Estimation of motion in six degrees of freedom (6dof) using lidar

Abstract

Techniques of tracking an object involve a Light Detection And Ranging (LIDAR) system. The LIDAR system can be configured to track an object over a period of time, during which the object is moving. Using the LIDAR system tracking of the object can be performed while eliminating illumination hardware (e.g., video camera hardware). Accordingly, the LIDAR system can be configured to operate in total darkness, into the sun, etc. The LIDAR system can be less susceptible to motion of the object than conventional systems. Accordingly, the full rigid-body motion of the object can be determined in some implementations solely from LIDAR measurements, without, for example, video.

What may be claimed is: 
     
         1 . A method, comprising:
 defining a first dataset based on a first scan of a first area of an object using a first scanning mechanism including a laser;   defining a second dataset based on a second scan of a second area of the object using a second scanning mechanism, the first area of the object intersecting the second area of the object, the second scan being performed during a time period that overlaps the time period during which the first scan is performed;   calculating, based on the first dataset, a velocity of the object along a direction of the laser, a first rotational velocity of the object about a first axis orthogonal to the direction of the laser, and a second rotational velocity of the object about a second axis orthogonal to the direction of the laser, the first axis being different than the second axis;   defining a subset of the second dataset;   resampling the subset of the second dataset as a resampled subset dataset; and   estimating a motion correction based on the first dataset and the resampled subset dataset; and   modifying at least one of the first dataset or the second dataset based on the motion correction.