Compressed edge map representation for image aided navigation
AssigneeHoneywell International Inc.
InventorsMichael Ray Elgersma, Benjamin Mohr
Life of this patent
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Abstract
A method of generating a map for image aided navigation comprises detecting one or more edges in one or more terrain images, and obtaining a compressed edge representation of the one or more edges. The compressed edge representation is obtained by a method comprising fitting a geometric form or other mathematical model to the one or more edges, calculating one or more coefficients based on the fitted geometric form or other mathematical model, and storing the one or more coefficients in a database for use in generating the map for image aided navigation.
Claims14
A method of generating a map for image aided navigation, the method comprising:
- detecting one or more edges in one or more terrain images;
- and
- obtaining a compressed edge representation of the one or more edges, the compressed edge representation obtained by a method comprising:
- fitting a geometric form or other mathematical model to the one or more edges;
- calculating one or more coefficients based on the fitted geometric form or other mathematical model;
- and
- storing the one or more coefficients in a database for use in generating the map for image aided navigation;
- wherein fitting the geometric form or other mathematical model to the one or more edges comprises fitting one or more line segments to the one or more edges, wherein fitting the one or more line segments to the one or more edges comprises:
- dividing the one or more terrain images into multiple pixel blocks of a uniform size;
- and
- fitting the one or more line segments to edge pixels inside of each pixel block.
A system for generating a map for image aided navigation, the system comprising:
- at least one processor;
- and
- a memory unit in operative communication with the at least one processor and including a database, the memory unit comprising a non-transitory computer readable medium having instructions executable by the at least one processor to perform a method comprising:
- detecting one or more edges in one or more terrain images;
- and
- obtaining a compressed edge representation of the one or more edges, the compressed edge representation obtained by a method comprising:
- fitting a geometric form or other mathematical model to the one or more edges;
- calculating one or more coefficients based on the fitted geometric form or other mathematical model;
- and
- storing the one or more coefficients in the database for use in generating the map for image aided navigation;
- wherein fitting the geometric form or other mathematical model to the one or more edges comprises fitting one or more line segments to the one or more edges, wherein fitting the one or more line segments to the one or more edges comprises:
- dividing the one or more terrain images into multiple pixel blocks of a uniform size;
- and
- fitting the one or more line segments to edge pixels inside of each pixel block.
A computer implemented system for generating a map for image aided navigation, the computer implemented system comprising:
- an edge detector configured to identify multiple edges in each of a plurality of terrain images;
- and
- means for obtaining a compressed edge representation of the edges in the terrain images, wherein the means for obtaining the compressed edge representation is configured to:
- fit a geometric form or other mathematical model to the edges;
- calculate coefficients based on the fitted geometric form or other mathematical model;
- and
- store the coefficients in a database for use in generating the map for image aided navigation;
- wherein the fit of the geometric form or other mathematical model to the edges comprises a fit of a plurality of line segments to the edges, wherein the fit of the plurality of line segments to the edges comprises:
- divide the terrain images into multiple pixel blocks of a uniform size;
- and
- fit the plurality of line segments to edge pixels inside of each pixel block.
Dependencies are inferred from the claim text.