# US 2019/0318493 A1 · Remote distance estimation system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0318493 A1 - Document ID: US20190318493A1 - Status: Published application - Kind: A1 - Application number: 15/954,335 - Filed: 2018-04-16 - Published: 2019-10-17 - Earliest claimed: 2018-04-16 - Inventors: Ali Ebrahimi Afrouzi; Soroush Mehrnia - Web page: https://patentgrep.com/patent/US20190318493A1 ## CPC - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G01S 17/48: Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves - G01S 17/89: for mapping or imaging - G06T 7/55: from multiple images - G06T 7/593: from stereo images - G06T 2207/20221: Image fusion; Image merging - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A distance estimation system comprised of a laser light emitter, two image sensors, and an image processor are positioned on a baseplate such that the fields of view of the image sensors overlap and contain the projections of an emitted collimated laser beam within a predetermined range of distances. The image sensors simultaneously capture images of the laser beam projections. The images are superimposed and displacement of the laser beam projection from a first image taken by a first image sensor to a second image taken by a second image sensor is extracted by the image processor. The displacement is compared to a preconfigured table relating displacement distances with distances from the baseplate to projection surfaces to find an estimated distance of the baseplate from the projection surface at the time that the images were captured. ## Claims ### Claim 1 A method for remotely estimating distance comprising: projecting a light from a light emitter onto a surface; capturing images of the projected light by each of at least two image sensors such that each image includes the projected light; overlaying the images captured by the at least two image sensors by a processor to produce a superimposed image; measuring a first distance in the superimposed image between the projected light from each of the captured images; and determining a second distance from a preconfigured table relating distances between the projected light with distances to the surfaces on which the light is projected to estimate distance to the surface on which the light is currently being projected. ### Claim 2 (depends on 1) The method of claim 1, wherein the light emitter is a laser light emitter. ### Claim 3 (depends on 1) The method of claim 1, wherein the light emitted is a light point. ### Claim 4 (depends on 1) The method of claim 1, wherein the light emitted is a light line. ### Claim 5 (depends on 1) The method of claim 1, wherein the surface onto which the light is projected is opposite the light emitter. ### Claim 6 (depends on 1) The method of claim 1, wherein the at least two image sensors are positioned such that each image includes the light for a range of distances. ### Claim 7 (depends on 1) The method of claim 1, wherein the superimposed image is a single image produced from the captured images. ### Claim 8 (depends on 1) The method of claim 1, wherein the preconfigured table comprises actual measurements of distances in the superimposed image between the projected light in each of the captured images at incremental distances from the surface on which the light is projected. ### Claim 9 (depends on 1) The method of claim 1, wherein the light emitter and the at least two image sensors are disposed on a baseplate. ### Claim 10 A method for remotely estimating distance comprising: projecting a light from a light emitter onto a surface; capturing images of the projected light by each of at least two image sensors such that each image includes the projected light; measuring a first distance between the projected light in each of the captured images; and determining a second distance from a preconfigured table relating distances between the projected light with distances to the surfaces on which the light is projected to estimate distance to the surface on which the light is currently being projected. ### Claim 11 (depends on 10) The method of claim 10, wherein the light emitter is a laser light emitter. ### Claim 12 (depends on 10) The method of claim 10, wherein the light emitted is a light point. ### Claim 13 (depends on 10) The method of claim 10, wherein the light emitted is a light line. ### Claim 14 (depends on 10) The method of claim 10, wherein the surface onto which the light is projected is opposite the light emitter. ### Claim 15 (depends on 10) The method of claim 10, wherein the at least two image sensors are positioned such that each image includes the light for a range of distances. ### Claim 16 (depends on 10) The method of claim 10, wherein the first distance is determined by superimposing the captured images and determining the distance between the projected light in each of the captured images by a processor of the robotic device. ### Claim 17 (depends on 10) The method of claim 10, wherein the first distance is determined by measuring in each of the captured images the distance of the projected light to a common point contained in each of the two images and finding the difference between the two distances measured by the processor of the robotic device. ### Claim 18 (depends on 10) The method of claim 10, wherein the preconfigured table comprises actual measurements of distances in the superimposed image between the projected light in each of the captured images at incremental distances from the surface on which the light is projected. ### Claim 19 (depends on 10) The method of claim 10, wherein the light emitter and the at least two image sensors are disposed on a baseplate.