Adaptive point cloud window selection

Patent metadata

Field	Value
Publication number	US-2016334513-A1
Application number	US-201615153500-A
Country	US
Kind code	A1
Filing date	May 12, 2016
Priority date	May 15, 2015
Publication date	Nov 17, 2016
Grant date	—

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 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 imaging a moving object, the steps comprising:
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; comparing images of the structure to a known model of the structure to estimate rates of motion for the structure; and determining a refined time window based on the estimated rates of motion to monitor the moving object for increased accuracy and/or range compared to the safe sensing time window.

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 moving object.

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

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

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 , further comprising determining a landing trajectory using data acquired with the refined time window.

7 . The method of claim 6 , wherein the direction sensor is located on an aircraft and the moving object is a waterborne ship, using a processing module to automatically control the aircraft to land on a deck of the ship in accordance with the generated landing trajectory

8 . The method of claim 1 , wherein the distance sensor can detect the moving object at 2500 ft. or greater.

9 . A system for imaging a moving object, comprising:
a distance sensor; and a processing module operatively connected to the distance sensor includes machine readable instructions that cause the module to:
scan a predetermined area with at least one distance sensor and form an image a structure of a moving object using a safe sensing time window to refresh the image;
compare the images of the structure with a known model to estimate rates of motion of the structure; and
determine a refined time window based on the estimated rates of motion to monitor the moving object for increased accuracy and/or range compared to the safe time window.

10 . The system of claim 9 , wherein the distance sensor is a 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 moving object to continuously track the moving object.

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 moving object.

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 the module is configured to determine a landing trajectory using data acquired with the refined time window.

15 . The system of claim 14 , wherein the direction sensor is located on an aircraft and the moving object is a waterborne ship, the module is configured to automatically control the aircraft to land on a deck of the ship in accordance with the generated landing trajectory

16 . The system of claim 9 , wherein the distance sensor can detect the moving object at 2500 ft. or greater.

Assignees

• Sikorsky Aircraft Corp

Inventors

• Stathis Christopher
• Derenick Jason C

Classifications

• G01S17/50

  Systems of measurement based on relative movement of target · CPC title

• B64D45/04

  Landing aids; Safety measures to prevent collision with earth's surface · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G06T2207/30248

  Vehicle exterior or interior · CPC title

• G06T2207/10032

  Satellite or aerial image; Remote sensing · CPC title