Dead reckoning system for vehicles

• US 9,677,897 B2
• Filed: 11/13/2013
• Issued: 06/13/2017
• Est. Priority Date: 11/13/2013
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Driscoll, Tom, Hannigan, Russell J., Kare, Jordin T., Myhrvold, Nathan P., Tegreene, Clarence T., Wood, Victoria Y. H., Smith, David R., Urzhumov, Yaroslav A., Whitmer, Charles, Wood, Jr., Lowell L., Guerci, Joseph R., Hyde, Roderick A., Ishikawa, Muriel Y.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): EVANS, GARRETT F
• Application Number:
  US14/078,881
• Publication Number:
  US 20160223354A1
• Time in Patent Office: 1,308 Days
• Field of Search: None
• CPC Class Codes: G01C 21/14 by recording the course traversed by the object G01C21/16 takes precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/32 using correlation-based methods
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: H04N 23/11 for generating image signals from visible and infrared light wavelengths
• CPC Class Codes: H04N 23/56 provided with illuminating means
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

Described embodiments include a system and method. A system includes a first and second digital imaging devices. Each digital imaging device is configured to capture digital images of a surface traveled by a vehicle. A digital image correlator is configured to (i) correlate a first digital image of the surface captured by a first digital imaging device at a first time and a second digital image of the surface captured by a second digital imaging device at a subsequent second time, and (ii) determine a correlation vector. The first and second imaging devices are separated by a known distance. A kinematics circuit is configured to determine in response to the correlation vector an incremental translation and rotation of the vehicle. The system includes a navigation circuit configured to combine at least two instances of the incremental translation and rotation into data indicative of travel by the vehicle.

Claims

1. A system comprising:

a first digital imaging device and a second digital imaging device, each digital imaging device configured to capture multiple pixel two-dimensional digital images of a stochastic surface traveled by a vehicle, the first digital imaging device and the second digital imaging device coupled to the vehicle;

a digital image correlator configured to (i) correlate a first digital image of the stochastic surface captured by the first digital imaging device at a first time and a second digital image of the stochastic surface captured by the second digital imaging device at a subsequent second time, and (ii) determine a correlation vector, wherein the first digital image acquired by the first digital imaging device and the second digital image acquired by the second imaging device;

a kinematics circuit configured to determine in response to the correlation vector an incremental translation and rotation of the vehicle between the first time and the second time; and

a navigation circuit configured to combine at least two instances of the incremental translation and rotation of the vehicle into data indicative of an acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.

2. The system of claim 1, wherein the stochastic surface includes a road surface.

3. The system of claim 1, wherein the stochastic surface includes a surface of a train or railroad roadbed.

4. The system of claim 1, wherein the stochastic surface includes a surface of an underground vehicle or train roadbed.

5. The system of claim 1, wherein the first digital imaging device includes a first high resolution digital imaging device and the second digital imaging device includes a second relatively lower resolution imaging device.

6. The system of claim 1, wherein at least one of the digital imaging devices has a resolution greater than 100 pixels by 100 pixels.

7. The system of claim 1, wherein at least one of the digital imaging devices is configured to capture visible light digital images of the stochastic surface.

8. The system of claim 1, wherein at least one of the digital imaging devices is configured to capture infrared light or ultraviolet light digital images of the stochastic surface.

9. The system of claim 1, wherein at least one of the digital imaging devices is configured to capture ultrasound images of the stochastic surface.

10. The system of claim 1, wherein at least one of the digital imaging devices is configured to capture sonar digital images of the stochastic surface.

11. The system of claim 1, wherein at least one of the digital imaging devices is configured to capture color, spectral, multispectral, or hyperspectral digital images of the stochastic surface.

12. The system of claim 1, wherein at least one of the digital imaging devices is configured to capture millimeter-wave or terahertz wave digital images of the stochastic surface.

13. The system of claim 1, wherein the second imaging device is separated a known distance from the first imaging device.

14. The system of claim 13, wherein the second imaging device is separated a known distance from the first imaging device relative to a longitudinal axis of the vehicle.

15. The system of claim 1, wherein the digital image correlator is configured to account for a z-axis motion or a tilt of the vehicle relative to the stochastic surface.

16. The system of claim 1, wherein the digital image correlator is configured to correlate the first image and the second image using an image array processing system.

17. The system of claim 1, wherein the digital image correlator is configured to correlate the first image and the second image using a feature correlation or an edge detection methodology.

18. The system of claim 1, wherein the first digital imaging device is carried by the vehicle on a forward portion of the vehicle and the second digital imaging device is carried by the vehicle on a rearward portion of the vehicle.

19. The system of claim 1, wherein the first digital imaging device is carried by the vehicle in a portion of a forward one-third of the vehicle and the second digital imaging device is carried by the vehicle in a portion of a rearward one-third of the vehicle as measured along the longitudinal axis of the vehicle.

20. The system of claim 1, wherein the known separation distance is at least five feet.

21. The system of claim 1, wherein the determined correlation vector is responsive to the known separation distance.

22. The system of claim 1, wherein the kinematics circuit is configured to determine responsive to the correlation and the known separation distance a correlation vector indicative of an incremental translation and rotation of the vehicle between the first time and the second time.

23. The system of claim 1, wherein the kinematics circuit is further configured to determine an incremental slip or skid of a wheel of the vehicle in response to the correlation vector and in response to data received from a wheel speed sensor.

24. The system of claim 1, further comprising:

a display device configured to display a human perceivable presentation of the data descriptive of the acceleration, speed, distance, direction, or course traveled by the vehicle over the period of time.

25. The system of claim 1, further comprising:

the vehicle.

26. The system of claim 1, further comprising:

a communication circuit configured to output an electronic signal indicative of the acceleration, speed, distance, direction, or course traveled by the vehicle over the period of time.

27. The system of claim 26, wherein the communication circuit is further configured to output a signal indicative of a course traveled by the vehicle over the period of time with reference to a previous known good position received from a satellite based navigation system, an internal navigation system of the vehicle, or user entered location.

28. The system of claim 26, wherein the communication circuit is further configured to output the electronic signal to an onboard navigation system of the vehicle.

29. The system of claim 28, wherein the onboard navigation system is configured to display vehicle navigation information responsive to data received from a satellite based global positioning system, wheel sensor data, or the electronic signal.

30. The system of claim 1, further comprising:

an illumination device configured to illuminate at least a portion of the stochastic surface during a capture of the first digital image or the second digital image.

31. A method comprising:

capturing at a first time a first digital image of a stochastic surface being traveled by a vehicle;

capturing at a second time subsequent to the first time a second digital image of the stochastic surface being traveled;

correlating the first digital image and the second digital image, and determining a correlation vector;

determining responsive to the correlation vector an incremental translation and rotation of the vehicle between the first time and the second time; and

combining at least two instances of the incremental translation and rotation of the vehicle into data indicative of an acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.

32. The method of claim 31, wherein the second image is captured by a second image capture device separated by a known distance from a first image device that captured the first digital image.

33. The method of claim 32, wherein the second image capture device is separated by a known distance relative to a longitudinal axis of the vehicle from the first image device.

34. The method of claim 31, further comprising:

transforming the data into a particular human-perceivable depiction of the acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.

35. The method of claim 31, further comprising:

transforming the data indicative of an acceleration, speed, distance, direction, or course into data usable in displaying a particular visual depiction of the acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.

36. The method of claim 31, further comprising:

outputting an electronic signal usable in displaying a particular visual depiction of the acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.

37. The method of claim 31, further comprising:

illuminating at least a portion of the stochastic surface during a capture of the first digital image or the second digital image.

38. a system comprising:

means for capturing at a first time a first digital image of a stochastic surface being traveled by a vehicle;

means for capturing at a second time subsequent to the first time a second digital image of the stochastic surface being traveled;

means for correlating the first digital image and the second digital image, and determining a correlation vector

means for determining responsive to the correlation vector an incremental translation and rotation of the vehicle between the first time and the second time; and

means for combining at least two instances of the incremental translation and rotation of the vehicle into data indicative of an acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.

39. The system of claim 38, wherein the means for capturing the second image is separated by a known distance from the means for capturing the first digital image.

40. The system of claim 39, wherein the means for capturing the second image is separated by a known distance relative to a longitudinal axis of the vehicle from the means for capturing the first digital image.

41. The system of claim 38, further comprising:

means for transforming the data into a particular human-perceivable depiction of the acceleration, speed, distance, direction, or course traveled by the vehicle during a period of time.