DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

OBSTACLE EVALUATION PROCEDURE FOR A MOTOR VEHICLE

INTEGRATED OPTICAL TRANSMISSION OF NEWS AND RANGING SYSTEM AND ITS APPLICATIONS

PROCEDURE AND SYSTEM FOR THE IMPROVEMENT OF THE MONITORING OF THE EXTERIORS ENVIRONMENT OF A MOTOR VEHICLE

COMBINED LASER EARLY WARNING SYSTEM

MULTI-FUNCTION OBSERVATION DEVICE

DEVICE AND PROCEDURE FOR THE LOCAL RECOGNITION OF MEANS OF AN INSERTED CAMERA

OPTICAL PROCEDURES AND DEVICE FOR HIGH-ACCURATE TOPOGRAPHY

PROCEDURE FOR THE OBSTACLE WARNING FOR LOW-FLYING AIRCRAFT

INDICATOR FOR A ROBOT

3D- IMAGING SYSTEM

MEASURING PROCEDURE INCLUDING THE LASER TECHNOLOGY FOR THREE-DIMENSIONAL OBJECTS

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

DEVICE OF A MOTOR VEHICLE FOR THE SPATIAL COLLECTION OF A SCENE WITHIN AND/OR OUTSIDE OF THE MOTOR VEHICLE

Methods and systems for detecting environmental information of a vehicle

A system for detecting a surrounding object may receive, from a camera, a first image including a plurality of pixels relating to one or more objects and receive, from one or more LiDARs, a first point set including a plurality of points corresponding to the plurality of pixels. The system may also, based on the first point set, determine 3D coordinates and reflection intensities of the plurality of points, based on which the system may generate a segment result by classifying the plurality of points. The system may further transform the 3D coordinates of the plurality of points into 2D coordinates and determine an object type of the one or more objects based on the 2D coordinates, the 3D coordinates, the segment result, and the first image.

Point-cloud-image generation device and display system

The directions and distances to a plurality of irradiation points are measured through the irradiation of surrounding objects by a laser from a laser scanner (115) attached to a measurement vehicle (110). On the basis of the measured values at each irradiation point, a three-dimensional point cloud generation unit (123) generates three-dimensional point cloud data (203) that is data indicating the three-dimensional coordinate values of each irradiation point. A two-dimensional projection unit (230) carries out two-dimensional projection processing on the three-dimensional point cloud data on the basis of a viewpoint position and line-of-sight direction and generates a point cloud image. An operation unit (400) corresponds to a user interface for independently changing the viewpoint position and line-of-sight direction.

Three dimensional scanning beam and imaging system

A three dimensional scanning beam and imaging system (800) enable economical and efficient three dimensional scans of an environment. The system (800) includes a ranging apparatus (805), and a reactive linkage mechanism (810) having a first end (815) and a second end (820). The first end (815) is connected to the ranging apparatus (805) and the second end (820) is connected to an object (825) that moves the system (800) through an environment. Additionally, an imaging apparatus (840) is operatively coupled to either the first end (815) or the second end (820) of the reactive linkage mechanism (810). In use acceleration of the object (825) with respect to the environment is converted by the reactive linkage mechanism (810) to motion of the ranging apparatus (805) with respect to the object (825), which increases the field of view of the ranging apparatus (805) with respect to the environment.

Method and target for underwater scanning of an object

The invention relates to a method for improving the positioning accuracy of the scanning of an underwater object, in which method equipping the object (10) to be scanned with at least one floating target (32), which includes both a part (33) above the surface (12) of the water and a part (33.1) below the surface, determining the position data of the target (32) on the basis of the part (33) of the target (32) above the surface (12) of the water, scanning the object (10) to be scanned from under the surface (12) of the water in order to create measurement observations, detecting the target (32) from the said measurement observations under the surface (12) of the water, aligning the position data of the target (32) from the measurement observations with the detected target (32) in order to improve the positioning accuracy of the scanning, determining the target's (32) attitude data time- dependently during the scanning in order to determine the position data of the part (33.1) of the target ...

Obstacle avoidance system

In avoiding an obstacle on a travel path, the obstacle is avoided safety and efficiently without interfering with travel of vehicles in an adjacent lane disposed to the side of the lane in which the subject vehicle is traveling. An obstacle avoidance system in which a traveling lane 210 of a subject vehicle and an adjacent lane 510 are disposed side by side, and in which an obstacle 401 to the front on the traveling lane 210 is avoided by passing on the side of the obstacle 401 closest to the adjacent lane, wherein the relative position of the obstacle 401 relative to the subject vehicle 12, and the size wo of the obstacle 401 in the width direction of the vehicle are detected on the basis of an output from an external environment sensor mounted in the subject vehicle 12. Further, a maximum movement amount Dt of the subject vehicle 12 in the width direction of the vehicle in order to avoid the obstacle 401 is calculated on the basis of the relative position of the obstacle 401, the size ...

Methods and systems for clearing sensor occlusions

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

LASER GATED CAMERA IMAGING SYSTEM AND METHOD

A gated camera imaging system and method, utilizing a laser device for generating a beam of long duration laser pulses toward a target. A camera receives the energy of light reflexes of the pulses reflected from the target. The camera gating is synchronized to be set OFF for at least the duration of time it takes the laser device to produce a laser pulse in its substantial entirety, including an end of the laser pulse, in addition to the time it takes the laser pulse to complete traversing a zone proximate to the system and back to the camera, and set ON for an ON time duration thereafter until the laser pulse reflects back from the target and is received in the camera. The laser pulse width substantially corresponds to at least the ON time duration. Preferably, the laser device includes a Diode Laser Array (DLA).

VEHICLE WITH MULTIPLE LIGHT DETECTION AND RANGING DEVICES (LIDARS)

A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

METHODS AND SYSTEMS FOR DETECTING ENVIRONMENTAL INFORMATION OF A VEHICLE

A system for detecting a surrounding object may receive, from a camera, a first image including a plurality of pixels relating to one or more objects and receive, from one or more LiDARs, a first point set including a plurality of points corresponding to the plurality of pixels. The system may also, based on the first point set, determine 3D coordinates and reflection intensities of the plurality of points, based on which the system may generate a segment result by classifying the plurality of points. The system may further transform the 3D coordinates of the plurality of points into 2D coordinates and determine an object type of the one or more objects based on the 2D coordinates, the 3D coordinates, the segment result, and the first image.

FIREARM AIMING SYSTEM WITH RANGE FINDER, AND METHOD OF ACQUIRING A TARGET

An aiming system of an aimable device includes a user display, an imaging system, user controls, a tracker, and a range finder such as a LRF. The imaging system displays, on the user display, an indicator of the direction in which the device points. The user uses the user controls to lock on a target towards which the device points according to the indicator. Then the tracker tracks the target, and the range finder measures the range to the tracked target. The tracker aims the range finder at the target, or alternatively scans the target and its background, one-dimensionally or two- dimensionally.

Opto-electronic instruments mounting system.

Die Erfindung betrifft ein Montagesystem für ein opto-elektronisches Instrument in einem Trägerfahrzeug. Das opto-elektronische Instrument (1) ist mit einem Trägheitsnavigationssystem (23) zur Erfassung der Orientierung des Instruments im Raum zu einem starren Modul (3) verbunden, welches Trägheitsnavigationssystem in der Lage ist, periodische Bewegungen bis zu einer definierten Grenzfrequenz aufzulösen, wobei die entsprechenden Daten mit den Messwerten des opto-elektronischen Instruments zu Datensätzen verknüpfbar sind und das aus dem Instrument (1) und dem Navigationssystem (23) gebildete Modul (3) mit der Struktur des Trägerfahrzeugs über Feder-/Dämpfungselemente (24, 26) verbunden ist, die zusammen mit der Masse des Moduls (3) ein mechanisches Tiefpassfilter bilden, welches Schwingungen, die über der Grenzfrequenz liegen, im Wesentlichen absorbiert, während das Modul (3) niederfrequenteren Bewegungen folgt und die Daten der jeweils veränderten räumlichen Orientierung des Moduls (3) ...

Mounting system with an inertial navigation system is a carrier vehicle for optoelectronic instrument and a.

Die Erfindung betrifft ein Montagesystem mit einem optoelektronischen Instrument und einem Trägheitsnavigationssystem für ein Trägerfahrzeug. Das optoelektronische Instrument (1) ist mit einem Trägheitsnavigationssystem (23) zur Erfassung der Orientierung des Instruments im Raum zu einem starren Modul (3) verbunden, welches Trägheitsnavigationssystem in der Lage ist, periodische Bewegungen bis zu einer definierten Grenzfrequenz aufzulösen, wobei die entsprechenden Daten mit den Messwerten des optoelektronischen Instruments, zu Datensätzen verknüpfbar sind und das aus dem Instrument (1) und dem Navigationssystem (23) gebildete Modul (3) mit der Struktur des Trägerfahrzeugs über Feder-/Dämpfungselemente (24, 26) verbunden ist, die zusammen mit der Masse des Moduls (3) ein mechanisches Tiefpassfilter bilden, welches Schwingungen, die über der Grenzfrequenz liegen, im Wesentlichen absorbiert, während das Modul (3) niederfrequenteren Bewegungen folgt und die Daten der jeweils veränderten räumlichen ...

Method for automated production of charts for computer of material surfaces, in particular of building surfaces and tunnel walls.

Verfahren zur rechnergestützt automatisierten Erstellung von Kartierungen von Materialoberflächen, insbesondere von Gebäudeoberflächen und Tunnelwänden, mit den folgenden Schritten: Erstellen von Bilddaten von der zu untersuchenden Materialoberfläche mittels mindestens eines bildgebenden, vorzugsweise messtechnisch-optischen Verfahrens; computergestützte Erstellung einer Strichdarstellung in der zu untersuchenden Materialoberfläche unter Verwendung der messtechnisch erzeugten Bilddaten; Erstellung eines Bestands- und/oder Zustandsglossars nach sinnlich erfahrbaren Kriterien insbesondere einer Erfassung unterschiedlicher Material- und/oder Oberflächenparameter unter Verwendung der Bilddaten; Erstellung von Eigenschaftsdaten in der zu untersuchenden Materialoberfläche durch ortsaufgelöste, messtechnische Erfassung mindestens eines physikalischen, geometrischen oder chemischen Parameters je festzustellendem Bestands- oder Zustandsphänomen; computergestützte Korrelierung der Eigenschaftsdaten ...

GRAVIMETRIC UNIT

METHOD AND DEVICE FOR DETERMINING SURFACE STRUCTURE AND NATURE OF SAMPLE

AIMING SYSTEM WITH RANGE FINDER FOR FIREARM AND METHOD OF THE TARGET

РАЗМЕЩАЕМАЯ НА ТРАНСПОРТНОМ СРЕДСТВЕ СИСТЕМА СБОРА И ОБРАБОТКИ ДАННЫХ

Размещенная на транспортном средстве система сбора и обработки данных, которая может использоваться для сбора различных типов данных с самолета в полете или с других движущихся транспортных средств, таких как автомобиль, спутник, поезд и т.д. В различных вариантах осуществления система может включать в себя модули компьютерного пульта управления для управления транспортным средством и работой системой, глобальные системы позиционирования, связанные с возможностью обмена информацией с одним или более компьютерных пультов управления, блоки матрицы камер для формирования изображений объекта, проецируемого через апертуру, связанные с возможностью обмена информацией с одним или более компьютерных пультов управления, блоки определения пространственной ориентации, связанные с возможностью обмена информацией с одним или более компьютерных пультов управления и с одним или более блоков матрицы камер, и модуль монтажа, размещенный в пределах одного или более компьютерных пультов управления, предназначенный ...

DEVICE, METHOD AND SYSTEM FOR MONITORING OF INTEGRITY CONTAINERS

Method for judging spouting radius and flatness through spouting trolley view

Flight time measurement apparatus and method for increasing measurement rate

An apparatus for measuring distance to a surface is disclosed. The apparatus transmits at least one subsequent pulse of light prior to receiving a reflection of a previously sent pulse of light. Thus, multiple pulses of light are in-flight at a given time. The embodiments are applicable to terrain mapping, bathymetry, seismology, detecting faults, biomass measurement, wind speed measurement, temperature calculation, traffic speed measurement, military target identification, surface to air rangefinding, high definition survey, close range photogrammetry, atmospheric composition, meteorology, distance measurement, as well as many other applications. Examples of such apparatuses include laser ranging systems, such as light detection and ranging (LIDAR) systems, and laser scanners. Data received from the apparatus by a data processing unit can be used to create a data model, such as a point cloud, digital surface model or digital terrain model describing the surface, terrain, and/or objects ...

System and method for tracking eyeball motion

Detecting position information related to a face, and more particularly to an eyeball in a face, using a detection and ranging system, such as a Radio Detection And Ranging (''RADAR'') system, or a Light Detection And Ranging (''LIDAR'') system. The position information may include a location of the eyeball, translational motion information related to the eyeball (e.g., displacement, velocity, acceleration, jerk, etc.), rotational motion information related to the eyeball (e.g., rotational displacement, rotational velocity, rotational acceleration, etc.) as the eyeball rotates within its socket.

Remote IGNITION SYSTEM

PROCESS OF TELEMETRY ON IMAGE STABILISEE

L'invention concerne un procédé de télémétrie d'une cible effectuée par un opérateur au moyen d'une jumelle qui comprend un capteur d'image (1), un écran d'affichage (2), une unité de traitement et un télémètre laser (4) présentant une fenêtre de tir centrée sur l'axe de visée du laser. Ce procédé comprend les étapes suivantes de : - saisie par le capteur d'image (1) d'une image (10) dite réelle incluant l'image de la cible à télémétrer et affichage sur l'écran (2) d'une image stabilisée (20) correspondante, - calcul par l'unité de traitement du décalage ΔS entre l'image réelle (10) et l'image stabilisée (20), - positionnement de l'image stabilisée (20) sur une position prédéterminée P de l'écran d'affichage, - ordre de tir par l'opérateur, - calcul du décalage d = ΔS + Δh, Δh étant un décalage d'harmonisation prédéterminé, - affichage sur l'écran d'affichage d'un élément (23) représentatif de la fenêtre de tir du télémètre, - déplacement de cet élément (23) représentatif de la fenêtre ...

DEVICE OF DETERMINATION OF THE COLLISION RISK

OPTOELECTRIC SYSTEM OF DETECTION AND ANGULAR LOCALIZATION Of a LUMINOUS OBJECT.

OPTICO-MECHANICAL ANALYZER HAVING A FIXED FIELD OF TELEMETRY

THREE-DIMENSIONAL TRACKING OPTRONIC SYSTEM WITH AUTOMATIC ALIGNMENT OF AN OPTICAL DISTANCE SENSOR ON THE TARGET.

ANALYSEUR OPTICO-MECANIQUE AYANT UN CHAMP DE TELEMETRIE FIXE

ANALYSEUR OPTICO-MECANIQUE AYANT DES FONCTIONS D'IMAGERIE ET DE TELEMETRIE ASSOCIEES DANS LEQUEL LE FAISCEAU D'IMAGERIE F OBTENU PAR DES MOYENS DE BALAYAGE LIGNE M4 ET DE BALAYAGE TRAME M1 ET LE FAISCEAU DE TELEMETRIE F CONVERGENT RESPECTIVEMENT SUR UNE MOSAIQUE DE DETECTEURS D'IMAGERIE D1 ET SUR UN DETECTEUR DE TELEMETRIE D2. SELON L'INVENTION, LES FAISCEAUX D'IMAGERIE ET DE TELEMETRIE TRAVERSENT UN ENSEMBLE D'ELEMENTS OPTIQUES FIXES AGENCES DE FACON A LES SEPARER SUIVANT DEUX TRAJETS OPTIQUES DISTINCTS TELS QUE LE FAISCEAU DE TELEMETRIE TRAVERSE DEUX FOIS LEDIT MOYEN DE BALAYAGE LIGNE M4 CE QUI LUI ASSURE UNE DIRECTION FIXE DE L'ESPACE INDEPENDANTE DE L'ANALYSEUR LIGNE. APPLICATION A LA VISION NOCTURNE.

PROCESS AND DEVICE OF POTENTIAL COLLISION DETECTION WHICH CAN BE IMPLEMENTED IN AN AIRCRAFT

Ce procédé comporte : - une étape (E14) de création d'un ensemble de points correspondant à des obstacles détectés par un senseur et à des obstacles déclarés dans une base de données ; - une étape (E20) pour obtenir un mode de détection de collisions potentielles en utilisant la vitesse et un mode de guidage de l'aéronef ; - une étape (E30) d'obtention d'un ensemble de points transformés obtenus en appliquant à l'ensemble de points une transformation fonction du mode de détection ; - une étape (E40) de calcul d'une enveloppe de protection, le mode de calcul étant choisi en fonction du mode de détection ; - les collisions potentielles correspondant aux obstacles associés aux points transformés compris dans cette enveloppe.

Sensor system

ALTIMETRIC DEVICE OF MEASUREMENT

METHOD AND DEVICE FOR PROTECTING THE LOW ALTITUDE AIRCRAFT AGAINST GROUND AIR MISSILES

Procédé de protection pour aéronefs évoluant à basse altitude vis-à-vis de missiles sol/air comportant une étape de détection d'approche passive (1) de désignation de menaces pour élaborer des pistages bruts en direction de ces menaces, une étape de détection active (2) déclenchée à partir de la désignation brute fournie par traitement de la détection passive, une étape de traitement des données de détection respectives (3,4), passive et active, pour extraire respectivement des pistages bruts et des pistages précis à partir des détections précédentes et des informations de positionnement de l'aéronef (8), et une étape de gestion de ces données (5) par fusion pour former une hiérarchisation de ces menaces débouchant sur l'élaboration d'un ordre de traitement des menaces, d'un choix de contre-mesures en fonction de cet ordre, et de valeurs de paramètres adaptées pour son déploiement.

Dispositif de détection et d'identification d'objectif individuel

Dispositif pour la détection et l'identification d'objectifs individuels à partir de missile volant à basse altitude. Le capteur infrarouge balaie ligne par ligne le terrain se trouvant devant et en dessous de lui en vue de la détection d'un rayonnement infrarouge caractéristique de l'objectif, et en cas de détection d'un objectif présumé, on détermine sa position en élévation et en azimut et on la conserve dans une mémoire avec les coordonnées de l'objectif, puis un dispositif séparé branche sur l'objectif présumé un télémètre laser qui détermine les sauts de distance en tant qu'autres caractéristiques de l'objectif et, avec ces données, on achève l'identification de l'objectif d'après un modèle déterminé.

Safety device for industrial vehicle e.g. heavy truck, has control unit generating alarm signal when altitude of low point of scanned surfaces of engineering structure is lower than altitude of top point of vehicle and/or vehicle load

Dispositif de sécurité, destiné à équiper un véhicule industriel (1), pour prévenir et éviter la collision avec un ouvrage d'art (2) enjambant une zone de circulation et en dessous duquel circule ledit véhicule (1), ledit dispositif étant caractérisé en ce qu'il comporte : - un premier moyen de mesure (5) apte à déterminer l'altitude du point le plus haut dudit véhicule (1) et/ou de son chargement (3); - un second moyen de mesure (6, 16) apte à balayer une surface (4, 14) de l'ouvrage d'art (2) et déterminer l'altitude du point le plus bas de ladite surface (4, 14) ; - une unité de contrôle (10) apte à recevoir des informations issues du second moyen de mesure (6, 16), à comparer en temps réel l'altitude du point le plus bas de la surface balayée (4, 14) avec le point le plus haut du véhicule (1) et/ou de son chargement (3) et à générer un signal d'alarme lorsque cette comparaison est inférieure à une valeur de seuil prédéterminée mémorisée dans l'unité de contrôle (10).

LASER SYSTEM HAS PROTECTION OF THE EYE.

... - La présente invention concerne un système à laser sûr pour l'oeil. - Selon l'invention, le système comprend des moyens de détection (11, 19) pour s'assurer si une personne est présente jusqu'à la distance à laquelle un faisceau laser à haute puissance (11) provoquera un endommagement de l'oeil, et des moyens (13) pour actionner le laser à haute puissance (11) seulement si aucune personne n'est présente jusqu'à une telle distance.

Special effects television camera having image acquiring system and image parallel telemetry unit each image point providing camera/image subject point distance

L'invention propose une caméra vidéo munie de moyens de télémétrie (8 à 12) qui fournissent parallèlement à l'image une information relative à la distance de chacun des points filmés d'une image. Une clef de découpe calculée sur l'information relative à la distance peut être calculée de la même manière qu'une clef de chrominance sans utiliser de fond coloré.

METHOD AND APPARATUS FOR PROVIDING ACCURATE LOCALIZATION FOR AN INDUSTRIAL VEHICLE

... 산업 차량을 위한 정확한 로컬리제이션을 제공하기 위한 방법 및 장치가 설명되고, 복수의 센서 디바이스로부터 관측된 환경 특징에 관한 정보를 포함하는 적어도 하나의 센서 입력 메시지를 프로세싱하는 단계와, 적어도 하나의 센서 입력 메시지에 응답하여 산업 차량과 연관된 위치 측정치를 결정하는 단계로서, 복수의 센서 디바이스는 2차원 레이저 스캐너와, 주행기록계, 초음파 센서, 나침반, 가속도계, 자이로스코프, 관성 측정 유닛 또는 이미징 센서로부터 선택된 적어도 하나의 다른 센서 디바이스를 포함하는, 위치 측정치 결정 단계와, 위치 측정치를 사용하여 차량 상태를 업데이트하는 단계를 포함한다.

SENSOR ASSEMBLY FOR LECTURER AUTO-TRACKING SYSTEM, CAPABLE OF PROVIDING A PLURALITY OF INFRARED SENSORS INSTALLED ON THE INSIDE OF AN LECTURE ROOM TO MONITOR THE LECTURER

PURPOSE: A sensor assembly for a lecturer auto-tracking system is provided to detect a lecturer correctly by adjusting an angle of an infrared sensor module. CONSTITUTION: A sensor assembly for a lecturer auto-tracking system includes a body(100), and an infrared sensor module(200). The body is buried on a vertical wall plane in a width direction. Holes having the same size are formed at a predetermined height and gap. The infrared sensor module has a light emitting unit(210) and a light receiving unit(220). The light emitting unit divides an infrared illumination plane into at least two illumination planes to prevent diffusion, and illuminates an infrared ray to detect a position of a lecturer. The light receiving unit receives the emitted infrared ray. The infrared sensor module is assembled slantingly to the holes formed on the body. © KIPO 2008 ...

Measuring appliance comprising an automatic representation-changing functionality

로봇 청소기

... 본 발명은 로봇 청소기에 관한 것으로서, 구체적으로, 외관을 형성하는 본체; 상기 본체 내에 구비되는 흡입장치; 상기 흡입장치의 구동에 의해 바닥의 이물질을 흡입하도록 형성된 흡입구; 상기 흡입구를 통해 흡입된 공기 중의 이물질을 집진하는 집진장치; 상기 본체를 자동으로 주행하도록 형성된 하나 이상의 바퀴; 상기 흡입장치와 상기 바퀴의 구동을 제어하는 제어부를 포함하고, 상기 본체는 서로 결합되도록 형성된 상부하우징과 하부하우징, 및 상기 상부하우징과 상기 하부하우징 사이에서 상기 본체의 측면을 둘러싸도록 형성되고 하나 이상의 장애물 감지 센서가 설치된 측면 바디 포함하며, 상기 측면 바디에는 상기 하나 이상의 장애물 감지 센서에 대응하는 위치에 하나 이상의 센서 커버가 착탈가능하게 설치된 것을 특징으로 하는 로봇 청소기에 관한 것이다.

ＴＯＦ illumination system and ＴＯＦ camera and method for operating, with control means for driving electronic devices located in the scene

LOCAL POSITIONING SYSTEM

As commercialization of a drone which is an unmanned aerial vehicle is imminent, a technical demand for self-position recognition of the drone is greatly increasing. A position is recognized by using GPS in a general external environment. Recognition accuracy is as high as several meters. Because hiding is generated by a building, the GPS is not used in a building environment. To solve problems, a local positioning system which is LPS is necessary. A conventional LPS installs three or more signal generating devices corresponding to a satellite of the GPS at a specific fixing position; and recognizes the position by analyzing signals received in the signal generating devices. The conventional LPS cannot be used in an area in which the signal generating devices are not installed. The present invention recognizes a self-position and a gesture by measuring three positions in which a sensor module in which a distance detecting sensor and a camera are combined is fixed without using an external ...

SYSTEM FOR GENERATING THREE-DIMENSIONAL ELECTRONIC MODELS OF OBJECTS

An image generation system (100) for developing three-dimensional electronic models of objects including a scanner (104) and a computing system (102). The scanner may be selectively positioned adjacent to an object in different geographic positions. The scanner may provide scanner position information and image data representative of the object to the computing system. The computing system may generate a three-dimensional electronic model of the object from the image data and the scanner position information. The three- dimensional electronic model may be stored and utilized in other applications, such as an electronic navigational map. © KIPO & WIPO 2007 ...

로봇 위치 선정 시스템

... 본 발명은 로봇 위치 선정 시스템 및 로봇 위치 선정 방법에 관한 것이다. 로봇 위치 선정 시스템은 카메라, 처리부 및 적어도 제1 라인 레이저를 포함한다. 제1 라인 레이저는 카메라의 시계 내에서 수직 레이저 라인들을 투사함으로써 공간을 조사하도록 구성된다. 카메라는 수직 레이저 라인들에 의해 조사되는 공간의 사진을 기록하도록 구성되고, 처리부는, 기록된 사진으로부터, 공간 내에 위치되는 대상들에 대하여 반사되는 수직 레이저 라인들에 의해 형성되는 라인을 나타내는 영상 데이터를 추출하도록 구성된다. 처리부는, 추출된 라인으로부터, 투사된 레이저 라인들을 따라 조사된 공간의 표현을 생성하도록 더 구성되고, 이 표현에 대하여 로봇이 위치된다.

METHOD AND SYSTEM FOR IMPROVING THE MONITORING OF THE EXTERNAL ENVIRONMENT OF A MOTOR VEHICLE

The invention relates to a method and system for improving the monitoring of the external environment of a motor vehicle. According to the invention, the vehicle (1) comprises a built-in system for detecting objects with which it is likely to collide, within a monitored area (A) covering a blind spot, comprising a capture device for acquiring images that are representative of one or more objects (2) located within said area (A) and an electronic system for processing and analysing input signals. The inventive method comprises the automatic activation of an infrared light source in the direction of the monitored area (A) when the images acquired cannot be processed and analysed in order to provide a result that would reliably detect a determined object (2) and the automatic deactivation of said infrared light source when the acquired images produce the correct result without the need for infrared light. In addition, the system comprises a model with an infrared light source.

OPTICAL DISTANCE VIEWING DEVICE HAVING POSITIONING AND/OR MAP DISPLAY FACILITIES

An optical distance viewing device has position and/or map display facilities that can be shown simultaneously with the optical view. The device includes a remote view acquisition module for acquiring a remote view; a location module for acquiring a location; a map module for generating a map in accordance with the acquired location; and an output module for outputting an image which shows the optical view together with the map, or current location co-ordinates or both. An enhancement projects the view onto a 3D map.

IMAGING SYSTEM

Imaging system comprising a housing (1), an inlet opening (2) intended to receive the radiation from the objects, and an optical system, consisting of: a reception channel for the visible radiation (4); an infra-red radiation channel (5); a channel of the laser range finder (6) comprising a laser radiation source (14), a photoreceptor (7) and spectral splitters (8, 9), all channels being optically coupled to one another; and an optical element (3), which is made from a material that transmits the radiation in the working range of the photoreceptor, and is inserted into the inlet opening (2) intended for sealing the system hermetically, wherein the reception channel for the visible radiation (4) and the infra-red radiation channel (5) are constructed as an optoelectronic multichannel system having at least two channels, the optical axes of which coincide and are situated inside the inlet opening (2).

HANDHELD LASER LIGHT DETECTOR WITH HEIGHT CORRECTION, USING A GPS RECEIVER TO PROVIDE TWO-DIMENSIONAL POSITION DATA

A laser light receiver is provided with an integral laser distance measurement (LDM) device for measuring the distance from a laser plane of a desired elevation to a desired physical target point to be measured on a jobsite. The laser receiver can be combined with a gravity reference device, so that the laser receiver does not necessarily have to be held plumb to a desired target point, when determining the relative elevation of the laser receiver between a rotating beam of laser light and the target point; it can also acquire multiple samples of positions and automatically take a vertical measurement and store that result for later readout. The laser receiver can be further combined with a GPS receiver, to acquire latitude and longitude data, and then in combination act as a three-dimensional transducer that is more accurate in the vertical direction than a GPS receiver alone is capable of.

DEVICE FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT

Device for optically scanning and measuring an environment, said device being configured to be mobile and being provided with a laser scanner (10) or the like, which creates 3D-scans, and an autonomously moving robot (2), on which a laser scanner (10) or the like is mounted.

SELF-CALIBRATING LASER TRACKER AND SELF-CALIBRATION METHOD

The invention relates to a laser tracker (1) for determining the position of a target (80), comprising a beam source for generating measurement radiation (30); a base (140); a beam deflection unit (110) which can pivot with respect to the base (140) about two axes in a motorized manner, for the emission and alignment of the measurement radiation (30) and to capture at least one part of the measurement radiation (31) reflected onto the target (80); a first position-sensitive surface detector (10) and an evaluation and control unit for determining a point of impact (13) of the reflected measurement (31) on the surface detector (10) for generating an output signal in order to determine the position of said target (80). Said laser tracker (1) also comprises a calibration device (2) for use with a self calibrating function to determine the calibration parameters thereof with respect to a position and/or direction of the measurement radiation (30). The calibration device (2) comprises a second ...

Reentry vehicle interceptor with IR and variable FOV laser radar

A dual mode seeker for intercepting a reentry vehicle or other target is disclosed. In one embodiment, the seeker is configured with an onboard 3D ladar system coordinated with an onboard IR detection system, where both systems utilize a common aperture. The IR and ladar systems cooperate with a ground based reentry vehicle detection/tracking system for defining a primary target area coordinate and focusing the IR FOV thereon. The IR system obtains IR image data in the IR FOV. The ladar system initially transmits with a smaller laser FOV to illuminate possible targets, rapidly interrogating the IR FOV. The ladar system obtains data on each possible target to perform primary discrimination assessments. Data fusion is employed to resolve the possible targets as between decoys/clutter and a reentry vehicle. The laser FOV is expandable to the IR FOV. Robust and reliable discrimination is obtained at high altitudes.

Motor-vehicle driving assistance device which is optimised by synergy with an adaptive lighting system

Driving assistance device for a motor vehicle, including at least one emitter of radiation toward the front of the vehicle, a receiver of part of this radiation reflected by a target vehicle, and control and calculation means for influencing the acceleration and braking of the following vehicle in accordance with information coming from the unit comprising the emitter and the receiver and in accordance with data pertaining to the following vehicle. At least the emitter is mounted so as to be rotatable in terms of the azimuth and means for driving the emitter in rotation are provided in order to modify the azimuth of the beam of the emitter in accordance with the curvature of the road. This beam advantageously turns by the same angle as that of the beam of an adaptive lighting system.

GPS-enhanced system and method for automatically capturing and co-registering virtual models of a site

A system for capturing a virtual model of a site includes a range scanner for scanning the site to generate range data indicating distances from the range scanner to real-world objects. The system also includes a global positioning system (GPS) receiver coupled to the range scanner for acquiring GPS data for the range scanner at a scanning location. In addition, the system includes a communication interface for outputting a virtual model comprising the range data and the GPS data.

Environment measurement methods, systems, media, signals and data structures

Environment measurement methods, systems, media, signals and data structures are disclosed. A first method involves receiving first signals produced in response to a laser beam scattered by the environment, receiving second signals produced in response to a radar beam scattered by the environment, and storing data representing the first and second signals, for use in producing a representation of the environment. A second method involves continuously producing data in response to scattered portions of a laser pulse scattered by respective portions of the environment, during a measurement interval of sufficient duration to receive all the scattered portions, and storing the data, for use in producing a representation of the environment.

GРS-еnhаnсеd sуstеm аnd mеthоd fоr аutоmаtiсаllу саpturing аnd со-rеgistеring virtuаl mоdеls оf а sitе

А sуstеm fоr саpturing а virtuаl mоdеl оf а sitе inсludеs а rаngе sсаnnеr fоr sсаnning thе sitе tо gеnеrаtе rаngе dаtа indiсаting distаnсеs frоm thе rаngе sсаnnеr tо rеаl-wоrld оbjесts. Тhе sуstеm аlsо inсludеs а glоbаl pоsitiоning sуstеm (GРS) rесеivеr соuplеd tо thе rаngе sсаnnеr fоr асquiring GРS dаtа fоr thе rаngе sсаnnеr аt а sсаnning lосаtiоn. In аdditiоn, thе sуstеm inсludеs а соmmuniсаtiоn intеrfасе fоr оutputting а virtuаl mоdеl соmprising thе rаngе dаtа аnd thе GРS dаtа.

DRIVER ASSISTANCE SYSTEM FOR PREVENTING A VEHICLE COLLIDING WITH PEDESTRIANS

DISTANCE MEASURING DEVICE FOR NON-CONTACT DISTANCE MEASUREMENT HAVING AN INTEGRATED GONIOMETER

Vehicle headlamp

METHOD AND DEVICE FOR PREVENTING A COLLISION OF VEHICLES

The invention relates to a method for preventing the collision of vehicles. According to said method, the environment of a vehicle (2) and displacement variables of said vehicle (2) are detected using sensors (2.1, 2.2, 2.3, 2.4, 2.5). A right-of way non-observance measurement and a collision risk measurement are derived from the output signals of the sensors. A risk level is determined from a combination of the right-of-way non-observance measurement and the collision risk measurement. Steps are then taken to reduce the collision risk, depending on the respective risk level that has been determined.

SYSTEM FOR DETERMINING OBJECTS

Drive aid device for a motor vehicle

BIAS ESTIMATING METHOD FOR A TARGET TRACKING SYSTEM

The present invention is in general related to automatic alignment in multi-sensor target tracking. The process of the invention repeatedly generates estimates for sensor bias errors (b) by minimising a function, given on one hand by the magnitude of the discrepancy between measurements (M) and a measuring model, where the measuring model is a function of the unknown target location and unknown bias parameters, and on the other by the bias parameters and their predetermined statistical distributions (15). In a preferred embodiment of the present invention, the minimising step is performed by linearising components of the function around an approximate target position (normally obtained from the tracker (10)) and around nominal (typically zero) bias errors, and the function is subsequently minimised with respect to target positions as well as to the bias parameters (b). In addition, possible time dependence of the bias parameters are modelled by the incorporation of process noise.

Integrated vehicle positioning and navigation system, apparatus and method

Systems and methods for positioning and navigating an autonomous vehicle (102,310) allow the vehicle (102,310) to travel between locations. A first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170,200-206) are not in view of the vehicle (102,310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102,310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908,910). ...

Condition detecting system

Condition detecting system has a detecting device (1) including a plurality of pieces of distance sensors arranged at one corner of an observing sector such as a toilet, a judging device for judging the condition of a staying person in the observing sector on the basis of the information from the detecting device (1), a signal transmitting section for transmitting the results of judgment, and a warning device for issuing a warning on the basis of the signal from the signal transmitting section, and the plurality of pieces of distance sensors are set to perform detection in a plurality of different directions by using infrared ray beams.

OUTSIDE-OF-VEHICLE MONITORING APPARATUS

PROBLEM TO BE SOLVED: To provide an outside-of-vehicle monitoring apparatus, in which the distance measured value by a laser radar and a distance measured value by an image are output quickly as data on a three-dimensional object at the front by integrating the measured values optimally and quickly, without having to conduct complicated computing operations. SOLUTION: A distance-data integration part 5c integrates laser distance data and image distance data as follows. When the laser distance data is effective and when the laser distance data refers to a distant place, final distance data is used as the laser distance data. When the laser distance data refers to an intermediate distance, when the image distance data is effective, and when the difference between the image distance data and the laser distance data is within a prescribed value, the final distance data is used as the mean value of the laser distance data and the image distance data. In cases other than the above, the laser ...

OPTICAL RANGE FINDER

PROBLEM TO BE SOLVED: To obtain a range finder in which any kind of object at any distance can be aimed at easily and visually without requiring any effort. SOLUTION: A light transmitting unit 1 comprises one or two light source 2, 3 generating two separable luminous fluxes 21, 31. One luminous flux 21 is a diffraction limiting luminous flux in the range of visible wavelength and the other luminous flux 31 is a diverging luminous flux in the range of visible wavelength or infrared wavelength. Optical coupling elements 4a, 4b are provided so that the luminous fluxes 21, 31 propagate from the light transmitting unit 1 to an object 6 being aimed at through an objective lens 5. Furthermore, filters 10a, 10b are provided as selection means for controlling simultaneous or alternative emission of the luminous fluxes 21, 31 in the light transmitting unit 1 and/or controlling separation/detection of the received light beam in a detection unit 40. COPYRIGHT: (C)2000,JPO ...

UNDERWATER CRAFT OF MEANS OF A LIDAR - IMAGING SYSTEM REMOTE CONTROLLED

SERVOMECHANISM FOR THE CONTROLLING OF A MOTOR VEHICLE

COMBINED TELESCOPE AND DISTANCE MEASURING DEVICE

OPTO-ELECTRONIC DISTANCE MEASURING EQUIPMENT

PROCEDURE AND DEVICE FOR THE CALIBRATION OF A MEASURING SYSTEM

System for the receipt of vehicle side views

System zur Aufnahme von Fahrzeugseitenansichten mit zumindest einer Kamera (5), welche ausgebildet ist, mehrere Bildaufnahmen (6) einer Seitenfläche (2) eines einzelnen fahrenden Fahrzeugs (1) in dessen Längsrichtung (x) automatisch auszulösen, wobei jede der Bildaufnahmen (6) einen Abschnitt (A) der Seitenfläche (2) aufweist, jeder Abschnitt (A) mit jedem benachbarten Abschnitt (A) teilweise überlappt oder zumindest lückenlos daran angrenzt und die Abschnitte (A) gemeinsam zumindest entlang eines Teils der gesamten Längserstreckung (L) der Seitenfläche (2), vorzugsweise entlang der gesamten Längserstreckung (L) der Seitenfläche (2), angeordnet sind.

INTELLIGENT DETECTION OF BURIED IEDS

A surveillance system includes a multi-propeller aircraft having a main propeller and a plurality of wing unit propellers; a housing that houses the main propeller and the wing unit propellers; an optical video camera; an ultra-wideband (UWB) radar imaging system; a control system for controlling flight of the multi-propeller aircraft from a remote location; and a telemetry system for providing information from the optical camera and the ultra-wideband (UWB) radar imaging system to a remote location. 1. A system comprising:a multi-propeller aircraft having a plurality of wing unit propellers for vertical takeoff and landing;a housing that houses the main propeller and the wing unit propellers, the housing having a diameter of approximately 1.5 feet to 3 feet;an ultra-wideband (UWB) radar imaging system housed in the housing;an optical camera within the housing:a control system, housed in the housing, for controlling flight of the multi-propeller aircraft from a remote location; anda telemetry system, housed in the housing, for providing information from the ultra-wideband (UWB) radar imaging system and the optical camera to the remote location, wherein the system is configured to first interrogate a ground surface with the optical camera to locate disturbed ground surfaces and to subsequently interrogate the disturbed ground surfaces with the UWB radar imaging system to detect the presence of buried improvised explosive devices (IEDS) below the disturbed ground surfaces.2. The system of claim 1 , wherein the housing includes:a microwave transmitter for heating water within on the disturbed ground surfaces; andan infrared camera for detecting a heat signature of the disturbed ground surface in response to the heating from the microwave transmitter.31. The system of clam claim 1 , wherein the multi-propeller aircraft further includes a explosive discoloration agent spray system to spray the interrogated disturbed ground surface with explosive discoloration agent to ...

THREE-DIMENSIONAL POSITION MEASURING SYSTEM, THREE-DIMENSIONAL POSITION MEASURING METHOD, AND MEASURING MODULE

Provided is a three-dimensional position measuring system, a three-dimensional position measuring method, and a measuring module with which measurement can be performed without a special operation constraint even in state where a measuring module is inclined. The three-dimensional position measuring system includes a measuring module that includes a target, an omnidirectional camera, and a triaxial accelerometer, and is grasped a positional relationship among the target, the omnidirectional camera, and a measurement point, and a surveying instrument including a light output section that outputs light toward the target and a measurement section that performs distance measuring and angle measuring to the target. Since the measuring module including the target is equipped with the omnidirectional camera and the triaxial accelerometer, a posture direction of the measuring module can be identified. 1. A three-dimensional position measuring system comprising:a measuring module that includes a target, an omnidirectional camera, and a triaxial accelerometer, and is grasped a positional relationship among the target, the omnidirectional camera, and a measurement point; anda surveying instrument including a light output section that outputs light toward the target and a measurement section that performs distance measuring and angle measuring to measure a distance and an angle to the target.2. The three-dimensional position measuring system according to claim 1 , wherein the target and the omnidirectional camera are arranged on a straight line claim 1 , and the measurement point is disposed in a known direction from the straight line by a distance meter or a pointing rod with a known length.3. A three-dimensional position measuring method claim 1 , wherein{'claim-ref': {'@idref': 'CLM-00002', 'claim 2'}, 'in the three-dimensional position measuring system according to ,'}(a) a distance and an angle to the target are measured by the measurement section and a surveying ...

CALIBRATION OF LASER AND VISION SENSORS

Automatic calibration between laser and vision sensors carried by a mobile platform, and associated systems and methods are disclosed herein. A representative method includes evaluating depth-based feature points obtained from the laser sensor with edge information obtained from the vision sensor and generating calibration rules based thereon. 1106-. (canceled)107. A computer-implemented method for generating a point cloud , the method comprising:obtaining observation data generated by at least one vision sensor, wherein the observation data corresponds to a time period;evaluating states associated with a laser unit at different points in time within the time period based at least on the observation data;determining one or more transformation rules for transforming between one or more reference systems and a target reference system associated with the laser unit, wherein the one or more reference systems are associated with the laser unit at the different points in time within the time period and the target reference system is associated with the laser unit at a target point in time within the time period;transforming data obtained by the laser unit based at least on the one or more transformation rules to the target reference system, the data obtained by the laser unit corresponding to the different points in time within the time period; andgenerating the point cloud using at least a portion of the transformed data.108. The method of claim 107 , wherein determining the one or more transformation rules further comprises:computing transformation matrices for the laser unit at the different points in time with respect to the target point in time, wherein each transformation matrix is computed using a corresponding state associated with the laser unit at a corresponding point in time.109. The method of claim 108 , wherein transforming data obtained by the laser unit based at least on the one or more transformation rules to the target reference system further comprises: ...

Multi-Resolution Maps for Localization

Techniques are discussed for using multi-resolution maps, for example, for localizing a vehicle. Map data of an environment can be represented by discrete map tiles. In some cases, a set of map tiles can be precomputed as contributing to localizing the vehicle in the environment, and accordingly, the set of map tiles can be loaded into memory when the vehicle is at a particular location in the environment. Further, a level of detail represented by the map tiles can be based at least in part on a distance between a location associated with the vehicle and a location associated with a respective region in the environment. The level of detail can also be based on a speed of the vehicle in the environment. The vehicle can determine its location in the environment based on the map tiles and/or the vehicle can generate a trajectory based on the map tiles. 1. A system comprising:one or more processors; and capturing LIDAR data using a LIDAR sensor of an autonomous vehicle;', 'determining, based at least in part on the LIDAR data, a first location associated with the autonomous vehicle in an environment;', 'determining a distance between the first location and a second location associated with a region in the environment;', 'determining that the distance meets or exceeds a threshold distance;', 'selecting, based at least in part on the distance meeting or exceeding the threshold distance, a resolution level from at least a first resolution level and a second resolution level;', 'loading, into a working memory accessible to the one or more processors, map data associated with the region, wherein the region in the environment is represented at the resolution level in the map data; and', 'localizing the autonomous vehicle based at least in part on the map data and the LIDAR data., 'one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising2. The ...

Lidar system and autonomous driving system using the same

A lidar system includes: light sources generating light of a linear light source type; a light emission unit including a diffractive optical element disposed ahead of the light sources and separating incident light from the light sources into point light sources, and a scanner moving the light separated by the diffractive optical element, and radiating light of a point light source to an object; and a reception sensor converting light received after reflection by the object into an electrical signal. Spectrum angles of point light sources that have passed through the diffractive optical element may be different according to a position of the diffractive optical element. According to the lidar system, an autonomous vehicle, AI device, and/or external device may be linked with an artificial intelligence module, drone ((Unmanned Aerial Vehicle, UAV), robot, AR (Augmented Reality) device, VR (Virtual Reality) device, a device associated with 5G services, etc.

ALL-IN-ONE INTEGRATED SENSING DEVICE FOR MACHINE CONTROL

An integrated sensing device with a suite of sensors assists construction machine operators in finding the correct level to dig a ditch/trench. The sensing device includes a gravity sensor to determine angles, a laser distance meter (LDM), and a laser receiver for detecting a known jobsite elevation. The sensing device is mounted to the dipper stick of an excavator; the gravity sensor detects the angle of the stick, and the laser receiver detects a laser plane of light that represents a known jobsite elevation. The LDM is aimed at another member of the machine that moves in a predetermined path as the bucket is rotated, and the distance between the LDM and the target member is used to calculate the vertical elevation of the working tool edge. A display graphically shows the operator the proper dig depth and the present position of the working tool edge. 1. An apparatus , comprising: (i) a GPS receiver;', '(ii) an electronic angle sensor;', '(iii) an electronic distance sensor, having an output port that is directed at a predetermined target, and which determines a distance to said target without making physical contact with said target;', '(iv) a processing circuit and a memory circuit including instructions executable by said processing circuit; and', '(v) a housing, in which said GPS receiver, said electronic angle sensor, said electronic distance sensor, said processing circuit, and said memory circuit are all mounted with said housing;, '(a) an integrated plurality of sensors that is mounted to a construction machine which has a first movable mechanical member that exhibits movement through a pathway that is variable with respect to gravity, and has a second movable mechanical member that includes a working tool edge, wherein said second movable mechanical member has a known physical moving relationship to said first movable mechanical member through a predetermined range of motions, said integrated plurality of sensors comprising (i) said integrated plurality ...

Laser scanner with real-time, online ego-motion estimation

A mapping system, comprising an inertial measurement unit; a camera unit; a laser scanning unit; and a computing system in communication with the inertial measurement unit, the camera unit, and the laser scanning unit, wherein the computing system computes first measurement predictions based on inertial measurement data from the inertial measurement unit at a first frequency, second measurement predictions based on the first measurement predictions and visual measurement data from the camera unit at a second frequency and third measurement predictions based on the second measurement predictions and laser ranging data from the laser scanning unit at a third frequency.

High resolution 3d point clouds generation based on cnn and crf models

In one embodiment, a method or system generates a high resolution 3-D point cloud to operate an autonomous driving vehicle (ADV) from a low resolution 3-D point cloud and camera-captured image(s). The system receives a first image captured by a camera for a driving environment. The system receives a second image representing a first depth map of a first point cloud corresponding to the driving environment. The system determines a second depth map by applying a convolutional neural network model to the first image. The system generates a third depth map by applying a conditional random fields model to the first image, the second image and the second depth map, the third depth map having a higher resolution than the first depth map such that the third depth map represents a second point cloud perceiving the driving environment surrounding the ADV.

TIME-OF-FLIGHT CAMERA SYSTEM

The invention relates to a TOF camera system comprising several cameras, at least one of the cameras being a TOF camera, wherein the cameras are assembled on a common substrate and are imaging the same scene simultaneously and wherein at least two cameras are driven by different driving parameters. 114-. (canceled)15. A sensor device comprising:a plurality of sensors, the plurality of sensors including a time-of-flight (TOF) sensor configured to detect a distance to an object and an image sensor configured to capture an image of the object, wherein the TOF sensor and the image sensor are disposed on a common substrate and are configured to sense the object simultaneously; andcircuitry configured to drive a first sensor of the plurality of sensors with first driving parameters and to drive a second sensor of the plurality of sensors with second driving parameters.16. The sensor device according to claim 15 , wherein the second driving parameters are different than the first driving parameters.17. The sensor device according to claim 15 , wherein the first driving parameters and the second driving parameters comprise at least two different frequencies for implementing a dealiasing algorithm.18. The sensor device according to claim 15 , further comprising an array of lenses claim 15 , each lens of the array of lenses being associated with a respective sensor of the plurality of sensors.19. The sensor device according to claim 17 , wherein the at least two different frequencies comprise modulation frequencies configured to control a timing of the imaging of the scene.20. The sensor device according to claim 17 , wherein the dealiasing algorithm includes instructions to distinguish between two potential distance measurements generated by the TOF sensor.21. The sensor device according to claim 15 , wherein the first sensor and the second sensor are TOF sensors.22. The sensor device according to claim 21 , wherein the circuitry is further configured to generate a dealiased ...

System and Method for Tracking Motion

Detecting position information related to a face, and more particularly to an eyeball in a face, using a detection and ranging system, such as a Radio Detection And Ranging (“RADAR”) system, or a Light Detection And Ranging (“LIDAR”) system. The position information may include a location of the eyeball, translational motion information related to the eyeball (e.g., displacement, velocity, acceleration, jerk, etc.), rotational motion information related to the eyeball (e.g., rotational displacement, rotational velocity, rotational acceleration, etc.) as the eyeball rotates within its socket. 119-. (canceled)20. A system for determining motion of a target , the system comprising:a video imaging system configured to capture a plurality of images of the target;a lidar system configured to generate a range measurement or a Doppler velocity measurement for each of a plurality of points on the target; and determine, from the plurality of images of the target, at least one first aspect of motion of the target based on the plurality of images of the target,', 'determine, from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target, at least one second aspect of motion of the target, wherein the at least one first aspect of motion of the target is orthogonal to the at least one second aspect of motion of the target, and', 'combine the at least one first aspect of motion of the target determined from the plurality of images of the target and the at least one second aspect of motion of the target determined from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target to determine the motion of the target., 'a processor configured to21. The system of claim 20 , wherein the at least one first aspect of motion comprises a lateral motion of the target in an image plane of the plurality of images of the target claim 20 , a vertical motion of the target in the image plane of the ...

METHOD AND APPARATUS FOR USING GESTURES TO CONTROL A LASER TRACKER

A method and system are provided for controlling a laser tracker remotely from the laser tracker through gestures performed by a user. The method includes providing a rule of correspondence between each of a plurality of commands and each of a plurality of user gestures. A gesture is performed by the user with the user's body that corresponds to one of the plurality of user gestures. The gesture performed by the user is detected. The gesture recognition engine determines a first command from one of the plurality of commands that correspond with the detected gesture. Then the first command is executed with the laser tracker. 1. A method for a user to control operation of a laser tracker with steps comprising:providing the laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, and a processor;providing a wearable device having a plurality of sensor nodes, wherein each sensor node further includes one or more Electromyography sensors;providing a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures corresponding to a muscle generated electrical signal from the one or more Electromyography sensors;placing the wearable device on the user's body;performing by the user a first gesture from among the plurality of gestures, the first gesture corresponding to a first command;measuring with the wearable device a first set of muscle generated electrical signals;determining the first command based at least in part on processing the first set of muscle generated electrical signals according to the rule of correspondence; andexecuting the first command with the laser tracker.2. The method of wherein ...

Method and apparatus for measuring angular resolution of multi-beam lidar

The present disclosure discloses a method and apparatus for measuring an angular resolution of a multi-beam lidar. The method comprises: acquiring, when a checkerboard calibration plate is scanned by a multi-beam lidar, an image of the checkerboard calibration plate photographed by a camera; identifying a checkerboard in the image, and determining a physical length characterized by a unit pixel of the image based on shape and length information of each checker in the checkerboard calibration plate; determining a center light spot and a light spot pair in the image; determining an angle between a laser beam corresponding to each light spot of the light spot pair and a laser beam corresponding to the center light spot based on the physical length characterized by the unit pixel, the center light spot and the light spot pair; and determining the angular resolution of the multi-beam lidar based on the determined angle. 1. A method for measuring an angular resolution of a multi-beam lidar , the multi-beam lidar comprising a center axis and at least one laser emitter , each laser emitter of the at least one laser emitter rotating around the center axis , the method comprising:acquiring, when a checkerboard calibration plate is scanned by the multi-beam lidar, an image of the checkerboard calibration plate photographed by a camera;identifying a checkerboard in the image, and determining a physical length characterized by a unit pixel of the image based on shape and length information of each checker in the checkerboard calibration plate;determining a center light spot and a light spot pair in the image, the center light spot being an image of a laser beam perpendicular to the checkerboard calibration plate among laser beams emitted by the at least one laser emitter in the image, and the light spot pair being two images of two laser beams emitted by two adjacent laser emitters of the at least one laser emitter in the image;determining an angle between a laser beam ...

COMPACT OPTICAL SYSTEM WITH MEMS SCANNERS FOR IMAGE GENERATION AND OBJECT TRACKING

An optical system that deploys micro electro mechanical system (MEMS) scanners to contemporaneously generate CG images and to scan a terrain of a real-world environment. An illumination engine emits a first spectral bandwidth and a second spectral bandwidth into an optical assembly along a common optical path. The optical assembly then separates the spectral bandwidth by directing the first spectral bandwidth onto an image-generation optical path and the second spectral bandwidth onto a terrain-mapping optical path. The optical system deploys the MEMS scanners to generate CG images by directing the first spectral bandwidth within the image-generation optical path and also to irradiate a terrain by directing the second spectral bandwidth within the terrain-mapping optical path. Accordingly, the disclosed system provides substantial reductions in both weight and cost for systems such as, for example, augmented reality and virtual reality systems. 1. An optical system , comprising:at least one controller for modulating output signals corresponding to image data defining computer-generated (CG) images, the at least one controller configured for processing tracking data associated with a terrain-mapping protocol for identifying features of a terrain of a real-world environment surrounding the optical system;an illumination engine to generate electromagnetic (EM) radiation in response to the output signals, wherein the EM radiation includes a first spectral bandwidth for generating the CG images and a second spectral bandwidth for deploying the terrain-mapping protocol;an optical assembly for receiving the EM radiation from the illumination engine and to cause the first spectral bandwidth and the second spectral bandwidth to propagate along a common optical path, wherein the optical assembly directs the first spectral bandwidth from the common optical path onto an image-generation optical path to generate the CG images, and wherein the optical assembly directs the second ...

METHOD AND SYSTEM FOR PROVIDING ROUTE OF UNMANNED AIR VEHICLE

A method and a system for establishing a route of an unmanned aerial vehicle are provided. The method includes identifying an object from surface scanning data and shaping a space, which facilitates autonomous flight, as a layer, collecting surface image data for a flight path from the shaped layer, and analyzing a change in image resolution according to a distance from the object through the collected surface image data and extracting an altitude value on a flight route. 1. A method for establishing a flight route for an unmanned aerial vehicle , the method comprising:identifying an object from surface scanning data captured from a camera of an aircraft and shaping a space, which facilitates autonomous flight of the unmanned aerial vehicle, as a layer;collecting surface image data for a flight route from the shaped layer;analyzing a change in image resolution associated with the surface image data according to a distance from the object by analyzing resolution values of the surface image data varying with the flight of the aircraft and extracting an altitude value on the flight route; andestablishing an optimal flight route for the unmanned aerial vehicle based on the extracted altitude value.2. The method of claim 1 , further comprising:correcting a value measured by a radio altitude sensor of the unmanned aerial vehicle through route verification from the extracted altitude value.3. The method of claim 1 , wherein the shaping of the space claim 1 , which facilitates the autonomous flight claim 1 , as the layer comprises:obtaining a point cloud of the object scanned by a surface scanning device loaded into the aircraft;identifying the object by analyzing the collected point cloud;extracting height values of specific points of the object identified using terrain altitude data; andshaping an area and altitude, which facilitates autonomous flight of the unmanned aerial vehicle, as the layer on a space by connecting the extracted height values of the specific points ...

Laser Distance Measuring Device

A handheld laser distance measuring device for a contactless distance measurement between the laser distance measuring device and a remote object uses a laser beam that is emitted by the laser distance measuring device. The laser distance measuring device includes a device-side coupling device paired with the device housing. The coupling device is configured for reversibly arranging at least one attachment device on the laser distance measuring device. By arranging the at least one attachment device on the laser distance measuring device, at least one additional functionality can be provided. 1. A handheld laser distance measuring device for the contactless distance measurement between the handheld laser distance measuring device and a remote object using a laser beam emitted by the laser distance measuring device , comprising:a device housing;an energy supply device; anda device-side coupling device paired with the device housing, said the device-side coupling device configured to reversibly arrange at least one attachment device on the handheld laser distance measuring device,wherein at least one additional functionality is included based on the arrangement of the at least one attachment device on the handheld laser distance measuring device.2. The handheld laser distance measuring device as claimed in claim 1 , wherein the device-side coupling device is configured up to transmit electrical energy to an electrical energy utilization unit of the at least one attachment device arranged on the handheld laser distance measuring device.3. The handheld laser distance measuring device as claimed in claim 1 , wherein the device-side coupling device is configured to transmit information to the at least one attachment device arranged on the handheld laser distance measuring device or from the at least one a attachment device arranged on the handheld laser distance measuring device.4. The handheld laser distance measuring device as claimed in claim 1 , further comprising:a ...

POWER OVER DATA LINE (PODL) BOARD DESIGN METHOD TO IMPROVE DATA CHANNEL PERFORMANCE

Aspects of the disclosure provide for a system for a power over data line (PoDL) system. The system includes a ground plane that has a cutout. In addition, an alternating current (AC) capacitor pad configured to establish a bidirectional data channel. The AC capacitor pad is positioned in the cutout of the ground plane. Similarly, a PoDL pad connected to one or more inductors and a direct current (DC) power source is positioned in the cutout of the ground plane and is in series with the AC capacitor pad. 1. A system comprising:a ground plane including a cutout;an alternating current (AC) capacitor pad configured to establish a data channel, the AC capacitor pad being positioned in the cutout of the ground plane; anda power over data line (PoDL) pad positioned in the cutout of the ground plane and being in series with the AC capacitor pad.2. The system of claim 1 , wherein the PoDL pad is connected to a plurality of inductors and a power source.3. The system of claim 1 , further comprising a cable connecting the AC capacitor pad and the PoDL pad in series claim 1 , the cutout of the ground plane being located between a first end of the cable and a second end of the cable.4. The system of claim 3 , further comprising one or more computing devices at the first end of the cable claim 3 , the one or more computing devices being configured to transmit data at a rate of 4 Gbps or greater along the channel.5. The system of claim 4 , wherein the one or more computing devices are a serializer.6. The system of claim 3 , further comprising one or more computing devices at the second end of the cable claim 3 , the one or more computing devices being configured to process data received via the data channel.7. The system of claim 6 , wherein the one or more computing devices are a deserializer.8. The system of claim 3 , wherein the cutout has a size wherein an impedance at the AC capacitor pad and the PoDL pad within the cutout match or closely match an impedance at a point of the ...

DRIVER ASSISTANCE SYSTEM FOR A MOTOR VEHICLE

A driver assistance system and method are disclosed which provides improved determination of possible collision objects. The system includes at least one sensor and a classification device. The threshold value of the classification device for classifying an object sensed by means of the at least one sensor as possible collision object is lowered when a possible hazard situation in a region of surroundings located in front of the motor vehicle based on data received from an inter-vehicular communication device. As a result, hazard situations which may not yet be determined by means of sensors belonging to conventional vehicles because of the distance or the position of the possible hazard situation with respect to the motor vehicle can be detected early on. 110-. (canceled)11. A driver assistance system for a motor vehicle comprising:at least one sensor configured to sense objects in a region of surroundings of a motor vehicle;a classification device configured to classify an object sensed by the at least one sensor as a possible collision object;a processor configured to execute a computer program product which instructs the processor to carry out the following:determining when a possible hazard situation in the region of surroundings located in front of the motor vehicle, based on data received from an inter-vehicular device of the motor vehicle; andlowering of a threshold value of the classification device for classifying an object sensed by the at least one sensor as possible collision object when it is determined that there is a possible hazard situation in the region of the surroundings located in front of the motor vehicle.12. The driver assistance system according to claim 11 , wherein the at least one sensor comprises a runtime-based sensor for sending and receiving signals claim 11 , and wherein the threshold value of the classification device is proportional to a signal strength of a signal sent back from the sensed object.13. The driver assistance system ...

Lidar Measurement Device for Vehicular Traffic Surveillance and Method for Use of Same

A Lidar measurement device for vehicular traffic surveillance and method for use of same are disclosed. In one embodiment, video circuitry acquires video of a field of view having a target therein. A steerable laser progressively transmits laser range-finding signals to the field of view in a horizontal and vertical step-wise manner and receives reflected laser range-finding signals from the target. A processing circuit portion determines target data of the target based upon range and time measurements associated with the reflected laser range-finding signals. The processing circuit then integrates the target data into the video such that the video may displayed with an image of the target and speed measurement associated therewith.

Registration of three-dimensional coordinates measured on interior and exterior portions of an object

A dimensional measuring device includes an overview camera and a triangulation scanner. A six-DOF tracking device tracks the dimensional measuring device as the triangulation scanner measures three-dimensional (3D) coordinates on an exterior of the object. Cardinal points identified by the overview camera are used to register in a common frame of reference 3D coordinates measured by the triangulation scanner on the interior and exterior of the object.

Light-Source Array for a Time-of-Flight Sensor and Method of Operation of Same

A system and method for reducing the effects of multipath propagation (MPP) arising from the operation of a time-of-flight (ToF) sensor are described. The ToF sensor can include light sources that emit modulated light in a monitoring area, which may be partitioned into a number of segments. The light sources may correspond to the segments. Tracking data of an object in the area can be analyzed to determine which segments are occupied by the object. The light sources corresponding to segments occupied by the object can be activated, and the light sources corresponding to segments unoccupied by the object can be deactivated. Modulated light may be emitted from only the activated light sources. Reflections of the modulated light from the object can be received and based on the received reflections, a depth distance of the object with respect to the ToF sensor can be provided. 1. A time-of-flight sensor for reducing multipath propagation , comprising:a plurality of light sources configured to emit modulated light in a monitoring area, wherein the light sources have predetermined orientations;a controller communicatively coupled to the light sources, wherein the controller is configured to activate and deactivate the light sources; and receive tracking data from one or more sensors of a passive tracking system, wherein the tracking data identifies a location of a first object in the monitoring area being passively tracked by the passive tracking system;', 'signal the controller to selectively activate and deactivate the light sources based on the tracking data such that one or more of the light sources with orientations that align with the location of the first object are activated and one or more of the light sources with orientations that are out of alignment with the location of the first object are deactivated., 'a processor that is communicatively coupled to the controller, wherein the processor is configured to2. The time-of-flight sensor of claim 1 , wherein the ...

CHIP-SCALE LIDAR WITH A SINGLE 2D MEMS SCANNER

A LIDAR system, LIDAR chip and method of manufacturing a LIDAR chip. The LIDAR system includes a photonic chip configured to transmit a transmitted light beam and to receive a reflected light beam, a scanner for directing the transmitted light beam towards a direction in space and receiving the reflected light beam from the selected direction, and a fiber-based optical coupler. The photonic chip and the scanner are placed on a semiconductor integrated platform (SIP). The fiber-based optical coupler is placed on top of the photonic chip to optically couple to the photonic chip for directing the a transmitted light beam from the photonic chip to the scanner and for directing a reflected light beam from the scanner to the photonic chip. 1. A LIDAR system , comprising:a photonic chip configured to transmit a light beam and to receive a reflected light beam;a scanner for directing the transmitted light beam towards a direction in space and receiving the reflected light beam from the selected direction; anda fiber-based optical coupler for directing the transmitted light from the photonic chip to the scanner and for directing the reflected light from the scanner to the photonic chip.2. The LIDAR system of claim 1 , wherein the fiber-based optical coupler further comprises a fiber-based circulator and a fiber-based collimator.3. The LIDAR system of claim 2 , further comprising a first optical fiber for optical communication of the transmitted light beam from the photonic chip to the fiber-based circulator and a second optical fiber for optical communication of the reflected light beam from the fiber-based circulator to the photonic chip.4. The LIDAR system of claim 3 , wherein the photonic chip further comprises a transmitter beam edge or grating coupler aligned with the first optical fiber from transmitting the transmitted light beam to the fiber-based circulator and a receiver beam edge or grating coupler aligned with the second optical fiber for transmitting the ...

Methods and Systems for Clearing Sensor Occlusions

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

SYSTEM AND METHOD FOR CALIBRATING A LIDAR AND A CAMERA TOGETHER USING SEMANTIC SEGMENTATION

System, methods, and other embodiments described herein relate to calibrating a light detection and ranging (LiDAR) sensor with a camera sensor. In one embodiment, a method includes controlling i) the LiDAR sensor to acquire point cloud data, and ii) the camera sensor to acquire an image. The point cloud data and the image at least partially overlap in relation to a field of view of a surrounding environment. The method includes projecting the point cloud data into the image to form a combined image. The method includes adjusting sensor parameters of the LiDAR sensor and the camera sensor according to the combined image to calibrate the LiDAR sensor and the camera sensor together. 1. A calibration system for calibrating a light detection and ranging (LiDAR) sensor with a camera sensor , comprising:one or more processors; an acquisition module including instructions that when executed by the one or more processors cause the one or more processors to control i) the LiDAR sensor to acquire point cloud data, and ii) the camera sensor to acquire a camera image, wherein the point cloud data and the camera image at least partially overlap in relation to a field of view of a surrounding environment; and', 'an adjustment module including instructions that when executed by the one or more processors cause the one or more processors to project the point cloud data into the camera image to form a combined image, and wherein the adjustment module includes instructions to adjust sensor parameters of the LiDAR sensor and the camera sensor according to the combined image to calibrate the LiDAR sensor and the camera sensor together., 'a memory communicably coupled to the one or more processors and storing2. The calibration system of claim 1 , wherein the acquisition module further includes instructions to identify objects within the camera image on a per pixel basis by analyzing the camera image according to a semantic segmentation algorithm to annotate pixels of the image with ...

Lidar Measurement Device with Target Tracking and Method for Use of Same

A Lidar measurement device for vehicular traffic surveillance and method for use of same are disclosed. In one embodiment, video circuitry acquires video of a field of view having a target therein. A steerable laser progressively scans the field of view to identify targets. The steerable laser then progressively, repeatedly scans a sub-field of the field of view containing the target. A processing circuit portion determines target data of the target based upon range and time measurements associated with reflected laser range-finding signals from the scans of the sub-field. The processing circuit then integrates the target data into the video such that the video may displayed with an image of the target and target data, such as a speed measurement, associated therewith. 1. A Lidar measurement device for traffic surveillance , the Lidar measurement device comprising:a video circuitry portion for acquiring video of a first field of view having a target therein, the video including an image of the target;a steerable laser for progressively laser scanning a second field of view in a horizontal and vertical step-wise manner and receiving reflected laser range-finding signals from the target, the second field of view having the target therein, the second field of view being a sub-field of the first field, the portion of the first field outside the second field is not laser scanned;a processing circuit portion for determining target data of the target based upon range and time measurements associated with the reflected laser range-finding signals, the processing circuit integrating the target data into the video such that the target data is associated with the image of the target; anda display in communication with the processing circuit portion, the display for displaying the video including the image of the target having the target data associated therewith.2. The Lidar measurement device for traffic surveillance as recited in claim 1 , wherein the target data comprises ...

MONOLITHICALLY INTEGRATED RGB PIXEL ARRAY AND Z PIXEL ARRAY

An apparatus is described that includes first and second pixels arrays integrated on a same semiconductor chip. The first pixel array contains visible light pixels and no Z pixels. The second pixel array contains Z pixels and no visible light pixels. The first and second pixel arrays do not overlap on said same semiconductor chip. 1. (canceled)2. A device comprising:a visible light optical system that is configured to pass visible light and to block infrared light, and a separate, infrared light optical system that is configured to pass infrared light and block visible light; andan image sensor that includes a visible light pixel array for receiving visible light that passes through the visible light optical system, and an infrared light pixel array for receiving infrared light that passes through the separate, infrared light optical system, wherein the visible light pixel array and the infrared light pixel array are both mounted on a same semiconductor chip.3. The device of claim 2 ,wherein a distance between a center of the visible light pixel array and a center of the infrared light pixel array is less than a distance between an optical axis associated with the visible light optical system and an optical axis associated with the infrared light optical system.4. The device of claim 2 , comprising a first system of mirrors that is configured to steer visible light that is output by the visible light optical system towards the visible light pixel array claim 2 , and a second system of mirrors that is configured to steer infrared light that is output from the infrared light optical system towards the infrared light pixel array.5. The device of claim 2 , comprising claim 2 , for each of the visible light pixel array and the infrared light pixel array claim 2 , (i) timing and control circuitry for the pixel array claim 2 , (ii) analog-to-digital circuitry for the pixel array claim 2 , and (iii) timing and control circuitry for the pixel array claim 2 , all mounted on ...

METHOD AND SYSTEM TO DISPLAY OBJECT LOCATIONS DURING A SEARCH AND RESCUE OPERATION

Methods and systems are provided for identifying objects of interest during an air search and rescue (SAR) operation. The method comprises detecting an object of interest near a SAR pattern with a sensor onboard an aircraft. The location of the object of interest is input into a visual display system that is shown to an aircrew member. Distinct symbols are automatically added to categorize the object of interest on the visual display system. The distinct symbols are confirmed by the aircrew member accurately categorize the object of interest. 1. A method for identifying objects of interest during an air search and rescue (SAR) operation , comprising:detecting an object of interest with a sensor onboard an aircraft, where the object of interest is located near a SAR pattern of an aircraft;displaying a sensor image of the object of interest on a visual display system;selecting the object of interest on the visual display system based on the sensor image, where the object of interest is selected by an aircrew member;inputting the location of the object of interest into the visual display system located onboard the aircraft, where the location of the object is translated as latitude, longitude and altitude from data from the sensor and the sensor image;automatically adding distinct symbols that categorize the object of interest on the visual display system; andconfirming the distinct symbols accurately categorize the object of interest, where the distinct symbols are confirmed to be accurate by the aircrew member.2. The method of claim 1 , where the sensor is an infrared (IR) camera.3. The method of claim 1 , where the sensor is a radar sensor.4. The method of claim 1 , where the radar sensor operates in a millimeter (mm) wavelength range.5. The method of claim 1 , where the sensor is light imaging detection and ranging (LIDAR) sensor.6. The method of claim 1 , where the object of interest is categorized by type.7. The method of claim 1 , where the object of interest is ...

AUTONOMOUS SYSTEM FOR TAKING MOVING IMAGES FROM A DRONE, WITH TARGET TRACKING AND IMPROVED TARGET LOCATION

The displacements of the drone are defined by piloting commands to take moving images of a target carrying the ground station. The system comprises means for adjusting the sight angle of the camera during the displacements of the drone and of the target, so that the images are centred to the target, and means for generating flying instructions so that the distance between drone and target fulfils determined rules, these means being based on a determination of the GPS geographical position of the target with respect to the GPS geographical position of the drone, and of the angular position of the target with respect to a main axis of the drone. These means are also based on the analysis of a non-geographical signal produced by the target and received by the drone. The system allows freeing from the uncertainty of the GPS systems equipping this type of device. 1. A system for taking moving images , comprising:a drone provided with a camera, and a ground station communicating with the drone through a wireless link,the displacements of the drone being defined by flying instructions applied to a propulsion unit or a set of propulsion units of the drone, the drone being adapted to fly autonomously to take moving images of a target moving with the ground station,a processor and memory; and, adjusting the sight angle of the camera during the displacements of the drone and of the target so that the images taken by the camera are centred to the target; and', 'generating said flying instructions to control the displacement of the drone towards the target and so that the distance and the angular position between the drone and the target fulfil determined rules,', on a determination of the GPS geographical position of the target with respect to the GPS geographical position of the drone, and of the angular position of the target with respect to a main axis linked to the drone, and', 'on the analysis of a signal produced by analysis of the images successively delivered by the ...

LIDAR AND CAMERA SYNCHRONIZATION

A method and system for synchronizing a lidar and a camera on an autonomous vehicle. The system instructs the camera to detect light columns transmitted by the lidar. The system iterates through various start times for the camera. The system instructs the lidar to emit a plurality of light columns at a lidar frequency. The system instructs the camera to capture images at a camera frequency starting at each start time. The system analyzes the image data received from the cameras to identify light columns captured in the images. The system calculates an alignment score for each of the many start times based on the identified light columns. The start time with the optimal alignment score is selected and used to synchronize the lidar and the camera. With lidar data detected by the synchronized lidar and image data captured by the synchronized camera, the system may navigate the autonomous vehicle. 1. A method for synchronizing a light detection and ranging sensor (lidar) and a camera on an autonomous vehicle , comprising:transmitting, via the lidar, a plurality of light columns at a lidar frequency within a field of view (FOV) of the camera; capturing, via the camera, a plurality of images at a camera frequency, each image captured over an exposure time,', 'for each image of the plurality of images, identifying a number of light columns in the image, and', 'calculating an alignment score based on the identified number of light columns in each of the plurality of images;, 'for each start time of a plurality of start timesselecting a start time with the highest alignment score;synchronizing the lidar and the camera according to the selected start time; andnavigating the autonomous vehicle with lidar data detected by the synchronized lidar and image data captured by the synchronized camera.2. The method of claim 1 , wherein the plurality of light columns comprises at least three light columns within the FOV of the camera.3. The method of claim 1 , wherein the lidar emits ...

Position Reference System and Method for Positioning and Tracking One or More Objects

Position reference system and method for positioning and tracking one or more objects which in addition to range and azimuth also provides the elevation angle of the target relative to the instrument axes of the sensor platform. The system and method is based on a near IR laser radar transceiver and one or more active or passive retroreflectors placed on the objects to be positioned. The present invention further includes an internal beam stabilization mechanism protected from the environment and utilize a cylindrical window which is transparent for the near IR laser radiation, but absorbs all visible and UV radiation and thus protects the optical parts from ambient solar radiation. In addition, the cylindrical window protects all internal mechanical parts, notably the rotating and moving parts, from a corrosive and freezing/icing environment. 119-. (canceled)20. A method for positioning and tracking one or more objects using a transceiver unit fixed to a sensor platform and one or more active or passive retroreflector arranged at each of said one or more objects to be positioned , comprising:{'b': '34', '(a) emitting a fan-shaped pulsed laser beam with predefined vertical and horizontal beam widths by controlling a mirror () for emitting the laser beam in a plane in the vertical direction and stabilizing the fan-shaped beam relative to a plane in the horizontal direction and overlapping Instantaneous Field-of-View of a receiver relative to the horizontal plane,'}{'b': 34', '37', '38, '(b) detecting reflected or returned light from said at least one retroreflector located at an object to be positioned and tracked by the controllable mirror () and an optical receiver lens () focusing the reflected or returned light onto a photodiode array (),'}{'b': '38', '(c) calculating elevation angle to the object by measuring mirror angle and interpolation of illuminated photodiodes in the photodiode array (), measuring azimuth angle and measuring time-of-flight for laser light ...

OPTICAL GROUND TRACKING APPARATUS, SYSTEMS, AND METHODS

Optical ground tracking apparatus for use with buried object locators or other instruments or devices are disclosed. In one embodiment, a buried object locator includes a locator module disposed in our coupled to the housing to sense a buried object based on emitted magnetic fields, and a surface tracking module for determining motion information of the buried object locator based on light reflected from a tracking surface. 1. A buried object locator , comprising:a housing;a buried object locator module disposed in our coupled to the housing, the buried object locator module including magnetic field antennas and electronic circuitry to sense a buried object and generate buried object information corresponding with the position and orientation of the buried object based on sensed magnetic fields emitted from the buried object;a surface tracking module for:detecting light reflected from a tracking surface;determining a motion of the buried object locator relative to the tracking surface, based at least in part on analysis of light patterns associated with the surface; andgenerating motion information corresponding with the sensed motion; andan integration module configured to associate the buried object information with corresponding motion information and store the associated information in a non-transitory memory.2. The buried object locator of claim 1 , further including:an electronic circuit for generating a tracking light pulse or beam; andoptics for sending the tracking light pulse or beam to the tracking surface so as to reflect a portion therefrom for use in the determining a motion of the buried object locator.3. The buried object locator of claim 2 , wherein the optics include a light emitting diode (LED) for sending the tracking light pulse or beam.4. The buried object locator of claim 1 , light reflected from the tracking surface is detected using a color sensor.5. The buried object locator of claim 1 , further comprising a distance measurement module for ...

System and Method for Increasing Resolution of Images Obtained from a Three-Dimensional Measurement System

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory (6DOF) of a target. The 6DOF transformation parameters are used to transform multiple images to the frame time of a selected image, thus obtaining multiple images at the same frame time. These multiple images may be used to increase a resolution of the image at each frame time, obtaining the collection of the superresolution images. 1. A system for increasing resolution of a three-dimensional image of a target , the system comprising:a lidar subsystem configured to direct at least two beams toward the target and generate a plurality of three-dimensional (3D) measurements for a plurality of points on the target for each of the at least two beams;a video subsystem configured to provide a plurality of two-dimensional (2D) images of the target; and receive, from the lidar subsystem, the 3D measurements for the plurality of points on the target,', 'receive, from the video subsystem, the plurality of 2D images of the target,', 'generate a plurality of three-dimensional (3D) images of the target based on the 3D measurements for the plurality of points on the target and the 2D images of the target, wherein each of the 3D images is generated at a frame time associated with each of the 2D images of the target,', 'remove motion blur in each of the plurality of 3D images;', 'transform each of the plurality of 3D images to a frame time of an original 3D image based on a plurality of transformation parameters, and', 'determine enhanced information for the original 3D image based on each of the transformed plurality of 3D images., 'a processor configured to2. The system of claim 1 , wherein the target is a moving target.3. The system of claim 1 , wherein the target is a stationary target claim 1 , and wherein the lidar subsystem and the video subsystem move relative to the stationary target.4. The system of claim 1 , wherein the ...

DEPTH SENSOR BASED AUTO-FOCUS SYSTEM FOR AN INDICIA SCANNER

An indicia reading terminal has a three-dimensional depth sensor, a two dimensional image sensor, an autofocus lens assembly, and a processor. The three dimensional depth sensor captures a depth image of a field of view and create a depth map from the depth image, the depth map having one or more surface distances. The two dimensional image sensor receives incident light and capture an image therefrom. The autofocusing lens assembly is positioned proximate to the two dimensional image sensor such that the incident light passes through the autofocusing lens before reaching the two dimensional image sensor. The processor is communicatively coupled to the two dimensional image sensor, the three dimensional depth sensor, and the autofocusing lens assembly. 1. An indicia reading terminal comprising:a three dimensional depth sensor for capturing a depth image of a field of view and determining distances from the indicia reading terminal to major surfaces in the depth image having areas greater than a predetermined threshold to create a depth map of the depth image, comprising calculating areas of the major surfaces and comparing the calculated areas to the predetermined threshold;a two dimensional image sensor;an autofocusing lens assembly positioned proximate to the two dimensional image sensor such that incident light passes through the autofocusing lens assembly before reaching the two dimensional image sensor; anda processor communicatively coupled to the two dimensional image sensor, the three dimensional depth sensor, and the autofocusing lens assembly; calculate optimal focal distances from the autofocusing lens assembly to each of the major surfaces;', 'based on the calculated optimal focal distances, focus the autofocusing lens assembly at one of the optimal focal distances;', 'capture an image with the two dimensional image sensor; and', 'decode an indicia in the captured image., 'wherein the processor is configured to2. The indicia reading terminal of claim 1 , ...

INTELLIGENT INTERACTIVE INTERFACE

The present disclosure discloses an intelligent interactive interface, comprising: an interface underlayer drawn from trajectory formed by measurement; a plurality of identifications disposed on the interface underlayer, each of the identifications corresponds to an external device, information of the external device is uploaded in real time, displayed on the interface underlayer and can be stored on a server, and a mapping relationship is established between the information of the external device and the corresponding identification of respective external device; a terminal apparatus is connected to the external device and displays the interface underlayer, identifications and control and/or exchange information with the external device; wherein the information of the external device is displayed in real time on the terminal apparatus through the identifications, the identifications can be added or deleted in real time. The present disclosure implements functional interactions such as controlling, monitoring an external device by a terminal apparatus. The present disclosure also implements various functions such as curve line measurement, dotting, identification description, synthesis of a measurement drawing and a real scene, remote real-time monitoring, etc. 1. An intelligent interactive interface , characterized in that , comprising:an interface underlayer drawn from the trajectory formed by measurement;a plurality of identifications disposed on the interface underlayer, each of the identifications corresponding to an external device, information of the external device being uploaded in real time, displayed on the interface underlayer and capable of being stored on a server, and a mapping relationship being established between the information of the external device and the corresponding identification of respective external device;a terminal apparatus to connect to the external device and display the interface underlayer, the identifications, and control the ...

Ladar Transmitter with Feedback Control of Dynamic Scan Patterns

Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where feedback control is used to finely control mirror scan positions. 1. A ladar transmitter comprising:a first mirror that is scanable along a first axis to a plurality of first mirror scan positions in response to a first control signal;a second mirror that is scanable along a second axis to a plurality of second mirror scan positions in response to a second control signal, wherein the combination of the first and second mirror scan positions defines where the ladar transmitter is targeted;a laser source that generates ladar pulses for transmission toward a plurality of targeted range points in a field of view via the first and second mirrors;a beam scanner controller that dynamically generates the first and/or second control signal based on a shot list that identifies a plurality of ladar pulse shots that target range points within the field of view such that the dynamically generated first and/or second control signal varies as a function of the ladar pulse shots on the shot list and the ladar transmitter targets the range points on a shot-by-shot basis; anda feedback system that tracks the first and/or second mirror scan positions and produces an adjustment signal based on the tracked first and/or second mirror scan positions, the adjustment signal for adjusting the first and/or second control signal used to control the tracked first and/or second mirror scan positions to controllably fine tune where the ladar transmitter is targeted.2. The ladar transmitter of further comprising:a processor that selects the range points to be targeted by ladar pulse shots in the shot list from among a plurality of possible range points within a field of view of a frame based on an analysis of scene data for the frame field of view.3. The ladar transmitter of wherein the selected range points are a subset of the possible range points within the frame ...

IMAGE RECOGNITION DEVICE AND DISTANCE IMAGE GENERATION METHOD

An image recognition device includes a light source that emits lighting pulses to a measurement space, a image generator that generates a distance image based on reflected light acquired by a light receiving element, a reflectivity calculator that calculates a correction coefficient corresponding to a reflectivity for each measurement section, and a lighting pulse controller that controls a number of lighting pulses emitted from the light source according to the correction coefficient for each measurement section. 1. An image recognition device , comprising:a light source that emits lighting pulses to a measurement space;a light receiver that receives reflected light from a measurement object present in the measurement space;an image generator that receives a light reception signal based on the reflected light from the light receiver and generates a distance image based on the light reception signal;a calculator that divides a time range corresponding to a distance in an emission direction of the lighting pulses into a plurality of measurement sections and calculates a correction coefficient corresponding to a reflectivity for each of the plurality of measurement sections; anda lighting pulse controller that adjusts an emission amount of lighting pulses to be emitted from the light source, according to the correction coefficient for each of the plurality of measurement sections.2. The image recognition device according to claim 1 , whereinas the adjustment of the emission amount, the lighting pulse controller adjusts a number of the lighting pulses to be emitted from the light source.3. The image recognition device according to claim 1 , whereinthe image generator includes a distance image generator that generates the distance image based on the reflected light, and a luminance image generator that generates a luminance image based on the reflected light, andthe calculator calculates the correction coefficient based on the distance image and the luminance image.4. ...

Classification methods and systems

Systems and method are provided for classifying an object. In one embodiment, a method includes receiving sensor data associated with an environment of a vehicle; processing, by a processor, the sensor data to determine an element within a scene; generating, by the processor, a bounding box around the element; projecting, by the processor, segments of the element onto the bounding box to obtain a depth image; and classifying the object by providing the depth image to a machine learning model and receiving a classification output that classifies the element as an object for assisting in control of the autonomous vehicle.

BOKEH CONTROL UTILIZING TIME-OF-FLIGHT SENSOR TO ESTIMATE DISTANCES TO AN OBJECT

Embodiments are directed to devices and methods including a time-of-flight sensor and a camera. In one embodiment, a device is provided that includes a time-of-flight sensor, distance estimation circuitry, a camera, and processing circuitry. The time-of-flight sensor transmits an optical pulse signal and receives return optical pulse signals corresponding to portions of the transmitted optical pulse signal reflected by an object. The distance estimation circuitry estimates a minimum distance to the object based on a time between transmitting the optical pulse signal and receiving a first portion of the return optical pulse signals, and estimates a maximum distance to the object based on a time between transmitting the optical pulse signal and receiving a second portion of the return optical pulse signals. The processing circuitry controls a focus distance and an aperture setting of the camera based on the estimated minimum and maximum distances to the object. 1. A method , comprising:transmitting, by a time-of-flight sensor device, an optical pulse signal into an image scene;receiving, by the time-of-flight sensor device, return optical pulse signals corresponding to portions of the transmitted optical pulse signal reflected by an object in the image scene;estimating a minimum distance to the object based on a time between transmitting the optical pulse signal and receiving a first portion of the return optical pulse signals;estimating a maximum distance to the object based on a time between transmitting the optical pulse signal and receiving a second portion of the return optical pulse signals; andcontrolling a focus distance of a camera based on the estimated minimum and maximum distances to the object.2. The method of claim 1 , further comprising:calculating a target focus distance based on the estimated minimum and maximum distances to the object, wherein the calculated target focus distance is equal to: (2*Dmax*Dmin)/(Dmax+Dmin), where Dmax is the estimated ...

Voxel Based Ground Plane Estimation and Object Segmentation

Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.

Three-Dimensional Information Processing Unit, Apparatus Having Three-Dimensional Information Processing Unit, Unmanned Aerial Vehicle, Informing Device, Method and Program for Controlling Mobile Body Using Three-Dimensional Information Processing Unit

A mobile body is controlled even in a place in which a navigation signal is difficult to receive from a navigation satellite. A three-dimensional information processing unit operates a device or a functional part which measures three-dimensional coordinates of a controlled target and operates a laser scanner or a laser scanning part which obtains three-dimensional point cloud data of the target. The unit includes a positioning section that operates the device or the functional part which measures the three-dimensional coordinates, to calculate the three-dimensional coordinates, and includes a scan controlling section that obtains the three-dimensional point cloud data from the laser scanner or the laser scanning part. The unit also includes a range calculator that calculates a movable range of the target from the three-dimensional coordinates and the three-dimensional point cloud data, and includes a controlled target position calculator that calculates a position of the target in the movable range. 1. A three-dimensional information processing unit that operates a device or a functional part which measures three-dimensional coordinates of a target to be controlled , and that operates a laser scanner or a laser scanning part which obtains three-dimensional point cloud data of the target , the three-dimensional information processing unit comprising:a positioning section that operates the device or the functional part which measures the three-dimensional coordinates, to calculate the three-dimensional coordinates;a scan controlling section that operates the laser scanner or the laser scanning part to obtain the three-dimensional point cloud data;a range calculator that calculates a movable range of the target from the three-dimensional coordinates and the three-dimensional point cloud data; anda controlled target position calculator that calculates a position of the target in the movable range, which is calculated by the range calculator.2. The three-dimensional ...

DRIVER FATIGUE WARNING SYSTEM

A driver-fatigue warning system suitable for use in an automated vehicle includes a camera, an alert-device, and a controller. The camera renders an image of a lane-marking and of an object proximate to a host-vehicle. The alert-device is operable to alert an operator of the host-vehicle of driver-fatigue. The controller is in communication with the camera and the alert-device. The controller determines a vehicle-offset of the host-vehicle relative to the lane-marking based on the image. The controller determines an offset-position of the object relative to the lane-marking based on the image. The controller determines that a lane-departure has occurred when the vehicle-offset is less than a deviation-threshold. The controller does not count occurrences of lane-departures when the offset-position is less than an offset-threshold, and activates the alert-device when the count of the occurrences of lane-departures exceeds a crossing-threshold indicative of driver-fatigue. 1. A warning system , the system comprising:a camera;an alert-device; anda controller in communication with the camera and the alert-device, said controller counts a lane-departure of a host-vehicle when a host-vehicle-offset relative to a lane-marking is less than a threshold, does not count the lane-departure when an object in a roadway urges an operator of the host-vehicle to perform the lane-departure, and activates the alert-device when the count of the lane-departures exceeds a departure-threshold.2. The system of claim 1 , wherein the object is another vehicle.3. The system of claim 2 , wherein the other vehicle is traveling in an adjacent-lane to a travel-lane traveled by the host-vehicle.4. The system of claim 2 , wherein the other vehicle is traveling at least partially in a travel-lane traveled by the host-vehicle.5. The system of claim 1 , wherein the object is a stationary object.6. The system of claim 5 , wherein the stationary object is adjacent to a travel-lane traveled by the host- ...

DRIVER FATIGUE WARNING SYSTEM

A driver-fatigue warning system suitable for use in an automated vehicle includes a camera, an alert-device, and a controller. The camera renders an image of a lane-marking and of an object proximate to a host-vehicle. The alert-device is operable to alert an operator of the host-vehicle of driver-fatigue. The controller is in communication with the camera and the alert-device. The controller determines a vehicle-offset of the host-vehicle relative to the lane-marking based on the image. The controller determines an offset-position of the object relative to the lane-marking based on the image. The controller determines that a lane-departure has occurred when the vehicle-offset is less than a deviation-threshold. The controller does not count occurrences of lane-departures when the offset-position is less than an offset-threshold, and activates the alert-device when the count of the occurrences of lane-departures exceeds a crossing-threshold indicative of driver-fatigue. 1. A warning system , the system comprising:a camera that captures an image of a lane-marking and an image of an object in a travel-lane traveled by a host-vehicle;an alert-device operable to alert an operator of the host-vehicle of driver-fatigue; and a vehicle-offset of the host-vehicle relative to the lane-marking based on the image;', 'an offset-position of the object relative to the lane-marking based on the image; and', 'occurrences of a lane-departure when the vehicle-offset is less than a deviation-threshold;', determines that the object is within the travel-lane traveled by the host-vehicle based on the image and the offset-position;', 'increments a count of occurrences of lane-departures when the lane-departure of the host-vehicle occurs on a same side of the travel-lane relative to the object;', 'does not increment the count of occurrences of lane-departures when the lane-departure of the host-vehicle occurs on an opposite side of the travel-lane relative to the object; and', 'activates ...

VISUALIZATION TECHNIQUES FOR DATA LABELING

One embodiment provides a user interface (UI) that permits users to select how point cloud colorings determined from multiple data sources are blended together in a rendering of a point cloud. The data sources may include photographic, label, and/or LIDAR intensity data. To improve frame rates, an aggregated point cloud may be generated using a spatial hash of a large set of points and sampling of each hash bucket based on the number of points therein and a user-configurable density. Sizes of points in the point cloud may decrease proportionally to distance from a viewer, but increase based on an activation function that enlarges points greater than a threshold distance from the viewer. In addition, luminance statistics for sub-regions of photographic data and dominant colors determined from photographic data may be used to automatically determine color properties to apply to a point cloud coloring. 1. A computer-implemented method for visualizing data , the method comprising:displaying, in a first section of a user interface, a rendering of a three-dimensional (3D) scene in which colors are determined based on (i) label data indicating types of one or more objects within the 3D scene, and (ii) at least one of photographic data or light detection and ranging (LIDAR) intensity data; and 'a photograph to which the first point is mapped, or a LIDAR intensity of the first point in the LIDAR intensity data.', 'displaying, in a second section of the user interface, at least one element adjustable to select a blending of the colors, wherein the blending of the colors includes blending (i) a first color for a first point in the 3D scene determined based on a first label for the first point included in the label data, with (ii) a second color for the first point in the 3D scene determined based on at least one of: one or more pixels in the photographic data corresponding to a location in'}2. The computer-implemented method of claim 1 , further comprising displaying claim 1 , ...

DEVICE AND METHOD FOR MEASURING DISTANCES ON A GOLF COURSE

A distance measuring device and method are disclosed for use on a golf course. A satellite navigation system receiver determines a user's location. A database containing stored coordinates is accessed by a processor to determine a golf course and a hole associated with the location and a maximum and a minimum distance from the location to a green containing the hole. A laser rangefinder determines a distance between the location and each of a plurality of objects. The processor discards object distances which are not within the perimeter of the green. Optionally, an accelerometer and a gyrometer are used to more precisely determine a heading of the laser pulse for each object distance. The processor establishes from the stored coordinates a cone of interest originating at the location and extending to the green, and discards object distances which do not have headings within the cone of interest. The retained distance may be displayed for the user. 1. A distance measuring device , comprising:a satellite navigation system receiver operable to determine a user's location;a processor in communication with the receiver and linked to a database containing stored coordinates of at least one golf course;a laser rangefinder operable to emit pulses toward the green and determine a distance between the location and each of a plurality of objects based on reflecting of the pulses from the objects, and provide the object distances to the processor; determining a golf course and a hole associated with location;', 'calculating a maximum green distance from the location to a back edge of the green containing the hole based on the stored coordinates;', 'calculating a minimum green distance from the location to a front edge of the green containing the hole based on the stored coordinates; and', 'discarding object distances based on the maximum and minimum green distances., 'wherein said processor is adapted to perform the following steps2. The device of claim 1 , wherein the stored ...

PREDICTIVE SENSOR ARRAY CONFIGURATION SYSTEM FOR AN AUTONOMOUS VEHICLE

An autonomous vehicle (AV) can include a predictive sensor configuration system that can dynamically detect reflectance anomalies that affect detectability by sensor array of the AV as the AV travels a current route. The predictive sensor configuration system can dynamically determine one or more configurations for the sensor array to attempt to positively identify the reflectance anomalies, and preemptively execute the one or more configurations for the sensor array as the AV travels the current route. 1. An autonomous vehicle (AV) comprising:one or more cameras generating image data of a surrounding environment of the AV;a LIDAR sensor generating sensor data corresponding to a surrounding environment of the AV; and detect, in the sensor data from the LIDAR sensor, one or more reflectance anomalies; and', 'in response to detecting the one or more reflectance anomalies, prioritize the image data from the one or more cameras to resolve the one or more reflectance anomalies., 'a control system comprising one or more processors executing an instruction set, causing the control system to2. The AV of claim 1 , wherein the executed instruction set further causes the control system to:store a set of sub-maps comprising recorded surface data of a given region upon which the AV operates;wherein the executed instruction set causes the control system to further detect the one or more reflectance anomalies by analyzing a current sub-map from the stored set of sub-maps.3. The AV of claim 2 , wherein each sub-map in the set of sub-maps comprises at least one of recorded LIDAR data or recorded image data.4. The AV of claim 1 , further comprising:acceleration, braking, and steering systems; dynamically process the sensor data from the LIDAR sensor to autonomously operate the acceleration, braking, and steering systems along a current route;', 'wherein the executed instruction set causes the control system to detect and resolve the one or more reflectance anomalies dynamically as ...

DEPTH FIELD IMAGING APPARATUS, METHODS, AND APPLICATIONS

A depth of field imaging apparatus includes a light field imager and a time of flight imager combined in a single on-chip architecture. This hybrid device enables simultaneous capture of a light field image and a time of flight image of an object scene. Algorithms are described, which enable the simultaneous acquisition of light field images and a time of flight images. Associated hybrid pixel structures, device arrays (hybrid imaging systems), and device applications are disclosed. 2. The depth field imaging apparatus of claim 1 , wherein the LF imaging component comprises a grating.3. The depth field imaging apparatus of claim 1 , wherein the LF imaging component comprises a microlens.4. The depth field imaging apparatus of claim 2 , wherein the LF imaging component comprises a metallic grating.5. The depth field imaging apparatus of claim 1 , wherein the LF imaging component comprises an amplitude mask.6. The depth field imaging apparatus of claim 2 , wherein the grating is a periodic grating.7. The depth field imaging apparatus of claim 2 , wherein the grating is a phase grating.8. The depth field imaging apparatus of claim 7 , wherein the phase grating is an anti-(odd)-symmetry phase grating.9. The depth field imaging apparatus of claim 1 , wherein the LF imaging component is an angle sensitive pixel (ASP).10. The depth field imaging apparatus of claim 1 , wherein the TOF imaging component comprises a modulatable photogate including an active (modulatable) light source.11. The depth field imaging apparatus of claim 10 , wherein the TOF imaging component comprises a plurality of interleaved photogates.12. The depth field imaging apparatus of claim 11 , wherein the plurality of interleaved photogates is characterized by being modulated at a modulation frequency of the active light source.13. The depth field imaging apparatus of claim 1 , further including a lens disposed on an object side of the depth field imaging apparatus.14. The depth field imaging apparatus ...

LOCATING PHYSICAL DEVICES

Techniques are disclosed relating to determining a physical location of an item within an environment. For example, in various embodiments, a location system may determine a location of a first item of a plurality of items. In some embodiments, the location system may emit a pulse of light via a light source. The location system may receive a plurality of reflections that have been reflected from retroreflective material on one or more of the plurality of items. Further, in some embodiments, the location system may determine a direction of the location of the first item relative to a reference location. The location system may, in some embodiments, determine a distance between the reference location and the first item. Additionally, in some embodiments, the location system may determine identification information associated with the first item. 1. A method , comprising: emitting, by a light source of the location system, a pulse of light;', 'receiving, at the location system, a plurality of reflections that have been reflected from the retroreflective material on a subset of the plurality of items;', 'determining, by the location system, a direction of the location of the first item relative to a reference location, wherein the direction is determined based on an angle of a reflection corresponding to the first item;', 'determining, by the location system, a distance between the reference location and the first item based on the reflection corresponding to the first item; and', 'subsequent to determining the direction of the location of the first item, determining, by the location system, identification information associated with the first item., 'determining, by a location system, a location of a first item of a plurality of items, each item having retroreflective material arranged in a particular pattern, wherein the determining includes2. The method of claim 1 , wherein the determining the distance between the reference location and the first item comprises: ...

System and Method for Increasing Resolution of Images Obtained from a Three-Dimensional Measurement System

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory (6DOF) of a target. The 6DOF transformation parameters are used to transform multiple images to the frame time of a selected image, thus obtaining multiple images at the same frame time. These multiple images may be used to increase a resolution of the image at each frame time, obtaining the collection of the superresolution images.

Systems and methods for northfinding

An apparatus for target location is disclosed. The apparatus includes a housing, which includes a range sensor to generate range data, an image sensor to generate image data, an inertial sensor to generate inertia data, and a processor. The processor is configured to receive the image data from the image sensor and determine a first orientation of the housing and receive the inertia data from the inertial sensor and modify the first orientation based on the inertia data to produce a modified orientation of the housing.

Lidar system and autonomous driving system using the same

Provided are a lidar system and an autonomous driving system using the same. The lidar system includes: a light emitter configured to include a light source generating a laser beam and a scanner moving the laser beam from the light source to scan an object with the laser beam; a receiving sensor configured to convert light reflected and received by the object into an electrical signal; and a signal processor configured to include a trans impedance amplifier amplifying an output signal of the receiving sensor, an analog to digital converter converting an output signal of the trans impedance amplifier into a digital signal, and a gain controller varying a gain of the trans impedance amplifier. According to the lidar system, an autonomous vehicle, an AI device, and an external device may be linked with an artificial intelligence module, a drone, a robot, an Augmented or Virtual Reality device, etc.

Wide-View LIDAR with Areas of Special Attention

A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature. 1. A system , comprising:one or more sensors including at least a light detection and ranging (LIDAR) device, wherein the LIDAR device comprises a light source and a light detector; and causing the LIDAR device to perform a scan of an environment, wherein the scan of the environment comprises the light source emitting a light pulse into the environment and the light detector detecting a reflected light pulse from an object in the environment, wherein the reflected light pulse is a portion of the light pulse;', 'determining an intensity of the reflected light pulse;', 'determining a distance to the object based on a time delay between the light pulse being emitted by the light source and the reflected light pulse being detected by the light detector;', 'determining a reflectance of the object based on the intensity of the reflected light pulse and the distance to the object; and', 'controlling the one or more sensors based on the reflectance of the object., 'a controller configured to perform operations comprising2. The system of claim 1 , ...

SYSTEM FOR DETERMINING A DISTANCE TO AN OBJECT

The invention pertains to a system for determining a distance, comprising: a light source for projecting a pattern of discrete spots of laser light towards the object in a sequence of pulses; a detector comprising picture elements, for detecting light representing the pattern as reflected by the object in synchronization with the sequence of pulses; and processing means to calculate the distance to the object as a function of exposure values generated by said picture elements. The picture elements generate the exposure values by accumulating a first amount of electrical charge representative of a first amount of light reflected during a first time window and a second electrical charge representative of a second amount of light reflected during a second time window, the second time window occurring after the first time window. The picture elements comprise at least two sets of charge storage wells, each configured as a cascade. 1. A system for determining a distance to an object comprising:a solid-state light source arranged for projecting a pattern of discrete spots of laser light towards said object in a sequence of pulses;a detector comprising a plurality of picture elements, said detector being configured for detecting light representing said pattern of discrete spots as reflected by said object in synchronization with said sequence of pulses; andprocessing means configured to calculate said distance to said object as a function of exposure values generated by said picture elements in response to said detected light based on the amount of temporal overlap between the pulse emission window and the arrival of the reflected pulse by applying range gating to said sequence of pulses;wherein said picture elements are configured to generate said exposure values by accumulating, for all of the pulses of said sequence, a first amount of electrical charge representative of a first amount of light reflected by said object during a first predetermined time window overlapping ...

Monolithically integrated rgb pixel array and z pixel array

An apparatus is described that includes first and second pixels arrays integrated on a same semiconductor chip. The first pixel array contains visible light pixels and no Z pixels. The second pixel array contains Z pixels and no visible light pixels. The first and second pixel arrays do not overlap on said same semiconductor chip.

COLLECTING AND VIEWING THREE-DIMENSIONAL SCANNER DATA IN A FLEXIBLE VIDEO FORMAT

A method interactively displays panoramic images of a scene. The method includes measuring 3D coordinates with a 3D measuring instrument at a first position and a second position. The 3D coordinates are registering into a common frame of reference. Within the scene, a trajectory includes a plurality of trajectory points. Along the trajectory, 2D images are generated from the commonly registered 3D coordinates. A trajectory display mode sequentially displays a collection of 2D images at the trajectory points. A rotational display mode allows a user to select a desired view direction at a given trajectory point. The user selects the trajectory display mode or the rotational display mode and sees the result shown on the display device. 1. A method of interactively displaying panoramic images of a scene , the method comprising:measuring a first plurality of 3D coordinates with a 3D measuring instrument at a first position;measuring a second plurality of 3D coordinates with the 3D measuring instrument at a second position different than the first position;registering the first plurality of 3D coordinates and the second plurality of 3D coordinates together in a common frame of reference;providing a trajectory within the scene, the trajectory including a collection of trajectory points;generating along the trajectory a plurality of two-dimensional (2D) images at each trajectory point; anddisplaying the 2D image on a display device in one of a rotational display mode or a trajectory display mode in response to an input from a user, the trajectory display mode being configured to display the 2D images sequentially along the trajectory points, the rotational display mode being configured to display the 2D images at a single trajectory point from a user-defined view direction.2. The method of claim 1 , further comprising providing a user control.3. The method of claim 2 , wherein the user-defined view direction is selected from a plurality of observer view directions.4. The ...

WORKSITE PLAN EXECUTION

A method includes receiving a worksite plan to be executed by at least one machine at a worksite from a computing device of a supervising entity, the controller being located at a non-line-of-sight (NLOS) location with respect to the worksite. The worksite plan may include a boundary of the worksite at which the worksite plan is implemented, at least one task defining the worksite plan, and a selection of at least one machine to perform the task. The method may include receiving a validation signal from a device located at the worksite, the validation indicating that the worksite is ready for implementation of the worksite plan based on at least one parameter of worksite readiness. The method may include selecting a first mode of operation of the machine to perform the task and transmitting first instructions to the machine to perform the task based on the first mode of operation. 1. A method , comprising: a boundary of the worksite at which the worksite plan is implemented;', 'at least one task including mission parameters defining the worksite plan;', 'a selection of at least one machine to perform the task; and', 'at least one machine parameter;, 'receiving, with a controller, a worksite plan to be executed by at least one machine at a worksite from a computing device of a supervising entity, the controller being located at a non-line-of-sight (NLOS) location with respect to the worksite, the worksite plan includingreceiving, with the controller, a validation signal from a device located at the worksite, the validation indicating that the worksite is ready for implementation of the worksite plan based on at least one parameter of worksite readiness;selecting, with the controller and based at least in part on the worksite plan, a first mode of operation of the machine to perform the task; andtransmitting first instructions to the machine to perform the task based on the first mode of operation.2. The method of claim 1 , wherein:the machine operates under at least ...

SYSTEM AND METHOD FOR CALIBRATING ON-BOARD VEHICLE CAMERAS

Provided herein are methods for calibrating a camera. The method may include capturing an image that includes at least a traffic sign. The location of the traffic sign using the image may then be determined, which may include taking as input the location and direction of the vehicle and the location and the direction of the camera relative to the vehicle. The method may also include obtaining an actual location of the traffic sign. The camera may be determined to require recalibration if the determined location is different from the actual location. 1. A method for recalibrating a camera installed on a vehicle , comprising:capturing, with the camera, an image includes at least a traffic sign;determining the location of the traffic sign using the image, taking as input the location and the direction of the vehicle and the location and the direction of the camera relative to the vehicle;obtaining an actual location of the traffic sign; anddetermining that the camera requires recalibration if the determined location is different from the actual location.2. The method of claim 1 , further comprising correcting the location or the direction of the camera relative to the vehicle such that the determined location of the traffic sign claim 1 , following the correction claim 1 , matches the actual location of the traffic sign.3. The method of claim 2 , wherein the traffic sign is selected from the group consisting of a traffic light claim 2 , a stop sign claim 2 , and a street sign.4. The method of claim 3 , wherein the traffic sign is a traffic light.5. The method of claim 4 , wherein two or more traffic lights are captured in the image and used for the recalibration.6. The method of claim 1 , wherein the actual location of the traffic sign is obtained from a high-precision GPS map stored in a storage device in the vehicle.7. The method of claim 1 , wherein the actual location of the traffic sign is obtained by one or more other cameras on the vehicle.8. The method of claim ...

LASER SCANNER AND METHOD FOR SURVEYING AN OBJECT

A laser scanner is designed to include a GPS signal-independent navigation unit. 1. A laser scanner for 3D survey of objects , comprising an emitter for emitting a laser beam , a mechanical beam deflecting system for deflecting the laser beam such that 3D object survey is possible , an evaluation unit for evaluating the survey beam reflected by the object , and a navigation device for detecting the scanner position in the space , wherein the navigation device has a navigation unit for GNSS , especially GPS signal-independent determination of the scanner position and scanner orientation with respect to a basic position of the laser scanner , wherein the evaluation unit is adapted to correct a scanner position estimated by means of the navigation device on the basis of the automatic recording.2. The laser scanner according to claim 1 , wherein the navigation unit comprises accelerometers claim 1 , gyroscopes claim 1 , and magnetometers.3. The laser scanner according to claim 2 , comprising a barometer and/or a GNSS receiver claim 2 , and/or other suitable auxiliary means for location estimation.4. The laser scanner according to claim 1 , comprising an evaluation unit for the automatic targetless recording of a plurality of scans as a function of the respective scanner position and scanner orientation.5. The laser scanner according to claim 1 , comprising a memory for storing the data determined by the navigation unit.6. A method for surveying an object by means of a scanner in accordance with claim 1 , comprising the steps of:a) Determining a basic position;b) Making a first scan;c) Recording the scan to the objects/targets with known coordinates such that it is available in a superordinate coordinate system, or setting the basic position to [0,0,0];d) Using the location determined with the navigation unit or obtained in previous recording as a starting position for the estimation of the relative movement of the scanner to the next location where the next scan is to ...

3D GEOLOCATION SYSTEM

A three-dimensional (3D) geolocation system for providing the 3D coordinates of a moving person in the absence of a Global Positioning System (GPS) signal. The 3D geolocation system uses two inertial sensors configured to be positioned at the left and right foot-ankle structure and a series of sensors to measure the spatial orientation of each segment of the lower limbs (shanks, thighs, trunk) of the user. In one example, the 3D geolocation system uses two additional inertial sensors at the left and right leg-knee or thigh-hip structure as well as sensors providing information indicative of the angular positions of the left and right knee and thigh, which may be provided by an exoskeleton or orthotic devices worn by the user. This determination of the 3D coordinates of the user is performed using biomechanics information about the user from the inertial sensors combined with the knee and hip angles. 2. The 3D geolocation system of claim 1 , wherein:the at least one pair of spatial orientation sensors providing information indicative of the spatial orientation of a right and a left thighs and a trunk of the user is a pair of inertial sensors configured to be positioned at a left and right leg-knee or thigh-hip structures of the user, the inertial sensors providing biomechanics information of the user; andthe at least one pair of spatial orientation sensors providing information indicative of the spatial orientation of a right and left shanks of the user is a pair of angular position sensors configured to be positioned at a right and a left knees and hips.3. The 3D geolocation system of claim 1 , wherein the biomechanics information of the user includes the acceleration at each of the inertial sensors configured to be positioned at the left and the right foot-ankle structures of the user and wherein the step of calculating the 3D coordinates of the user includes the sub-steps of:rotating the accelerations of each of the inertial sensors configured to be positioned at ...

DISTANCE DETECTOR

A distance detector comprising: a laser transmitter and receiver for generating a laser beam to irradiate an object and to receive return light reflected in response from the object, an image detection system for generating an image of a view, the image detection system including an objective lens for collecting light from the view, an image sensor for receiving light collected by the objective lens and for generating the image therefrom, and a digital display for displaying the image such that the digital display displays a real-time image of the view, a laser beam indicium on the digital display or a laser beam indicium generator configured to display laser beam indicium on the digital display, wherein the laser beam indicium indicates a direction of the laser beam, and a range-finding system for determining the distance to an object irradiated by the laser beam using return light and for displaying distance. 1. A distance detector for golf flag detection , wherein the distance detector is an integral device comprising:a laser transmitter and receiver for generating a laser beam to irradiate an object and to receive return light reflected from the object,an image detection system for generating an image of a view, the image detection system including an objective lens for collecting light from the view, an image sensor for receiving light collected by the objective lens and for generating the image therefrom, and a digital display for displaying the image such that the digital display displays a real-time image of the view,a feature detector configured to receive the image and detect therein a golf flag, anda range-finding system configured to determine the distance to the golf flag using the return light, and to display the distance.2. The distance detector of claim 1 , wherein the feature detector is configured to respond to detection of the golf flag by generating an alert to alert the user.3. The distance detector of claim 1 , comprising a laser beam indicium ...

METHOD FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT USING A 3D MEASUREMENT DEVICE AND NEAR FIELD COMMUNICATION

A method for scanning and measuring using a 3D measurement device is provided. The method includes providing the 3D measurement device having a light emitter, a light receiver and a command and evaluation device. The 3D measurement device is further includes a first near-field communication (NFC) device having a first antenna. A second NFC device having a second antenna is positioned adjacent the 3D measurement device. An NFC link is established between the first NFC device and the 3D measurement device. An identifier is transmitted from the second NFC device to the 3D measurement device. It is determined that the second NFC device is authorized to communicate with the 3D measurement device. Commands are transferred to the 3D measurement device from the second NFC device based at least in part on the determination that the second NFC device is authorized to communicate with the 3D measurement device. 1. A system for measuring three-dimensional coordinates of an environment , the system comprising:a 3D measurement device having a light emitter operable to emit at least one emission light beam, the 3D measurement device further having a light receiver operable to receive at least one reception light beam, the 3D measurement device further having a control and evaluation device that is operable to determine at least the distance to an object for each of a plurality of measuring points based at least in part on the at least one emission light beam and the at least one reception light beam;a first near field communications device operably coupled to the control and evaluation device;a second near field communications device operable to transmit an identifier to the first near field communications device;wherein the control and evaluation device is operable to determine the second near field communications device is authorized to communicate with the 3D measurement device based at least in part on the identifier;wherein the second near field communications device is ...

SYSTEM AND METHOD FOR POINT CLOUD DIAGNOSTIC TESTING OF OBJECT FORM AND POSE

A method of determining the location of a candidate object in an environment, the method including the steps of: (a) capturing a 3D point cloud scan of the object and its surrounds; (b) forming a surface geometry model of the candidate object. (c) forming a range hypothesis test comparing an expected range from the geometry model of the candidate object in comparison with the measured range of points in the Lidar point cloud scan and deriving an error measure there between; (d) testing the range hypothesis for a series of expected locations for the surface geometry model of the candidate object and determining a likely lowest error measure. 1. A method of determining the location of a candidate object in an environment , the method including the steps of:(a) capturing a 3D point cloud scan of the candidate object and its surrounds;(b) determining a surface geometry model of the candidate object.(c) forming a range hypothesis test comparing an expected range from the geometry model of the candidate object with the measured range of points in the 3D point cloud scan and deriving an error measure there between; and(d) testing the range hypothesis for a series of expected locations for the geometry model of the candidate object and determining a likely lowest error measure.2. The method of claim 1 , wherein said method is carried out on a series of different geometry models for different candidate object shapes.3. The method of claim 1 , wherein said step (d) includes accounting for scan sensor pose and measurement uncertainty in the 3D point cloud scan model.4. The method of claim 1 , wherein said 3D point cloud scan comprises a LiDAR scan of the object and its surrounds.5. The method of claim 1 , wherein said candidate object comprises a shovel bucket.6. The method of claim 1 , wherein the testing of a range hypothesis includes determines the most likely location of a candidate object by summing the level of support provided by each measurement across a family of ...

ILLUMINATION DEVICE

An illumination device to be mounted on a vehicle, includes a light source; a sensor configured to acquire information outside the vehicle based on invisible light; and a cover including a first portion covering the light source and a second portion covering the sensor. The second portion has a lower visible light transmittance than the first portion. 1. An illumination device to be mounted on a vehicle , comprising:a light source;a sensor configured to acquire information outside the vehicle based on invisible light; anda cover including a first portion covering the light source and a second portion covering the sensor,wherein the second portion has a lower visible light transmittance than the first portion.2. The illumination device according to claim 1 , wherein the sensor is installed on the cover.3. The illumination device according to claim 1 , wherein the first portion and the second portion are integrally molded.4. The illumination device according to claim 1 , wherein the sensor is a LiDAR sensor.5. The illumination device according to claim 1 , wherein the cover includes a third portion disposed to face a front and rear direction of the vehicle and a fourth portion disposed to face a left and right direction of the vehicle claim 1 , andthe second portion is located at a side end portion of the fourth portion remote from the third portion.6. The illumination device according to claim 1 , wherein the cover includes a third portion disposed to face a front and rear direction of the vehicle and a fourth portion disposed to face a left and right direction of the vehicle claim 1 , andthe second portion is located at a side end portion of the third portion remote from the fourth portion.7. The illumination device according to claim 1 , wherein the cover includes a third portion disposed to face a front and rear direction of the vehicle and a fourth portion disposed to face a left and right direction of the vehicle claim 1 , andthe second portion is located at an ...

LASER SCANNING APPARATUS AND METHOD

The disclosed embodiments include an apparatus and method of using a laser to scan the ground or a target from an airborne or ground-based platform. In certain embodiments, the apparatus and method produces a -D elevation model of the terrain. In some embodiments, the apparatus includes a pulsed laser, a receiver to detect and amplify the pulse after being reflected by objects on the ground (or the ground itself), and electronics which measures the time of flight of the optical pulse from which the slant range to the target is calculated. Technical advantages of the disclosed embodiments include avoiding blind zones to ensure that no laser shots are wasted. In certain embodiments for airborne applications, the apparatus may also be configured to maintain a constant swath width or constant spot spacing independent of aircraft altitude or ground terrain elevation. 111-. (canceled)14. A machine implemented method for reducing loss of data caused by blind zones in a laser scanning apparatus , the method comprising:dynamically monitoring a time of flight (TOF) of laser light pulse transmitted and received by the laser scanning apparatus;determining whether a potential collision of an outgoing laser light pulse and an incoming signal is likely to occur; andadjusting a pulse repetition frequency (PRF) in response to a determination that the potential collision of the outgoing laser light pulse and the incoming signal is likely to occur.15. The method of claim 14 , wherein the potential collision occurs if a time of flight of the incoming signal is within a blind zone that occurs each time the laser is fired.16. The method of claim 14 , wherein adjusting the timing of the outgoing laser light pulse comprises setting the pulse repetition frequency closer to an initial value if the setting was previously adjusted to avoid a potential collision.17. The method of claim 14 , further comprising controlling special optical elements and a secondary scanner to prevent detection of ...

APPARATUS AND METHOD FOR DETECTING TARGET

Provided is a target detecting apparatus including: a frequency modulation continuous wave (FMCW) radar that obtains a first beat signal; a linear frequency intensity modulation (LFIM) light detection and ranging (LiDAR) that transmits a second transmission signal obtained by modulating intensity of a continuous wave laser based on an FMCW signal and obtains a second beat signal based on a microwave signal into which a second reception signal reflected from a target is converted and the FMCW signal; and a controller that receives the first beat signal and the second beat signal and obtains information regarding the target based on the first beat signal and the second beat signal. 1. An apparatus for detecting a target , the apparatus comprising:a microwave signal generator;a frequency modulation continuous wave (FMCW) radar configured to obtain a first transmission signal by amplifying an FMCW signal generated by the microwave signal generator in a radio frequency (RF) band, transmit the first transmission signal toward the target, receive a first reception signal reflected from the target, and obtain a first beat signal based on the first transmission signal and the first reception signal;a linear frequency intensity modulation (LFIM) light detection and ranging (LiDAR) configured to obtain a second transmission signal by modulating intensity of a continuous wave laser based on the generated FMCW signal, transmit the second transmission signal toward the target, receive a second reception signal reflected from the target, convert the second reception signal into a microwave signal, and obtain a second beat signal based on the FMCW signal and the microwave signal; anda controller configured to receive the first beat signal and the second beat signal and obtain information regarding the target based on the first beat signal and the second beat signal.2. The apparatus of claim 1 , wherein the microwave signal generator comprises a local oscillator configured to ...

INFORMATION ACQUISITION DEVICE FOR OBJECT TO BE MEASURED

Provided is an information acquisition device for an object to be measured that smoothly acquires various types of information on an object to be measured even in the dark. The information acquisition device for an object to be measured includes: an imaging device which generates a pickup image regarding an image pickup range; a distance calculation unit which calculates a distance to the object to be measured based on the reflected light of modulated light emitted toward the image pickup range; a temperature detection device which detects a temperature of each image pickup section of the image pickup range corresponding to each image section of the pickup image; and an information acquisition unit which acquires information on the object to be measured based on the distance to the object to be measured and the temperature of each image pickup section detected by the temperature detection device. 1. An information acquisition device for an object to be measured , comprising:an imaging device which generates a pickup image of a predetermined image pickup range;a modulated light emitting unit configured to emit modulated light toward the image pickup range;a distance calculation unit configured to calculate a required time for modulated light to reach an object to be measured in the image pickup range and to return as reflected light based on the pickup image so as to calculate a distance to the object to be measured based on the required time;a temperature detection device configured to detect a temperature of each image pickup section based on an incident amount of a medium emitted for temperature observation from each image pickup section of the image pickup range corresponding to each image section of the pickup image; andan information acquisition unit configured to acquire information on the object to be measured based on the distance to the object to be measured calculated by the distance calculation unit and the temperature of each image pickup section ...

APPARATUS AND METHOD FOR LASER PARTICLE SENSOR EYE SAFETY

In one embodiment, a particle sensor on or in a vehicle is provided. The laser particle sensor comprises an optical system; a processing system coupled to the optical system; wherein the optical system is configured to transmit one or more laser light beams to detect particles in a volume of freestream fluid, and to have the one or more light beams terminate on a portion of the vehicle on which the optical system is mounted; and wherein the optical system is configured to receive a backscattered portion of the one or more laser light beams transmitted by the optical system. 1. A laser particle sensor on a vehicle , comprising:an optical system;a processing system coupled to the optical system;wherein the optical system is configured to transmit one or more laser light beams to detect particles in a volume of freestream fluid, and to have the one or more light beams terminate on a portion of the vehicle on which the optical system is mounted; andwherein the optical system is configured to receive a backscattered portion of the one or more laser light beams transmitted by the optical system.2. The laser particle sensor of claim 1 , wherein the portion of the vehicle is at least partially covered with a light absorbent material.3. The laser particle sensor of claim 1 , wherein the portion of the vehicle reflects a portion of incident light approximately parallel to a vertical axis of a body of the vehicle.4. The laser particle sensor of claim 1 , wherein the vehicle comprises an aircraft claim 1 , wherein the optical system is mounted to a fuselage of the aircraft claim 1 , wherein the portion of the aircraft comprises a winglet of the aircraft.5. The laser particle sensor of claim 1 , wherein the vehicle comprises an aircraft claim 1 , wherein the optical system is mounted to a wing of the aircraft or a winglet of the aircraft claim 1 , wherein the portion of the aircraft comprises a stabilizer of the aircraft or a fuselage of the aircraft.6. The laser particle sensor ...

FAST SCANNING LIDAR WITH DYNAMIC VOXEL PROBING

A LIDAR system includes a scanner; a receiver; and one or more processor devices to perform actions, including: scanning a continuous light beam over the field of view in a first scan pass; detecting photons of the continuous light beam that are reflected from one or more objects; determining a coarse range to the one or more objects based on times of departure of the photons of the continuous light beam and times of arrival of the photons at the receiver; scanning light pulses over the field of view in a second scan pass; detecting photons from the light pulses that are reflected from the one or more objects; and determining a refined range to the one or more objects based on times of departure of the photons of the light pulses and times of arrival of the photons at the receiver. 1. A method for measuring a range of one or more objects , the method comprising:employing one or more scanners to scan a continuous light beam and a pulsed light beam at the one or more objects;employing the continuous light beam reflected by the one or more objects to determine a coarse range between the one or more scanners and the one or more objects;employing pulses of the light beam reflected by the one or more objects to determine a refined range between the one or more scanners and the one or more objects; andredetermining the refined range based on one or more subsequent reflected pulses of the light beam generated by other pulsed of light beam scans at the one or more objects.2. The method of claim 1 , further comprising employing a lens configured to widen one or more of the reflected continuous light beam or the reflected pulsed light beam directed at a receiver.3. The method of claim 1 , further comprising employing a reduced field of view for the one or more scanners to provide a faster scan of the one or more objects.4. The method of claim 1 , further comprising controlling activation of one or more pixels of a receiver arranged to detect the one or more of reflected ...

Ranging system and ranging method

A ranging system includes a terminal device, a ranging apparatus, and an angle sensor disposed in the terminal device or in the ranging apparatus. The ranging apparatus includes a measuring wheel, a rotating shaft disposed on the measuring wheel, and an electronic counter connected to the rotating shaft and configured to obtain distance information, in real time, of a route which the measuring wheel has already traveled. The angle sensor is configured to obtain angle information in real time. The terminal device and the ranging apparatus are configured to transmit data between each other. The terminal device is configured to generate a traveling trajectory diagram of the measuring wheel, in real time, based on the distance information from the electronic counter and the angle information from the angle sensor, and perform optimization processing on the traveling trajectory to generate an optimized trajectory diagram.

COLLECTING AND VIEWING THREE-DIMENSIONAL SCANNER DATA WITH USER DEFINED RESTRICTIONS

A method displays images of a scene with restrictions. The method includes measuring a first plurality of 3D coordinates and a second plurality of 3D coordinates with a 3D measuring instrument at a first position and a second position. The first plurality of 3D coordinates and the second plurality of 3D coordinates are registered together in a common frame of reference. A trajectory is defined within the scene that includes a plurality of trajectory points, the plurality of trajectory points including a first trajectory point and a second trajectory point. At least one restriction is defined at the first trajectory point. A plurality of 2D images are generated at each trajectory point, a first 2D image is associated with the first trajectory point. The first 2D image is changed based on the at least one restriction. The first 2D image is displayed on a display device. 1. A method of interactively displaying panoramic images of a scene , the method comprising:measuring a first plurality of 3D coordinates with a 3D measuring instrument at a first position;measuring a second plurality of 3D coordinates with the 3D measuring instrument at a second position different than the first position;registering the first plurality of 3D coordinates and the second plurality of 3D coordinates together in a common frame of reference;defining a trajectory within the scene, the trajectory including a plurality of trajectory points, the plurality of trajectory points including a first trajectory point and a second trajectory point;defining at least one restriction at the first trajectory point;generating along the trajectory a plurality of two-dimensional (2D) images at each trajectory point, the plurality of 2D images includes a first 2D image associated with the first trajectory point;changing the first 2D image based on the at least one restriction; anddisplaying the first 2D image on a display device of the first trajectory point in response to an input from a user.2. The method of ...

STABILIZED DISTANCE MEASUREMENT IN THE OBSERVATION DEVICE

The invention relates to a portable observation device having an observation path for optical targeting of a target object, and comprising an optoelectronic rangefinder for measuring the distance in the direction of the targeting. The rangefinder includes a transmission unit for emitting a temporal sequence of pulses of optical radiation, a reception unit for receiving a portion of the optical radiation cast back by the target object and for determining signal information and an electronic evaluation unit, which a distance to the target object can be determined on the basis of a signal travel time between emission and reception of the optical radiation. When a trigger is actuated manually, the distance is determined including the signal information from a specified minimum number of pulses, which define a minimum length of a time window of the distance measurement. 1. A portable observation device comprising an observation path , which , in particular , is unstabilized , for optical targeting of a target object , and comprising an optoelectronic rangefinder for measuring the distance in the direction of the targeting , in particular a laser distance meter with a collimated laser beam as a target axis , comprising:a transmission unit for emitting a temporal sequence of pulses of optical radiation,a reception unit for receiving a portion of the optical radiation cast back by the target object and for determining signal information of the cast-back portion of an emitted pulse, andan electronic evaluation unit, which is embodied in such a way that a distance to the target object can be determined on the basis of a signal travel time between emission and reception of the optical radiation,wherein the distance is determined including the signal information from a specified minimum number of pulses, a trigger which can be actuated manually and the actuation of which causes a start of the time window (twd) of the distance measurement,', 'wherein', 'the observation device', ...

FORWARD SENSING SYSTEM FOR VEHICLE

A forward sensing system for a vehicle includes a radar sensor and an image sensor housed in a self-contained unit disposed behind and attached at the vehicle windshield. A control includes an image processor that has an image processing chip that processes image data captured by the image sensor to detect an object of interest present exterior of the vehicle. The control, responsive at least in part to processing of captured image data and to sensing by the radar sensor, determines that a potentially hazardous condition exists in a path of forward travel of the vehicle. The radar sensor and the image sensor collaborate in a way that enhances sensing capability of the sensing system. Responsive to determination that the object of interest is in the path of forward travel of the vehicle, the control may at least in part control a driver assistance system of the vehicle. 1. A forward sensing system for a vehicle , said forward sensing system comprising:a radar sensor disposed within an interior cabin of a vehicle equipped with said forward sensing system;wherein said radar sensor has a sensing direction forward of the equipped vehicle;wherein said radar sensor transmits at a frequency of at least 60 GHz;wherein said radar sensor utilizes digital beam forming;an image sensor disposed within the interior cabin of the equipped vehicle behind a windshield of the equipped vehicle;wherein said radar sensor and said image sensor are housed in a self-contained unit disposed behind and attached at the windshield of the equipped vehicle;wherein said self-contained unit attaches at the windshield of the equipped vehicle and is removable therefrom as a unit;wherein the windshield of the equipped vehicle comprises an opaque layer where said self-contained unit is disposed behind the windshield of the equipped vehicle;wherein the opaque layer comprises a light-transmitting aperture, and wherein, with said self-contained unit attached at the windshield of the equipped vehicle, said ...

DRIVER VISIBILITY DETECTION SYSTEM AND METHOD FOR DETECTING DRIVER VISIBILITY

A driver visibility detection system for a vehicle includes an indicator, an eye position obtainer, and a visible range calculator. The indicator indicates the driver to look at, through a windshield of the vehicle, a furthest ground position of a road on which the vehicle is traveling. The eye position obtainer recognizes an eye position of the driver when the driver looks at the furthest ground position. The visible range calculator calculates a visible range of the driver based on the eye position detected by the eye position obtainer. 1. A driver visibility detection system for a vehicle , the system comprising:an indicator that requires the driver to look at, through a windshield of the vehicle, a furthest ground position of a road on which the vehicle is traveling;an eye position obtainer that recognizes an eye position of the driver when the driver looks at the furthest ground position; anda visible range calculator that calculates a visible range of the driver based on the eye position detected by the eye position obtainer.2. The driver visibility detection system according to claim 1 , further comprisinga condition determiner that determines whether a low visibility situation occurs in a scene in front of the vehicle, whereinthe indicator is configured to indicate the driver to look at the furthest ground position when the condition determiner determines that the low visibility situation occurs.3. The driver visibility detection system according to claim 2 , further comprising:a passive vision sensor that detects objects in front of the vehicle; anda positive vision sensor that detects objects in front of the vehicle, whereina first distance is defined as a distance to a furthest object among the objects detected by the passive vision sensor,a second distance is defined as a distance to a furthest object among the objects detected by the positive vision sensor, andthe condition determiner determines that the low visibility situation occurs when the second ...

ABSOLUTE DISTANCE MEASUREMENT FOR TIME-OF-FLIGHT SENSORS

A time-of-flight (TOF) sensor device is provided with features for correcting distance measurement offset errors caused by such factors as temperature, dynamic reflectivity ranges of objects in the viewing space, or other factors. In various embodiments, the TOF sensor device generates corrected distance values based on comparison of two different distance values measured for an object by two different measurement techniques, including but not limited to phase shift measurement, pulsed TOF measurement, distance measurement based on the focal length of the TOF sensor's lens, and comparison of distance variations with light intensity variations. In addition, some embodiments of the TOF sensor device perform self-calibration using internal waveguides or parasitic reflections as distance references. 1. A time-of-flight (TOF) sensor device , comprising:a memory that stores executable components; and an illumination component configured to emit a light beam toward a viewing space;', 'a receiving lens element configured to receive reflected light and to direct the reflected light to a photo-receiver array;', 'a first distance determination component configured to generate first distance information for a pixel corresponding to an object in the viewing space based on time-of-flight analysis of the reflected light;', 'a second distance determination component configured to generate second distance information based on a focal distance of the receiving lens element measured as the receiving lens element is focused on the object; and', 'a distance adjustment component configured to apply a correction factor to the first distance information based on the second distance information to yield modified distance information., 'a processor, operatively coupled to the memory, that executes the executable components, the executable components comprising2. The TOF sensor device of claim 1 , wherein the first distance component is configured to generate the first distance information ...

Method and arrangement for developing a three dimensional model of an environment

The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.

AUTOMATED DRIVING SYSTEM THAT MERGES HETEROGENOUS SENSOR DATA

An automated driving system comprising a first sensor providing first sensor data, a second sensor providing second sensor data, wherein the first and second sensors are different types of sensors and a processor communicatively coupled to the first sensor and the second sensor. The processor is configured to transform the first and second sensor data into a common three-dimensional coordinate system to create a representation of an image for a field of view corresponding to a direction of travel, identify one or more objects in the field of view, and generate one or more drive control signals to control a motion of the vehicle in response to the one or more objects in the field of view. 1. An automated driving system for a vehicle , the system comprising:a first sensor providing first sensor data about an object of interest;a second sensor providing second sensor data about the object of interest, wherein the first and second sensors are different types of sensors; anda processor communicatively coupled to the first sensor and the second sensor, wherein the processor is configured to:process the first and second sensor data for the object of interest to create and augment a fused object by transforming the first and second sensor data into a common three-dimensional coordinate system to compare similarities between characteristics of the object of interest and the fused object; andgenerate one or more drive control signals to control a motion of the vehicle in response to the fused object.2. The system of wherein the processor is configured to apply a first weight to the first sensor data and a second weight to the second sensor data.3. The system of wherein the first weight and second weight are based on manufacturer-specified sensitivity data.4. The system of wherein the first weight and second weight are variable based on environmental conditions.5. The system of wherein the first sensor is RADAR and wherein the second sensor is a camera.6. The system of wherein ...

AUGMENTED REALITY DISPLAY SYSTEM

There is disclosed a transparent light field display device including a transparent substrate, an array of light-emitting picture elements formed on the transparent substrate, and a sparse microlens array formed over the array of light-emitting picture elements. The sparse microlens array includes a plurality of lens elements with spaces between adjacent lens elements. When the transparent light field display device is disposed with the sparse microlens array proximate a viewer's eye, the spaces between adjacent lens elements allow the viewer to see objects beyond the transparent light field display device. 1. A transparent light field display device , comprising:a transparent substrate;an array of light-emitting picture elements formed on the transparent substrate; anda sparse microlens array formed over the array of light-emitting picture elements, the sparse microlens array comprising a plurality of lens elements with spaces between adjacent lens elements,wherein, when the transparent light field display device is disposed with the sparse microlens array proximate a viewer's eye, the spaces between adjacent lens elements allow the viewer to see objects beyond the transparent light field display device.2. The transparent light field display device of claim 1 , wherein a position of each of the plurality of lens elements is randomly or pseudo-randomly displaced from a respective nominal position in a rectangular microlens array.3. The transparent light field display device of claim 1 , wherein each of the plurality of lens elements is randomly or pseudo-randomly positioned within the microlens array.4. The transparent light field display device of claim 1 , wherein the substrate is a portion of a cylindrical surface.5. The transparent light field display device of claim 4 , fabricated by a process comprising transferring the array of light-emitting picture elements and the sparse microlens array from a planar substrate to a cylindrical substrate.6. The transparent ...

MAPPING AND TRACKING METHODS AND SYSTEMS PRINCIPALLY FOR USE IN CONNECTION WITH SWIMMING POOLS AND SPAS

Cleaning of a swimming pool may be facilitated by systems and methods for mapping a pool environment. Such mapping may occur in three dimensions when appropriate. At least some of the systems may include an apparatus for light detection and ranging (LIDAR) tethered to an automatic swimming pool cleaner. 1. A cleaning system comprising: (a) a floating object comprising a LIDAR apparatus , (b) an automatic pool cleaner , and (c) a tether connecting the LIDAR apparatus and the automatic pool cleaner.2. A cleaning system according to in which the tether comprises a cable connecting the LIDAR apparatus and the automatic pool cleaner both mechanically and electronically.3. A cleaning system according to in which the floating object further comprises a camera.4. A cleaning system according to in which the LIDAR apparatus comprises a rotating ranging sensor projecting above a waterline of a swimming pool when the floating object is floating in the swimming pool.5. A cleaning system according to in which the camera faces downward into the swimming pool when the floating object is floating in the swimming pool.6. A cleaning system according to in which the automatic pool cleaner comprises a marker which the camera is configured to track.7. A cleaning system according to in which the automatic pool cleaner further comprises a depth sensor.8. A cleaning system according to in which the automatic pool cleaner further comprises a tilt sensor.9. A cleaning system according to in which the floating object further comprises a battery and a controller.10. A method of cleaning a swimming pool comprising (a) obtaining information from a sensor of a LIDAR apparatus and a camera positioned within the swimming pool claim 8 , (b) processing the obtained information claim 8 , and (c) conveying navigation information via a cable to an automatic pool cleaner travelling along a surface of the swimming pool.11. A method of mapping a swimming pool using a device floating on water within the ...

Time-Of-Flight Camera System With Scanning Iluminator

A time of flight camera system is described. The time of flight camera system includes an illuminator. The illuminator has a movable optical component to scan light within the time-of-flight camera's field of view to illuminate a first region within the field of view that is larger than a second region within the time-of-flight camera's field of view that is illuminated at any instant by the light. The illuminator also includes an image sensor to determine depth profile information within the first region using time-of-flight measurement techniques. 1. (canceled)2. A computer-implemented method comprising:identifying one or more regions within a field of view of a depth camera that are to be illuminated;identifying multiple partitions that are associated with the identified one or more regions within the field of view of the depth camera that are to be illuminated;for each of the multiple partitions that are associated with the identified one or more regions within the field of view of the depth camera that are to be illuminated, identifying one or more illuminator elements that are associated with the partition;identifying a sequence with which to activate and deactivate the identified illuminator elements;activating and deactivating the identified illuminator elements according to the sequence; andperforming a depth calculation in response to activating and deactivating the identified illuminator elements according to the sequence.3. The method of claim 2 , wherein identifying the one or more regions within the field of view of the depth camera comprises determining a likely location of an object of interest within the field of view.4. The method of claim 2 , wherein the multiple partitions comprise adjacent claim 2 , non-overlapping partitions.5. The method of claim 2 , wherein the multiple partitions comprise non-adjacent partitions.6. The method of claim 2 , wherein the identified illuminator elements are not activated simultaneously.7. The method of claim 2 , ...

RANGE FINDER AND GLOBAL POSITIONING GLASSES

A pair of eyeglasses with a built in rangefinder is provided. The glasses project the distance to an object, such as a golf ball, onto the inner surface of the glasses. The device additionally includes a built in GPS for determining the location of a user on a golf course. The glasses notify a user as to the distance to a hole and provides users with a hands-free way to determine the distance from a golf ball to the green. 1. A pair of glasses comprising:a glasses frame formed to secure to a user's head;at least one lens attached to the glasses frame, wherein the at least one lens comprises an inner surface and an outer surface;a lens display projected on the inner surface of the lens;a laser rangefinder operatively connected to the lens display;a global positioning operatively connected to the lens display,wherein data from the laser range and the global positioning system is displayed on the lens display.2. The pair of glasses of claim 1 , wherein the laser rangefinder and the global positioning system are integrated into the glasses frame.3. The pair of glasses of claim 1 , further comprising a button operable to turn a laser of the laser rangefinder on and off.4. The pair of glasses of claim 1 , further comprising a button operable to activate at least one of the laser range data and the global positioning system data to display on the lens display.5. The pair of glasses of claim 1 , wherein the at least one lens is a sunglass lens. This application claims the benefit of priority of U.S. provisional application No. 61/877,079, filed Sep. 12, 2013 the contents of which are herein incorporated by reference.The present invention relates to a golf aid and, more particularly, to a range finder and global positioning glasses.It can be difficult to determine the distance from a golf ball to the green. Unfortunately, without an accurate yardage reading, golfers may use the wrong clubs and drivers and overshoot or undershoot the hole. Not only does this negatively affect ...

VEHICLE DETECTING METHOD AND VEHICLE DETECTING SYSTEM

A vehicle detecting method and a vehicle detecting system are provided. The vehicle detecting method includes the following steps. A scanning range of a lidar unit is obtained. A width of a lane is obtained. A trace of the lane is obtained. A dynamic region of interest in the scanning range is created according to the width and the trace. 1. A vehicle detecting method , comprising:obtaining a scanning range of a lidar unit;obtaining a width of a lane;obtaining a trace of the lane; andcreating a dynamic region of interest (dynamic ROI) in the scanning range according to the width and the trace.2. The vehicle detecting method according to claim 1 , wherein in the step of obtaining the width of the lane claim 1 , the width of the lane is obtained according to an image.3. The vehicle detecting method according to claim 1 , wherein in the step of obtaining the width of the lane claim 1 , the width of the lane is obtained according to a map information.4. The vehicle detecting method according to claim 1 , wherein in the step of obtaining the trace of the lane claim 1 , the trace is obtained according to a steering wheel information and a speed information.5. The vehicle detecting method according to claim 1 , wherein in the step of obtaining the trace of the lane claim 1 , the trace is obtained according to a map information.6. The vehicle detecting method according to claim 1 , further comprising:calculating a distance amount of a plurality of reflection points of a plurality of scanning lines of the lidar unit in the dynamic ROI; andanalyzing a status of a vehicle located in front according to the distance amount.7. The vehicle detecting method according to claim 6 , wherein in the step of analyzing the status of the vehicle located in front according to the distance amount claim 6 , whether the vehicle located in front drives on the lane is determined.8. The vehicle detecting method according to claim 1 , further comprising:obtaining a reflection point curve of a ...

PATHWAY MEASUREMENT DEVICES, SYSTEMS AND METHODS

A pathway measurement system hereof includes a rigid frame and a mobility system attached to the frame. The mobility system includes at least one movable element which is adapted to contact a surface of a pathway via which the frame may be moved relative to the pathway. The pathway measurement system further includes at least one sensor adapted to measure at least one characteristic of a pathway. The pathway measurement system has a first mode of operation in which the mobility system moves the frame along the pathway to move the at least one sensor relative to the pathway. The at least one sensor is connected to the pathway system such that a distance between the at least one sensor and an axis of rotation of one of the moveable elements remains constant in the first mode of operation. In general, the at least one sensor is isolated from any compliance or suspension system. 1. A pathway measurement system , comprising: a rigid frame , a mobility system attached to the frame , the mobility system comprising at least one movable element which is adapted to contact a surface of a pathway via which the frame may be moved relative to the pathway , and at least one sensor adapted to measure at least one characteristic of a pathway , the pathway measurement system having a first mode of operation in which the mobility system moves the frame along the pathway to move the at least one sensor relative to the pathway , the at least one sensor being connected to the pathway measurement system such that a distance between the at least one sensor and an axis of rotation of one of the moveable elements remains constant in the first mode of operation.2. (canceled)3. The pathway measurement system of wherein the at least one sensor measures a variable related to surface roughness of the pathway4. (canceled)5. The pathway measurement system of wherein the at least one sensor measures a distance from the sensor to a surface of the pathway without contacting the pathway.6. The pathway ...

TRAJECTORY PLAN MODIFICATION FOR AN AUTONOMOUS VEHICLE OPERATION IN A HETEROGENEOUS VEHICLE ENVIRONMENT

A method and device for an autonomous vehicle operation in a heterogeneous vehicle environment are disclosed, where sensing, based on vehicle sensor data, a vehicle travelling ahead, and trajectory request for trajectory information of the vehicle can be transmitted. Based on a response by the vehicle to the trajectory request, determining a certainty estimate value for a trajectory of the vehicle. With the certainty estimate value, selecting a distance buffer proportional to the certainty estimate value for the autonomous vehicle operation in relation to the vehicle, and modifying a trajectory plan of the autonomous vehicle operation to produce a modified trajectory plan based on the distance buffer for modifying the autonomous vehicle operation. 1. A method for an autonomous vehicle operation in a heterogeneous vehicle environment , the method comprising:sensing, based on vehicle sensor data, a vehicle travelling ahead;transmitting a trajectory request for trajectory information of the vehicle; and determining a certainty estimate value for a trajectory of the vehicle; and', 'selecting a distance buffer proportional to the certainty estimate value for the autonomous vehicle operation in relation to the vehicle; and', 'modifying a trajectory plan of the autonomous vehicle operation to produce a modified trajectory plan based on the distance buffer for modifying the autonomous vehicle operation., 'based on a response by the vehicle to the trajectory request2. The method of claim 1 , further comprising:broadcasting the modified trajectory plan.3. The method of claim 1 , wherein the response to the trajectory request comprises at least one of:a trajectory plan response including an expected trajectory for a predetermined forward-looking time period;a near real time trajectory response including near real time operational parameters of the vehicle; andnull response.4. The method of claim 3 , wherein:the trajectory plan response relates a first certainty estimate value; ...

IN-VEHICLE APPARATUS PERFORMING AN OPERATION BASED ON A DISTANCE MEASURED, AND IN-VEHICLE SYSTEM INCLUDING THE IN-VEHICLE APPARATUS

An in-vehicle apparatus installed in a first vehicle. The in-vehicle apparatus includes a first distance sensor measuring a distance to an object based on time to receive a reflection wave of an electro-magnetic transmission wave from the object after a transmission of the electro-magnetic transmission wave, with the first distance sensor being an electro-magnetic wave sensor. The in-vehicle apparatus also includes an inclination angle sensor that senses a first vehicle inclination angle representative of an inclination angle of the first vehicle that includes the first distance sensor, a radio communicator that receives a second vehicle inclination angle transmitted from a second vehicle that leads the first vehicle, an angle difference calculator that calculates an angle difference between the first vehicle inclination angle and the second vehicle inclination angle, and a processor that performs a preset operation based on the distance measured by the first distance sensor. 1. An in-vehicle apparatus installed in a first vehicle , the apparatus comprising:a first distance sensor measuring a distance to an object based on time to receive a reflection wave of an electro-magnetic transmission wave from the object after a transmission of the electro-magnetic transmission wave, the first distance sensor being an electro-magnetic wave sensor;an inclination angle sensor sensing a first vehicle inclination angle representative of an inclination angle of the first vehicle that includes the first distance sensor;a radio communicator receiving a second vehicle inclination angle transmitted from a second vehicle that leads the first vehicle;an angle difference calculator calculating an angle difference between the first vehicle inclination angle and the second vehicle inclination angle; anda processor performing a preset operation based on the distance measured by the first distance sensor, whereinthe processor operates in an inclination mode based on a calculation of the ...

METHOD AND APPARATUS FOR PROCESSING SPECTRAL IMAGES

A method of processing a remotely sensed multispectral or hyperspectral image captured in respect of an area of interest including a body of water so as to identify a submerged target, the method comprising obtaining (), from hydrographic LiDAR measurements, data representative of water depth in respect of said body of water in said area of interest, performing () geo-rectification in respect of said hyperspectral image and said water depth data, applying a hydrologic radiative analysis process () to said multispectral or hyperspectral image so as to calculate, using said water depth data obtained from said hydrographic LiDAR measurements, data representative of (i) scattered solar radiation and (ii) spectral transmission between a surface of said body of water and a submerged target and subtracting () data representative of said scattered solar radiation from said multispectral or hyper spectral image and multiplying a resultant image by data representative of said spectral transmission so as to recover a spectral signature representative of said submerged target. 1. A method of processing a remotely sensed multispectral or hyperspectral image captured in respect of an area of interest including a body of water so as to identify a submerged target , the method comprising:obtaining, from hydrographic LiDAR measurements, data representative of water depth in respect of said body of water in said area of interest;performing geo-rectification in respect of said hyperspectral image and said water depth data;applying a hydrologic radiative analysis process to said multispectral or hyperspectral image so as to calculate, using said water depth data obtained from said hydrographic LiDAR measurements, data representative of (i) scattered solar radiation and (ii) spectral transmission between a surface of said body of water and a submerged target; andsubtracting data representative of said scattered solar radiation from said multispectral or hyperspectral image and ...

AUTONOMOUS TRAVELING APPARATUS

An autonomous traveling apparatus includes a detecting device that is provided with a plurality of optical detecting units each of which detects a detection target object by using light. At least two optical detecting units out of the plurality of optical detecting units are arranged in a vertical direction. 1. An autonomous traveling apparatus comprising:a detecting device that is provided with a plurality of optical detecting units each of which detects a detection target object by using light,wherein the autonomous traveling apparatus autonomously travels while detecting the detection target object by using the detecting device, andwherein at least two optical detecting units out of the plurality of optical detecting units are arranged in a vertical direction.2. The autonomous traveling apparatus according to claim 1 ,wherein two or more optical detecting units out of the optical detecting units arranged in the vertical direction are different from each other in detecting structure for detecting the detection target object.3. The autonomous traveling apparatus according to claim 1 ,wherein two or more optical detecting units out of the optical detecting units arranged in the vertical direction are arranged such that detection ranges thereof in a horizontal direction become wider from one side toward the other side in the vertical direction.4. The autonomous traveling apparatus according to claim 3 ,wherein the two or more optical detecting units are arranged such that detection ranges thereof in the horizontal direction become wider from a lower side toward an upper side.5. The autonomous traveling apparatus according to claim 3 ,wherein central positions or approximately central positions of the detection ranges in the horizontal direction of the two or more optical detecting units are aligned with each other in the vertical direction.6. The autonomous traveling apparatus according to claim 1 ,wherein the optical detecting units arranged in the vertical ...

APPARATUS AND METHOD FOR USING LASER GUIDES TO IDENTIFY THE SOURCE OF SOUND WAVES

An apparatus includes a reflector, a microphone coupled to the reflector, laser emitters coupled to the reflector, and a laser range finder coupled to the reflector. The laser range finder is configured to output a signal indicative of a distance between the reflector and an object. The apparatus adjusts a position and/or a power level of the laser emitters based on the distance between the reflector and the object. Additionally or alternatively, the apparatus adjusts a position and/or a power level of the laser emitters based on a type of sound waves. Laser beams of light emitted by the laser emitters visually indicate a region in which a source of detected sound waves is located. 1. An apparatus , comprising:a reflector;a microphone coupled to the reflector;a plurality of laser emitters coupled to the reflector; anda laser range finder coupled to the reflector, wherein the laser range finder is configured to output a signal indicative of a distance between the reflector and an object.2. The apparatus according to claim 1 , further comprising:at least one processor coupled to the microphone, the laser emitters, and the laser range finder; andat least one storage device storing processor-executable instructions that, when executed by the at least one processor, cause the at least one processor to control a power level of a laser beam of light output from each of the plurality of laser emitters based on the signal output by the laser range finder.3. The apparatus according to wherein the instructions claim 2 , when executed by the at least one processor claim 2 , cause the at least one processor to control the power level of the laser beam of light output from each of the laser emitters based on the signal output by the laser range finder and a signal indicating a type of sound waves.4. The apparatus according to claim 1 , further comprising:a plurality of motors coupled to the plurality of laser emitters, wherein each of the motors is configured to cause a ...

FEATURE MATCHING AND CORRESPONDENCE REFINEMENT AND 3D SUBMAP POSITION REFINEMENT SYSTEM AND METHOD FOR CENTIMETER PRECISION LOCALIZATION USING CAMERA-BASED SUBMAP AND LIDAR-BASED GLOBAL MAP

A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence. 1. A method of localization for a non-transitory computer readable storage medium storing one or more programs , the one or more programs comprising instructions , which when executed by a computing device , cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising:computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map;selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map;determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; andremoving the invalid feature correspondence.2. The method according to claim 1 , before computing matching score claim 1 , further comprising:performing data alignment; andcollecting the data in an environment by using sensors including a camera, the LiDAR and an ...

LIDAR SYSTEMS INCLUDING A GALLIUM AND NITROGEN CONTAINING LASER LIGHT SOURCE

The present disclosure provides a mobile machine including a laser diode based lighting system having an integrated package holding at least a gallium and nitrogen containing laser diode and a wavelength conversion member. The gallium and nitrogen containing laser diode is configured to emit a first laser beam with a first peak wavelength. The wavelength conversion member is configured to receive at least partially the first laser beam with the first peak wavelength to excite an emission with a second peak wavelength that is longer than the first peak wavelength and to generate the white light mixed with the second peak wavelength and the first peak wavelength. The mobile machine further includes a light detection and ranging (LIDAR) system configured to generate a second laser beam and manipulate the second laser beam to sense a spatial map of target objects in a remote distance. 188.-. (canceled)89. A distance detecting system comprising:a power source;a processor coupled to the power source and configured to supply power and generate a driving current;a gallium and nitrogen containing laser diode configured to be driven by the driving current to emit a first light with a first peak wavelength;a wavelength conversion member configured to receive at least partially the first light to reemit a second light with a second peak wavelength that is longer than the first peak wavelength and to combine a portion of the first light with the second light to produce a white light;the distance detecting system further comprising a first sensing light signal based on the first peak wavelength;one or more optical elements configured to direct at least partially the white light to illuminate one or more target objects or areas and to transmit respectively the first sensing light signal for sensing at least one remote point including the one or more target objects or areas and their surroundings; anda detector configured to detect reflected signals of the first sensing light ...

SENSING ASSEMBLY FOR AUTONOMOUS DRIVING

An autonomous driving assembly for a vehicle includes a plurality of lidar units configured to be supported by a vehicle body. The lidar units are collectively configured to detect a periphery region in proximity to the vehicle body to aid in autonomous driving upon coupling the driving assembly to the vehicle body. Each of the plurality of lidar units has a field of view of less than about 180 degrees. 1. An autonomous driving assembly for a vehicle , comprising:a plurality of lidar units configured to be supported by a vehicle body, the lidar units being collectively configured to detect a periphery region in proximity to the vehicle body to aid in autonomous driving upon coupling the driving assembly to the vehicle body;wherein each of the plurality of lidar units has a field of view of less than about 180 degrees.2. The assembly of claim 1 , wherein the plurality of lidar units comprise a first subset of lidar units comprising at least two lidar units having a fixed disposition relative to one another claim 1 , and a second subset of lidar units comprising at least two lidar units having a fixed disposition relative to one another.3. The assembly of claim 2 , wherein the first subset of lidar units and the second subset of lidar units are supported on different areas of the vehicle body claim 2 , and configured to work in concert to detect the periphery region or a portion of the periphery region.4. The assembly of claim 2 , wherein the first subset of lidar units comprise a first lidar unit optically aligned in a first direction and a second lidar optically aligned in a second direction claim 2 , wherein an angle between the first direction and the second direction is about 50 degrees or less.5. The assembly of claim 2 , wherein the first subset of lidar units are supported by a first support structure claim 2 , and the second subset of lidar units are supported by a second support structure that is separate from the first support structure.6. The assembly of ...

3D SUBMAP RECONSTRUCTION SYSTEM AND METHOD FOR CENTIMETER PRECISION LOCALIZATION USING CAMERA-BASED SUBMAP AND LIDAR-BASED GLOBAL MAP

A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: voxelizing a 3D submap and a global map into voxels; estimating distribution of 3D points within the voxels, using a probabilistic model; extracting features from the 3D submap and the global map; and classifying the extracted features into classes. 1. A method of localization for a non-transitory computer readable storage medium storing one or more programs , the one or more programs comprising instructions , which when executed by a computing device , cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising:voxelizing a 3D submap and a global map into voxels;estimating distribution of 3D points within the voxels, using a probabilistic model;extracting features from the 3D submap and the global map; andclassifying the extracted features into classes.2. The method according to claim 1 , before voxelizing a 3D submap and a global map into voxels claim 1 , further comprising:constructing a 3D submap and a global map.3. The method according to claim 2 , before constructing a 3D submap and a global map claim 2 , further comprising:performing data alignment; andcollecting the data in an environment by using sensors including a camera, the LiDAR and an inertial navigation module.4. The method according to claim 2 , wherein constructing a 3D submap comprises:obtaining the images from the camera; andconstructing at least one 3D submap based on the images, using visual SLAM.5. The method according to claim 2 , wherein constructing a ...

LASER SCANNER AND METHOD

Disclosed is a laser scanner designed to include a thermographic camera. Also disclosed is a method for capturing thermographic data using a laser scanner of this type. 1. A laser scanner comprising a rotary head which is held rotatably on a housing which in turn is rotatable about an axis of rotation , wherein measuring optics are arranged in the rotary head in order to direct a measuring beam emitted by a transmitter to a measuring object or a beam reflected by the latter to a receiver , by means for indirect or direct contactless capturing of thermographic data of the measuring object to be surveyed and by means for assigning said thermographic data to pixels of a 3D scan.2. The laser scanner according to claim 1 , wherein the means is a thermographic infrared camera claim 1 , which is supported on the housing of the laser scanner.3. The laser scanner according to claim 1 , wherein the means is a thermographic infrared camera claim 1 , which is supported on a carrier of the laser scanner.4. The laser scanner according to comprising a platform via which the means is adapted to be pivoted about an axis extending transversely to the axis of rotation.5. The laser scanner according to claim 4 , wherein a pivoting angle is stepwise adjustable.6. The laser scanner according to claim 4 , wherein the means for capturing thermographic data claim 4 , data and the platform are controllable via a controller of the laser scanner.7. The laser scanner according to claim 1 , comprising a controller or control unit via which at least one internal and/or external calibration of the means for capturing thermographic data is/are performed in an automated manner.8. A method for capturing thermographic data of a measuring object to be scanned using a laser scanner according to claim 1 , comprising the steps of:scanning the measuring object for generating 3D data of the measuring object (3D scan);recording thermographic data of the measuring object using the means of capturing ...

GROUND-BASED LASER RANGING SYSTEM FOR IDENTIFICATION AND TRACKING OF ORBITAL DEBRIS

A ground-based laser ranging system and method are provided that enable meter-level or better ranging precision on optically passive 10-30 cm average-sized orbital debris targets. The system and method can improve current predictions by up to 85%. The improved location accuracy also provides the immediate benefit of reducing costly false alarms in collision predictions for existing assets and unidentified debris. The system can include one or more high power lasers that generate 1.5 μm wavelength laser pulses at >100 mJ pulse energies and at a repetition rate of from 10 Hz to 100 Hz. 1. A system of laser ranging tracking facilities for tracking an orbital debris target in low Earth orbit , the system comprising:a plurality of laser ranging stations comprising at least two ground-based laser ranging stations separated from one another by at least 100 miles, each laser ranging station comprising a transmitter for transmitting a respective signal indicative of the orbit of the orbital debris target;a receiver configured to receive the signals from the laser ranging stations;a processor configured to process the signals received by the receiver into data sets each pertaining to the orbit of the orbital debris target; anda datastore configured to store the data sets pertaining to the orbit of the orbital debris target, wherein at least one of the ground-based laser ranging stations comprises a high power laser configured to provide laser pulses at a wavelength of from 1.4 μm to 1.9 μm at a pulse energy of 100 mJ or greater and at a repetition rate of from 10 Hz to 100 Hz.2. The system of claim 1 , wherein the processor is further configured to:process the data sets into orbital data pertaining to the orbit of the orbital debris target;store the orbital data in the datastore; andcalculate a future orbit path of the orbital debris target based on the stored orbital data.3. The system of claim 1 , wherein the high power laser is configured to provide pulsed laser light at a ...

IMAGE SENSING SYSTEM AND ELECTRONIC DEVICE

The present invention provides an image sensing system (), including a first pixel circuit (), wherein the first pixel circuit includes a photosensitive device (PD); a first transmission gate (TG1), under the control of a first transmission signal and conducted during a first conduction time interval; and a collection gate (CG), coupled between the photosensitive device and the transmission gate and configured to receive a collecting signal (CX); and a control unit (), configured to generate the collecting signal to the collection gate, wherein the collecting signal has a non-fixed voltage value. 1. An image sensing system , comprising , a photosensitive device;', 'a first transmission gate, under the control of a first transmission signal and conducted during a first conduction time interval; and', 'a collection gate, coupled between the photosensitive device and the transmission gate and configured to receive a collecting signal; and, 'a first pixel circuit, comprisinga control unit, coupled to the collection gate and configured to generate the collecting signal to the collection gate, wherein the collecting signal has a non-fixed voltage value.2. The image sensing system of claim 1 , wherein before the first conduction time interval claim 1 , the collecting signal generated by the control unit has a first high voltage level claim 1 , and during the first conduction time interval claim 1 , the collecting signal generated by the control unit transits from the first high voltage level into a low voltage level.3. The image sensing system of claim 2 , wherein the first transmission signal has a first rising edge at a first rising edge time claim 2 , and the collecting signal transits from the first high voltage level into the low voltage level at first transition time claim 2 , wherein the time difference between the first rising edge time and the first transition time is greater than the round-trip time the light transmitted between the image sensing system and a ...

Thermal-assisted golf rangefinder systems and methods

Methods, apparatuses, and systems for determining a range on a golf course are disclosed. Methods may utilize infrared imaging to assist in determining a range. An infrared image (e.g., a thermal image) of a portion of a golf course that includes a flagstick is captured. The flagstick includes a thermal target. The thermal target of the flagstick is detected based on the infrared image. A light is emitted to the flagstick based on the detected thermal target. The light reflected from the flagstick is detected. A distance to the flagstick is calculated based on the detected light and the distance is provided. An apparatus for performing the methods may be a thermal-assisted rangefinder that includes an infrared imaging module, a light source, a light detector, a visible light optical device, and a processor. The visible light optical device may include a lens, a display, and/or a visible light camera.

TECHNOLOGIES FOR TRACKING AND LOCATING UNDERGROUND ASSETS

Technologies for tracking and locating underground assets include a survey instrument having an asset tracking device. The asset tracking device determines a current geographic location of the survey instrument and a heading of a sensor group of the survey instrument when aimed at a target measurement point of an underground asset. The asset tracking device measures the distance between the sensor group and the target measurement point of the underground asset. The asset tracking device also determines the pitch of the sensor group when aimed at the target measurement point of the underground asset. The effective height of the sensor group relative to the elevation at the survey location is also determined. The asset tracking device determines the geographic location and a corresponding depth of the target measurement point on the underground asset based on the determined and measured information. Other embodiments are described and claimed. 1. A method of tracking an underground asset , the method comprising:determining, by a survey instrument, a current geographic location of the survey instrument positioned at a survey location, the survey location being proximate to an excavated area including an underground asset;determining, by the survey instrument, a heading of an adjustable sensor group of the survey instrument aimed at a target measurement point on the underground asset;measuring, by the survey instrument, a distance between the adjustable sensor group and the target measurement point on the underground asset;determining, by the survey instrument, a pitch angle at which the adjustable sensor group is aimed at the target measurement point on the underground asset;determining, by the survey instrument, a geographic location of the target measurement point on the underground asset based at least in part on the current geographic location of the survey instrument, the determined heading, the measured distance between the adjustable sensor group and the target ...

SYSTEMS AND METHODS FOR DETERMINING THE VELOCITY OF LIDAR POINTS

A processor-implemented method in a vehicle for detecting the motion of lidar points includes: constructing a sequence of voxel grids surrounding the vehicle at each of a plurality of successive time increments wherein the sequence of voxel grids includes a voxel grid for the current time and a voxel grid for each of a plurality of past time instances, tracing in each voxel grid in the sequence, lidar beams from a lidar system on the vehicle through the voxel grid, analyzing differences across the sequence of voxel grids to produce a motion score for a plurality of regions in the voxel grid for the current time that characterizes the degree of motion in the region over the successive time increments, summing the motion scores of the regions across columns to produce a summed motion score for each column of regions, and producing a 2D image from the summed motion scores. 1. A processor-implemented method in a vehicle for detecting the motion of lidar points and generating a two-dimensional (2D) top-down map that identifies moving objects , the method comprising:constructing, by the processor, a sequence of computer-generated voxel grids surrounding the vehicle at each of a plurality of successive time increments, the sequence of voxel grids including a voxel grid for the current time and a voxel grid for each of a plurality of past time instances;tracing, by the processor, in each voxel grid in the sequence, lidar beams from a lidar system on the vehicle through the voxel grid;analyzing, by the processor, differences across the sequence of voxel grids to produce a motion score for a plurality of regions in the voxel grid for the current time that characterizes the degree of motion in the region over the successive time increments;summing, by the processor, the motion scores of the regions across columns to produce a summed motion score for each column of regions;producing, by the processor, a 2D image from the summed motion scores.2. The method of claim 1 , wherein ...

System and Method for Positioning a Mirror in a Lidar System using Open Loop and Closed Loop Control

A control system structure is provided that improves system bandwidth without affecting optimization for other performance criteria (such as, suppressing loop disturbances, or other optimization criteria) and stability of a closed-loop system. 1. A system for controlling a controlled device , the system comprising:a lidar subsystem configured to direct at least one beam toward the target, wherein the at least one beam is directed toward the target via a first controlled device; and [ receive a desired trajectory command signal, and', 'generate an open loop drive signal based on the desired trajectory command signal, and, 'an open loop control component configured to, receive an actual position signal from the first controlled device, and', 'generate a closed loop drive signal based on the actual position signal and a control signal derived from the command signal,, 'a closed loop control component configured to, 'wherein the control signal accounts for group delays associated with one or more control system components,, 'a control system configured to control a position of the first controlled device, wherein the control system compriseswherein a combined drive signal is provided to control the position of the first controlled device, and wherein the combined drive signal is generated by combining the open loop drive signal and the closed loop drive signal.2. A control system for controlling a subsystem , the control system configured to:generate a first control signal from a desired system output;generate a second control signal from the desired system output, wherein the second control signal accounts for group delays associated with one or more control system components;generate an error signal based on the second control signal and a measured system output;generating a corrected control signal based on the error signal; andprovide the first control signal and the corrected control signal to the subsystem. This Application is a continuation of U.S. patent ...

DISTANCE MEASUREMENT SYSTEM AND SOLID-STATE IMAGING SENSOR USED THEREFOR

A distance measurement system includes: a signal generator which generates a light emission signal that instructs light emission and an exposure signal that instructs exposure of reflected light; a first illumination and distance measurement light source which receives the light emission signal and, according to the signal received, performs the light emission for illumination without a purpose of distance measurement and the light emission with the purpose of distance measurement using the reflected light; an imaging device which receives the exposure signal, performs the exposure according to the signal received, and obtains an amount of light exposure of the reflected light; and a calculator which calculates distance information using the amount of light exposure and outputs the distance information, wherein the distance measurement system has operation modes including an illumination mode and a first distance measurement mode. 1. A distance measurement system to be used in transport equipment , the distance measurement system comprising:a signal generator that generates light emission pulse signals, of a plurality of types, that instruct light emission and an exposure signal that instructs exposure of reflected light;a light assembly that receives the light emission pulse signals and, according to the light emission pulse signals received, emits pulsed light for illumination without a purpose of distance measurement and emits pulsed light with the purpose of distance measurement using the reflected light;an imaging device that includes a solid-state imaging sensor which receives the exposure signal, performs the exposure according to the exposure signal received, and obtains an amount of light exposure of the reflected light to perform the distance measurement; anda calculator that calculates distance information using the amount of light exposure and outputs the distance information,wherein the light assembly includes a first light source and a second light ...

DEVICE FOR DETECTING AN OBSTACLE BY MEANS OF INTERSECTING PLANES AND DETECTION METHOD USING SUCH A DEVICE

An obstacle detection device to be fitted to a mobile vehicle able to move parallel to a reference plane comprises: at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle, at least one image sensor able to produce an image of the intersection of the virtual planes and of the potential obstacle, an image analysis means able to determine the presence of an obstacle, configured to compare the image with a reference image. A detection method employing such a device is also provided. 1. An obstacle detection device which is intended to be fitted to a mobile vehicle able to move parallel to a reference plane , comprising:at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle,at least one image sensor able to produce an image of the intersection of the virtual planes and of the potential obstacle,an image analysis means able to determine the presence of an obstacle, configured to compare the image with a reference image.2. The device as claimed in claim 1 , wherein the vehicle has a favored direction of travel in a first direction along an axis X and further comprises:a first emitter referred to as an oblique emitter of a first oblique beam extending in a first oblique virtual plane in the first direction along the axis X and secant with the reference plane,a second emitter referred to as an oblique emitter of a second oblique beam extending in a second oblique virtual plane in the first direction along the axis X and secant with the reference plane,a first image sensor able to produce an image around the intersection of the first and second oblique virtual planes with the reference plane.3. The device as claimed in claim 2 , comprising a first emitter referred to as a horizontal emitter of a first ...

METHOD AND APPARATUS FOR SUPPORT SURFACE EDGE DETECTION

A method of detecting an edge of a support surface by an imaging controller includes: obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the support surface; selecting, by the imaging controller, a candidate set of the depth measurements based on at least one of (i) an expected proximity of the edge of the support surface to the depth sensor, and (ii) an expected orientation of the edge of the support surface relative to the depth sensor; fitting, by the imaging controller, a guide element to the candidate set of depth measurements; and detecting, by the imaging controller, an output set of the depth measurements corresponding to the edge from the candidate set of depth measurements according to a proximity between each candidate depth measurement and the guide element. 1. A method of detecting an edge of a support surface by an imaging controller , comprising:obtaining a plurality of depth measurements captured by a depth sensor and corresponding to an area containing the support surface;selecting, by the imaging controller, a candidate set of the depth measurements based on at least one of (i) an expected proximity of the edge of the support surface to the depth sensor, and (ii) an expected orientation of the edge of the support surface relative to the depth sensor;fitting, by the imaging controller, a guide element to the candidate set of depth measurements; anddetecting, by the imaging controller, an output set of the depth measurements corresponding to the edge from the candidate set of depth measurements according to a proximity between each candidate depth measurement and the guide element.2. The method of claim 1 , wherein obtaining the depth measurements comprises obtaining a lidar scan including claim 1 , for each of a plurality of sweep angles claim 1 , a respective group of the depth measurements.3. The method of claim 2 , wherein selecting the candidate set further comprises claim 2 , for each ...

DETECTION OF ONCOMING VEHICLES WITH IR LIGHT

Infrared light is detected in a vehicle computer via an infrared sensor from a source outside the host vehicle. The computer can further determine that the infrared light was generated from a source in a second vehicle, detect the second vehicle based at least partly on the detected infrared light and possibly also partly on input from a host vehicle collision detection sensor. 1. A computer , comprising a processor and a memory , the memory storing instructions executable by the processor such that the computer is programmed to:detect infrared light, in a first vehicle, from a source outside the first vehicle;determine that the infrared light was generated from a source in a second vehicle; anddetect the second vehicle based partly on the detected infrared light from an infrared sensor and partly on data from a first vehicle collision detection non-infrared sensor.2. The computer of claim 1 , wherein the computer is further programmed to determine that the infrared light was generated from a source in the second vehicle at least in part by determining coordinates of the infrared light relative to the first vehicle.3. The computer of claim 2 , wherein the computer is further programmed to determine that the infrared light was generated from a source in the second vehicle at least in part by:calculating a boundary of the second vehicle based on data received from the first vehicle collision detection non-infrared sensor; anddetermining whether the coordinates of the infrared light are disposed within the boundary of the second vehicle.4. The computer of claim 1 , wherein the computer is further programmed to detect the second vehicle at least in part by:receiving coordinates of the infrared light; andreceiving object data including object coordinates from the collision detection sensor.5. The computer of claim 4 , wherein the computer is further programmed to detect the second vehicle at least in part by:calculating a first trajectory of the infrared light ...