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Systems and methods for controlling vehicle position and orientation

  • US 9,734,583 B2
  • Filed: 06/30/2015
  • Issued: 08/15/2017
  • Est. Priority Date: 06/30/2014
  • Status: Active Grant
First Claim
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1. A method of controlling water vehicle position and movement, comprising:

  • capturing, with one or more cameras secured to the water vehicle, video frame data corresponding to video image frames taken of at least a portion of a water course;

    identifying, with a computer, groups of pixels from the video frame data, the identified groups of pixels determined to correspond to objects in the water course;

    correlating at least a pair of the identified groups of pixels with a known pair of buoys on each side of in the water course;

    estimating at least one of a position or an orientation of the water vehicle within the water course by analyzing positions of the groups of pixels within the video image frames and known spatial positions of the one or more cameras that captured the video frame data and the known pair of buoys in the water course;

    estimating at least one of steering parameters and acceleration parameters that are determined to navigate the water vehicle on a desired path through the water course; and

    transmitting, with the computer, navigation data including the at least one of the steering parameters and the acceleration parameters to at least one of;

    a user interface configured to provide the at least one of the steering parameters and the acceleration parameters to a driver of the water vehicle;

    oran automatic operating device configured to receive the navigation data and automatically adjust at least one of steering and acceleration of the water vehicle according to the at least one of the steering parameters and the acceleration parameters.

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