Path sensing using structured lighting
First Claim
Patent Images
1. A method of sensing a physical feature of or along a path of a vehicle, comprising:
- a. projecting a structured light pattern from a vehicle onto a path upon which said vehicle may travel, so as to generate a plurality of light spots on said path, wherein at least two of said plurality of light spots are at different world-space down-range locations relative to said vehicle;
b. capturing from said vehicle at least one image of said plurality of light spots using at least one camera;
c. determining at least two image-space locations in said at least one image of a corresponding said at least two of said plurality of lights spots at said different world space down-range locations;
d. determining a pitch angle of said vehicle responsive to said at least two of said plurality of light spots;
e. determining corresponding world-space elevations of at least a portion of said plurality of light spots responsive to said pitch angle of said vehicle; and
f. determining said pitch angle of said vehicle responsive to at least one image-space separation of at least one pair of said plurality of light spots.
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Abstract
A structured light pattern is projected onto the path of a vehicle so as to generate a plurality of light spots, and an image thereof is captured from the vehicle. A world-space elevation of at least a portion of the light spots is responsive to a pitch angle of the vehicle determined responsive to image-space locations of down-range-separated light spots.
46 Citations
21 Claims
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1. A method of sensing a physical feature of or along a path of a vehicle, comprising:
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a. projecting a structured light pattern from a vehicle onto a path upon which said vehicle may travel, so as to generate a plurality of light spots on said path, wherein at least two of said plurality of light spots are at different world-space down-range locations relative to said vehicle; b. capturing from said vehicle at least one image of said plurality of light spots using at least one camera; c. determining at least two image-space locations in said at least one image of a corresponding said at least two of said plurality of lights spots at said different world space down-range locations; d. determining a pitch angle of said vehicle responsive to said at least two of said plurality of light spots; e. determining corresponding world-space elevations of at least a portion of said plurality of light spots responsive to said pitch angle of said vehicle; and f. determining said pitch angle of said vehicle responsive to at least one image-space separation of at least one pair of said plurality of light spots. - View Dependent Claims (10)
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2. A method of sensing a physical feature of or along a path of a vehicle, comprising:
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projecting a structured light pattern from a vehicle onto a path upon which said vehicle may travel, so as to generate a plurality of light spots on said path, wherein at least two of said plurality of light spots are at different world-space down-range locations relative to said vehicle; capturing from said vehicle at least one image of said plurality of light spots using at least one camera; determining at least two image-space locations in said at least one image of a corresponding said at least two of said plurality of lights spots at said different world space down-range locations; determining a pitch angle of said vehicle responsive to said at least two of said plurality of light spots; and determining corresponding world-space elevations of at least a portion of said plurality of light spots responsive to said pitch angle of said vehicle; and transforming said at least one image to a plurality of elevation tiles, wherein each elevation tile of said plurality of elevation tiles comprises a plurality of corners that are defined by corresponding image-space locations of associated light spots of said plurality of light spots, and a world-space elevation of each said elevation tile is determined as a median or average of corresponding world-space elevation coordinates of a set of image pixels associated with said elevation tile within a boundary defined by said plurality of corners. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9)
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11. A method of sensing a physical feature of or along a path of a vehicle, comprising:
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projecting a structured light pattern from a vehicle onto a path upon which said vehicle may travel, so as to generate a plurality of light spots on said path, wherein at least two of said plurality of light spots are at different world-space down-range locations relative to said vehicle; capturing from said vehicle at least one image of said plurality of light spots using at least one camera; determining at least two image-space locations in said at least one image of a corresponding said at least two of said plurality of lights spots at said different world space down-range locations; determining a pitch angle of said vehicle responsive to said at least two of said plurality of light spots; and determining corresponding world-space elevations of at least a portion of said plurality of light spots responsive to said pitch angle of said vehicle; and wherein said at least one image is captured using a stereo-vision imaging system that provides for generating first and second stereo image components, each from a different perspective along a baseline separated by a baseline distance, further comprising; a. determining a corresponding down-range location of each light spot of said plurality of light spots responsive to a disparity of image-space locations of said corresponding light spot in said first and second stereo image components, and b. determining a corresponding world-space elevation of said light spot responsive to said corresponding down-range location of said light spot.
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12. A method of sensing a physical feature of or along a path of a vehicle, comprising:
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projecting a structured light pattern from a vehicle onto a path upon which said vehicle may travel, so as to generate a plurality of light spots on said path, wherein at least two of said plurality of light spots are at different world-space down-range locations relative to said vehicle; capturing from said vehicle at least one image of said plurality of light spots using at least one camera; determining at least two image-space locations in said at least one image of a corresponding said at least two of said plurality of lights spots at said different world space down-range locations; determining a pitch angle of said vehicle responsive to said at least two of said plurality of light spots; and determining corresponding world-space elevations of at least a portion of said plurality of light spots responsive to said pitch angle of said vehicle; and wherein said at least one image is captured using a mono-vision imaging system, and for each light spot of said plurality of light spots, further comprising; a. associating said light spot with a stored pre-calibrated world-space down-range location of said light spot, wherein said pre-calibrated world-space down-range location of said light spot is determined when said vehicle is on a nominal relatively flat surface, and b. determining a world-space elevation of said light spot responsive to said pre-calibrated world-space down-range location of said light spot.
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13. A method of sensing a physical feature of or along a path of a vehicle, comprising:
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projecting a structured light pattern from a vehicle onto a path upon which said vehicle may travel, so as to generate a plurality of light spots on said path, wherein at least two of said plurality of light spots are at different world-space down-range locations relative to said vehicle; capturing from said vehicle at least one image of said plurality of light spots using at least one camera; determining at least two image-space locations in said at least one image of a corresponding said at least two of said plurality of lights spots at said different world space down-range locations; determining a pitch angle of said vehicle responsive to said at least two of said plurality of light spots; and determining corresponding world-space elevations of at least a portion of said plurality of light spots responsive to said pitch angle of said vehicle; and further comprising, for each light spot of said at least said portion of said plurality of light spots; a. locating a plurality of pixels associated with said light spot in said at least one image; and b. determining a location of said light spot in said at least one image responsive to said plurality of pixels associated with said light spot in said at least one image. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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Specification