Displacement monitoring system having vibration cancellation capabilities

• US 9,560,246 B2
• Filed: 12/13/2013
• Issued: 01/31/2017
• Est. Priority Date: 12/14/2012
• Status: Expired due to Fees

• Current Assignee: Trustees Of Columbia University In The City Of New York (Columbia University)
• Original Assignee: Trustees Of Columbia University In The City Of New York (Columbia University)
• Inventors: Feng, Maria Q., Fukuda, Yoshio, Mizuta, Masato
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Zhou, Zhihan
• Application Number:
  US14/105,738
• Publication Number:
  US 20140168422A1
• Time in Patent Office: 1,145 Days
• Field of Search: 348/135, 382/106
• US Class Current: 1/1
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

Techniques for vision-based sensing of structural displacement of an object, are disclosed. An example system includes digital video cameras adapted to generate digital image information corresponding to features of the object, an input to receive the digital image information corresponding to the one or more features, a converter configured to convert the digital image information into templates, and a comparator to compare the templates in sequence and to subtract displacement of stationary reference features.

Claims

1. A system for measuring a structural displacement of an object using one or more digital video cameras adapted to generate digital image information corresponding to two or more features of the object in a sequence of frames having a frame rate, one of the features being a substantially stationary feature and at least one of the features being a nonstationary feature, comprising:

an input to receive the digital image information corresponding to the two or more features;

a converter, coupled to the input, configured to convert each frame of the digital image information corresponding to the two or more features into a template; and

a comparator, coupled to the converter, to compare the templates in sequence, the sequence being to compare a subsequent template against a previous template, and to subtract displacement of the substantially stationary feature to thereby measure spatial displacement of the at least one nonstationary feature over time based on at least a distance between the object and the one or more digital video cameras and a zoom ratio of the one or more digital video cameras, the comparator further configured to subtract from the displacement of the at least one nonstationary feature in the template the corresponding displacement of a substantially stationary reference feature in the template that occurs simultaneous to displacement of the at least one nonstationary features.

2. The system of claim 1, wherein at least one of the one or more digital video cameras has a zoom lens, and further comprising an auto-calibration module, coupled to the comparator, and including a laser distance meter, for measuring the distance between the one or more digital video cameras and the one or more features.

3. The system of claim 2, wherein the one or more digital video cameras having a zoom lens are configured to automatically zoom on the one or more features and to generate the corresponding zoom ratio, and wherein the zoom ratio is received by the comparator.

4. The system of claim 1, wherein the system comprises two or more digital video cameras, the two or more digital video cameras adapted to synchronously generate digital image information corresponding to the one or more features at a frame rate.

5. The system of claim 1, further comprising a stable housing structure for the one or more digital video cameras, wherein each of the one or more digital video cameras is housed within the stable housing structure.

6. The system of claim 4, further comprising a stable mounting structure for the two or more digital video cameras, wherein each of the two or more digital video cameras is mounted on the stable mounting structure.

7. A process for measuring a structural displacement of one or more nonstationary features of an object comprising:

generating, using one or more digital cameras, digital image information corresponding to the one or more nonstationary features of the object in a sequence of frames having a frame rate;

converting each frame of the digital image information into a template;

comparing, in sequence, each template to identify a displacement of the template, the sequence being to compare a subsequent template against a previous template;

subtracting displacement of the template that does not correspond to spatial displacement of the object, the subtracting further comprising subtracting from the displacement of one or more nonstationary features in the template the corresponding displacement of a substantially stationary reference feature in the template that occurs simultaneous to displacement of the one or more nonstationary features; and

measuring, continuously over a period of time, based on at least a distance between the object and the one or more digital video cameras and a zoom ratio of the one or more digital video cameras, the displacement of the one or more nonstationary features.

8. The process of claim 7, further comprising:

measuring the distance between the one or more digital video cameras and the one or more nonstationary features of the object, the one or more digital video cameras further comprising a zoom lens;

determining the zoom ratio of the zoom lens of the one or more cameras; and

calculating the spatial displacement of the object based on the displacement of the template.

9. The process of claim 7, wherein the digital image information is generated by two or more cameras and wherein the digital image information generated by each camera is synchronized.

10. A method for measuring a structural displacement of one or more nonstationary target features of an object comprising:

generating, in a sequence of frames having a frame rate, digital image information corresponding to the one or more nonstationary target features of the object and one or more substantially stationary reference features of the object using one or more digital cameras;

analyzing the digital image information corresponding to the one or more nonstationary features and the digital image information corresponding to the one or more stationary features with the aid of the processor configured to convert the each frame of the digital image information into a template, to compare each template in sequence, the sequence being to compare a subsequent template against a previous template, to subtract displacement of the substantially stationary reference feature, and to further subtract the displacement of one or more nonstationary target features in the template the corresponding displacement of one of the substantially stationary reference features in the template that occurs simultaneous to displacement of the one or more nonstationary features to thereby measure displacement of the one or more nonstationary features over time based on at least a distance between the object and the one or more digital video cameras and a zoom ratio of the one or more digital video cameras, the displacement of the one or more nonstationary features.

11. The method of claim 10, wherein the digital image information is generated using a single digital video camera configured to generate, in each frame, digital image information for both of one or more nonstationary target feature of the object and a substantially stationary reference feature of the object.

12. The method of claim 10, wherein the digital image information is generated by multiple digital video cameras, wherein at least one digital video camera is configured to generate digital image information for one or more nonstationary target features of the object and at least one digital video camera is configured to generate digital image information corresponding to the substantially stationary reference features of the object.

13. The method of claim 12, wherein each digital video camera is mounted on the same stable mounting structure.