Automated local positioning system calibration using optically readable markers

• US 9,924,103 B2
• Filed: 04/09/2015
• Issued: 03/20/2018
• Est. Priority Date: 04/09/2015
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Fetzer, Barry A., Troy, James J., Georgeson, Gary E.
• Primary Examiner(s): Kalapodas, Dramos I
• Application Number:
  US14/682,870
• Publication Number:
  US 20160300354A1
• Time in Patent Office: 1,076 Days
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G06T 2207/10152 Varying illumination
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/174 involving the use of two or more images
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming

Abstract

An improved mechanism for calibrating a local positioning system through the use of passive or retro-reflective markers is described herein. A plurality of imaging targets with the passive or retro-reflective markers may be attached or affixed on a surface of an object. The local positioning system may then capture a first image of the imaging targets in a non-illuminated state and further capture a second image of the imaging targets in an illuminated state. A difference image between the first and second captured images may be computed and then segmented. The local positioning system may then identify the plurality of imaging targets based on the segmented difference image and position itself to extract information. The extracted information may then be used to help calibrate the local positioning system.

Claims

1. A method for calibrating a local positioning system, comprising:

capturing a first image of a plurality of imaging targets (130-132) in a first state of illumination, wherein the imaging targets are on a surface of an object;

illuminating the plurality of imaging targets to a second state of illumination from a source at a location from which the first image was captured, the imaging targets responding differently to the second state of illumination than the first state of illumination;

capturing, from the location, a second image of the plurality of imaging targets (130-132) in the second state of illumination;

generating a difference image (300) using the first and second captured images;

segmenting the difference image;

locating a center point of each of the plurality of imaging targets based on the segmented difference image (300);

extracting information (500) from each of the plurality of imaging targets;

acquiring a distance reading based on a distance measurement from the center point of each of the plurality of imaging targets (130-132) and the local positioning system (120); and

calibrating the local positioning system (120) based on the extracted information and the acquired distance reading.

2. The method of claim 1, wherein extracting information from each of the plurality of imaging targets comprises extracting information related to the position of the center point on the surface of the object.

3. The method of claim 2, wherein the information related to the position of the center point is represented in three dimensional coordinates.

4. The method of claim 2, wherein the information is stored in a machine-readable code.

5. The method of claim 2, wherein the information from each of the plurality of imaging targets is extracted by adjusting a field of view of the local positioning system to zoom into the center region of each of the plurality of imaging targets.

6. The method of claim 5, wherein adjusting the field of view of the local positioning system to zoom into the center region of each of the plurality of imaging targets further comprises:

acquiring a close-up image of the center region of each of the plurality of imaging targets;

reading a machine-readable label from the close-up image; and

in response to reading the machine-readable label and not being able to decode the machine-readable label into a usable format, capture an additional first image of a plurality of imaging targets in a non-illuminated state and an additional second image of the plurality of imaging targets in an illuminated state to generate an additional difference image.

7. The method of claim 1, wherein capturing a first image of a plurality of imaging targets in a first state of illumination comprises capturing the first image while under no illumination, and wherein capturing a second image of the plurality of imaging targets in a second state of illumination comprises illuminating at least a portion of a surface of an object and capturing the second image under illumination.

8. The method of claim 1, wherein calibrating the local positioning system further comprises computing a relative position and orientation offset between the local positioning system and the plurality of imaging targets.

9. The method of claim 1, wherein calibrating the local positioning system occurs when at least three valid imaging targets are identified.

10. The method of claim 1, wherein generating a difference image using the first and second captured images further comprises:

determining whether a sufficient number of imaging targets are captured; and

in response to determining that a sufficient number of imagining targets are not found, aim the local positioning system to a new region on the surface of the object to acquire an additional first image of a plurality of imaging targets in a first state of illumination, and an additional second image of the plurality of imaging targets in second state of illumination different from the first state to generate an additional difference image.

11. A system, comprising:

one or more memories having stored thereon computer-readable instructions that, upon execution by a computing device, cause the system to;

capture a first image of a plurality of imaging targets in a non-illuminated state, wherein the imaging targets are on a surface of an object;

illuminate at least a portion of the surface of the object from a source at a location from which the first image was captured, the imaging targets reflecting at least some of the illumination;

capture, from the location from which the first image was captured a second image of the plurality of imaging targets reflecting the at least some of the illumination;

generate a difference image using the first and second captured images;

segment the difference image;

locate a center point of each of the plurality of imaging targets based on the segmented difference image;

extract information from each of the plurality of imaging targets;

acquire a distance reading based on a distance measurement from the center point of each of the plurality of imaging targets and location; and

calibrate a local positioning system based on the extracted information and the acquired distance reading.

12. The system of claim 11, wherein the center region of each of the plurality of imaging targets comprises information related to a position of the center point of the imaging target on the surface of the object.

13. The system of claim 12, wherein the information related to the position of the center point is represented in three dimensional coordinates.

14. The system of claim 11, further comprising one or more memories having stored thereon computer-readable instructions that, upon execution by the computing device, cause the system to:

acquire a close-up image of the center region of each of the plurality of imaging targets;

read a machine-readable label from the close-up image; and

in response to reading the machine-readable label and not being able to decode the machine-readable label into a usable format, capture an additional first image of a plurality of imaging targets in a non-illuminated state, and an additional second image of the plurality of imaging targets in an illuminated state to generate an additional difference image.

15. The system of claim 11, wherein each of the plurality of imaging targets includes a reflecting portion bounding a machine-readable label having the extracted information.

16. The system of claim 11, further comprising one or more memories having stored thereon computer-readable instructions that, upon execution by the computing device, cause the system to form a plurality of segmented portions based on segmenting the difference image;

and calculate a centroid for each of the plurality of segmented portions.

17. The system of claim 16, further comprising one or more memories having stored thereon computer-readable instructions that, upon execution by the computing device, cause the system to at least:

locate a center point of each imaging target based on the calculated centroid from each of the plurality of segmented portions.

18. The system of claim 11, wherein the first captured image comprises a single image of the plurality of imaging targets in the non-illuminated state, and the second captured image comprises a single image of the plurality of imaging targets in the illuminated state.

19. The system of claim 11, wherein:

the first image of the plurality of imaging targets and the second image of the plurality of imaging targets is captured by a camera;

the source comprises a ring light attached to the camera.

20. The system of claim 11, further comprising one or more memories having stored thereon computer-readable instructions that, upon execution by the computing device, cause the system to at least scan the surface of the object until at least three valid imaging targets are identified.