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US 11,900,633 B2Granted
Vehicle pose determination systems and methods
AssigneeThe Boeing Company
InventorRobert M. Cramblitt
Life of this patent
Estimating the term…
Abstract
A system and a method include an imaging device configured to capture one or more images of a first vehicle. A control unit is in communication with the imaging device. A model database is in communication with the control unit. The model database stores a three-dimensional (3D) model of the first vehicle. The control unit is configured to receive image data regarding the one or more images of the first vehicle from the imaging device and analyze the image data with respect to the 3D model of the first vehicle to determine a pose of the first vehicle.
Claims20
A system comprising:
- an imaging device configured to capture one or more images of a first vehicle;
- a control unit in communication with the imaging device, wherein the control unit comprises a renderer that dynamically generates an expected image as anticipated to be captured by the imaging device;
- and
- a model database in communication with the control unit, wherein the model database stores a three-dimensional (3D) model of the first vehicle, wherein the control unit is configured to receive image data regarding the one or more images of the first vehicle from the imaging device and analyze the image data with respect to the 3D model of the first vehicle to determine a pose of the first vehicle,
- wherein the renderer is configured to use an initial pose estimate to set a nominal pose, and generate a view of the 3D model of at least a portion of the first vehicle at multiple pose values bracketing the nominal pose.
2 more elements
A method comprising:
- capturing, by an imaging device, one or more images of a first vehicle;
- storing, in a model database, a three-dimensional (3D) model of the first vehicle;
- communicatively coupling a control unit with the imaging device;
- communicatively coupling the model database with the control unit;
- receiving, by the control unit, image data regarding the one or more images of the first vehicle from the imaging device;
- and
- analyzing, by the control unit, the image data with respect to the 3D model of the first vehicle to determine a pose of the first vehicle, wherein said analyzing comprises dynamically generating, by a renderer of the control unit, an expected image as anticipated to be captured by the imaging device, said dynamically generating comprises using an initial pose estimate to set a nominal pose, and generating a view of the 3D model of at least a portion of the first vehicle at multiple pose values bracketing the nominal pose.
4 more elements
A system comprising:
- a first vehicle;
- and
- a second vehicle including:
- an imaging device configured to capture one or more images of a first vehicle;
- a control unit in communication with the imaging device, wherein the control unit comprises a renderer that dynamically generates an expected image as anticipated to be captured by the imaging device;
- a model database in communication with the control unit, wherein the model database stores a three-dimensional (3D) model of the first vehicle, wherein the control unit is configured to receive image data regarding the one or more images of the first vehicle from the imaging device and analyze the image data with respect to the 3D model of the first vehicle to determine a pose of the first vehicle, wherein the renderer is configured to use an initial pose estimate to set a nominal pose, and generate a view of the 3D model of at least a portion of the first vehicle at multiple pose values bracketing the nominal pose;
- and
- one or more control devices in communication with the control unit, wherein the control unit is configured to operate the one or more control devices based on the pose of the first vehicle.
5 more elements
Dependencies are inferred from the claim text.