Camera-based heading-hold navigation

Patent metadata

Field	Value
Publication number	US-10724871-B2
Application number	US-201715803367-A
Country	US
Kind code	B2
Filing date	Nov 3, 2017
Priority date	Nov 3, 2016
Publication date	Jul 28, 2020
Grant date	Jul 28, 2020

Abstract

A visual navigation system includes a compass configured to orient a user in a heading direction, an image sensor configured to capture a series of successive navigation images in the heading direction, one or more of the navigation images having at least two reference markers, data storage memory configured to store the series of successive navigation images, a navigation processor configured to identify at least one principal marker and at least one ancillary marker from the at least two reference markers, the principal marker positioned within a principal angle and the ancillary marker positioned within an ancillary angle, which is greater than the principal angle, and to determine heading direction information based on a position of the at least one principal marker and/or the at least one ancillary marker in the successive navigation images, and a user interface configured to provide the heading direction information to the user.

First claim

What is claimed is:

1. A visual navigation system for navigating toward a heading direction, the system comprising:
a compass providing compass measurements configured to orient a user in the heading direction;
an image sensor, in communication with the compass, the image sensor configured to capture a series of successive navigation images in the heading direction oriented by the compass measurements, one or more of the navigation images having at least two reference markers;
data storage memory configured to store the series of successive navigation images;
a navigation processor, coupled to the data storage memory, configured to:
(a) identify at least one principal marker from the at least two reference markers, the at least one principal marker positioned within a principal angle relative to the heading direction, oriented by the compass measurements, from a position of the image sensor;
(b) identify at least one ancillary marker from the at least two reference markers, the at least one ancillary marker positioned within an ancillary angle relative to the heading direction, oriented by the compass measurements, from the position of the image sensor, the ancillary angle greater than the principal angle; and
(c) determine heading direction information based on a position of the at least one principal marker and/or a position of the at least one ancillary marker in the successive navigation images, such that the position of the at least one principal marker and/or the position of the at least one ancillary marker correct errors in the heading direction based on the compass measurements; and

a user interface, coupled to the navigation processor, configured to provide the heading direction information to the user.

2. The visual navigation system according to claim 1 , wherein the data storage memory is further configured to store two or more compass measurements, each compass measurement taken at a different location when traveling in the heading direction, and the navigation processor further includes a navigation filter configured to process the two or more compass measurements, wherein the navigation processor determines the heading direction information further based on the processed two or more compass measurements.

3. The visual navigation system according to claim 2 , wherein the navigation filter computes an average of the two or more compass measurements and uses the average along with the position of the at least one principal marker and/or the position of the at least one ancillary marker in the successive navigation images to estimate the heading direction information.

4. The visual navigation system according to claim 1 , wherein the navigation processor is further configured to receive landmark information from a landmark map, at least a portion of the landmark information corresponding to one or more of the reference markers, wherein the navigation processor further identifies the at least one principal marker from the landmark information and/or further identifies the at least one ancillary marker from the landmark information, and the navigation processor is configured to determine the heading direction information further based on the landmark information.

5. The visual navigation system according to claim 1 , wherein the navigation processor is further configured to determine the heading direction information by comparing (a) the position of the at least one principal marker in the one or more navigation images to a subsequent position of the at least one principal marker in one or more subsequent navigation images taken at a time after the one or more navigation images and/or (b) the position of the at least one ancillary marker in the one or more navigation images to a subsequent position of the at least one ancillary marker in one or more subsequent navigation images taken at a time after the one or more navigation images.

6. The visual navigation system according to claim 1 , wherein the navigation processor is further configured to receive inertial navigation information from an inertial measurement unit sensor, wherein the navigation processor is configured to determine the heading direction information further based on the inertial navigation information.

7. The visual navigation system according to claim 6 , wherein the inertial navigation information includes a step-count-based estimate for distance traveled by the user or a tread/wheel-turn-based estimate for distance traveled by a vehicle transporting the user.

8. The visual navigation system according to claim 1 , wherein the navigation processor is further configured to receive altitude information from a pressure altimeter and configured to receive topographic map information from a topographic map, wherein the navigation processor is further configured to determine navigation information based on the altitude information in conjunction with the topographic map information and configured to determine the heading direction information further based on the navigation information.

9. The visual navigation system according to claim 1 , wherein the compass, the image sensor, the data storage memory, the navigation processor, and the user interface are contained within a hand-held device.

10. The visual navigation system according to claim 1 , wherein the user interface includes an audio output, visual output, tactile output or any combination thereof.

11. A method for navigating toward a heading direction, the method comprising:
providing a compass having compass measurements configured to orient a user in the heading direction;
capturing a series of successive navigation images in the heading direction oriented by the compass measurements using an image sensor, one or more of the navigation images having at least two reference markers;
storing the series of successive navigation images in a data storage memory;
identifying at least one principal marker from the at least two reference markers, the at least one principal marker positioned within a principal angle relative to the heading direction, oriented by the compass measurements, from a position of the image sensor;
identifying at least one ancillary marker from the at least two reference markers, the at least one ancillary marker positioned within an ancillary angle relative to the heading direction, oriented by the compass measurements, from the position of the image sensor, the ancillary angle greater than the principal angle;
determining heading direction information based on a position of the at least one principal marker and/or a position of the at least one ancillary marker in the successive navigation images, such that the position of the at least one principal marker and/or the position of the at least one ancillary marker correct errors in the heading direction based on the compass measurements; and
providing the heading direction information to a user interface.

12. The method according to claim 11 , further comprising:
storing two or more compass measurements in the data storage memory, each compass measurement taken at a different location when traveling in the heading direction; and
processing the two or more compass measurements using a navigation filter, wherein determining the heading direction information is further based on the processed two or more compass measurements.

13. The method according to claim 12 , wherein processing the two or more compass measurements includes computing an average of the two or more compass measurements, and determining the heading direction information is further based on the average.

14. The method according to claim 11 , further comprising providing

Assignees

• Charles Stark Draper Laboratory Inc

Inventors

• Laine Juha-Pekka J
• Bortolami Simone B
• Korn Jeffrey
• Blasche Gregory P
• Jamula Matthew T
• Bohn Paul A
• Dawson Robin Mark Adrian
• Lane Benjamin F
• Hoke Eric T
• Meiser Daniel M
• Kinast Joseph M
• Mccarthy Timothy J
• Smith Stephen P

Classifications

• G01C17/38 Primary

  Testing, calibrating, or compensating of compasses · CPC title

• G01C21/3602

  Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera · CPC title

• H04W4/026

  using orientation information, e.g. compass · CPC title

• G06T7/74

  involving reference images or patches · CPC title

• G01C21/3647 Primary

  Guidance involving output of stored or live camera images or video streams · CPC title