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US 10,989,537 B2Granted
Sonar sensor fusion and model based virtual and augmented reality systems and methods
AssigneeFLIR Belgium BVBA
InventorsPaul Stokes, Mark Johnson, Richard Jales, Gordon Pope, Christopher Gatland, Aaron Ridout
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Abstract
Techniques are disclosed for systems and methods for sensor fusion with respect to mobile structures. A mobile structure may include multiple ranging sensor systems and/or receive navigational data from various sensors. A navigational database may be generated that includes data from the ranging sensor systems and/or other sensors. Aspects of the navigational database may then be used to generate an integrated model, which can be used to generally aid in the navigation of the mobile structure.
Claims20
An apparatus comprising:
- a plurality of ranging sensor systems associated with a mobile structure, wherein three or more of the ranging sensor systems are configured to sense at least a portion of an underwater environment and provide corresponding ranging sensor data associated with the portion of the underwater environment;
- and
- a logic device, wherein the logic device is configured to:
- receive the ranging sensor data from the plurality of ranging sensor systems,
- generate a point cloud database based, at least in part, on the ranging sensor data from the three or more ranging sensor systems, and
- generate an integrated model of at least the portion of the underwater environment by combining the ranging sensor data from the three or more ranging sensor systems based, at least in part, on the point cloud database;
- wherein the three or more ranging sensor systems comprise at least a first sonar system and a second sonar system, and at least one non-sonar-based ranging sensor system;
- and
- the first sonar system is configured to operate across a first range of distances from the mobile structure, and a second sonar system is configured to operate across a second range of distances from the mobile structure, the second range of distances being different from the first range of distances.
6 more elements
A method comprising:
- receiving ranging sensor data from a plurality of ranging sensor systems associated with a mobile structure, wherein three or more of the ranging sensor systems are configured to sense at least a portion of an underwater environment and provide corresponding ranging sensor data associated with the portion of the underwater environment;
- generating a point cloud database based, at least in part, on the ranging sensor data from the three or more ranging sensor systems;
- and
- generating an integrated model of the underwater environment by combining the ranging sensor data from the three or more ranging sensor systems based, at least in part, on the point cloud database;
- wherein the three or more ranging sensor systems comprise at least a first sonar system and a second sonar system, and at least one non-sonar-based ranging sensor system;
- and
- the first sonar system is configured to operate across a first range of distances from the mobile structure, and a second sonar system is configured to operate across a second range of distances from the mobile structure, the second range of distances being different from the first range of distances.
4 more elements
Dependencies are inferred from the claim text.