Intersense, Inc.

Bae Systems Information and Electronic Systems Integration Inc.

Leonid Naimark

Eric M Foxlin

Yu Zhong

Geoffrey Seth Meltzner

Yunbin Deng

A method of using signal processing representations from IMU/INS devices to identify terrain types. Using orientation and pace invariant gait dynamics images (GDIs) to identify terrain types. Utilizing signal processing representations from IMU/INS devices to determine relative position in GPS-denied areas. Using orientation and pace invariant gait dynamics images (GDIs) to determine relative position in GPS-denied areas. A method of using signal processing representations from IMU/INS devices to determine absolute position using GDI terrain IDs. A method of using signal processing representations from IMU/INS devices to identity position relative to land classes. Using orientation and pace in variant gait dynamics images (GDIs) to identity position relative to land classes.

Method for terrain mapping and personal navigation using mobile gait analysis

The spatial location and azimuth of an object are computed from the locations, in a single camera image, of exactly two points on the object and information about an orientation of the object. One or more groups of four or more collinear markers are located in an image, and for each group, first and second outer markers are determined, the distances from each outer marker to the nearest marker in the same group are compared, and the outer marker with a closer nearest marker is identified as the first outer marker. Based on known distances between the outer markers and the marker nearest the first outer marker, an amount of perspective distortion of the group of markers in the image is estimated. Based on the perspective distortion, relative distances from each other point in the group to one of the outer markers are determined. Based on the relative distances, the group is identified.

Tracking objects with markers

A new fiducial design allows having thousands of different codes. These fiducials are printed on a standard black-and-white (or color) printer and easily could be mounted on a walls, ceiling and objects in a room. The design includes 'solid' outside mono-color ring and 2-D dense inside coding scheme. Image processing algorithms are implemented in Smart Camera with a built-in DSP to run all required image-processing tasks. A tracking system implementation includes an inertial measurement unit and one outward-looking wide-angle Smart Camera with possible extensions to number of stationary inward-looking cameras. The system operates in various real-world lighting conditions without any user intervention due to homomorphic image processing processes for extracting fiducials in the presence of very non-uniform lighting.

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Brookline, MA, United States of America

Leonid Naimark