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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 10527423 B1

PDFFull Text
Date of Patent:
Jan. 07, 2020

Filed:

Apr. 06, 2017

Fusion of vision and depth sensors for navigation in complex environments

Applicant:

Luftronix, Inc., Franklin Lakes, NJ (US);

Inventors:

Roman Pavlyuk, L'viv, UA;

Volodymyr Kozak, L'viv, UA;

Klaus Sonnenleiter, Franklin Lakes, NJ (US);

Denise Spell, Ridgewood, NJ (US);

Assignee:

LUFTRONIX, INC., Franklin Lakes, NJ (US);

Attorneys:

Michael J. Feigin, Esq.

Feigin and Fridman

Primary Examiner:

Adam D Tissot

Assistant Examiner:

Edward J Pipala

Int. Cl.
CPC ...
G01C 21/00 (2006.01); G01C 21/16 (2006.01); G01C 21/30 (2006.01); G08G 1/0968 (2006.01); G01C 21/34 (2006.01); G05D 1/10 (2006.01); G01C 11/06 (2006.01); G01C 11/12 (2006.01); G01S 17/89 (2006.01); G01S 13/89 (2006.01); G01S 17/02 (2006.01); G01S 17/42 (2006.01); G06T 7/579 (2017.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); H04N 3/09 (2006.01);
U.S. Cl.
CPC ...
G01C 21/005 (2013.01); G01C 11/06 (2013.01); G01C 11/12 (2013.01); G01C 21/16 (2013.01); G01C 21/30 (2013.01); G01C 21/34 (2013.01); G01S 13/89 (2013.01); G01S 17/026 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G05D 1/101 (2013.01); G06T 7/20 (2013.01); G06T 7/579 (2017.01); G06T 7/70 (2017.01); G08G 1/0968 (2013.01); H04N 3/09 (2013.01); B64C 2201/12 (2013.01);
Abstract

A system and a method for autonomous localization of a ground, surface or aerial vehicle with respect to a surface of a complex shape is disclosed. Localization is used by way of an optical flow method. Sensed optical (electro-optical, infrared, thermal) images are augmented by depth data, i.e., distance from the distance sensor to points on the sensed surface object. A modification of the optical flow method is applied to sequence of frames obtained in such a way to compute displacement of the vehicle with respect to the surface object.

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