Method and measuring instrument for target detection and/or identification

Patent metadata

Field	Value
Publication number	US-9952047-B2
Application number	US-201715405072-A
Country	US
Kind code	B2
Filing date	Jan 12, 2017
Priority date	Jul 15, 2014
Publication date	Apr 24, 2018
Grant date	Apr 24, 2018

Abstract

The present disclosure relates to a measuring instrument and a method implemented in such a measuring instrument. The measuring instrument includes an image sensor, an actuator, a control unit and a processor. The actuator is arranged to move a field of view of the image sensor. The control unit is configured to cause the image sensor to capture at least one digital image during motion of the field of view of the image sensor by the actuator. The exposure time for capturing the digital image is longer than an identifiable section of a regulating pattern for modulation of an optical radiation either emitted or reflected by at least one target. The processor is configured to process at least a portion of the captured image for detecting in the at least one portion the identifiable section of the regulating pattern. Such a measuring instrument is advantageous for detecting and/or identifying a target in the vicinity of the instrument.

First claim

The invention claimed is:

1. A method implemented in a measuring instrument for detecting presence of at least one target, said method comprising:
forming, by a first optical element of the measuring instrument, a field of view of an image sensor of the measuring instrument;
creating relative movement between the first optical element of the measuring instrument and the image sensor of the measuring instrument causing motion of the field of view of the image sensor of said measuring instrument relative to said at least one target;
capturing at least one digital image with said image sensor under motion of said field of view using an exposure time which is longer than an identifiable section of a regulating pattern for modulation of an optical radiation either emitted or reflected by said at least one target; and
processing at least one portion of the at least one digital image for detecting in said at least one portion the identifiable section of the regulating pattern.

2. The method of claim 1 , wherein the regulating pattern provides an amplitude modulation of the optical radiation and/or a wavelength modulation of the optical radiation.

3. The method of claim 1 , wherein the identifiable section includes at least two distinguishable events of said regulating pattern for modulation and/or wherein the identifiable section corresponds to more than one period for modulation of the optical radiation.

4. The method of claim 1 , wherein the motion of the field of view includes a rotation.

5. The method of claim 4 , wherein creating relative movement between the first optical element includes translating the image sensor relative to the first optical element or vice versa or moving a second optical element in an optical path defined by the first optical element and the image sensor.

6. The method of claim 4 , further comprising determining a direction to said at least one target relative to said measuring instrument on the basis of a profile for angular orientation of the field of view of the image sensor with which the image is captured and a position of the identifiable section of the pattern in the at least one digital image.

7. The method of claim 1 , wherein the motion of the field of view includes a translation.

8. The method of claim 7 , wherein the measuring instrument further comprises the image sensor and the first optical element disposed on a fixed base and wherein the field of view is translated by translating the image sensor together with the first optical element relative to the fixed base.

9. The method of claim 7 , further comprising determining a direction to, and/or a position of, said at least one target relative to said measuring instrument on the basis of a translational position of the field of view of the image sensor at which the image is captured and a position of the identifiable section of the pattern in the at least one digital image.

10. The method of claim 1 , wherein the processing includes comparing the identifiable section of the regulating pattern with at least part of a pattern detected in the at least one digital image.

11. The method of claim 1 , wherein the processing includes identifying the identifiable section of the pattern for modulation on the basis of at least part of a pattern detected in said at least one portion of the at least one digital image and a motion speed, or displacement profile, of the field of view of the image sensor.

12. The method of claim 1 , further comprising determining an identity of said at least one target based on at least part of a pattern detected in the at least one digital image.

13. A computer program product stored on a non-transitory computer readable medium comprising computer-executable components for causing a tracker unit to perform a method according to claim 1 when the computer-executable components are executed on a processing unit.

14. A measuring instrument comprising:
an image sensor;
an optical element
an actuator arranged to create relative movement of the image sensor and the optical element to move a field of view of said image sensor;
a controller coupled to the image sensor configured to cause the image sensor to capture at least one digital image during motion of said field of view by the actuator using an exposure time which is longer than an identifiable section of a regulating pattern for modulation of an optical radiation either emitted or reflected by at least one target;
a shutter to control the exposure time; and
a processor configured to process at least a portion of the at least one digital image for detecting in said at least one portion the identifiable section of the regulating pattern.

15. The measuring instrument of claim 14 , wherein the regulating pattern provides an amplitude modulation of the optical radiation and/or a wavelength modulation of the optical radiation.

16. The measuring instrument of claim 14 , wherein the identifiable section includes at least two distinguishable events of said regulating pattern for modulation and/or wherein the identifiable section corresponds to more than one period for modulation of the optical radiation.

17. The measuring instrument of claim 14 , wherein the actuator is configured to rotate the field of view.

18. The measuring instrument of claim 17 , wherein the optical element forms the field of view of the image sensor and wherein the actuator is configured to rotate the field of view of the image sensor by translating the image sensor relative to the optical element or vice versa, rotating the optical element and the image sensor, or moving a second optical element in an optical path defined by the optical element and the image sensor.

19. The measuring instrument of claim 14 , wherein the actuator is configured to translate the field of view.

20. The measuring instrument of claim 19 , wherein the actuator is configured to translate the field of view of the image sensor by translating the image sensor together with the optical element determining the field of view of the image sensor.

Assignees

• Trimble Ab

Inventors

• Nordenfelt Mikael
• Hertzman Mikael

Classifications

• H04N23/58

  Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors · CPC title

• H04N23/56

  provided with illuminating means · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01C15/002 Primary

  Active optical surveying means (optical plumbing G01C15/105) · CPC title

• G01S17/66

  Tracking systems using electromagnetic waves other than radio waves · CPC title