Adaptive point cloud window selection

Patent metadata

Field	Value
Publication number	US-10698111-B2
Application number	US-201615153500-A
Country	US
Kind code	B2
Filing date	May 12, 2016
Priority date	May 15, 2015
Publication date	Jun 30, 2020
Grant date	Jun 30, 2020

Abstract

A method for imaging a moving object includes scanning a predetermined area with at least one distance sensor to form an image of a structure of a moving object using a safe sensing time window to periodically refresh the image. The images of the structure are compared to a known model of the structure to estimate rates of motion. A refined time window is determined based on the estimated rates of motion to monitor the moving object with increased accuracy and/or range compared to the safe time window.

First claim

What is claimed is:

1. A method for an aircraft imaging a watercraft for a landing trajectory, the steps comprising:
scanning, by the aircraft oriented at a vertical distance above the watercraft, a predetermined area of the watercraft being configured to move in a three-dimensional space while in water with at least one distance sensor to form an image of a structure of the watercraft using a safe sensing time window to periodically refresh the image, wherein the safe sensing time window used is selected according to a blur effect tolerance, wherein the safe sensing time window is further selected according to a maximum acceptable motion of the watercraft;
comparing, by the aircraft, images of the structure being configured to move in the three-dimensional space while in the water to a known model of the structure to estimate rates of motion for the structure;
determining, by the aircraft, a refined time window based on the estimated rates of motion to monitor the watercraft for increased accuracy and/or range compared to the safe sensing time window, wherein determining the refined time window based on the estimated rates of motion to monitor the watercraft for increased accuracy and/or range compared to the safe sensing time window comprises accounting for moving waves affecting the watercraft;
during the refined time window previously determined, measuring a pitch rate or a roll rate for the watercraft; and
determining by the aircraft, the landing trajectory for the aircraft using data acquired with the refined time window based on the pitch rate or the roll rate for the watercraft.

2. The method of claim 1 , wherein the refined time window is a time scale for collecting the maximum number of clear scans of the watercraft.

3. The method of claim 1 , wherein the distance sensor is a single LIDAR sensor providing point cloud data as sequential image frames.

4. The method of claim 1 , further comprising continuously scanning the area surrounding the watercraft and updating a dynamic feedback module with images of the watercraft to continuously track the watercraft.

5. The method of claim 1 , wherein forming an image of the structure includes detecting edges of the object and forming boundaries of the object.

6. The method of claim 1 , wherein comparing the images of the structure to the known model of the structure to estimate the rates of motion for the structure comprises comparing the images of the structure from the safe sensing time window to stored images in a database to verify that the watercraft is a desired structure.

7. The method of claim 1 , wherein: the at least one direction sensor is located on the aircraft, and the at least one direction sensor on the aircraft measures the pitch rate or the roll rate for the watercraft during the refined time window;
further comprising using a processing module to automatically control the aircraft to land on a deck of the ship in accordance with the landing trajectory.

8. The method of claim 1 , wherein the distance sensor can detect the watercraft at 2500 feet or greater.

9. A system of an aircraft for imaging a watercraft for a landing trajectory, comprising:
a distance sensor of the aircraft; and
a processing module of the aircraft operatively connected to the distance sensor includes machine readable instructions that cause the module to:
scan, by the module on board the aircraft oriented at a vertical distance above the watercraft, a predetermined area of the watercraft being configured to move in a three-dimensional space while in water with at least one distance sensor and form an image a structure of the watercraft using a safe sensing time window to refresh the image, wherein the safe sensing time window used is selected according to a blur effect tolerance, wherein the safe sensing time window is further selected according to a maximum acceptable motion of the watercraft;
compare, by the module on board the aircraft, the images of the structure being configured to move in the three-dimensional space while in the water with a known model to estimate rates of motion of the structure;
determine, by the aircraft, a refined time window based on the estimated rates of motion to monitor the watercraft for increased accuracy and/or range compared to the safe time window, wherein determine the refined time window based on the estimated rates of motion to monitor the watercraft for increased accuracy and/or range compared to the safe sensing time window comprises accounting for moving waves affecting the watercraft;
during the refined time window previously determined, measure a pitch rate or a roll rate for the watercraft; and
determine, by the aircraft, the landing trajectory for the aircraft using data acquired with the refined time window based on the pitch rate or the roll rate for the watercraft.

10. The system of claim 9 , wherein the distance sensor is a single LIDAR sensor providing point cloud data as sequential image frames.

11. The system of claim 9 , further comprising a dynamic feedback module continuously updated with images of the watercraft to continuously track the watercraft.

12. The system of claim 9 , wherein the refined time window is a time scale for collecting the maximum number of clear scans of the watercraft.

13. The system of claim 9 , wherein the module is configured to form an image of the structure by detecting edges of the object and forming boundaries of the object.

14. The system of claim 9 , wherein comparing the images of the structure to the known model of the structure to estimate the rates of motion for the structure comprises comparing the images of the structure from the safe sensing time window to stored images in a database to verify that the watercraft is a desired structure.

15. The system of claim 9 , wherein: the at least one direction sensor is located on the aircraft, the at least one direction sensor on the aircraft measures the pitch rate or the roll rate for the watercraft during the refined time window, and the processing module is configured to automatically control the aircraft to land on a deck of the ship in accordance with the landing trajectory.

16. The system of claim 9 , wherein the distance sensor can detect the watercraft at 2500 feet or greater.

17. A method for an aircraft imaging a watercraft for a landing trajectory, the steps comprising:
scanning, by the aircraft oriented at a vertical distance above the watercraft, a predetermined area of the watercraft being configured to move in a three-dimensional space while in water with at least one distance sensor to form an image of a structure of the watercraft using a safe sensing time window to periodically refresh the image, wherein the safe sensing time window used is selected according to a blur effect tolerance, wherein: the safe sensing time window is further selected according to a maximum acceptable motion of the watercraft, the distance sensor is a LIDAR sensor providing point cloud data as sequential image frames, and the direction sensor is located on an aircraft;
comparing, by the aircraft, images of the structure being configured to move in the three-dimensional space while in the water to a known model of the structure to estimate rates of motion for the structure;
determining, by the aircraft, a refined time window based on the estimated rates of motion to monitor the watercraft for increased accuracy and/or range compared to the safe sensing time window, wherein determining the refined time window based on the estimated rates of motion to monitor the watercraft for increased accuracy and/or ran

Assignees

• Sikorsky Aircraft Corp

Inventors

• Stathis Christopher
• Derenick Jason C

Classifications

• G06V20/647

  by matching two-dimensional images to three-dimensional objects · CPC title

• G06T2207/30212

  Military · CPC title

• G05D1/0684

  on a moving platform, e.g. aircraft carrier · CPC title

• G01S17/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S17/933

  of aircraft or spacecraft · CPC title