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US 12,008,768 B2Granted
Spatially-aware camera and method thereof
AssigneeVisual Robotics Systems Inc.
InventorBryan Lee Olmstead
Life of this patent
Estimating the term…
Abstract
Mobile apparatus (e.g., robotic systems and mobile vehicles) use one or more cameras fixed to the apparatus so that the cameras move when the mobile apparatus moves. The cameras acquire images of the world space in which the apparatus operates, and the images are processed to develop information about objects sharing the world space with the mobile apparatus. This information permits a control system to direct the apparatus to interact with (or avoid) the objects.
Claims12
A mobile apparatus, comprising:
- a camera system mounted to the mobile apparatus, comprising a camera, the camera comprising a clock;
- a programmable control system coupled to the mobile apparatus and to the camera, containing data and instructions to cause the programmable control system to:
- receive from the camera a plurality of images of an object taken at respective successive exposure times while the object is in motion;
- obtain from the clock a corresponding plurality of timestamps for the respective successive exposure times;
- receive from the mobile apparatus a plurality of location-based data for the mobile apparatus at or around the respective successive exposure times and associate the received location-based data for the mobile apparatus at or around the respective successive exposure times with the plurality of timestamps for the respective successive exposure times;
- estimate a plurality of locations of the camera at the respective successive exposure times based on the plurality of location-based data for the mobile apparatus at or around the exposure times associated with the plurality of timestamps for the respective successive exposure times;
- analyze the plurality of images of the object taken at the respective successive exposure times and the estimated plurality of locations of the camera at the respective successive exposure times associated with the plurality of timestamps for the respective successive exposure times and determine therefrom a location of the object and an accurate three-dimensional model representing the object;
- and
- instruct the mobile apparatus to move with respect to the location of the object, responsive to the analysis.
6 more elements
A mobile apparatus, comprising:
- a camera system mounted to the mobile apparatus, comprising a camera, the camera comprising a clock;
- a programmable control system coupled to the mobile apparatus and to the camera, containing data and instructions to cause the programmable control system to:
- receive from the camera a plurality of two-dimensional images of an object taken at respective successive exposure times;
- obtain from the clock a plurality of timestamps corresponding to the respective successive exposure times;
- receive from the mobile apparatus a plurality of locations for the mobile apparatus at or around the respective successive exposure times and associate the received plurality of locations for the mobile apparatus at or around the respective successive exposure times with the plurality of timestamps for the respective successive exposure times;
- estimate a plurality of locations of the camera at the respective successive exposure times based on the plurality of locations for the mobile apparatus at or around the respective successive exposure times associated with the plurality of timestamps for the respective successive exposure times;
- and
- analyze the plurality of two-dimensional images of the object taken at the respective successive exposure times and the estimated plurality of locations of the camera at the respective successive exposure times associated with the plurality of timestamps for the respective successive exposure times and determine therefrom a plurality of locations of two-dimensional features of the object;
- determine, via photogrammetry, parameters of an accurate three-dimensional model representing the object based on the plurality of locations of two-dimensional features of the object;
- and
- instruct the mobile apparatus to move with respect to a location of the object, responsive to the analysis.
8 more elements
Dependencies are inferred from the claim text.