# US 11,113,896 B2 · Geophysical sensor positioning system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,113,896 B2 - Document ID: US11113896B2 - Status: Granted - Kind: B2 - Application number: 17/247,030 - Filed: 2020-11-24 - Published: 2021-03-18 - Granted: 2021-09-07 - Earliest claimed: 2018-09-14 - Assignees: Advanced Geosciences, Inc. - Applicants: Advanced Geosciences, Inc. - Inventors: Markus Lagmanson - Web page: https://patentgrep.com/patent/US11113896B2 ## CPC - G06T 7/73: using feature-based methods - G06F 18/24155: {Bayesian classification} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - G06V 10/764: using classification, e.g. of video objects - G06V 20/20: in augmented reality scenes - G01V 15/00: Tags attached to, or associated with, an object, in order to enable detection of the object (record carriers for use with machines having a detectable tag or marker G06K19/00) - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G06T 2219/004: Annotating, labelling - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G01V: GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS (means for indicating the location of accidentally buried, e.g. snow-buried, persons A63B29/02) ## Abstract An augmented reality (AR) object positioning system receives a target coordinate for a location of interest within a physical environment. The AR object positioning system then determines an AR device coordinate of an AR device within the physical environment and orientation information of the AR device at the AR device coordinate. The AR object positioning system calculates a plurality of image frame coordinates of an image frame based on the AR device coordinate and the orientation information when the image frame was captured. The AR object positioning system, in response to an image frame coordinate of the plurality of image frame coordinates corresponding with the target coordinate, renders on a display of the AR device, first annotation content relative to the image frame coordinate according to rendering instructions for the first annotation content. ## Claims ### Claim 1 A method, comprising: receiving a target coordinate for a location of interest within a physical environment; calculating a plurality of image frame coordinates for an image frame when the image frame was captured based on an augmented reality device coordinate and orientation information of an augmented reality device that captured the image frame; in response to an image frame coordinate of the plurality of image frame coordinates corresponding with the target coordinate, rendering, on a display of the augmented reality device, first annotation content relative to the image frame coordinate according to rendering instructions for the first annotation content; and rendering second annotation content on the display of the augmented reality device when an object coordinate that includes coordinates of a geophysical sensor is within a predetermined distance from the target coordinate such that the second annotation content indicates when the geophysical sensor is positioned at the target coordinate. ### Claim 2 (depends on 1) The method of claim 1, further comprising: performing object recognition on objects within the image frame, wherein the objects within the image frame include the geophysical sensor; and determining, based on the object recognition, that the geophysical sensor in the image frame corresponds with a stored geophysical sensor identified in an object profile that is associated with the target coordinate. ### Claim 3 (depends on 2) The method of claim 2, further comprising: tracking the geophysical sensor throughout subsequent image frames. ### Claim 4 (depends on 1) The method of claim 1, further comprising: receiving user inputs defining the geophysical sensor that is within the image frame; and tracking the geophysical sensor throughout subsequent image frames. ### Claim 5 (depends on 1) The method of claim 1, further comprising: in response to the plurality of image frame coordinates not corresponding with the target coordinate, rendering, on the display of the augmented reality device, third annotation content according to rendering instructions for the third annotation content. ### Claim 6 (depends on 5) The method of claim 5, wherein the third annotation content indicates a direction the augmented reality device should move such that a subsequent image frame includes an image frame coordinate that corresponds with the target coordinate. ### Claim 7 (depends on 1) The method of claim 1, wherein the rendering the second annotation content on the display of the augmented reality device when the object coordinate is within the predetermined distance from the target coordinate such that the second annotation content indicates when the geophysical sensor is positioned at the target coordinate includes updating the first annotation content to the second annotation content when the object coordinate is within the predetermined distance from the target coordinate. ### Claim 8 (depends on 1) The method of claim 1, wherein the orientation information includes a direction the augmented reality device is facing with respect to a magnetic field of the physical environment, a distance the augmented reality device is from a surface of the physical environment, and an angle at which the augmented reality device is oriented with respect to the surface of the physical environment. ### Claim 9 (depends on 1) The method of claim 1, further comprising: detecting an augmented reality event; and capturing the image frame, by an imaging sensor coupled to the augmented reality device, in response to the detecting the augmented reality event. ### Claim 10 (depends on 1) The method of claim 1, further comprising: receiving a data file that includes a plan to position the geophysical sensor within the physical environment at the target coordinate to perform an electrical survey of a sub-ground of the physical environment, wherein the target coordinate includes a first latitude, a first longitude, and a first altitude of the physical environment and is associated with the geophysical sensor. ### Claim 11 An augmented reality object positioning system, comprising: a processor; and a computer-readable medium storing instructions which, when executed by the processor, cause the processor to perform operations comprising: identifying a geophysical sensor in an image frame of a physical environment, wherein object coordinates of the geophysical sensor in the physical environment are unknown; determining the object coordinates within the physical environment of the geophysical sensor from the image frame based on an augmented reality device coordinate within the physical environment of an augmented reality device and orientation information of the augmented reality device when the image frame was captured by the augmented reality device; and generating a computer model of a sub-ground of the physical environment based on the object coordinates of the geophysical sensor. ### Claim 12 (depends on 11) The system of claim 11, wherein the operations further comprise: storing the object coordinates of the geophysical sensor in a storage device; and associating feature points of the geophysical sensor with the object coordinates in the storage device. ### Claim 13 (depends on 11) The system of claim 11, wherein the operations further comprise: rendering, on a display of the augmented reality device, first annotation content relative to the geophysical sensor according to rendering instructions for the first annotation content. ### Claim 14 (depends on 11) The system of claim 11, wherein the operations further comprise: detecting an augmented reality event, wherein the identifying the geophysical sensor in the image frame of the physical environment is in response to the detecting the augmented reality event wherein the identifying the geophysical sensor in the image frame of the physical environment includes performing object recognition on objects provided in the image frame. ### Claim 15 A method, comprising: identifying a geophysical sensor in an image frame of a physical environment, wherein object coordinates of the geophysical sensor in the physical environment are unknown; determining the object coordinates within the physical environment of the geophysical sensor from the image frame based on an augmented reality device coordinate within the physical environment of an augmented reality device and orientation information of the augmented reality device when the image frame was captured by the augmented reality device; and generating a computer model of a sub-ground of the physical environment based on the object coordinates of the geophysical sensor. ### Claim 16 (depends on 15) The method of claim 15, further comprising: storing the object coordinates of the geophysical sensor in a storage device; and associating feature points of the geophysical sensor with the object coordinates in the storage device. ### Claim 17 (depends on 15) The method of claim 15, further comprising: rendering, on a display of the augmented reality device, first annotation content relative to the geophysical sensor according to rendering instructions for the first annotation content. ### Claim 18 (depends on 15) The method of claim 15, wherein the identifying the geophysical sensor in the image frame of the physical environment includes receiving a user input defining the geophysical sensor in the image frame. ### Claim 19 (depends on 15) The method of claim 15, wherein the identifying the geophysical sensor in the image frame of the physical environment includes performing object recognition on objects provided in the image frame. ### Claim 20 (depends on 15) The method of claim 15, wherein the orientation information includes a direction the augmented reality device is facing with respect to a magnetic field of the physical environment, a distance the augmented reality device is from a surface of the physical environment, and an angle at which the augmented reality device is oriented with respect to the surface of the physical environment.