Hardware and system for single-camera stereo range determination

• US 9,906,733 B2
• Filed: 06/22/2015
• Issued: 02/27/2018
• Est. Priority Date: 06/22/2015
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Boldt, John D., Kelly, Michael A., Darlington, Edward H., DeTomaso, David M.
• Primary Examiner(s): MIKESKA, NEIL R
• Application Number:
  US14/745,779
• Publication Number:
  US 20160370175A1
• Time in Patent Office: 981 Days
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01C 3/22 using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/95 for meteorological use
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: Y02A 90/10 Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A range determiner assembly may include an image sensor, a detector board and processing circuitry. The image sensor may be configured to obtain image data for each of three views of a target at each of a plurality of different locations along the track of a craft moving at a determinable altitude above a surface of the earth. The detector board may include a first line array, a second line array and a third line array. Each of the first, second and third line arrays may receive a respective sequence of images from a corresponding one of the three views. The processing circuitry may be configured to determine a relative distance between the craft and the target based on the image data.

Claims

1. A range determiner assembly comprising:

an image sensor configured to obtain image data for each of a plurality of views of a target captured at each of a plurality of different locations of the range determiner assembly moving in relation to the target at a determinable altitude above a surface;

a detector board comprising at least a first line array, a second line array and a third line array, each of the at least first, second and third line arrays receiving a respective sequence of image data for a corresponding one of the plurality of views; and

processing circuitry configured to;

determine the locations of the range determiner assembly when the image data is captured;

determine angular differences to the target at each of the locations; and

determine a relative distance between the range determiner assembly and the target based on the image data, the locations of the ranger determiner assembly when the image data is captured, and the angular differences to the target at each of the locations.

2. The range determiner assembly of claim 1, wherein the plurality of views correspond to fore, nadir and aft views, respectively, each of which is captured via a single lens element;

and

wherein the plurality of views are co-aligned based on an angular separation.

3. The range determiner assembly of claim 2, wherein the fore, nadir and aft views are separated by about 15 to 20 degrees.

4. The range determiner assembly of claim 1, further comprising a housing that houses each of the image sensor, the detector board and the processing circuitry.

5. The range determiner assembly of claim 4, wherein the housing is radiation hardened.

6. The range determiner assembly of claim 1, wherein each of the at least first, second and third line arrays comprises a CMOS linear array.

7. The range determiner assembly of claim 1, wherein the processing circuitry is further configured to:

obtain additional height indicator source data; and

determine a composite range based on the relative distance and the additional height indicator source data.

8. The range determiner assembly of claim 7, wherein the additional height indicator data is data associated with a weather related parameter.

9. The range determiner assembly of claim 8, wherein the data associated with a weather related parameter is temperature data.

10. The range determiner assembly of claim 1, wherein the range determiner assembly is configured for multispectral analysis to determine the relative distance.

11. The range determiner assembly of claim 10, wherein the image sensor comprises a plurality of cameras configured to operate at respective different frequencies, each of the cameras capturing a corresponding different sequence of images.

12. The range determiner assembly of claim 1, wherein the range determiner assembly is mounted or operably coupled to a craft comprising an aircraft, drone, or satellite.

13. The range determiner assembly of claim 1, wherein the target is a cloud and the relative distance is used along with altitude of the range determiner assembly to determine cloud-top height.

14. A method of determining range to a target, the method comprising:

obtaining, at a craft, image data of the target at three different angles to provide three near-coincident views of the target captured at each of a plurality of different locations along a track of the craft moving at a determinable altitude above a surface of the earth;

providing the image data to a detector board comprising a first line array, a second line array and a third line array, each of the first, second and third line arrays receiving a respective sequence of image data for a corresponding one of the three views;

determining the locations of the craft when the image data is captured;

determining angular differences to the target at each of the locations; and

determining a relative distance between the craft and the target based on the image data, the locations of the craft when the image data is captured, and the angular differences to the target at each of the locations.

15. The method of claim 14, wherein the first, second and third views correspond to fore, nadir and aft views respectively, each of which is captured via a single lens element.

16. The method of claim 15, wherein the fore, nadir and aft views are separated by at least about 15 to 20 degrees.

17. The method of claim 14, wherein each of the first, second and third line arrays comprises a CMOS linear array.

18. The method of claim 14, further comprising:

obtaining additional indicator height source data; and

determining a composite range based on the relative distance and the additional height indicator source data.

19. The method of claim 14, wherein obtaining image data for each of the three views of the target comprises obtaining a plurality of sets of image data from respective different cameras configured for multispectral analysis.

20. The method of claim 14, wherein determining the relative distance comprises determining cloud-top height based on the relative distance and altitude of the craft.