Method of determining the location of a point of interest and the system thereof

• US 9,714,833 B2
• Filed: 08/23/2013
• Issued: 07/25/2017
• Est. Priority Date: 08/23/2013
• Status: Active Grant

• Current Assignee: Insight Robotics Limited
• Original Assignee: Insight Robotics Limited
• Inventors: Sham, Pui Sum Rex, So, Chik Man
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US14/913,378
• Publication Number:
  US 20160202071A1
• Time in Patent Office: 1,432 Days
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: H04N 23/00 Cameras or camera modules comprising electronic image sensors; Control thereof

Abstract

A method of determining the location of a point of interest is disclosed. The method comprises the steps of providing an optical detector; capturing an image by the optical detector; obtaining the position and orientation of the optical detector; identifying at least one coordinates of the point of interest within the captured image; mapping the position of the optical detector and the coordinates of the point of interest in a digital elevation model; and determining the location of the point of interest by projecting at least one path from the position of the optical detector through the coordinates of the point of interest in the digital elevation model. A system for determining the location of a point of interest by utilizing the aforesaid method is also disclosed herein.

Claims

1. A method of determining a location of a point of interest comprising:

providing an optical detector;

capturing an image by said optical detector;

obtaining a position and an orientation of said optical detector;

assessing a degree to which an attitude and heading reference system is offset;

identifying at least one coordinates of said point of interest within said image;

mapping said position of said optical detector and said coordinates of said point of interest in a digital elevation model; and

determining said location of said point of interest by projecting at least one path from said position of said optical detector through said coordinates of said point of interest in said digital elevation model.

2. The method of claim 1, wherein said step of determining said location of said point of interest further comprises iterative steps of:

extending said path in the direction away from said optical detector; and

determining whether said path collides with any surface of said digital elevation model;

wherein said iterative steps terminate when at least one of termination conditions is satisfied, said termination conditions including;

a collision surface is identified between said path and said digital elevation model; and

said path has extended over a predetermined value.

3. The method of claim 2, wherein said determining said location of said point of interest further includes calculating and obtaining said location in a form of geographic coordination based on said collision surface.

4. The method of claim 1 further comprising continuously rotating and tilting said optical detector within a predetermined angle while capturing said image.

5. The method of claim 1, wherein said obtaining said position of said optical detector further includes gathering a geographic coordination of said optical detector through a Global Positioning System.

6. The method of claim 1 further comprising selecting said point of interest from said captured image by identifying an object on said captured image.

7. The method of claim 6, wherein said object emits an infrared signal over a predetermined value.

8. The method of claim 1 further comprising selecting said point of interest by a user input.

9. The method of claim 1 further comprising generating said digital elevation model by:

providing a point cloud comprising a plurality of points; and

linking said plurality of points thereby generating a three dimensional model of a terrain'"'"'s surface;

wherein each of said points correlates to the altitude of said terrain'"'"'s surface at a specific latitude and longitude.

10. A system for determining a location of a point of interest comprising:

an optical detector that captures an image including said point of interest;

a movable platform coupled to said optical detector and rotates and tilts said optical detector;

a microprocessor coupled to said optical detector and said movable platform; and

a non-transitory computer-readable storage medium coupled to said microprocessor, said non-transitory computer-readable storage medium encoded with computer-readable instructions that cause said microprocessor to execute;

capturing said image;

obtaining a position and an orientation of said optical detector;

identifying at least one two-dimensional Cartesian coordinates of said point of interest within said image;

mapping said position of said optical detector and said coordinates of said point of interest in a digital elevation model; and

determining said location of said point of interest by projecting at least one path from said position of said optical detector through said coordinates of said point of interest in said digital elevation model,

wherein said optical detector is an infrared image sensor that captures a heat distribution or light intensity within a range of said optical detector;

said non-transitory computer-readable storage medium is further encoded with computer-readable instructions that cause said microprocessor to determine said coordinates of said point of interest based on said heat distribution.

11. The system of claim 10 further comprising a mist-fog-penetrating detector, wherein said mist-fog-penetrating detector comprises:

a high dynamic range image sensor; and

a first light filter unit coupled to said high dynamic range image sensor;

said first light filter unit filters out visible spectrum from light reaching said high dynamic range image sensor.

12. The system of claim 11 further comprising a second light filter unit coupled to said first light filter unit;

said second light filter allows only near infrared spectrum to reach said high dynamic range image sensor.

13. The system of claim 10 further comprising a sensing device coupled to said microprocessor;

said sensing device detects said position and said orientation of said optical detector and sends said position and said orientation of said optical detector to said microprocessor.

14. They system of claim 13, wherein said sensing device comprises a Global Positioning System receiver that detects said position of said optical detector and attitude and a heading reference system (AHRS) that detects said orientation of said optical detector.

15. A non-transitory computer readable storage medium encoded with instructions that, when executed by one or more processors, causes:

capturing an image by an optical detector;

obtaining a position and an orientation of said optical detector;

identifying at least one coordinates of said point of interest within said image;

mapping said position of said optical detector and said coordinates of said point of interest in a digital elevation model; and

determining said location of said point of interest by;

projecting at least one path from said position of said optical detector through said coordinates of said point of interest in said digital elevation model; and

calculating and obtaining said location in a form of geographic coordination.

16. The non-transitory computer readable storage medium of claim 15, wherein said determining said location of said point of interest further comprises iterative steps of:

extending said path in the direction away from said optical detector; and

determining whether said path collides with any surface of said digital elevation model;

wherein said iterative steps terminate when at least one of termination conditions is satisfied, said termination conditions including;

a collision surface is identified between said path and said digital elevation model; and

said path has extended over a predetermined value.

17. The non-transitory computer readable storage medium of claim 15, wherein said instructions further including continuously rotating and tilting said optical detector within a predetermined angle while capturing said image.