Image analysis for controlling movement of an object

Patent metadata

Field	Value
Publication number	US-12198375-B2
Application number	US-202217872067-A
Country	US
Kind code	B2
Filing date	Jul 25, 2022
Priority date	Mar 8, 2022
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

There is provided a computer implemented method of controlling movement of an object, comprising: accessing a current image of a surface relative to an object at a current location, wherein an imaging sensor is set to capture the current image depicting an overlap with a previously captured image of the surface when the object was at a previous location, registering the current image to the overlap of the previously captured image, computing the current location of the object relative to a reference location according to an analysis of the registration, and feeding the current location into a controller for controlling movement of the object.

First claim

What is claimed is:

1. A computer implemented method of controlling movement of an object, comprising:
accessing a current image of a surface relative to an object at a current location,
wherein an imaging sensor is set to capture the current image depicting an overlap with a previously captured image of the surface when the object was at a previous location;
registering the current image to the overlap of the previously captured image;
computing the current location of the object relative to a reference location according to an analysis of the registration; and
feeding the current location into a controller for controlling movement of the object;
activating an electromagnetic illumination source at a selected illumination pattern for generating electromagnetic illumination for providing visibility of the surface depicted in images, wherein the images are captured by an imaging sensor at the electromagnetic spectrum of the electromagnetic illumination;
wherein the electromagnetic illumination source generates electromagnetic illumination at the short wave infrared (SWIR) range, and the imaging sensor comprises a SWIR sensor;
wherein the SWIR range comprises a solar blind range.

2. The computer implemented method of claim 1 , wherein the current location is computed according to a conversion between pixels of the registered images and physical distances based on parameters of the imaging sensor.

3. The computer implemented method of claim 1 , wherein registering further comprising computing a difference between the current image registered to the previous image, and defining the registration when the difference is below a threshold indicating likelihood of a match, wherein the threshold is selected to account for temporary objects occluding the surface.

4. The computer implemented method of claim 1 , further comprising computing a transformation between the current image and the previous image, wherein the location is computed based on the transformation and location and/or orientation of the imaging sensor.

5. The computer implemented method of claim 1 , wherein the imaging sensor is installed on the object and set for capturing images of the surface over which the object is moving.

6. The computer implemented method of claim 1 , wherein the accessing, the registering, the computing, and the feeding, are iterated dynamically while the object is in motion over a plurality of time intervals using subsequently obtained new current images using preceding obtained images.

7. A computer implemented method of controlling movement of an object, comprising:
accessing a current image of a surface relative to an object at a current location,
wherein an imaging sensor is set to capture the current image depicting an overlap with a previously captured image of the surface when the object was at a previous location;
registering the current image to the overlap of the previously captured image;
computing the current location of the object relative to a reference location according to an analysis of the registration; and
feeding the current location into a controller for controlling movement of the object;
wherein registering comprises extracting a current spatial pattern of a plurality of keypoint features from the current image, and matching the current spatial pattern to a previously extracted spatial pattern of a plurality of keypoint features extracted from the previously captured image.

8. The computer implemented method of claim 7 , wherein the object is selected from a group comprising: a vehicle, a robot, an autonomous car, and a drone.

9. The computer implemented method of claim 7 , further comprising activating an electromagnetic illumination source at a selected illumination pattern for generating electromagnetic illumination for providing visibility of the surface depicted in images, wherein the images are captured by an imaging sensor at the electromagnetic spectrum of the electromagnetic illumination.

10. The computer implemented method of claim 9 , wherein the electromagnetic illumination source generates electromagnetic illumination at the short wave infrared (SWIR) range, and the imaging sensor comprises a SWIR sensor.

11. The computer implemented method of claim 7 , wherein the plurality of keypoint features are non-encoding features that are textural features of the surface.

12. The computer implemented method of claim 11 , wherein the textural features are of a surface selected from a group comprising: asphalt, concrete, marble, wood, earth, and rough paint.

13. The computer implemented method of claim 7 , wherein the plurality of keypoint features are randomly arranged.

14. The computer implemented method of claim 7 , wherein the plurality of keypoint features are similar to one another.

15. The computer implemented method of claim 7 , wherein the plurality of keypoint features are less than about 10 millimeters in length or diameter.

16. A system for controlling movement of an object, comprising:
at least one processor executing a code for:
accessing a current image of a surface relative to an object at a current location,
wherein an imaging sensor is set to capture the current image depicting an overlap with a previously captured image of the surface when the object was at a previous location;
registering the current image to the overlap of the previously captured image;
computing the current location of the object relative to a reference location according to an analysis of the registration; and

feeding the current location into a controller for controlling movement of the object;
wherein registering comprises extracting a current spatial pattern of a plurality of keypoint features from the current image, and matching the current spatial pattern to a previously extracted spatial pattern of a plurality of keypoint features extracted from the previously captured image.

17. A non-transitory medium storing program instructions for controlling movement of an object, which, when executed by at least one processor, cause the at least one processor to:
access a current image of a surface relative to an object at a current location,
wherein an imaging sensor is set to capture the current image depicting an overlap with a previously captured image of the surface when the object was at a previous location;
register the current image to the overlap of the previously captured image;
compute the current location of the object relative to a reference location according to an analysis of the registration; and
feed the current location into a controller for controlling movement of the object;
wherein registering comprises extracting a current spatial pattern of a plurality of keypoint features from the current image, and matching the current spatial pattern to a previously extracted spatial pattern of a plurality of keypoint features extracted from the previously captured image.

Assignees

• Nec Corp America

Inventors

• Lev Tsvi
• Har-Gil Hagai

Classifications

• G05D1/2437

  Extracting relative motion information · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T7/337

  involving reference images or patches · CPC title

• G05D1/0253

  extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow (determining position or orientation from images G06T7/70) · CPC title