Method and computer program for generating a database for use in locating mobile devices based on imaging

• US 9,911,190 B1
• Filed: 04/27/2016
• Issued: 03/06/2018
• Est. Priority Date: 04/09/2014
• Status: Active Grant

• Current Assignee: Vortex Intellectual Property Holding LLC
• Original Assignee: Vortex Intellectual Property Holding LLC
• Inventors: Houri, Cyril
• Primary Examiner(s): Nakhjavan, Shervin
• Application Number:
  US15/139,631
• Time in Patent Office: 678 Days
• Field of Search: None
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: G06F 16/22 Indexing; Data structures therefor; Storage structures
• CPC Class Codes: G06F 16/5862 using texture
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 10/247 by affine transforms, e.g. correction due to perspective effects; Quadrilaterals, e.g. trapezoids
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: H04W 4/02 Services making use of location information

Abstract

Method, system and computer program for generating a database of pixel patterns includes obtaining images using an imaging system of mobile devices, each image including a pixel pattern, and determining a position of the mobile device using a positioning system at least partly situated on the mobile device when each image is obtained using the imaging system of the mobile device. Positional relationships between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when the at least one image including the pattern of pixels was obtained are generated and enables retrieval of an estimation of the position of the mobile device upon input of another image including the pattern of pixels. The generated positional relationships between the size and/or angular orientation of the pattern of pixels and the associated determined position of the mobile device are stored in a database.

Claims

1. A method for generating a database of pixel patterns with positional information using a mobile device with at least one imaging system, comprising:

obtaining at least one image using the at least one imaging system of the mobile device, each of the at least one image including a pattern of pixels;

determining a position of the mobile device using a positioning system at least partly situated on the mobile device when each of the at least one image is obtained;

generating a positional relationship between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when the at least one image including the pattern of pixels was obtained that enables determination of an estimation of the position of the mobile device upon input of another image including the pattern of pixels; and

storing in the database, the generated positional relationship between the size and/or angular orientation of the pattern of pixels and the associated determined position of the mobile device.

2. The method of claim 1, wherein the step of generating a positional relationship between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when the at least one image including the pattern of pixels was obtained comprises processing the at least one image, using a processor, based on angular orientation of the pattern of pixels relative to an imaging direction in which the at least one image was obtained to thereby generate the positional information.

3. The method of claim 1, wherein the step of generating a positional relationship between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when the at least one image including the pattern of pixels was obtained comprises processing the at least one obtained image, using a processor, based on size of the pattern of pixels to thereby generate the positional information.

4. The method of claim 1, wherein the step of generating a positional relationship between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when the at least one image including the pattern of pixels was obtained comprises processing the at least one obtained image, using a processor, based on size of the pattern of pixels and angular orientation of the pattern of pixels relative to an imaging direction in which the image was obtained to thereby generate the positional information.

5. The method of claim 1, wherein the step of obtaining at least one image using the at least one imaging system of the mobile device comprises obtaining a plurality of images using the at least one imaging system of the mobile device.

6. The method of claim 5, wherein each of the plurality of images is obtained using the at least one imaging system of the mobile device such that each of the plurality of images includes a common, stationary pattern of pixels from different positions of the mobile device relative to the pattern of pixels.

7. The method of claim 5, wherein the step of obtaining a plurality of images comprises:

positioning the mobile device in each of the different positions relative to the common, stationary pattern of pixels at different times; and

pressing an image obtaining actuator on the mobile device while the mobile device is in each of the different positions.

8. The method of claim 5, wherein the step of obtaining a plurality of images comprises:

positioning the mobile device in a first position relative to the pattern of pixels;

pressing an image obtaining actuator on the mobile device while the mobile device is in the first position;

moving the mobile device to a second position relative to the pattern of pixels and different than the first position; and

pressing the image obtaining actuator on the mobile device while the mobile device is in the second position.

9. The method of claim 1, wherein the step of obtaining at least one image using the mobile device comprises obtaining the at least one image using a panoramic camera using a panoramic camera attached to or part of the mobile device.

10. The method of claim 1, wherein the mobile device is a pilotless drone.

11. The method of claim 1, further comprising:

assigning a digital signature to each unique pattern of pixels;

comparing the digital signature of multiple images to determine which have been assigned a common digital signature; and

then

storing the generated positional information about patterns of pixels assigned a common digital signature together.

12. The method of claim 1, wherein the database consists of a single database.

13. The method of claim 1, wherein the database comprises a plurality of physically separate databases.

14. A computer program embodied in non-transitory computer readable media for generating a database of pixel patterns with positional information using a mobile device with at least one imaging system, the computer program being configured to:

receive at least one image from the at least one imaging system of the mobile device, each of the at least one image including a pattern of pixels;

determine a position of the mobile device using a positioning system at least partly situated on the mobile device when each of the at least one image is obtained;

generate a positional relationship between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when the at least one image including the pattern of pixels was obtained that enables determination of an estimation of the position of the mobile device upon input of another image including the pattern of pixels; and

store in the database, the generated positional relationship between the size and/or angular orientation of the pattern of pixels and the associated determined position of the mobile device.

15. The computer program embodied in non-transitory computer readable media of claim 14, wherein the computer program is configured to generate positional information about the pattern of pixels in each of the at least one image by processing the at least one image based on angular orientation of the pattern of pixels relative to an imaging direction in which the image was obtained.

16. The computer program embodied in non-transitory computer readable media of claim 14, wherein the computer program is configured to generate positional information about the pattern of pixels in each of the at least one image by processing the at least one image based on size of the pattern of pixels.

17. The computer program embodied in non-transitory computer readable media of claim 14, wherein the computer program is configured to generate positional information about the pattern of pixels in each of the at least one image by processing the at least one image based on size of the pattern of pixels and angular orientation of the pattern of pixels relative to an imaging direction in which the image was obtained.

18. The computer program embodied in non-transitory computer readable media of claim 14, wherein the computer program is configured to receive a plurality of images from the at least one imaging system of the mobile device each from a different position of the mobile device relative to a common, stationary pattern of pixels.

19. The computer program embodied in non-transitory computer readable media of claim 14, wherein the computer program is further configured to:

assign a digital signature to each unique pattern of pixels;

compare the digital signature of multiple images to determine which have been assigned a common digital signature; and

then

store the generated positional information about patterns of pixels assigned a common digital signature together.

20. A mobile device-based system for generating a database of pixel patterns with positional information using a mobile device with at least one imaging system, comprising:

at least one imaging system configured to obtain images each including a pattern of pixels;

a positioning system configured to determine a position of the mobile device when each image is obtained;

a processor configured to generate a positional relationship between a size and/or angular orientation of the pattern of pixels and an associated determined position of the mobile device when each image was obtained that enables determination of an estimation of the position of the mobile device upon input of another image including the pattern of pixels; and

a database configured to store the generated positional relationship between the size and/or angular orientation of the pattern of pixels and the associated determined position of the mobile device.