Methods and systems for navigation and terrain change detection

Abstract

Methods and systems for performing navigation and terrain change detection based on real-time projection of a structured light pattern are provided. In a method for detecting a change in a field of view from a first point in time to a second point in time, a current three-dimensional dataset of the field of view is generated from a point of reference based on data received in real-time. The location of the point of reference is determined based on geo-spatial data. A stored three-dimensional dataset of the field of view generated from data received at the point of reference at the first point in time is accessed; and used to provide one or more alerts which signify changes in the field of view between the current three-dimensional dataset and the stored three-dimensional dataset.

1 .- 13 . (canceled) 
     
     
         14 . A method for performing navigation, the method comprising:
 accessing a plurality of stored three-dimensional datasets associated with a travel route;   generating a current three-dimensional dataset from a first point of reference along the travel route;   comparing the current three-dimensional dataset at the first point of reference to the plurality of stored three-dimensional datasets to determine a location associated with the first point of reference and a heading to a second point of reference along the travel route; and   navigating along the travel route to a second point of reference along the travel route based on the heading.   
     
     
         15 . The method of  claim 14 , wherein each of the plurality of stored three-dimensional datasets associated with the travel route comprise an array of spatially-registered enhanced voxels with geo-spatial data corresponding to the travel route. 
     
     
         16 . The method of  claim 14 , wherein the first point of reference and the second point of reference are associated with locations of selected objects along the selected travel route, wherein the selected objects include a landmark or a geographic feature. 
     
     
         17 . The method of  claim 16 , wherein the selected objects comprise an array of spatially-registered enhanced voxels with geo-spatial data corresponding to the travel route. 
     
     
         18 . The method of  claim 14 , wherein generating the current three-dimensional dataset of the field of view comprises:
 receiving a stereo image of the field of view; and   transforming, in real-time, the stereo image into a three-dimensional dataset.   
     
     
         19 . The method of  claim 14 , wherein generating the current three-dimensional dataset of the field of view comprises:
 generating a structured light pattern;   projecting the structured light pattern from the point of reference onto the field of view;   receiving a stereo image of the field of view and the structured light pattern; and   transforming, in real-time, the stereo image into a three-dimensional dataset based in part on the structured light pattern.   
     
     
         20 . The method of  claim 19 , wherein generating the structured light pattern comprises transmitting an optical signal through a diffractive optic element, wherein the optical signal is one of a time sequential, a continuous wave, or a pulsed signal. 
     
     
         21 . The method of  claim 19 , wherein the structured light pattern comprises one of a dot, a single line comprised of multiple dots, a dot-array, multiple parallel lines, or multiple orthogonally intersecting lines. 
     
     
         22 . The method of  claim 18 , wherein receiving the stereo image of the field of view comprises:
 capturing a first image perspective of the field of view, wherein the first image perspective is either a right or a left image perspective; and   capturing, simultaneously, a second image perspective of the field of view, wherein the second image perspective is different from the first image perspective.   
     
     
         23 . The method of  claim 14 , wherein the current three-dimensional dataset and the stored three-dimensional dataset of the field of view is one of a wire grid, a depth map, or a point cloud. 
     
     
         24 . The method of  claim 14 , wherein the current three-dimensional dataset has a resolution equal to or lower than the resolution of the stored three-dimensional dataset. 
     
     
         25 . The method of  claim 14 , wherein the geo-spatial data is received from a satellite. 
     
     
         26 .- 38 . (canceled) 
     
     
         39 . A computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps comprising:
 accessing a plurality of stored three-dimensional datasets associated with a travel route;   generating a current three-dimensional dataset from a first point of reference along the travel route;   comparing the current three-dimensional dataset at the first point of reference to the plurality of stored three-dimensional datasets to determine a location associated with the first point of reference and a heading to a second point of reference along the travel route; and   navigating along the travel route based on the heading to a second point of reference along the travel route.   
     
     
         40 . The computer-readable storage medium of  claim 39 , wherein each of the plurality of stored three-dimensional datasets associated with the travel route comprise an array of spatially-registered enhanced voxels with geo-spatial data corresponding to the travel route.