Ground tracking apparatus, systems, and methods

• US 9,928,613 B2
• Filed: 06/27/2015
• Issued: 03/27/2018
• Est. Priority Date: 07/01/2014
• Status: Active Grant

• Current Assignee: Seescan, Inc.
• Original Assignee: Seescan, Inc.
• Inventors: Olsson, Mark S, Powell, Scott A, Smith, Nicholas A, Newby, Garrett A, Levin, Ryan B, Kok, Thomas R, Martin, Michael J
• Primary Examiner(s): Dang, Hung
• Assistant Examiner(s): Park, Sunghyoun
• Application Number:
  US14/752,834
• Publication Number:
  US 20170084052A1
• Time in Patent Office: 1,004 Days
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• 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 11/08 the pictures not being supported in the same relative position as when they were taken
• CPC Class Codes: G01V 3/165 operating with magnetic or electric fields produced or modified by the object or by the detecting device with electromagnetic waves G01V3/17
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/30181 Earth observation
• CPC Class Codes: G06T 2207/30184 Infrastructure
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/292 Multi-camera tracking
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: H04N 23/45 for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/57 Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices

Abstract

Apparatus, systems, and methods are disclosed for tracking movement over the ground or other surfaces using two or more spaced apart cameras and an associated processing element to detect ground features in images from the cameras and determine tracking parameters based on the position of the detected ground features in the images.

Claims

1. A ground tracker for tracking movement over a surface, comprising:

a housing;

a first camera element disposed on or in the housing;

a second camera element disposed on or in the housing offset in position relative to the first camera element; and

a processing element coupled to an output from the first camera element and the second camera element, the processing element programmed to;

receive an image from the first camera element and an image from the second camera element, wherein the first camera element image and the second camera element image are captured with the ground tracking apparatus at a first position;

detect a ground feature in both the image from the first camera element and the image from the second camera element;

determine, based on a position of the ground feature in the image from the first camera element and a position of the ground feature in the image from the second camera element, a height value of the ground tracker above the ground feature at the first position; and

store the height value at the first position in a non-transitory memory;

determine, based on one or both of the image from the first camera element and the image from the second camera element, the height value at the first position, and one or both of another image from the first camera element captured at a second position and another image from the second camera element captured at the second position, a change in position of the ground tracker relative to the first position; and

store data associated with the change in position as a tracking parameter in the non-transitory memory.

2. The ground tracker of claim 1, wherein the image from the first camera element and the image from the second camera element are captured at substantially the same time.

3. The ground tracking apparatus of claim 1, wherein both of another image from the first camera element and another image from the second camera element are captured at the second position, and wherein the processing element is further programmed to:

determine, based on a position of the ground feature in the another image from the first camera element and a position of the ground feature in the another image from the second camera element, a second height value corresponding to the height of the ground tracker above the ground feature at the second position; and

store the second height value in the non-transitory memory.

4. The ground tracker of claim 3, wherein the another image from the first camera element and the another image from the second camera element are captured at substantially the same time.

5. The ground tracker of claim 3, wherein the change in position is further based on the second height value.

6. The ground tracker of claim 1, wherein the data associated with the change of position includes a relative distance and/or direction between the first position and the second position.

7. The ground tracker of claim 6, wherein the processing element is further programmed to:

determine a time difference between capture of one or both of the images from the first camera element and the second camera element and the another image;

based on both a determined relative distance and a determined relative direction between the first position and the second position, determine a velocity vector associated with movement of the ground tracker between the first position and the second position; and

store the velocity vector as a tracking parameter in the non-transitory memory.

8. The ground tracker of claim 6, wherein the processing element is further programmed to:

determine a time difference between capture of one or both of the images from the first camera element and the second camera element and the another image;

based on a determined relative distance between the first position and the second position, determine a speed associated with movement of the ground tracker between the first position and the second position; and

store the speed as a tracking parameter in the non-transitory memory.

9. The ground tracker of claim 1, wherein the data associated with the change of position includes coordinates of the second position relative to the first position.

10. The ground tracker of claim 1, wherein the ground feature is detected in the image from the first camera element and the image from the second camera element by correlating pixels of the image from the first camera element and pixels of the image from the second camera element.

11. The ground tracker of claim 1, wherein the change in position of the ground tracker is determined by correlating pixels of the image from the first camera element and the another image from the first camera element, or by correlating pixels of the image from the second camera element and the another image from the second camera element, or by correlating pixels of the image from the first camera element and the another image from the first camera element and correlating pixels of the image from the second camera element and the another image from the second camera element.

12. The ground tracker of claim 1, wherein the processing element is disposed in the housing.

13. The ground tracker of claim 1, wherein the ground tracker is configured to be operatively coupled to a locator.

14. The ground tracker of claim 13, wherein the processing element is disposed in the locator.

15. A ground tracker for tracking movement over a surface, comprising:

a housing;

a first camera element disposed on or in the housing;

a second camera element disposed on or in the housing offset in position relative to the first camera element; and

a processing element coupled to an output from the first camera element and the second camera element, the processing element programmed to;

receive an image from the first camera element and an image from the second camera element, wherein the first camera element image and the second camera element image are captured with the ground tracking apparatus at a first position;

detect a ground feature in both the image from the first camera element and the image from the second camera element;

determine, based on a position of the ground feature in the image from the first camera element and a position of the ground feature in the image from the second camera element, a height value of the ground tracker above the ground feature at the first position;

store the height value at the first position in a non-transitory memory;

receive another image from the first camera element and another image from the second camera element, wherein the another images are captured at a second position different from the first position;

detect a ground feature in the another image from the first camera element and the another image from the second camera element;

determine, based on a position of the ground feature in the another image from the first camera element and a position of the ground feature in the another image from the second camera element, a height value of the ground tracker above the ground feature at the second position; and

store the height value at the second position in a non-transitory memory.

16. The ground tracker of claim 15, wherein the processing element is further programmed to:

determine, based on one or both of the image from the first camera element and the image from the second camera element, the height value at the first position, the height value at the second position, and one or both of the another image from the first camera element and the another image from the second camera element captured at a second position, a change in position of the ground tracker relative to the first position; and

store data corresponding to the change in position as a tracking parameter in the non-transitory memory.

17. The ground tracker of claim 16, wherein the data associated with the change of position includes a relative distance and/or direction between the first position and the second position.

18. The ground tracker of claim 16, wherein the data associated with the change of position includes coordinates of the second position relative to the first position.

19. The ground tracker of claim 16, wherein the first image from the first camera element and the first image from the second camera element are captured at substantially the same time.

20. A method of motion tracking in a ground tracking device that includes a first camera element and a second camera element offset from the first camera element, the method comprising:

generating, in the first camera element with the ground tracking device at a first position, a first camera element image;

generating, in a second camera element with the ground tracking device at the first position, a second camera element image;

providing the first camera element image and the second camera element image to a processing element;

detecting a ground feature in the first camera element image and the second camera element image;

determining, based in part on a position of the detected ground feature in the first camera element image and a position of the detected ground feature in the second camera element image, a height value of the ground tracking device above the ground feature;

storing the determined height value in a non-transitory memory;

determining, based on one or both of the image from the first camera element and the image from the second camera element, the height value at the first position, and one or both of another image from the first camera element captured at a second position and another image from the second camera element captured at the second position, a change in position of the ground tracker relative to the first position; and

storing data associated with the change in position as a tracking parameter in the non-transitory memory.

21. The method of claim 20, wherein the image from the first camera element and the image from the second camera element are captured at substantially the same time.

22. The method of claim 20, wherein both of another image from the first camera element and another image from the second camera element are captured at the second position, the method further comprising:

determining, based on a position of the ground feature in the another image from the first camera element and a position of the ground feature in the another image from the second camera element, a second height value corresponding to the height of the ground tracker above the ground feature at the second position; and

storing the second height value in the non-transitory memory.

23. The method of claim 22, wherein the another image from the first camera element and the another image from the second camera element are captured at substantially the same time.

24. The method of claim 22, wherein the change in position is further based on the second height value.

25. The method of claim 20, wherein the data associated with the change of position includes a relative distance and/or direction between the first position and the second position.

26. The method of claim 25, further comprising:

determining a time difference between capture of one or both of the images from the first camera element and the second camera element and the another image;

determining a relative distance and a relative direction between the first position and the second position;

determining a velocity vector associated with movement of the ground tracker between the first position and the second position based on both the relative distance and the relative direction between the first position and the second position; and

storing the velocity vector as a tracking parameter in the non-transitory memory.

27. The method of claim 20, wherein the data associated with the change of position includes coordinates of the second position relative to the first position.

28. The method of claim 25, further comprising:

determining a time difference between capture of one or both of the images from the first camera element and the second camera element and the another image;

determining a relative distance between the first position and the second position;

determining a speed associated with movement of the ground tracker between the first position and the second position based on a determined relative distance between the first position and the second position; and

storing the speed as a tracking parameter in the non-transitory memory.

29. The method of claim 20, wherein the ground feature is detected in the image from the first camera element and the image from the second camera element by correlating pixels of the image from the first camera element and pixels of the image from the second camera element.

30. The method of claim 20, wherein the change in position of the ground tracker is determined in a processing element by correlating pixels of the image from the first camera element and the another image from the first camera element, or by correlating pixels of the image from the second camera element and the another image from the second camera element, or by correlating pixels of the image from the first camera element and the another image from the first camera element and correlating pixels of the image from the second camera element and the another image from the second camera element.

31. The method of claim 20, wherein the processing element is disposed in the housing.

32. The method of claim 20, wherein the ground tracker is configured to be operatively coupled to a locator.

33. The method of claim 32, wherein the processing element is disposed in the locator.

34. A method of motion tracking in a ground tracking device that includes a first camera element and a second camera element offset from the first camera element, the method comprising:

generating, in the first camera element with the ground tracking device at a first position, a first camera element image;

generating, in a second camera element with the ground tracking device at the first position, a second camera element image;

providing the first camera element image and the second camera element image to a processing element;

detecting a ground feature in the first camera element image and the second camera element image;

determining, based in part on a position of the detected ground feature in the first camera element image and a position of the detected ground feature in the second camera element image, a height value of the ground tracking device above the ground feature;

storing the determined height value in a non-transitory memory;

receiving another image from the first camera element and another image from the second camera element, wherein the another images are captured at a second position different from the first position;

detecting a ground feature in the another image from the first camera element and the another image from the second camera element;

determining, based on a position of the ground feature in the another image from the first camera element and a position of the ground feature in the another image from the second camera element, a height value of the ground tracker above the ground feature at the second position; and

storing the height value at the second position in a non-transitory memory.

35. The method of claim 34, further comprising:

determining, based on one or both of the image from the first camera element and the image from the second camera element, the height value at the first position, the height value at the second position, and one or both of the another image from the first camera element and the another image from the second camera element captured at a second position, a change in position of the ground tracker relative to the first position; and

storing data corresponding to the change in position as a tracking parameter in the non-transitory memory.

36. The method of claim 35, wherein the data associated with the change of position includes a relative distance and/or direction between the first position and the second position.

37. The method of claim 35, wherein the data associated with the change of position includes coordinates of the second position relative to the first position.

38. The method of claim 35, wherein the first image from the first camera element and the first image from the second camera element are captured at substantially the same time.

39. A non-transitory storage medium containing programming instructions for one or more processors to:

generate, in the first camera element with the ground tracking device at a first position, a first camera element image;

generate, in a second camera element with the ground tracking device at the first position, a second camera element image;

provide the first camera element image and the second camera element image to a processing element;

detect a ground feature in the first camera element image and the second camera element image;

determine, based in part on a position of the detected ground feature in the first camera element image and a position of the detected ground feature in the second camera element image, a height value of the ground tracking device above the ground feature;

store the determined height value in a non-transitory memory;

receive another image from the first camera element and another image from the second camera element, wherein the another images are captured at a second position different from the first position;

detect a ground feature in the another image from the first camera element and the another image from the second camera element;

determine, based on a position of the ground feature in the another image from the first camera element and a position of the ground feature in the another image from the second camera element, a height value of the ground tracker above the ground feature at the second position; and

store the height value at the second position in a non-transitory memory.