SYSTEM AND METHOD FOR DETERMINING AN ORIENTATION AND POSITION OF AN OBJECT

• US 20170161907A1
• Filed: 09/13/2016
• Published: 06/08/2017
• Est. Priority Date: 12/19/2008
• Status: Active Grant

• Current Assignee: Landing technologies, Inc.
• Original Assignee: ReconRobotics Inc.
• Inventors: MALECKI, Robert S., HER, Lue, THOMPSON, Ryan J., GIANG, Anthony H.
• Granted Patent: US 10,331,952 B2
• Time in Patent Office: Days
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/136 involving thresholding
• CPC Class Codes: G06T 7/194 involving foreground-background segmentation
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

A system includes a computation device having an input module adapted to receive data defining a single two dimensional image, an image analyzing module configured to receive the data and analyze the single two dimensional image to determine a two dimensional orientation representative of a three dimensional orientation and position, a position calculating module configured to receive the two dimensional orientation from the image analyzing module and determine the three dimensional orientation and position of the object, and an output module adapted to send information relating to the three dimensional orientation and position of the object.

Claims

1. A system for determining an orientation and position of an object from a single two dimensional image of the object, the system comprising:

a computation device, comprising;

an input receiver adapted to receive data defining a single two dimensional image;

an image analyzing module communicatively coupled to the input receiver and configured to receive the data and analyze the single two dimensional image to determine a two dimensional orientation representative of a three dimensional orientation and position;

a position calculating module configured to receive the two dimensional orientation from the image analyzing module and determine the three dimensional orientation and position of the object; and

an output module adapted to send information relating to the three dimensional orientation and position of the object.

2. The system of claim 1, wherein the image analyzing module comprises:

a background subtraction component configured to reduce interference associated with the data defining the two dimensional image;

a threshold image component configured to create a threshold image from brightest pixels; and

a component labeler configured to assign coordinates to selected portions of the two dimensional image.

3. The system of claim 2, wherein the image analyzing module further comprises a centroid calculating component configured to define a centroid of one or more pixels of the single two dimensional image.

4. The system of claim 1, wherein the position calculating module further comprises a processing component configured to process a series of linear equations to determine the three dimensional orientation and position of the object.

5. The system of claim 4, wherein the series of linear equations is a Taylor series of equations.

6. The system of claim 4, wherein the position calculating module further comprises an assumption application component configured to apply boundary conditions to the series of linear equations thereby simplifying the processing thereof.

7. The system of claim 1, further comprising a situational data component accessible by the position calculating module, wherein situational data is stored for use in simplifying the determination of the three dimensional orientation and position.

8. The system of claim 7, wherein the situational data comprises boundary assumptions relating to the range of expected orientations of the object defined by a range of rotation angles about axes passing through the center of mass of the object.

9. The system of claim 8, wherein the expected orientations relate to operational limits and conditions of the object.

10. The system of claim 8, wherein the range of rotation angles includes a range of angles about a longitudinal direction of travel of the object.

11. The system of claim 8, wherein the range of rotation angles includes a range of angles about one or more directions transverse to the direction of travel.

12. The system of claim 7, wherein the situational data is adjustable based on the object and conditions for which the orientation and position are being determined.

13. The system of claim 7, wherein the situational data includes relationship information between the object and a position indicator associated with the object.

14. The system of claim 1, wherein the computation device further comprises an image capturing module configured to control an image detection device.

15. The system of claim 14, wherein the image capturing module further comprises:

an initial detection component configured to activate a detection device;

a timing component configured to control the frequency of detection device actuation; and

a shut down component configured to deactivate the detection device.

16. A method for determining an orientation and position of an object from a single two dimensional image of the object, the method comprising:

receiving image data and storing the image data in a non-transitory computer readable storage medium, the image data including a single two dimensional depiction of the object; and

using a computation device having one or more modules for accessing the image data and determining the orientation and position of the object,

the determining comprising;

analyzing the image data to determine a two dimensional orientation that is representative of a three dimensional position and orientation of the object; and

performing a three dimensional analysis limited by boundary conditions to determine the three dimensional orientation and position of the object.

17. The method of claim 16, wherein analyzing the image data further comprises labeling one or more portions of the image data with two dimensional coordinates.

18. The method of claim 16, further comprising applying boundary conditions to limit the variables associated with the three dimensional position and orientation of the object, wherein the boundary conditions relate to the range of expected orientations of the object defined by a range of rotation angles about axes passing through the center of mass of the object.

19. The system of claim 16, wherein the expected orientations relate to operational limits and conditions of the object.

20. The system of claim 18, wherein the range of rotation angles includes a range of angles about a longitudinal direction of travel of the object.

21-24. -24. (canceled)