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US 12,529,543 B2Granted
Generation and application of autonomously-created three-dimensional safety offset bounding surfaces from three-dimensional virtual maps around points of interest
AssigneeRaytheon Company
InventorNathan A. Jones
Life of this patent
Estimating the term…
Abstract
An apparatus includes at least one memory configured to store map data. The apparatus also includes at least one processor configured to segment one or more objects from one or more environment surfaces in the map data. The at least one processor is also configured to determine an offset based on a projectile drift. The at least one processor is further configured to generate a safety bounding box around each of the one or more objects using the offset.
Claims20
An apparatus comprising:
- at least one memory configured to store map data;
- and
- at least one processor configured to:
- segment one or more objects from one or more environment surfaces in the map data;
- determine an offset based on a projectile drift of a projectile, wherein a direction for a safety vector of the offset for each object is based on a direction of a corner vector that extends from a point cloud associated with the object, wherein a magnitude of the safety vector of the offset for each object is based on a magnitude of the corner vector that extends from the point cloud associated with the object;
- generate a three-dimensional (3D) safety bounding box around each of the one or more objects using the offset;
- apply the 3D safety bounding box around each of the one or more objects to a 3D virtual map for a projectile launcher;
- and
- upload the 3D virtual map to an onboard computer of the projectile launcher.
6 more elements
A method comprising:
- segmenting one or more objects from one or more environment surfaces in map data;
- determining an offset based on a projectile drift of a projectile, wherein a direction for a safety vector of the offset for each object is based on a direction of a corner vector that extends from a point cloud associated with the object, wherein a magnitude of the safety vector of the offset for each object is based on a magnitude of the corner vector that extends from the point cloud associated with the object;
- generating a three-dimensional (3D) safety bounding box around each of the one or more objects using the offset;
- applying the 3D safety bounding box around each of the one or more objects to a 3D virtual map for a projectile launcher;
- and
- uploading the 3D virtual map to an onboard computer of the projectile launcher.
3 more elements
A non-transitory computer readable medium containing instructions that when executed cause at least one processor to:
- segment one or more objects from one or more environment surfaces in map data;
- determine an offset based on a projectile drift of a projectile, wherein a direction for a safety vector of the offset for each object is based on a direction of a corner vector that extends from a point cloud associated with the object, wherein a magnitude of the safety vector of the offset for each object is based on a magnitude of the corner vector that extends from the point cloud associated with the object;
- generate a three-dimensional (3D) safety bounding box around each of the one or more objects using the offset;
- apply the 3D safety bounding box around each of the one or more objects to a 3D virtual map for a projectile launcher;
- and
- upload the 3D virtual map to an onboard computer of the projectile launcher.
3 more elements
Dependencies are inferred from the claim text.