US2023215186A1PendingUtilityA1
Geolocating an object using a single camera
Est. expiryDec 31, 2041(~15.4 yrs left)· nominal 20-yr term from priority
G06T 19/006G06T 2207/10016G06V 10/48G06V 20/20G06V 20/58G06T 2207/20061G06T 7/70B63B 43/18G08G 3/02G06T 7/168B63B 49/00G06T 2207/30252G06T 7/50G06V 20/10
60
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Claims
Abstract
A camera mounted on a seafaring vessel obtains an image showing an object. The distance to the object is computed using, in part, a normal vector of the plane containing the camera and the horizon.
Claims
exact text as granted — not AI-modified1 . A method, comprising:
obtaining a single image from a camera mounted on a seafaring vessel, the single image showing a horizon and an object; identifying, using the single image, a plane passing through the camera and the horizon; identifying, using the single image, a normal vector to the plane; identifying, using the single image, a distance from the seafaring vessel to the object using the normal vector to the plane; and on an augmented reality interface, displaying an augmented reality image including the object and the distance from the seafaring vessel to the object.
2 . The method of claim 1 , in which the plane is identified from the single image using a Hough transform.
3 . The method of claim 2 , in which the Hough transform only samples an area of the single image corresponding to an expected location of the horizon.
4 - 6 . (canceled)
7 . The method of claim 1 , in which distance d from the seafaring vessel to the object is given by:
d
=
(
h
cos
B
)
2
-
h
2
where v is the vector from the camera to the object, n is the normal vector, B is line-of-sight angle from the camera to the object, and h is a height above sea level at which the camera is mounted on the vessel in calm water.
8 . The method of claim 7 , in which the seafaring vessel includes an inertial measurement unit operable to report a roll angle θ roll and a pitch angle θ pitch of the vessel, and in which h is scaled in the equation of claim 7 by sin(θ roll )sin(θ pitch ).
9 . The method of claim 1 , in which the augmented reality interface includes a real time video feed from the camera.
10 . The method of claim 1 , in which the augmented reality interface includes an overhead map of a waterway showing the vessel and the object.
11 . The method of claim 1 , further comprising using the identified distance to make a navigational maneuver.
12 . The method of claim 11 , in which the navigational maneuver is made by the seafaring vessel.
13 . The method of claim 11 , in which the navigational maneuver is made by a vessel other than the seafaring vessel.
14 . A system, comprising:
a camera mounted on a seafaring vessel; and machine-readable instructions that, when executed, cause one or more processors to:
obtain a single image showing a horizon and an object from the camera;
identify, using the single image, a plane passing through the camera and the horizon;
identify, using the single image, a normal vector to the plane;
identify, using the single image, a distance from the seafaring vessel to the object using the normal vector to the plane; and
on an augmented reality interface, display an augmented reality image including the object and the distance from the seafaring vessel to the object.
15 . The system of claim 14 , in which the plane is identified from the single image using a Hough transform.
16 . The system of claim 15 , in which the Hough transform only samples an area of the single image corresponding to an expected location of the horizon.
17 - 19 . (canceled)
20 . The system of claim 14 , in which distance d from the seafaring vessel to the object is given by:
d
=
(
h
cos
B
)
2
-
h
2
where v is the vector from the camera to the object, n is the normal vector, B is line-of-sight angle from the camera to the object, and h is a height above sea level at which the camera is mounted on the vessel in calm water.
21 . The system of claim 20 , in which the seafaring vessel includes an inertial measurement unit operable to report a roll angle θ roll and a pitch angle θ pitch of the vessel, and in which h is scaled in the equation of claim 20 by sin(θ roll )sin(θ pitch ).
22 . The system of claim 14 , in which the augmented reality interface includes a real time video feed from the camera.
23 . The system of claim 14 , in which the augmented reality interface includes an overhead map of a waterway showing the vessel and the object.
24 . The system of claim 14 , further comprising using the identified distance to make a navigational maneuver.
25 . The system of claim 24 , in which the navigational maneuver is made by the seafaring vessel.
26 . The system of claim 24 , in which the navigational maneuver is made by a vessel other than the seafaring vessel.Join the waitlist — get patent alerts
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