Location And Motion Estimation Using Ground Imaging Sensor
AssigneeSouthwest Research Institute
InventorsKristopher C. KOZAK, Marc C. ALBAN, Samuel E. SLOCUM
Life of this patent
Estimating the term…
Abstract
A system and method for estimating location and motion of an object. An image of a ground surface is obtained and a first set of features is extracted from the image. A map database is searched for a second set of features that match the first set of features and a geo-location is retrieved from the map database, wherein the geo-location is associated with the second set of features. The location is estimated based on the retrieved geo-location. The motion of the object, such as distance travelled, path travelled and/or speed may be estimated in a similar manner by comparing the location of extracted features that are present in two or more images over a selected time period.
Claims23
A method for estimating a location comprising:
- obtaining an image of a ground surface;
- extracting a first set of features from said image;
- searching a map database for a second set of features that match said first set of features;
- retrieving a geo-location from said map database, wherein said geo-location is associated with said second set of features;
- and
- estimating said location based on said retrieved geo-location.
A method for estimating a location comprising:
- obtaining images of ground surfaces;
- associating a geo-location with each of said images;
- extracting features from said images;
- storing said features and said associated geo-locations in a map database;
- retrieving said features and said associated geo-locations from said map database in response to queries;
- and
- estimating a location from said features and said associated geo-locations.
A method for estimating motion comprising:
- obtaining a first image of a ground surface;
- extracting a first set of features from said first image;
- obtaining a second image of a ground surface, wherein a portion of said second image overlaps said first image;
- extracting a second set of features from said second image;
- identifying one or more common features, wherein said common features are present in said first and said second set of features;
- and
- estimating motion from a difference between the location of said common features in said first image and said second image.
A system for estimating a location comprising:
- an imaging sensor configured to obtain an image of a ground surface;
- a processing module configured to extract a first set of features from said image;
- and
- a map database configured to store a plurality of sets of features and associated geo-locations, wherein said processing module is further configured to search said map database for a second set of features that match said first set of features and retrieve a geo-location associated with said second set of features such that said location is estimated based on said retrieved geo-location.
A system for estimating motion comprising:
- an imaging sensor configured to obtain a first and second image of a ground surface, wherein a portion of said second image overlaps said first image;
- a processing module configured to extract a first set of features from said first image and a second set of features from said second image and identify one or more common features, wherein said common features are present in said first and said second set of features;
- and
- a motion estimation module configured to estimate said motion based on a difference between the location of said common features in said first image and said second image.
Dependencies are inferred from the claim text.