System and method for generating a three-dimensional (3D) map based on mapping designation information

Patent metadata

Field	Value
Publication number	US-11619743-B2
Application number	US-202217815573-A
Country	US
Kind code	B2
Filing date	Jul 28, 2022
Priority date	Feb 3, 2020
Publication date	Apr 4, 2023
Grant date	Apr 4, 2023

Abstract

A system for generating a three-dimensional (3D) map of part of a field-of-view (FOV) of at least one detector of an active 3D scanner, comprising: the active 3D scanner, comprising: a mechanism configured to scan the FOV; at least one energy emitting source configured to emit energy pulses; and the at least one detector; and processing circuitry configured to: obtain information, wherein at least some of designation information is tracker-based designation information that is designated by a user of the system via a tracker that tracks a line-of-sight between the user and the FOV; selectively activate the energy emitting source to emit a subset of the energy pulses, in accordance with the information, including the tracker-based designation information, and in synchronization with the mechanism, to cover the part of the FOV; obtain current readings, from the detector, based on reflections of the subset of the energy pulses; and generate the 3D map based on the current readings.

First claim

The invention claimed is:

1. A system for generating a three-dimensional (3D) map of part of a field-of-view (FOV) of at least one detector of an active 3D scanner, the system comprising:
the active 3D scanner, comprising:
a scanning mechanism configured to scan the FOV;
at least one energy emitting source configured to emit energy pulses, in synchronization with the scanning mechanism, to cover the FOV; and
the at least one detector; and

processing circuitry configured to:
obtain mapping designation information, wherein at least some of the mapping designation information is tracker-based designation information that is designated by a user of the system via a tracker that tracks a line-of-sight between the user and the FOV;

selectively activate the at least one energy emitting source to emit eta subset of the energy pulses, in accordance with the mapping designation information, including the tracker-based designation information, and in synchronization with the scanning mechanism, to cover the part of the FOV;
obtain current readings, from the at least one detector, based on reflections of the subset of the energy pulses; and
generate the 3D map based on the current readings.

2. The system of claim 1 , wherein at least some of the mapping designation information is associated with one or more fixed coordinate areas within the FOV having fixed coordinates in a fixed coordinate system established in space and wherein the processing circuitry is further configured to:
upon identifying a change in at least one of a position or an orientation of the at least one detector relative to the fixed coordinate areas, update the at least some of the mapping designation information based on the change.

3. The system of claim 1 , wherein at least some of the mapping designation information is associated with one or more fixed coordinate areas within the FOV having fixed coordinates in a fixed coordinate system established in space and wherein the active 3D scanner is gimbaled to a platform by a gimbal, and wherein the processing circuitry is further configured to:
upon identifying a change in a first orientation of the platform relative to the fixed coordinate areas, provide a control signal for rotating the active 3D scanner along the gimbal to maintain a second orientation of the at least one detector relative to the fixed coordinate areas notwithstanding the change in the first orientation of the platform relative to the fixed coordinate areas.

4. The system of claim 1 , wherein at least some of the mapping designation information is associated with one or more moving objects within the FOV and wherein the processing circuitry is further configured to:
upon identifying a change in at least one of a position or an orientation of the at least one detector relative to the moving objects, update the at least some of the mapping designation information based on the change.

5. The system of claim 1 , wherein at least some of the mapping designation information is associated with one or more moving objects within the FOV and wherein the active 3D scanner is gimbaled to a platform by a gimbal, and wherein the processing circuitry is further configured to:
upon identifying a change in a first orientation of the platform relative to the moving objects, provide a control signal for rotating the active 3D scanner along the gimbal to maintain a second orientation of the at least one detector relative to the moving objects notwithstanding the change in the first orientation of the platform relative to the moving objects.

6. The system of claim 1 , wherein the active 3D scanner is mounted on an airborne platform, and wherein, during a landing approach for landing the airborne platform at a selected landing area, the part of the FOV is associated with one or more of: the selected landing area or a path to the selected landing area.

7. The system of claim 1 , wherein the processing circuitry is further configured to:
obtain targeting designation information that designates one or more designated targets; and
activate the at least one energy emitting source to emit one or more targeting energy pulses towards the designated targets.

8. The system of claim 7 , wherein the targeting designation information is obtained from a tracker that tracks a line-of-sight between a user of the system and the designated targets.

9. The system of claim 1
wherein the processing circuitry is further configured to:
provide a pre-loaded 3D model of a mission area, pre-loaded prior to performing a mission by the moving platform; and
obtain a current location of the moving platform; and
wherein at least some of the mapping designation information is determined based on the 3D model, the current location and one or more mapping designation rules.

10. A method for generating a three-dimensional (3D) map of part of a field-of-view (FOV) of at least one detector of an active 3D scanner, the method comprising:
obtaining mapping designation information, wherein at least some of the mapping designation information is tracker-based designation information that is designated by a user via a tracker that tracks a line-of-sight between the user and the FOV;
selectively activating at least one energy emitting source of the active 3D scanner to emit a first number of energy pulses, in accordance with the mapping designation information, including the tracker-based designation information, and in synchronization with a scanning mechanism of the active 3D scanner, to cover the part of the FOV, wherein the scanning mechanism is configured to scan the FOV, and wherein the at least one energy emitting source is configured to emit a second number of energy pulses, in synchronization with the scanning mechanism, to cover the FOV, the second number of energy pulses being greater than the first number of energy pulses;
obtaining current readings, from at least one detector of the active 3D scanner, based on reflections of the first number of energy pulses; and
generating the 3D map based on the current readings.

11. The method of claim 10 , wherein at least some of the mapping designation information is associated with one or more fixed coordinate areas within the FOV having fixed coordinates in a fixed coordinate system established in space, and wherein the method further comprises:
upon identifying a change in at least one of a position or an orientation of the at least one detector relative to the fixed coordinate areas, updating the at least some of the mapping designation information based on the change.

12. The method of claim 10 , wherein at least some of the mapping designation information is associated with one or more fixed coordinate areas within the FOV having fixed coordinates in a fixed coordinate system established in space, wherein the active 3D scanner is gimbaled to a platform by a gimbal, and wherein the method further comprises:
upon identifying a change in a first orientation of the platform relative to the fixed coordinate areas, providing a control signal for rotating the active 3D scanner along the gimbal to maintain a second orientation of the at least one detector relative to the fixed coordinate areas notwithstanding the change in the first orientation of the platform relative to the fixed coordinate areas.

13. The method of claim 10 , wherein at least some of the mapping designation information is associated with one or more moving objects within the FOV, and wherein the method further comprises:
upon identifying a change in at least one of a position or an orientation of the at least one detector relative to the moving objects, updating the at least some of the mapp

Assignees

• Elbit Systems Ltd

Inventors

• Ophir Yoav
• Hakim Dan
• David Assaf
• Demri Tamir

Classifications

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S13/89

  for mapping or imaging · CPC title

• G01S13/34

  using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal · CPC title

• G01S17/894 Primary

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title