one or more of a location or a velocity of the target;
modifying the one or more outgoing angles based on the proximate location of the target; and
determining a precision location of the target based on iteratively determining one or more of a triangulation value for the one or more incoming light beams that correspond to the one or more outgoing light beams transmitting at the one or more modified outgoing angles, a time interval corresponding to a time-of-flight (ToF) of the one or more outgoing light beams transmitting at the one or more modified outgoing angles, or a combination of the triangulation value and the time interval.
3 Assignments
0 Petitions
Accused Products
Abstract
A three-dimension position tracking system is presented. The system includes transmitters and receivers. A transmitter scans continuous or pulsed coherent light beams across a target. The receiver detects the reflected beams. The system recursively determines the location of the target, as a function of time, via triangulation and observation of the time-of-flight of the incoming and outgoing beams. The transmitter includes ultra-fast scanning optics to scan the receiver'"'"'s field-of-view. The receiver includes arrays of ultra-fast photosensitive pixels. The system determines the angles of the incoming beams based on the line-of-sight of the triggered pixels. By observing the incoming angles and correlating timestamps associated with the outgoing and incoming beams, the system accurately, and in near real-time, determines the location of the target. By combining the geometry of the scattered beams, as well as the beams'"'"' time-of-flight, ambiguities inherent to triangulation and ambiguities inherent to time-of-flight location methods are resolved.
118 Citations
24 Claims
-
1. A system for tracking a target, comprising:
-
one or more transmitters that transmit one or more outgoing light beams at one or more outgoing angles towards the target; one or more receivers that detect one or more incoming light beams at one or more incoming angles, wherein the one or more incoming light beams correspond to the one or more outgoing light beams that are reflected at the target; a memory device for storing instructions; and a processor device that executes the instructions to enable actions, comprising; transmitting, by the one or more transmitters, the one or more outgoing light beams at the one or more outgoing angles towards the target; detecting, by the one or more receivers, the one or more incoming light beams at the one or more incoming angles; determining a proximate location of the target based on one or more of a location or a velocity of the target; modifying the one or more outgoing angles based on the proximate location of the target; and determining a precision location of the target based on iteratively determining one or more of a triangulation value for the one or more incoming light beams that correspond to the one or more outgoing light beams transmitting at the one or more modified outgoing angles, a time interval corresponding to a time-of-flight (ToF) of the one or more outgoing light beams transmitting at the one or more modified outgoing angles, or a combination of the triangulation value and the time interval. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method for tracking a target, comprising:
-
transmitting, by one or more transmitters, one or more outgoing light beams at one or more outgoing angles towards the target; detecting, by one or more receivers, one or more incoming light beams at one or more incoming angles; determining a proximate location of the target based on one or more of a location or a velocity of the target; modifying the one or more outgoing angles based on the proximate location of the target; and determining a precision location of the target based on iteratively determining one or more of another triangulation value for the one or more incoming light beams that correspond to the one or more outgoing light beams transmitting at the one or more modified outgoing angles, a time interval corresponding to a time-of-flight (ToF) of the one or more outgoing light beams transmitting at the one or more modified outgoing angles, or a combination of the other triangulation value and the time interval. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. A computer readable non-transitory storage medium that includes instructions for tracking a target, wherein the execution of the instructions by a processor enables actions, comprising:
-
transmitting, by one or more transmitters, the one or more outgoing light beams at the one or more outgoing angles towards the target; detecting, by one or more receivers, the one or more incoming light beams at the one or more incoming angles; determining a proximate location of the target based on one or more of a location or a velocity of the target; modifying the one or more outgoing angles based on the proximate location of the target; and determining a precision location of the target based on iteratively determining one or more of another triangulation value for the one or more incoming light beams that correspond to the one or more outgoing light beams transmitting at the one or more modified outgoing angles, a time interval corresponding to a time-of-flight (ToF) of the one or more outgoing light beams transmitting at the one or more modified outgoing angles, or a combination of the other triangulation value and the time interval. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
-
Specification