Intra-sensor relative positioning

• US 10,282,859 B2
• Filed: 12/12/2016
• Issued: 05/07/2019
• Est. Priority Date: 12/12/2016
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Hunt, Jeffrey H., Vander Wel, Michael M.
• Primary Examiner(s): Jiang, Zaihan
• Application Number:
  US15/375,921
• Publication Number:
  US 20180165826A1
• Time in Patent Office: 876 Days
• Field of Search: 348159
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

An example system for determining relative position information includes a plurality of positioning devices for determining relative position data within a three-dimensional space, each positioning device having a line of sight. The relative position data determined via each positioning device includes relative position data with respect to the positioning device for each other positioning device within its line of sight. The system further includes a plurality of imaging devices for obtaining image data of an object within the three-dimensional space. The system also includes a computing device configured to correlate the relative position data determined via the plurality of positioning devices and the image data obtained via the plurality of imaging devices, to thereby determine relative position information corresponding to the object within the three-dimensional space.

Claims

1. A system for determining relative position information comprising:

a plurality of positioning devices for determining relative position data within a three-dimensional space, each positioning device having a line of sight, and wherein the relative position data determined via each positioning device comprises relative position data with respect to the positioning device for each other positioning device within its line of sight;

a plurality of imaging devices for obtaining image data of an object within the three-dimensional space; and

a computing device configured to correlate the relative position data determined via the plurality of positioning devices and the image data obtained via the plurality of imaging devices to thereby determine relative position information corresponding to the object within the three-dimensional space, wherein, based on a movement of a given positioning device of the plurality of positioning devices, the computing device is configured to determine, via each other positioning device within the line of sight of the given positioning device, updated relative position data for the given positioning device with respect to the other positioning device.

2. The system of claim 1, wherein each positioning device in the plurality of positioning devices is a light imaging, detection, and ranging (LIDAR) device.

3. The system of claim 1, wherein each positioning device in the plurality of positioning devices is mounted to a structure within the three-dimensional space, and wherein each imaging device in the plurality of imaging devices is mounted integrally with one of the positioning devices in the plurality of positioning devices such that the imaging device is immovable with respect to the positioning device.

4. The system of claim 1, wherein each imaging device in the plurality of imaging devices comprises a location device mounted to the imaging device, and wherein the relative position data determined via each positioning device comprises relative position data with respect to the positioning device for each location device within its line of sight.

5. The system of claim 1, wherein the image data of the object obtained via the plurality of imaging devices comprises image data for a first target point on the object and a second target point on the object, and wherein the determined relative position information corresponding to the object comprises relative position information for the first target point with respect to the second target point.

6. The system of claim 1, wherein the plurality of positioning devices includes between 20 and 100 positioning devices.

7. The system of claim 1 wherein the computing device is further configured to correlate the updated relative position data and the image data obtained via the plurality of imaging devices to thereby determine updated relative position information corresponding to the object within the three-dimensional space.

8. A method comprising:

determining, via a plurality of positioning devices, relative position data within a three-dimensional space, each positioning device having a line of sight, and wherein the relative position data determined via each positioning device comprises relative position data with respect to the positioning device for each other positioning device within its line of sight;

obtaining, via a plurality of imaging devices, image data of an object within the three dimensional space;

correlating, by a computing device, the relative position data determined via the plurality of positioning devices and the image data obtained via the plurality of imaging devices;

based on the correlation of the relative position data determined via the plurality of positioning devices and the image data obtained via the plurality of imaging devices, determining, by the computing device, relative position information corresponding to the object within the three-dimensional space; and

based on a movement of a given positioning device in the plurality of positioning devices, determining, via each other positioning device within the line of sight of the given positioning device, updated relative position data for the given positioning device with respect to the other positioning device.

9. The method of claim 8, wherein determining, via each positioning device in the plurality of positioning devices, relative position data within the three-dimensional space further comprises determining relative position data with respect to the positioning device for each imaging device within its line of sight.

10. The method of claim 8, further comprising mounting each imaging device in the plurality of imaging devices integrally with one of the positioning devices in the plurality of positioning devices such that the imaging device is immovable with respect to the positioning device.

11. The method of claim 8, wherein each imaging device in the plurality of imaging devices comprises a location device mounted to the imaging device, and wherein determining, via each positioning device, relative position data within the three-dimensional space further comprises determining relative position data with respect to the positioning device for each location device within its line of sight.

12. The method of claim 8, wherein the image data of the object obtained via the plurality of imaging devices comprises image data for a first target point on the object and a second target point on the object, and wherein determining the relative position information corresponding to the object comprises determining relative position information for the first target point with respect to the second target point.

13. The method of claim 8, wherein determining, via the plurality of positioning devices, relative position data within the three-dimensional space comprises determining, via between 20 and 100 positioning devices, relative position data within the three-dimensional space.

14. The method of claim 8, further comprising:

correlating the updated relative position data determined via each other positioning device and the image data obtained via the plurality of imaging devices; and

based on the correlation of the updated relative position data and the image data obtained by the plurality of imaging devices, determining updated relative position information corresponding to the object within the three-dimensional space.

15. A non-transitory computer readable medium having stored thereon instructions, that when executed by a computing device, cause the computing device to perform functions comprising:

determining, via a plurality of positioning devices, relative position data within a three-dimensional space, each positioning device having a line of sight, and wherein the relative position data determined via each positioning device comprises relative position data with respect to the positioning device for each other positioning device within its line of sight;

obtaining, via a plurality of imaging devices, image data of an object within the three dimensional space;

correlating the relative position data determined via the plurality of positioning devices and the image data obtained via the plurality of imaging devices;

based on the correlation of the relative position data determined via the plurality of positioning devices and the image data obtained via the plurality of imaging devices, determining relative position information corresponding to the object within the three-dimensional space; and

based on a movement of a given positioning device in the plurality of positioning devices, determining, via each other positioning device within the line of sight of the given positioning device, updated relative position data for the given positioning device with respect to the other positioning device.

16. The non-transitory computer readable medium of claim 15, wherein determining, via each positioning device in the plurality of positioning devices, relative position data within the three-dimensional space further comprises determining, via each positioning device, relative position data with respect to the positioning device for each imaging device within its line of sight.

17. The non-transitory computer readable medium of claim 15, wherein each imaging device in the plurality of imaging devices comprises a location device mounted to the imaging device, and wherein determining, via each positioning device in the plurality of positioning device, relative position data within the three-dimensional space further comprises determining relative position data with respect to the positioning device for each location device within its line of sight.

18. The non-transitory computer readable medium of claim 15, wherein the image data of the object obtained via the plurality of imaging devices comprises image data for a first target point on the object and a second target point on the object, and wherein determining the relative position information corresponding to the object comprises determining relative position information for the first target point with respect to the second target point.

19. The non-transitory computer readable medium of claim 15, wherein determining, via the plurality of positioning devices, relative position data within the three-dimensional space comprises causing between 20 and 100 positioning devices to determine relative position data within the three-dimensional space.

20. The non-transitory computer readable medium of claim 15 further comprising instructions, that when executed by the computing device, cause the computing device to perform functions comprising:

correlating the updated relative position data determined via each other positioning device and the image data obtained via the plurality of imaging devices; and

based on the correlation of the updated relative position data and the image data obtained by the plurality of imaging devices, determining updated relative position information corresponding to the object within the three-dimensional space.