SYSTEM AND METHOD FOR NAVIGATING A REMOTE CONTROL VEHICLE PAST OBSTACLES

• US 20100292868A1
• Filed: 12/31/2008
• Published: 11/18/2010
• Est. Priority Date: 01/08/2008
• Status: Abandoned Application

• Current Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Original Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Inventors: Levi, Yaacov, Rotem, Efrat
• Application Number:
  US12/812,036
• Publication Number:
  US 20100292868A1
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

A method for navigating a remote control vehicle carrying a video camera which produces a sequence of images, the method comprising tracking a current position of the vehicle as the vehicle moves along a path of motion, determining a location of the current position within a prior image, the prior image having been acquired by the video camera at a previously visited point along the path of motion, and displaying to the operator a graphic display including a representation of the vehicle shown at the location within the prior image.

Claims

1. A method for navigating a remote control vehicle carrying a video camera which produces a sequence of images, the method comprising:

(a) tracking a current position of the vehicle as the vehicle moves along a path of motion;

(b) determining a location of said current position within a prior image, said prior image having been acquired by the video camera at a previously visited point along the path of motion; and

(c) displaying to the operator a graphic display including a representation of the vehicle shown at said location within the prior image.

4. The method of claim 1, wherein said tracking includes tracking a current attitude of the vehicle, and wherein said displaying displays a representation of the vehicle indicative of said current attitude.

5. The method of claim 1, wherein said displaying displays a representation of the vehicle having dimensions determined as a function of a distance from said previously visited point to said current position.

6. The method of claim 1, wherein said prior image is selected as the image taken at a given time prior to reaching the current position.

7. The method of claim 1, wherein said prior image is selected as the image taken at a given distance along the path of motion prior to reaching the current position.

8. The method of claim 1, wherein said prior image is maintained constant during part of the motion of the vehicle along said path of motion.

9. The method of claim 1, further comprising receiving an input from a user and varying, responsively to said input, a distance along the path of motion prior to reaching the current position at which said prior image is selected.

11. The method of claim 1, further comprising displaying concurrently with said graphic display a current video image acquired by the video camera at said current position.

13. The method of claim 1, further comprising displaying a current video image acquired by the video camera at said current position, and wherein said graphic display is displayed as an on-demand temporary replacement for display of said current video image.

14. The method of claim 1, further comprising:

(a) identifying within said prior image a subregion corresponding to at least part of a field of view of said current image; and

(b) displaying within said graphic display an image tile derived from said current image at a location within said prior image corresponding to said subregion.

15. The method of claim 1, wherein the vehicle is an airborne vehicle.

2. (canceled)

3. (canceled)

10. (canceled)

12. (canceled)

16. A remote control vehicle system comprising:

(a) a remote control vehicle comprising;

(i) a video camera producing a sequence of images,

(ii) vehicle controls for controlling motion of the vehicle, and

(iii) a communications link for receiving inputs to said vehicle controls and transmitting said sequence of images; and

(b) a control interface including;

(i) user controls for generating inputs for controlling said vehicle controls,

(ii) a display device, and

(iii) a communications link for transmitting said inputs and receiving said sequence of images,

wherein at least one of said vehicle and said control interface includes at least part of a tracking system for tracking a current position of the vehicle as the vehicle moves along a path of motion,

and wherein at least one of said vehicle and said control interface includes a processing system configured to;

(A) determine a location of said current position within a prior image, said prior image having been acquired by said video camera at a previously visited point along the path of motion; and

(B) generate a graphic display for display on said display device, said graphic display including a representation of the vehicle shown at said location within the prior image.

19. The remote control vehicle system of claim 16, wherein said tracking system is operative to track a current attitude of the vehicle, and wherein said processing system generates said representation of the vehicle indicative of said current attitude.

20. The remote control vehicle system of claim 16, wherein said processing system selects said prior image as the image taken at a given time prior to reaching the current position.

21. The remote control vehicle system of claim 16, wherein said processing system selects said prior image as the image taken at a given distance along the path of motion prior to reaching the current position.

22. The remote control vehicle system of claim 16, wherein said processing system employs a single prior image during part of the motion of the vehicle along said path of motion.

23. The remote control vehicle system of claim 16, wherein said user controls include a viewpoint adjustment control, and wherein said processing system is responsive to said viewpoint adjustment control to vary a distance along the path of motion prior to reaching the current position at which said prior image is selected.

25. The remote control vehicle system of claim 16, wherein said display device displays a current video image acquired by the video camera at said current position together with said graphic display.

27. The remote control vehicle system of claim 16, wherein said graphic display is displayed as an on-demand temporary replacement for a display of said current video image.

28. The remote control vehicle system of claim 16, wherein said vehicle is an airborne vehicle.

17. (canceled)

18. (canceled)

24. (canceled)

26. (canceled)