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Path sensing using structured lighting

  • US 10,083,361 B2
  • Filed: 09/14/2015
  • Issued: 09/25/2018
  • Est. Priority Date: 03/15/2013
  • Status: Active Grant
First Claim
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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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