Generating positional reality using RTK integrated with scanning lasers

• US 6,677,938 B1
• Filed: 08/04/1999
• Issued: 01/13/2004
• Est. Priority Date: 08/04/1999
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Unit
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Maynard, Kurtis L.
• Primary Examiner(s): Padmanabhan, Mano
• Assistant Examiner(s): Sealey, Lance W.
• Application Number:
  US09/369,033
• Time in Patent Office: 1,623 Days
• Field of Search: 386/46, 386/117, 348/61, 348/83, 348/135, 348/142, 348/232, 358/909.1, 345/7, 345/8, 345/207, 345/419, 345/850, 345/863, 340/988, 340/995, 701/207-209, 701/211, 702/150, 702/172, 239/161, 700/9, 700/83, 382/112, 382/152, 382/286, 356/3.11, 356/395, 356/601, 342/52, 342/54, 342/56, 342/58, 342/352, 342/357.06, 396/7
• US Class Current: 345/419
• CPC Class Codes: A63F 2300/8082 Virtual reality
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00

Abstract

A method and a system for creating a Positional Reality scene of a plurality of real objects that represents a virtual reality scene with the correct positional information about real objects are disclosed. A Positioning Reality Image of each geometrical object is built by using an integrated Satellite Positional System (SATPS), and a Scanning Laser Sensor (SLS). If SATPS comprises an RTK GPS system, a Positioning Reality Image of each geometrical object is built in real time.

Claims

1. A method of navigating in real time around a real site comprising at least one three dimensional real geometrical object, said method comprising the steps of:

generating in real time a database comprising a set of three dimensional Positional Reality Images of each said three dimensional real object by operating an integrated Positional Reality System (PRI) comprising a positioning system integrated with a scanning optical system;

viewing in real time said database comprising said set of three dimensional Positional Reality Images; and

navigating in real time around said real site using said database of said three dimensional Positional Reality Images.

2. The method of claim 1, wherein said step of navigating around the real site using said at least one three dimensional Positional Reality Image (PRI) further comprises the step of:

navigating around the real site in real time in complete darkness.

3. A method of identifying in real time a three dimensional coordinate point on a three dimensional real object by utilizing a three dimensional Positional Reality Image (PRI);

said three dimensional Positional Reality Image (PRI) being a three dimensional virtual image of said three dimensional real object, said method comprising the steps of;

generating in real time said three dimensional Positional Reality Image (PRI) of said three dimensional geometrical object;

generating in real time a matching database, wherein each said three dimensional coordinate point on said three dimensional real object is matched with a single three dimensional coordinate point on said three dimensional Positional Reality Image (PRI) of said geometrical object;

viewing in real time said three dimensional Positional Reality Image (PRI) of said geometrical object;

selecting a three dimensional coordinate point on said three dimensional Positional Reality Image (PRI) of said geometrical object; and

identifying in real time a corresponding three dimensional coordinate point of said three dimensional real object by using said matching database.

4. The method of claim 3, wherein said step of viewing in real time said three dimensional Positional Reality Image (PRI) of said geometrical object further includes the step of:

accessing in real time said matching database using a virtual controller.