US 8,427,632 B1Granted

Image sensor with laser for range measurements

AssigneeTrimble Navigation Limited

InventorsPhillip T. Nash, Gregory C. Best

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Abstract

A method of image-based positioning is provided. The method comprises: (A) providing an image-capturing device integrated with a focused-radiation source and a processor; the image-capturing device further comprises an image sensor; (B) capturing an image of an object located in a field of view (FOV) of the image-capturing device by using the image sensor; (C) directing a focused ray of radiation generated by the focused-radiation source to the object located in the (FOV) of the image-capturing device; (D) detecting at least one return signal generated by reflection of the focused ray of radiation from the object located in FOV of the image-capturing device by using the image sensor; (E) characterizing the object located in a field of view (FOV) of the image-capturing device by using each return signal; and (F) processing each return signal in order to determine a distance from the object located in the FOV to the image-capturing device.

Claims28

Dependent claims

A method of image-based positioning using an apparatus comprising an image-capturing device integrated with a focused-radiation source and a processor;

said method comprising:
(A) selecting a plane located in a field of view (FOV) from the group consisting of:
{a sky-facing plane;
a ground-facing plane;
a backward (user-facing) plane;
a forward-facing plane;
a side-plane;
and an arbitrary plane};
(B) pointing said image-capturing device camera at said selected plane located at said FOV of said image-capturing device;
(C) capturing an image of an object located in said plane on a display of said image-capturing device;
(D) directing a focused ray of radiation generated by said focused-radiation source to said object;
(E) detecting at least one return signal generated by reflection of said focused ray, of radiation from said object;
(F) displaying each said detected return signal from said object as a return_object_point on said display;
(G) measuring an offset data from each said displayed return_object_point to a reference point on said display;
(H) processing said offset data in order to determine a distance from said object located in said FOV to said display of said image-capturing device;
(I) repeating said steps (A-H) to generate a stream of distances from said object located in said FOV to said display of said image-capturing device;
and
(K) if said object is stationary, processing said stream of distances from said object located in said FOV to said display of said image-capturing device to determine the display's movement over said selected plane.

15 more elements

A method of image-based positioning using an apparatus comprising an image-capturing device integrated with a plurality of focused-radiation sources and a processor;

said method comprising:
(A) selecting a plane located in a field on view (FOV) from the group consisting of:
{a sky-facing plane;
a ground-facing plane;
a backward (user-facing) plane;
a forward-facing plane;
a side-plane;
and an arbitrary plane};
(B) pointing said image-capturing device camera at:
said selected plane located at said FOV of said image-capturing device;
(C) capturing a plurality of images, each said image being an image of an object located in said plane on a display of said image-capturing device;
(D) directing a plurality of focused rays of radiation to each said object;
each said focused rays being generated by one said focused-radiation source;
(E) detecting at least one return signal generated by reflection of one said focused ray of radiation from each said object;
(F) displaying each said detected return signal from each said object as a return_object_point on said display;
(G) measuring an offset data from each said displayed return_object_point to a reference point on said display;
(H) processing said set of offset data in order to determine a plurality of data associated with each said object;
wherein said plurality of data associated with said object is selected from the group consisting of:
{a distance from each said object to said display;
an orientation of a line segment located within each said object in reference to a line within said display;
and a plurality of orientations of line segments located within each said object in reference to a line within said display};
(I) repeating said steps (A-H) to generate a stream of data associated with each said object located in said FOV to said display of said image-capturing device;
and
(K) if each said object is stationary, processing said stream of data associated with each said object to determine a topography of said selected plane.

21 more elements

A method of image-based positioning using an apparatus comprising an image-capturing device integrated with a focused-radiation source and a processor;

said method comprising:
(A) selecting a plane located in a field of view (FOV) from the group consisting of:
{a sky-facing plane;
a ground-facing plane;
a backward (user-facing) plane;
a forward-facing plane;
a side-plane;
and an arbitrary plane};
(B) pointing said image-capturing device camera at said selected plane located at said FOV of said image-capturing device;
(C) capturing an image of an object located in said plane on a display of said image-capturing device;
(D) directing a focused ray of radiation generated by said focused-radiation source to said object;
(E) detecting at least one return signal generated by reflection of said focused ray, of radiation from said object;
(F) displaying each said detected return signal from said object as a return_object_point on said display;
(G) measuring an offset data from each displayed said return_object_point to a reference point on said display;
(H) processing said offset data in order to determine a distance from said object located in said FOV to said display of said image-capturing device;
(I) repeating said steps (A-H) to generate a stream of distances from said object located in said FOV to said display of said image-capturing device;
(K) if said object is stationary, processing said stream of distances from said object located in said FOV to said display of said image-capturing device to determine the display's movement over said selected plane;
and
(L) recording said display's movement over said selected plane by using said processor.

16 more elements

A method of image-based positioning using an apparatus comprising an image-capturing device integrated with a plurality of focused-radiation sources and a processor;

said method comprising:
(A) selecting a plane located in a field of view (FOV) from the group consisting of:
{a sky-facing plane;
a ground-facing plane;
a backward (user-facing) plane;
a forward-facing plane;
a side-plane;
and an arbitrary plane};
(B) pointing said image-capturing device camera at said selected plane located at said FOV of said image-capturing device;
(C) capturing an image of an object located in said plane on a display of said image-capturing device:
(D) directing a plurality of focused rays of radiation to said object;
each said focused rays being generated by one said focused-radiation source;
(E) detecting at least one return signal generated by reflection of one said focused ray of radiation from said object;
(F) displaying each said detected return signal from said object as a return_object_point on said display;
(G) measuring an offset data from each said displayed return_object_point to a reference point on said display;
(H) processing said set of offset data in order to determine a plurality of data associated with said object;
wherein said plurality of data associated with said object is selected from the group consisting of:
{a distance from said object to said display;
an orientation of a line segment located within said object in reference to a line within said display;
and a plurality of orientations of line segments located within said object in reference to a line within said display};
(I) repeating said steps (A-H) to generate a stream of data associated with said object located in said FOV to said display of said image-capturing device;
(K) if said object is stationary, processing said stream of data associated with said object to determine the display's movement over said selected plane;
and
(L) recording said display's movement over said selected plane by using said processor.

21 more elements

A method of image-based positioning using an apparatus comprising an image-capturing device integrated with a plurality of focused-radiation sources and a processor;

said method comprising:
(A) selecting a plane located in a field of view (FOV) from the group consisting of:
{a sky-facing plane;
a ground-facing plane;
a backward (user-facing) plane;
a forward-facing plane;
a side-plane;
and an arbitrary plane};
(B) pointing said image-capturing device camera at said selected plane located at said FOV of said image-capturing device;
(C) capturing a plurality of images, each said image being an image of an object located in said plane on a display of said image-capturing device;
(D) directing a plurality of focused rays of radiation to each said object;
each said focused rays being generated by one said focused-radiation source;
(E) detecting at least one return signal generated by reflection of one said focused ray of radiation from each said object;
(F) displaying each said detected return signal from each said object as a return_object_point on said display;
(G) measuring an offset data from each said displayed return_object_point to a reference point on said display;
(H) processing said set of offset data in order to determine a plurality of data associated with each said object;
wherein said plurality of data associated with said object is selected from the group consisting of:
{a distance from each said object to said display;
an orientation of a line segment located within each said object in reference to a line within said display;
and a plurality of orientations of line segments located within each said object:
in reference to a line within said display};
(I) repeating said steps (A-H) to generate a stream of data associated with each said object located in said FOV to said display of said image-capturing device;
(K) if each said object is stationary, processing said stream of data associated with each said object to determine a topography of said selected plane;
and
(L) recording said topography of said selected plane by using said processor.

22 more elements

Dependencies are inferred from the claim text.

Facts

Application: 12/655,106Filed 23 Dec 2009
Granted: 23 Apr 2013
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

G01C 3/08
Use of electric means to obtain final indication: use of electric radiation detectors
G01S 7/4816
Constructional features, e.g. arrangements of optical elements: of receivers alone
G01S 17/48
Indirect determination of position data: active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other…
G01S 7/4802
Of systems according to group G01S17/00: using analysis of echo signal for target characterisation; Target signature; Target cross-section