Systems and methods for creating a virtual inertial navigation sensor

Abstract

A system comprising: a spatial sensing system configured to move through a scene and determine 3D scene information representative of the scene; an orientation measuring system configured to determine pose information of a field of view of the spatial sensing system; and a computer system communicatively connected to the spatial sensing system and the orientation measuring system and configured to: (a) receive at least one projected model representative of one or more target vehicles; (b) determine a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and (c) determine if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.

Description

SYSTEMS AND METHODS FOR CREATING A VIRTUAL INERTIAL NAVIGATION SENSORTECHNICAL FIELD

[0001] The present disclosure relates generally to devices, systems and / or methods that may be used for navigational assistance of a vehicle.CROSS-REFERENCE

[0002] This application claims priority to Australian Provisional Application No. 2020901307, entitled, Systems and Methods for Creating a Virtual Inertial Navigation Sensor, filed on August 7, 2023. Australian Provisional Application No. 2020901307 is herein incorporated by reference in its entirety.BACKGROUND

[0003] Navigating a vehicle through a terrain requires forward information about that terrain. This information may be necessary for either a human or an autonomous controller to plan a route through the terrain.

[0004] If this information is incorrect, then the vehicle may collide with obstructions, rollover, lose control or become incapacitated, thereby causing possible damage to the vehicle and / or potentially injuring its occupants.

[0005] Existing navigational aids inside vehicles provide information about the location (for example, geographical coordinates and altitude) of the vehicle itself plus the attitude of the vehicle (for example, its roll, pitch and / or yaw) plus its heading (the direction in which the vehicle is travelling). These systems may use a one or more of the following: GNSS (global navigational satellite system), IMU (inertial motion unit), cameras, odometers and magnetometers to determine these parameters.

[0006] In general, the system that determines location and attitude of the vehicle in its current location may be referred to as a vehicle’s inertial navigation system (“INS”), or vehicle inertial navigation system. In general, the system that determines location andattitude of the vehicle in its current location is referred to as a vehicle INS, or vehicle inertial navigation system.

[0007] A variety of spatial sensors may also provide 3D spatial information about the terrain or features around the vehicle. Such spatial sensors may use radar (Radio Detection And Ranging), LiDAR (Light Detection And Ranging) or cameras (or some combination thereof) to create this spatial information. The spatial 3D data may be represented in a variety of forms, including point clouds, surfaces, feature maps and other forms.

[0008] The prior art describes systems that rely on prior traversals of the terrain by the same or similar vehicles, recording the information regarding the route and then sharing it for future use. This has several disadvantages. One disadvantage is that it requires a previous traversal of the terrain and this severely limits its applicability. Another disadvantage is that the information only pertains to the route previously traversed, so it is not possible to investigate many possible routes through the terrain and select the best one. This has the disadvantage that the information only applies to the specific vehicle that previously traversed the route and this may not be applicable to new vehicles with different geometries, different wheelbases and different operating characteristics.

[0009] The present disclosure is directed to overcome and / or ameliorate at least one or more of the disadvantages of the prior art and to achieve this objective, as will become apparent from the discussion herein. The present disclosure also provides other advantages and / or improvements as discussed herein.SUMMARY OF DISCLOSURE

[0010] This summary is not intended to be limiting as to the embodiments disclosed herein and other embodiments are disclosed in this specification. In addition, limitations of one embodiment may be combined with limitations of other embodiments to form additional embodiments

[0011] .Certain embodiments are directed to one or more computer-readable non- transitory storage media embodying software that is operable when executed using any of the devices, systems, and / or methods disclosed herein.

[0012] At least one embodiment is directed to a system comprising: a spatial sensing system configured to move through a scene and determine 3D scene information representative of the scene; an orientation measuring system configured to determine pose information of a field of view of the spatial sensing system; and a computer system communicatively connected to the spatial sensing system and the orientation measuring system and configured to:(a) receive at least one projected model representative of one or more target vehicles;(b) determine a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and(c) determine if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.

[0013] At least one embodiment is directed to a method comprising: determining, using a spatial sensing system configured to move through a scene, 3D scene information representative of the scene; determining, using an orientation measuring system, pose information of a field of view of the spatial sensing system; and using a computer system communicatively connected to the spatial sensing system and the orientation measuring system:(a) receiving at least one projected model representative of one or more target vehicles;(b) determining a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and(c) determining if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.

[0014] At least one embodiment is directed to a non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method above.

[0015] At least one embodiment is directed to a system comprising: a spatial sensing system that is associated with an anaiysing vehicle and is configured to determine 3D scene information representative of a scene; an INS sensor that is associated with the analysing vehicle, to determine pose information of a field of view of the spatial sensing system; at least one projected model representative of the one or more target vehicles; a computer system associated with the analysing vehicle that is configured to:(a) receive at least one projected model representative of the one or more target vehicles;(b) determine the pose of a selected projected model located at a point in the 3D scene information corresponding to a point in scene; and(c) use the pose to determine if the point is navigable by the one or more target vehicles represented by the selected projected model.

[0016] At least one embodiment is directed to a system comprising: a spatiai sensing system that is associated with an analysing vehicle and is configured to determine 3D scene information representative of a scene; an INS sensor that is associated with the analysing vehicle, to determine location information of the spatial sensing system and determine pose information of a field of view of the spatial sensing system; at least one projected model representative of the one or more target vehicles; a computer system associated with the analysing vehicle that is configured to:(a) receive at least one projected model representative of the one or more target vehicles;(b) determine the pose of a selected projected model located at a point in the 3D scene information corresponding to a point in scene where the project model has supporting contact at the point on the surface of 3D scene information;(c) use the pose to determine if the point is navigable by the one or more target vehicles represented by the selected projected model;(d) repeating the (b) and (c) steps in order to calculate the pose for a sequence of points that comprise a created route; and(e) transferring the created route to a processor; wherein the created route is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicle along the created route,thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.

[0017] At least one embodiment is directed to a method of generating an operating route that is navigable for one or more target vehicles comprising: determining 3D scene information about a scene using a spatial sensing system that is associated with an analysing vehicle; using an INS sensor, that is associated with the analysing vehicle, to determine location information of the spatial sensing system and determine pose information of a field of view of the spatial sensing system; providing at least one projected model representative of the one or more target vehicles to a computer system associated with the analysing vehicle; determining the pose of a selected projected model located at a point in the 3D scene information corresponding to a point in scene where the projected model has supporting contact at the point on the surface of 3D scene information and using the computer system associated with the analysing vehicle that is configured to process the 3D scene information, location information and pose information; using the pose to determine if the point is navigable by the one or more target vehicles represented by the selected projected model; repeating the above steps in order to calculate the pose for a sequence of points that comprise a created route; and transferring the created route to a processor; wherein the created route is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicle along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse

[0018] At least one embodiment is directed to a method comprising: determining, using a spatial sensing system, 3D scene information representative of a scene; determining, using a pose measurement system, pose information of a field of view of the spatial sensing system; generating at least one projected model representative of one or more target vehicles; determining a pose of the projected model located at a point in the 3D scene information corresponding to a point in the scene; anddetermining if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.

[0019] At least one embodiment is directed to a non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method above.

[0020] At least one embodiment is directed to a method of generating an operating route that is navigable for one or more target vehicles comprising: determining 3D scene information about a scene using a spatial sensing system associated with an analysing vehicle; determining location information of the spatial sensing system and pose information of a field of view of the spatial sensing system using an Inertial Navigation System associated with the analysing vehicle; generating at least one projected model representative of one or more target vehicles to a computer system associated with the analysing vehicle; determining the pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in scene where the projected model has supporting contact at the point on a surface of 3D scene information; processing the 3D scene information, location information and pose information using the computer system associated with the analysing vehicle; determining if the point is navigable by the one or more target vehicles represented by the at least one projected model based on the determined pose; repeating the above steps in order to calculate a pose for a sequence of points that comprise a created route; and transferring the created route to a processor; wherein the created route is navigable (or substantially navigable) and does not breach one or more operating characteristics of the one or more target vehicle along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.

[0021] At least one embodiment is directed to a non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method above.BRIEF DESCRIPTION OF DRAWINGS

[0022] FIG. 1 A illustrates a portion of the real world and FIG. 1 B illustrates a corresponding model of 3D spatial information.

[0023] FIG. 2 outlines the components of a Virtual Inertial Navigation System ("Virtual INS").

[0024] FIG. 3 shows a flow chart of an exemplary process, according to at least one embodiment.

[0025] FIG. 4A and FIG. 4B each illustrate placing a projected model onto 3D spatial information, according to at least one embodiment.

[0026] FIG. 5 shows the components of one form of computer system, according to at least one embodiment.

[0027] FIG. 6 shows an example of information displayed to the vehicle operator, according to at least one embodiment.

[0028] FIG. 7A and FIG. 7B each show further examples of information displayed to the vehicle operator, according to at least one embodiment.

[0029] FIG. 8A, FIG. 8B, FIG. 8C and FIG. 8D each show examples of variations on the projected model, according to at least one embodiment.DETAILED DESCRIPTION

[0030] The subject headings used in the detailed description are included only for the ease of reference of the reader and should not be used to limit the subject matter found throughout the disclosure or the claims. The subject headings should not be used in construing the scope of the claims or the claim limitations.

[0031] Certain embodiments of this disclosure may be useful in several areas. For example, one or more of the following non-limiting exemplary applications: navigation or control of off-road vehicles (e.g., cars, buses, motorcycles, trucks, tractors, forklifts,cranes, tanks, tankers, infantry fighting vehicles, unmanned ground vehicles, reconnaissance vehicles, backhoes, bulldozers, graders); navigation and control of a movable robot; navigation and control of road vehicles (e.g., cars, buses, motorcycles, trucks); navigation and control of amphibious vehicles (e.g., boats, cars, buses, unmanned marine vessels ); and navigation and control of watercraft or of vehicles transported on water craft to be operated on land adjacent to water (e.g., ships, landing craft, inflatable boats, boats, hovercraft, submarines, unmanned marine vessels). In addition, the nonlimiting exemplary applications may be operator driven, semi-autonomous and / or autonomous. The term “vehicles” as used herein means one or more of the exemplary items set forth in this paragraph.

[0032] The term “scene” means a portion of the real-world.

[0033] The term “spatial sensing system” means a system that creates 3D scene information of a portion of the real world. The 3D scene information may be in the form of a point cloud, a depth map, a set of surfaces and / or geometric structures, or a data representation of a set of surfaces and / or geometric structures. A spatial sensing system may use radar, LiDAR, time-of flight cameras, sound, or vision-based methods or combinations thereof to sense a scene and create 3D scene information.

[0034] The term “3D point” or “3D coordinates” means a representation of the location of a point in the scene defined at least in part by at least three parameters that indicate distance in three dimensions from an origin reference to the point, for example, in three directions from the origin where the directions may be substantially perpendicular, or as an alternative example using a spherical coordinate system consisting of a radial distance, a polar angle, and an azimuthal angle.

[0035] The term “depth map” means a representation of a plurality of depths of physical surfaces in a scene from a specified reference location. In some embodiments, this reference location may be an actual or nominal sensor centre. In certain embodiments, the depth map may be represented by a two-dimensional grid comprising a plurality of cells, wherein at least a portion of the plurality of cells in this grid hold or store, for at least one time instant, a plurality of depth information and the plurality of depth information may represent various distances to one or more physical surfaces in a scene from the sensor centre. In certain embodiments, the plurality of cells may be arranged in a non-grid likearrangement, for example, circle, spiral, cylinder, etc. In certain embodiments, depth maps may originate from sensors, for example, LIDAR, radar, Sonar, Time-of-flight cameras, Stereo Cameras, multi-stereo camera array systems, or combinations thereof.

[0036] The term “point cloud” means a set of 3D points that collectively represent an approximation to physical surfaces or objects in a scene. The 3D points in the point cloud may additionally have other data associated with them, for example spectral data, optical flow data, and / or other metadata. A point cloud may be converted to a depth map, as may be produced by a depth sensor, by projecting one or more 3D points in the cloud along a line directed to the actual or nominal sensor centre (in 3D) and thereby onto the sensor’s actual or nominal two-dimensional imaging surface, plane or grid. A depth map may be converted to a point cloud by projecting at least a portion of the depth values in the depth map into 3D space along substantially straight lines from the maps’ associated reference location to the distances specified by the corresponding depth map values.

[0037] The term “object” means an element in a scene. For example, a scene may include one or more of the following objects: a person, a child, a car, a truck, a crane, a mining truck, a bus, a train, a motorcycle, a wheel, a patch of grass, a bush, a tree, a pile of material, a pile of soil or rock, a branch, a leaf, a rock, a hill, a cliff, a river, a road, a marking on the road, a depression in a road surface, a ditch, a bridge, a piece of debris, a pile of debris, a fence, a wall, a gutter, a pole, a snow flake, a house, an office building, an industrial building, a tower, a bridge, an aqueduct, a bird, a flying bird, a runway, an airplane, a helicopter, door, a door knob, a shelf, a storage rack, a fork lift, a box, a building, an airfield, a town or city, a river, a mountain range, a field, a jungle, and a container. An object may be a moving element in the scene, or may be stationary or substantially stationary. An object may be considered to be in the background or foreground of the scene.

[0038] The term “pose” means a combination of position and orientation, where position is the location of an object in some coordinate system and orientation is expressed as the pitch, yaw and / or roll of an object in some coordinate system. In certain embodiments, the pose may be measured using an orientation measuring system. In certain embodiments, the pose may be measured using an INS sensor. For example, the coordinate system may be a Cartesian coordinate system and be located with absolute reference to the real worldor may be located with reference to a vehicle or some other point of reference. Other suitable coordinate system may be used.

[0039] The term “patch” means a portion of a 3D scene information.

[0040] The term “projected model” means a representation of a vehicle and / or an object, where the representation describes one or more characteristics of the vehicle and / or an object such as its physical dimensions. In certain embodiments, the characteristics of the vehicle may be selected (e.g., by a user using a user interface) based on the type of vehicle and / or additional characteristics or sub-characteristics of the vehicle. In certain embodiments, the projected model may be a geometric shape such as a projected plane. In certain embodiments, the projected model may be a cuboid, a combination of multiple connected cuboids, or may be a 3D dimensional surface described by a set of points in a three-dimensional space. In certain embodiments, the projected model may be a projected surface. In certain embodiments, the projected model may be a projected plane. In certain embodiments, the projected model may be a projected geometry. In certain embodiments, the projected model may include representation of the wheels that protrude from the bottom of a vehicle, together with structures such as engine sumps or exhausts that together form an underside of a vehicle. In certain embodiments, the projected model may also describe additional characteristics of the object or vehicle such as the weight, unloaded weight, fully loaded weight, height, centre of gravity, wheelbase, axial clearance, other characteristics that may impact the ability of a vehicle to navigate a route in the real world, or combinations thereof. The projected model may have an associated normal vector that describes the vertical orientation of the object with the normal vector corresponding to the upward orientation for the object. The projected model may have an associated direction vector that describes the forward direction of travel for the vehicle.

[0041] The term “projected plane” means a rectangular plane of dimension (x, y). The projected plane may have an associated normal vector that describes the vertical orientation of the projected plane with the normal vector corresponding to the upward orientation for the projected plane. The projected plane may have an associated direction vector that describes the forward direction of travel for the vehicle. In certain embodiments, the projected plane may be a simplification of the projected model. The projected plane and the projected model may effectively have a normal vector and a direction vector.

[0042] The term “projected surface” means a 2D surface existing in a 3D space. The projected surface may have an associated normal vector that describes the vertical orientation of the surface with the normal vector corresponding to the upward orientation for the object. The projected surface may have an associated direction vector that describes the forward direction of travel for the vehicle. The projected surface may be curved, irregular, a non-uniform surface, or combinations thereof. For example, the projected surface may be an approximation of the underneath of a vehicle.

[0043] The term “supporting contact” means that a projected model is contacting a surface of the 3D scene information such that the roll and / or pitch orientation of the projected model may be allowed to change so as to achieve the contact between the projected model and the surface. In certain embodiments, “supporting contact” means that a projected model is contacting a surface of the 3D scene information in a stable resting position. The supporting contact may be achieved by progressively reducing an altitude of the projected model at a location in the surface of the 3D scene information and adjusting the pitch and / or roll until there is maximal, or substantially maximal, contact between the projected model and the 3D scene information. Supporting contact may be analogous to the real world contact an object achieves when allowed to find a stable resting position on a surface. As used herein, “contacting the surface” does allow for some flexibility in the contact being made. It does not have to be a perfect fit with the surface. For example, in certain embodiments, maximal contact may include situations where “contacting the surface” is within 0.5%, 1 %, 1.5%, 2%, 3%, 4%, 5% or 8% of what otherwise may be considered a maximal contact of the areas of the projected model contacting the surface. For example, in certain embodiments, substantially supporting contact may mean that the contacting the surface is within 5%, 10%, 15%, 20% of what otherwise may be considered a maximal contact of the areas of the projected model contacting the surface. It is also contemplated that maximal, or substantially maximal, contact includes examples where a portion, or a substantial portion, of the projected model is contacting the surface but there are areas of the model that may not be contacting the surface. In certain embodiments, smaller features or objects in the 3D scene information may be ignored for the purposes of placing the projected model. In certain embodiments, smaller features or objects in the 3D scene information may be ignored for the purposes of placing the projected model on the surface of the 3D scene information. In certain embodiments, rocks or debris below a certain size, grass or small bushes, may be ignored. Doing so may approximate the behaviour in the real world of a large vehicle driving over smaller objects. In certainembodiments, the 3D scene information may be filtered to remove objects of a certain size or with certain other characteristics, for example, size, shape, colour, and / or motion.

[0044] In certain embodiments, the 3D scene Information may include additional information regarding portions of the scene. Some portions of the 3D scene information may be classified as being immutable and others as being mutable or partially mutable. For example, a small shrub in the scene may be represented in the 3D scene information with surfaces that match its physical extent but it may be marked as mutable and may be ignored with respect to placing of the projected model onto the 3D scene information thus modelling a scenario in the real-world where a heavy vehicle may drive over certain objects impacting its movements, for example, a large truck driving over long grasses and shrubs. In certain embodiments, the classification of an object as mutable or immutable may be based on object size, object colour, object texture, or object type determined by an object recognition system such as a neural network or other Al system. In an example, an object may be classified as a 'shrub' which may be considered mutable object or a rock which may be considered an immutable object.

[0045] The term “operating limit” means a constraint on the operation of a vehicle. This may include one or more of the following: a limit on the forward heading and / or reverse heading grade of the route, a limit on the camber of the surface beyond which the vehicle may rollover, and a limit on the entry and / or exit grade of a depression.

[0046] The term “each” as used herein means that at least 95%, 96%, 97%, 98%, 99% or 100% of the items or functions referred to perform as indicated. Exemplary items or functions include, but are not limited to, one or more of the following: location(s), image pair(s), cell(s), pixel(s), object(s), vehicle(s), surface(s), plane(s), projected model(s), projected surface(s), route(s), pixel location(s), layer(s), element(s), point(s), neighbourhood(s), 3D neighbourhood(s), and 3D point(s).

[0047] The term “navigable route” or “clear route” means a route through a scene (e.g., a real-world scene) such that, for one or more target vehicles, the created route is navigable (or substantially navigable) and does not breach the operating characteristics of the target vehicle along said route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicle to traverse. It is to be understood that navigable includes, in certain embodiments, that some collisions and / or violation of the operatingcharacteristics of the target vehicles may be possible to tolerate. For example, small branches of a tree and / or rocks of a certain size may be tolerated. In addition, in certain embodiments, filtering techniques as to what constitutes a navigable route or clear route may or may not be used. Navigable route or clear route may not mean no obstructions and / or no violations of the operating characteristics of the target vehicles.

[0048] The term “substantially” as used herein means that at least 80%, 85%, 95%, 96%, 97%, 98%, or 99%, of the items or functions referred to. Exemplary items or functions may include, but are not limited to, one or more of the following: location(s), image pair(s), cell(s), pixels(s), pixel location(s), layer(s), element(s), point(s), neighbourhood(s), 3D neighbourhood(s), and 3D point(s).Certain Exemplary Advantages

[0049] In addition to other advantages disclosed herein, one or more of the following advantages may be present in certain exemplary embodiments:

[0050] An analysing vehicle may determine safe routes for the passage of a variety of other target vehicles that may differ in size, weight, geometry, operating characteristics such that these target vehicles may progress confidently and / or safely along a route. In certain embodiments, a single analysing vehicle may determine safe routes for the passage of a wide variety of target vehicles that may differ significantly in size, weight, geometry, operating characteristics such that these target vehicles may progress confidently and / or safely along a route.

[0051] An analysing vehicle moving through a terrain may determine in advance (without having to physically traverse) those routes that could impair the passage and / or the safety of the target vehicle, enabling the operators of that target vehicle to improve the speed, the safety and / or the traversal time of their target vehicle by selecting optimal routes. In an example, the operators may avoid roll-over events where the camber of the surface might be sufficient to tip a target vehicle. In another example, the operators may avoid a route where the superstructure of the target vehicle may collide with a bridge, a rock or a branch. In a further example, the operator of the target vehicle may pick a route through boulders and depressions such that the tyres or the tracks of the vehicle would follow a route that would not cause the target vehicle to collide with walls, trees and / or side obstacles as a consequence of the tyres or tracks riding up over boulders or ridges in theroute and thereby tipping the target vehicle sufficiently that it does not collide with such obstacles.

[0052] An analysing vehicle that is a marine vessel following a river, estuary, creek or beach may determine in advance whether the banks, beach, or edges, together with the nearby terrain, may sustain landing a specific target vehicle from a marine craft and moving inland up the bank and beyond without having to physically traverse that route. In doing so, an exemplary benefit may be that target vehicles are less likely to be bogged, stranded and / or damaged in attempting to transition from a marine craft to a terrain landing. Further, if these actions are being conducted under contested or military spheres and / or areas, the likelihood of safe transition from marine to terrain environment is significantly enhanced by avoiding being stranded, bogged and / or a route clogged, thereby minimising exposure time in potentially dangerous circumstances. In certain embodiments, the analysing vehicle and the one or more target vehicles may be the same and the Virtual INS may provide immediate indication to the drive a navigable path. In another embodiment, the analysing vehicle may be a different vehicle to the one or more target vehicles and may be of different types of vehicles or the same type of vehicle. In certain embodiments, the analysing vehicle and / or the one or more target vehicles may be a wheeled or tracked land vehicle. In certain embodiments, the analysing vehicle may be a marine vessel. In certain embodiments, the analysing vehicle may a drone.

[0053] In certain embodiments, the spatial sensing system may be associated with the analysing vehicle that is capable of moving through the scene. In some embodiments, the spatial sensing system may be affixed to the analysing vehicle. In some embodiments, the spatial sensing system may be contained within the analysing vehicle. In some embodiments, the spatial sensing system may be communicatively connected to the analysing vehicle.

[0054] In certain embodiments, the orientation measuring system may be associated with the analysing vehicle that is capable of moving through the scene. In some embodiments, the orientation measuring system may be affixed to the analysing vehicle. In some embodiments, the orientation measuring system may be contained within the analysing vehicle. In some embodiments, the orientation measuring system may be communicatively connected to the analysing vehicle.Overview

[0055] It may be necessary to determine in advance whether the external surface of the target vehicle may fit within physical constraints in the proposed forward route in the terrain - such as the width of an opening, the height of a bridge, the protrusion of tree branches or similar constraints.

[0056] It may also be necessary to determine in advance whether the operating constraints and / or characteristics of the target vehicle may be breached in the planned route - such as whether the grade of the terrain route is too steep, or whether the camber of the route would exceed rollover limits for the target vehicle.

[0057] It may be useful to determine in advance whether protrusions or obstructions in the planned route may intersect with the bottom of the target vehicle - such as rocks, potholes, and / or branches.

[0058] It may be useful to determine in advance whether the entry and / or exit angles of a ditch or depression exceed limits, such as exceeding known safe operating limits (e.g., the depth of a depression is at least 10, 20, 50, 100, or 200 cm deep, or the slope of exceeds 30, 45, 60, or 70 degrees), or whether the support structure (wheelbase or track structure) may straddle a depression successfully.

[0059] In certain embodiments, a Virtual Inertial Navigation System ("Virtual INS") may provide the feature of assessing a route and thus may assist in the scenarios identified herein. The virtual INS may be associated with, affixed to, and / or placed within an analysing vehicle and the virtual INS may project forward into the scene at various locations in the scene and at specified headings, a projected model associated with a target vehicle, such that the projection is placed with a supporting contact at that location for that heading. For example, the forward direction of the vehicle may be the direction determined by the angle of the steering wheels. In another example, the forward direction may be a direction that follows the direction of the road and / or track determined by an autonomous driving system and / or based a map. The virtual INS then determines, for that location and that target vehicle and that heading, the resulting normal vector and direction vector for the projected model. The virtual INS then determines, for that location and that target vehicle and that heading, the resulting normal vector and direction vector for the projected model with the supporting contact. The virtual INS then may, for the operatinglimits or the target vehicle and the projected model, determine whether one or more of those operating limits were breached at that location for that target vehicle at that heading. For example, an effect of this system (and / or its methods) is to produce an output of an INS sensor as if the INS sensor was located within a specified target vehicle that was at that location and at that heading in the scene, without having the vehicle actually go to that location and / or that heading. Further, the output from the virtual INS may be extended to determine whether the specified target vehicle would collide with or be obstructed by other objects in the scene if it was placed at that location and at that heading. By varying locations, and performing this method in a sequence, the method may enable the creation of a route through the scene such that, for selected target vehicles, the created route is navigable (or substantially navigable) and does not breach the operating characteristics of the target vehicle along said route, thereby creating a clear (or substantially clear) operating route for the target vehicle to traverse.Exemplary Illustrative Scene and Corresponding 3D scene information

[0060] FIG. 1A shows at 100, a portion of real world, a road 110 and trees 120 and an analysing vehicle 130. A spatial sensing system 140 observes a scene and may output 3D scene information, for example as a point cloud or depth map. The analysing vehicle 130 may have a known location and attitude illustrated by the axis 150 and determined by a GNSS, INS or other such location or orientation measuring systems or instruments. There may be a route 160 forward through the scene that the analysing vehicle may plan to drive along to navigate through part of the scene. Also in FIG 1 B at 101 is a representation of the same portion of the real-world 100 including 3D scene information 170 such as might be output by the spatial sensing system 140. With reference to the 3D scene information 170, the location of the analysing vehicle is illustrated by the axis 150 as well as the route 160. A projected model 180 (e.g., of the analysing vehicle 130 or a target vehicle) is shown lying on the surface of the 3D scene information 170.Virtual INS

[0061] In FIG. 2, components that may form a Virtual INS 200 are shown. A spatial sensing system 210 may observe the real-world scene as at 100 and produce a 3D representation of the real-world as 3D scene information such as 170. The spatial sensing system may use LiDAR or radar technology or use camera technology to determine 3D scene information. The spatial sensing system may output the 3D scene information as a pointcloud or as a depth map or some other surface representation such as a surface mesh of node points.

[0062] A location system 220 provides information to locate an analysing vehicle 130 and / or to locate the spatial sensing system 210 and / or to locate the orientation measuring system 240 in the real-world scene and may also be used to receive and / or process the data output from the spatial sensing system in the real-world so that data in the 3D scene information may be related to actual positions in the real world and vice versa. The location system 220 may be a global navigation satellite system (GNSS) that may provide latitude, longitude and / or altitude of an object (e.g., analysing vehicle 130) thus providing a position of an object (such as a vehicle) on the earth. The location system 220 may use other technologies including estimating a global position using an INS sensor or IMU sensor or navigation by the stars or other methods that enable a vehicle to be located in the real world.

[0063] An orientation measuring system 240 (e.g., inertial navigation system (INS)) provides information to orientate the analysing vehicle 130 in the real-world scene and may also be used to orientate the data from the spatial sensing system 210 in the real world so that data in the 3D scene information may be related to actual positions in the real-world and vice versa. The orientation measuring system 240 may comprise an INS sensor (not shown) and may be associated with the analysing vehicle 130 (for example, a land vehicle, boat, drone or plane). For example, the orientation measuring system (e.g., INS sensor) may be mounted on and / or built into and / or connected to and / or be in communication with the analysing vehicle 130. The orientation measuring system 240 may comprise one or more of the following components: an inertial motion sensor, an accelerometer, a magnetometer, a gyroscope, a processor, odometer, a wheel motion sensor, location system, or combination thereof. An INS sensor may provide pose information regarding the object within which it is located. The INS sensor and the location system 220 may be separately housed components or they may be combined into a single physical unit. In certain embodiments, the orientation measuring system 240 and the spatial sensing system 210 may be combined into a single physical unit. In certain embodiments, the orientation measuring system 240 and the spatial sensing system 210 and the location system 220 may be combined into a single physical unit. In certain embodiments, the orientation measuring system 240 and the spatial sensing system 210 may be separate physical units. In certain embodiments, the separate orientationmeasuring system 240 and the spatial sensing system 210 may be rigidly coupled or may be mounted on or fixed to the analysing vehicle 130 such that they are rigidly coupled. In an embodiment, the orientation measuring system 240 is associated with the analysing vehicle 130, may be affixed to or contained within the analysing vehicle 130. in an exemplary embodiment, the orientation measuring system 20 may be an Advanced Navigation Certus Evo.

[0064] A computer system 230 (e.g., a processor) performs data processing and may have interfaces to connect to the other components in the virtual INS 200. The computer system may receive data from the spatial sensing system 210, the location system 220 and the orientation measuring system 240 as well as camera sensors 270 and user controls 250. The computer system 230 may in turn generate outputs that may be used to drive a display 280 to show alerts or other information to a user that may aid the user’s operation of the vehicle. The computer system 230 may also generate outputs directed to a vehicle controls 260 component that may then control the vehicle enabling the vehicle to navigate over terrain based at least in part on the information determined by the virtual INS 200. Camera sensors 270 may, for example, be the Lucid TRI028S-CC (RGB), the Lucid Triton (SWIR), or the XENXEN-000786 Ceres 640 (LWIR).Exemplary Process Flow

[0065] An exemplary process flow 300 is shown in FIG. 3. The process flow may be performed by a data processing element such as the computer system 230 in FIG. 2. Starting from 310 the first step receives spatial sensing system data 320 i.e., receives 3D scene information from a spatial sensing system 210. In certain embodiments, the 3D scene information may be stored internally (e.g., in a storage associated with the computer system 230, in a local storage location). In some embodiments, the 3D scene information may be stored in a remote storage location and accessed by the computer system 230). In certain embodiments, the spatial sensing system 210 is configured to move through the scene and determine the 3D scene information representative of the scene.

[0066] Moving to the receive location data 330 step, the computer system 230 may receive location data from a location system 220 (e.g., a geolocation system) and also information about the orientation from an orientation measuring system 240 (i.e., pose information). The orientation measuring system 240 may be configured to determine pose information(location and orientation data) of a field of view of the spatial sensing system 210. The computer system 230 may then store the location data internally and may store the orientation data internally. In some embodiments, the location data and / or the orientation data (i.e., pose information) may be stored remotely. The location data and / or the orientation data may be used to assist in determining the location of the 3D scene Information such that one or more points within the 3D scene information may be located.

[0067] At step choose a route 340, one or more route(s) through the scene may be selected. In certain embodiments, a route may be selected by the computer system 230 using 3D scene information from step 320 and location data from step 330 and considering a target destination or a target direction of travel the computer system 230 may calculate one or more route(s) through the scene. In certain embodiments, the route may be calculate using a local path-planning algorithm such as the Rapidly-Exploring Random Trees (RRT) algorithm.

[0068] In certain embodiments, the route may be a route selected or input by a user, for example by a user interacting with the system with user controls 250 and the display 280.

[0069] In certain embodiments, multiple routes may be displayed for the user on display 580 and the user may be able to select a preferred route.

[0070] In certain embodiments, multiple routes may be calculated and evaluated in the further steps of the process flow so that different routes may be compared using particular criteria. For example, the criteria might be to avoid excessive slope or pitch, to minimise angle of lateral lean or roll, to avoid potholes, or to avoid rocks or to avoid other obstructions.

[0071] In certain embodiments, the route may be a single point in the scene thus being effectively a point of interest to be examined by the virtual INS 200.

[0072] At step determine virtual INS information on the route 350, virtual INS information is generated and may include the roll and / or pitch of the projected model thus providing an estimation of the roll and / or pitch that an actual vehicle might experience. The virtual INS information may be determined using the 3D scene information received at step 320 and may also use the location information received at step 330, and may also use the INSinformation received at step 330. The virtual INS information may be determined using a projected model that is chosen to represent a particular target vehicle or a class of target vehicles. The projection of the projected model and the determination of the orientation of the plan to provide virtual INS information is described elsewhere herein. Virtual INS information for a point on the route may be determined by placing the projected model at the point along a route and adjusting its orientation such that it is in supporting contact with the 3D scene information. The roll and / or pitch of the projected model may then be calculated from the normal vector of the projected model (described in more detail with reference to FIG. 4). In certain embodiments, the computer system 230 that is communicatively connected to the spatial sensing system 210 and the orientation measuring system 240, may be configured to receive at least one projected model representative of one or more target vehicles for which navigability of route(s) is to be determined, determine a pose for the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene and determine if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose. In certain embodiments, the computer system 230 is configured to determine a pose for the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene and determine if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose and location information of the spatial sensing system 210. In some embodiments, the computer system 230 is further configured to repeat the steps of determining a pose of the at least one projected model located at a point in the 3D scene information 170 corresponding to a point in the scene where the projected model has supporting contact at the point of the 3D scene information 170 on the surface and determining if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose in order to calculate a pose for a sequence of points that comprise a created route and transfer the created route to a processor, wherein the created route is navigable (or substantially navigable) and does not breach one or more operating characteristics of the one or more target vehicle along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.

[0073] In some embodiments, the system 200 calculates a pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles. In some embodiments,the system 200 calculates a pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles or a processing center other than the at least 1 , 5, or 10 target vehicles, or combinations thereof. In some embodiments, at least 1 , 2, 3, 4, 5, 10, 100, or 1000 routes are considered and designated as either clear routes or not. In some embodiments, the projected model is determined for at least 1 , 2, 3, 4, 5, 10, 20, 100, or 1000 of the one or more target vehicles. In some embodiments, the system 200 determines whether or not a collision occurs at one or more points along the route, designating a route that is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the tone or more target vehicles to traverse.

[0074] At step determine if the route is navigable 360 the virtual INS information may be used to assess if the route is navigable at a point on the route. In certain embodiments, the system 200 may assess if the route is navigable at many points along the route or even continuously along the route, thus determining that the route is navigable for some portion of the route. Navigability of the route at a selected point may be determined considering the orientation of the projected model, for example, the orientation along the line of the route being the pitch that the target vehicle needed to navigate, or for example, the orientation perpendicular to the route being the roll that the target vehicle needed to navigate. A target vehicle may have known operating characteristics such as thresholds for the angle of pitch, upward sloping or downward sloping that it may safely navigate and may have known limits for the angle of roll that it may safely navigate. In certain embodiments, the operating characteristics may include turning radius, traction, engine torque or combinations thereof. The target vehicle may have a threshold maximum angle of roll of 5 or less, 10 or less, 20 or less, 30 or less, 40 or less, 45 or less, 50 or less, or 60 degrees or less. In certain embodiments, the target vehicle may have a threshold maximum angle of roll of 5 or less, 10 or less, or 20 or less. In certain embodiments, the target vehicle may have a threshold maximum angle of roll of 2 or less, 5 or less, or 10 or less. The target vehicle may have a threshold maximum upward angle of pitch of 10 or less, 20 or less, 30 or less, 40 or less, 45 or less, 50 or less, or 60 degrees or less. In certain embodiments, the target vehicle may have a threshold maximum upward angle of pitch of 10 or less, 20 or less, or 30 or less. The target vehicle may have a threshold maximum downward angle of pitch of 10 or less, 20 or less, 30 or less, 40 or less, 45 or less, 50 or less, 60 or less, 70 or less, or 80 degrees or less. In certain embodiments, thetarget vehicle may have a threshold maximum downward angle of pitch of 10 or less, 20 or less, or 30 or less. The data describing the operating characteristics for a target vehicle may be associated with the projected model of the target vehicle.

[0075] In some embodiments, an operator or user draws potential routes through the 3D scene 170 and selects at least 1 , 2, 3, 4, 5, 10, 20, or 100 projected route for the one or more target vehicles to traverse the route and determines if the selected routes are navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse. In some embodiments, the operators may select at least 1 , 2, 3, 4, 5, or 10 of the one or more target vehicles and the system is configured to calculate routes through the scene ahead for the selected one or more target vehicles such that the selected routes have substantially no collisions and substantially no breaches of operating characteristics.

[0076] In certain embodiments, the virtual INS 200 may alert the user if the virtual INS information indicates that operating characteristics may be exceeded. In certain embodiments, the virtual INS 200 may signal than an alternative route needs to be selected.

[0077] In certain embodiments, the virtual INS 200 may transmit route information to another location so that route planning may be coordinated at a central point such as a command centre. The route information may be data describing the clear route for the target vehicle. Route information may include a set of georeferenced points describing the path of the route and may include virtual INS information for a target vehicle for points on the route. Such planning of a central plan may allow for the mapping out of clear routes for a number of different types and sizes of target vehicles. For example, at a mining or construction site where a variety of types and sizes of target vehicles may be used, the central plan may then generate clear route maps for the different types of target vehicles.

[0078] At step activate vehicle controls to avoid non navigable route 370, the computer system 230 may be configured to select from a number of routes, one route (or at least one route) that is navigable according to step 360 and may then direct the vehicle 130 to follow the selected route by activating the vehicle controls 260 as needed. In an example, the vehicle may through an autonomous or semi-autonomous driving system control the steering, braking and acceleration of the vehicle. Following step activate vehicle controlsto avoid non navigable route 370 the process may terminate at 390. In an example, the steering, accelerator and / or braking of the vehicle may be operated, as needed, to follow the navigable route.Projected Model

[0079] FIG. 4A, 4B illustrate the placing of a projected model 181 onto the 3D scene information 170 with supporting contact and thus determining an orientation. Relative to the location and attitude of the target vehicle 130 shown at 150 the route forward 160 is traced to lie on the 3D scene information. To determine the virtual INS at a point along the route 160 a projected model 181 is oriented along the route and approximately parallel to the plane of the 3D scene information at point 410. The projected model 181 is then positioned as shown at 180 in Fig. 4B on to the 3D scene information 170 with its orientation, represented by the axis 155, adjusted such that portions of the surface of the projected model intersect with portions of the surface of the 3D scene information achieving a supporting contact. The axis 155 has a vertical component 421 that is the normal vector for the projected model and a forward pointing component 422 that is the direction vector for the projected model. The adjustment is made such that the orientation of the projected model along the route, that is the prospective direction of travel, is substantially maintained while otherwise allowing the projected model to rest upon the surface of the 3D scene information thus approximating the positioning and orientation that would be achieved in the real world for the target vehicle at the corresponding point in the real-world scene.

[0080] In certain embodiments, to determine the virtual INS at a point along the route 160, a projected model 181 is positioned at point 410 along the route and oriented approximately parallel to the plane of the 3D scene information at point 410 and additionally so that its forward direction points along the route 160 at the point 410. Secondly the projected model 181 is then moved as shown at 180 in Fig. 4B so as to make supporting contact with the 3D scene information 170 while allowing the orientation of the projected model, represented by the axis 155, to change or be adjusted about its Y and Z orientations such that portions of the surface of the projected model contact portions of the surface of the 3D scene information achieving a supporting contact. The axis 155 has a vertical component 421 that is the normal vector for the projected model and a forward pointing component 422 that is the direction vector for the projected model. The adjustment is made such that the orientation of the projected model along the route, that is theprospective direction of travel, is substantially maintained while otherwise allowing the projected model to rest upon the surface of the 3D scene information thus approximating the positioning and orientation that would be achieved in the real world for the target vehicle at the corresponding point in the real-world scene.

[0081] In certain embodiments, supporting contact may be determined by progressively reducing in altitude the projected model at the projected location d (shown by 180 on 170 in Fig. 4B) until there is supporting contact between the projected model (or projected surface or projected plane) and the 3D scene information. In certain embodiments, the supporting contact is a substantially maximal contact between the projected model and the 3D scene information. In certain embodiments, supporting contact is sufficient contact between the projected model and the 3D scene information such that the projected model is stably supported by contact points between the projected model and the 3D surface information (3D scene information). In certain embodiments, the supporting contact may be determined using modelling that may in addition to the projected model and the 3D scene information may include one of more of the following: vehicle weight, distribution of weight over the vehicle, vehicle dynamics (such as speed of vehicle, inertia of vehicle, suspension characteristics of the vehicle), terrain characteristics (such as the capacity of the ground to support a vehicle) and other factors that would impact the operation of the target vehicle in the scene. In some embodiments, the projected model has supporting contact at a point on a surface of the 3D scene information 170. In some embodiments, one or more points of the projected model are not in contact with the surface of the 3D scene information 170. In some embodiments, some parts of the projected model may be in contact with the surface while some points of the projected model may not be in contact with the surface.

[0082] With the supporting contact of the projected model 180 determined, the orientation 155 of the projected model may be known. The orientation of the normal vector 422 may give the pitch and roll of the projected model and indicates the pitch and roll that might be experienced by a target vehicle navigating the route in the real world.

[0083] In certain embodiments, smaller features or objects in the 3D scene information may be ignored for the purposes of placing the projected model. In certain embodiments, rocks or debris below a certain size, grass or small bushes, may be ignored. Doing so may approximate the behaviour in the real world of a large vehicle driving over smaller objects.In certain embodiments, the 3D scene information may be filtered to remove objects of a certain size or with certain other characteristics, for example, size, shape, colour, and / or motion. In some embodiments, the computer system 230 determines whether the at least one projected model of the one or more target vehicles intersects with other objects in the scene at a point in the scene.

[0084] In certain embodiments, the 3D scene Information may include additional information regarding portions of the scene, it may classify some portions of the 3D scene information as being immutable and others as being mutable or partially mutable. For example, a small shrub in the scene may be represented in the 3D scene information with surfaces that match its physical extent but it may be marked as mutable and may be ignored with respect to placing of the projected model onto the 3D scene information thus modelling a scenario in the real-world where a heavy vehicle may drive over certain objects impacting its movements, for example, a large truck driving over long grasses and shrubs.Exemplary Display

[0085] FIG. 6 illustrates how the display 280 may be used to alert the vehicle operator where the virtual INS 200 determines that a route may not be navigable. The display 280 shows a representation of the real world 610 which may be an image from one of the camera sensors 270 or may be a visualisation of the 3D spatial information from the spatial sensing system 210. The route for the vehicle is shown on the display at 620, giving the vehicle operator an understanding of the route in the context of the real world. At 630 a warning (such as a triangular warning icon) and a message is displayed. The warning message may describe the reason for the warning. The icon and / or the message may indicate the severity of the warning. In certain embodiments, the vehicle operator may select or adjust the route using controls at 640 and 650.

[0086] FIG. 7A, 7B illustrate further how the display 280 may be used to alert the vehicle operator where the virtual INS 200 determines that a route may not be navigable or where an alternative route may be considered. At 710 the virtual INS 200 shows on display 280 a warning message that vehicle clearance is less than 50 cm. In this example, the virtual INS 200 anticipates orientation of the vehicle along the route and has considered the spatial extent of the vehicle when at that orientation and considered the 3D scene information to determine that the vehicle is expected to exceed the safe clearance limits if it travelled along the route. At 715 a representation of the spatial extent of the target vehicleis shown on the display as a dashed rectangle. At 725 a representation of the spatial extent of the target vehicle is shown on the display as a dashed cuboid. At 720 the virtual INS 200 shows on display 280 two routes, one illustrated with a long dash and one illustrated with a short dash. Thus, the vehicle operator may select which route is preferred while reviewing warnings regarding the navigability of each route.Projected model Variations

[0087] Referring to FIGS. 8A to 8D, variations on the size and form of the projected model are described. In FIG. 8A, at 800 a 2D representation of a cross-section of the surface of 3D scene information 170 is shown and a representation of a projected model is shown at 804 resting across a dip in the surface 170. In FIG. 8B at 810 a similar representation is shown and, in this case, the projected model 814 falls into the dip in the surface 170. These exemplary illustrations show how the size of the projected model may be used to model different sized actual target vehicles and their ability to navigate over features in the scene. In certain embodiments, the projected model may be a projected surface and may model the bottom surface of a target vehicle. In certain embodiments, the projected model may be a geometric surface and may model both the bottom surface and one or more other structures (e.g., sides, top etc.) of the target vehicle.

[0088] As an example, in FIG. 8C at 820 the projected model is adapted to be a cuboid 824. Having three-dimensional extent, the projected model be used to predict if a vehicle would contact objects or obstacles if the vehicle was to follow the selected route. At step 360 in addition to testing for the pitch and roll the system 200 may check that the projected model, in this example a cuboid, does not intersect with other elements in the 3D scene information that might represent some other obstacle in the scene for example, a rock, a wall, a tree, another vehicle, a post or other types of objects that might be encountered. If the cuboid 824 intersects with some object represented in the 3D scene information, this indicates that the vehicle may not be able to travel the selected route without contacting the obstacle. In this case, the system 200 may show a warning or alert on the display 280 or the computer system 230 may select an alternative route for the vehicle to follow. In certain embodiments, the projected model may be a more complex three-dimensional shape, for example, in FIG. 8D at 830 a complex shape 834 is shown that approximates the form of a four wheeled vehicle by using four small cuboids being proxies for wheels being under the four corners of a larger cuboid being proxies for the body of the vehicle.

[0089] Alternatively, the projected model may be a three-dimensional model of a target vehicle, for example, represented by a set of 3D points that describe as surface model for the target vehicle or by a set of geometric shapes. The three-dimensional projected model of a target vehicle may be selected to match, or approximately match, the physical extent of the target vehicle. In this way, the virtual INS may anticipate how the target vehicle would be positioned along the prospective route and how it would fit considering one or more obstacles along the prospective route. The projected model and the 3D scene information may be evaluated for their volume intersection. The projected model may be a three-dimensional model including modelling of dynamic features such articulated elements, for example, a vehicle including a trailer, and may model the behaviour of these articulated elements as if the real vehicle was navigating the prospective route.Computer Systems

[0090] This disclosure contemplates a suitable number of computer systems. As example, and not by way of limitation, computer system 230 may be an embedded computer system, a system-on- chip (SOC), a single-board computer system (SBC) (such as, for example, a computer-on-module (COM) or system-on- module (SOM)), a desktop computer system, a laptop or notebook computer system, a main-frame, a mesh of computer systems, a personal digital assistant (PDA), a server, a tablet computer system, an augmented / virtual reality device, or a combination of thereof. Where appropriate, computer system 230 may include one or more computer systems; be unitary or distributed; span multiple locations; span multiple machines; span multiple data centres; or reside in a cloud, which may include one or more cloud components in one or more networks. Where appropriate, one or more computer systems 230 may perform without substantial spatial or temporal limitation one or more steps of one or more methods described or illustrated herein. As an example, and not by way of limitation, one or more computer systems 230 may perform in real time or in batch mode one or more steps of one or more methods disclosed herein.

[0091] FIG. 5 further shows a possible computer system 230 that may include a processor unit 560, memory unit 570, data storage 590, and an external communication unit 580.

[0092] The processor unit 560 may include hardware for executing instructions, such as those making up a computer program. As an example, and not by way of limitation,to execute instructions, processor unit 560 may retrieve the instructions from an internal register, an internal cache, memory unit 570, or data storage 590; decode and execute them; and then write one or more results to an internal register, an internal cache (not shown), memory unit 570, or data storage 590. The processor unit 560 may include one or more internal caches for data, instructions, or addresses. This disclosure contemplates processor units 560 including a suitable number of suitable internal caches, where appropriate. The processor unit 560 may include one or more instruction caches, one or more data caches, and one or more translation lookaside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in memory unit 570 or data storage 590, and the instruction caches may speed up retrieval of those instructions by processor unit 560.

[0093] The memory 570 may include main memory for storing instructions for processor to execute or data for processor to operate on. The computer system 230 may load instructions from data storage 590 or another source (such as, for example, another computer system) to memory unit 570. The processor unit 560 may then load the instructions from memory unit 570 to an internal register or internal cache. To execute the instructions, the processor unit 560 may retrieve the instructions from the internal register or internal cache and decode them. During or after execution of the instructions, the processor unit 560 may write one or more results (which may be intermediate or final results) to the internal register or internal cache. The processor unit 560 may then write one or more of those results to the memory unit 570. The processor unit 560 may execute only instructions in one or more internal registers or internal caches or in the memory unit 570 (as opposed to data storage 590 or elsewhere) and operates only on data in one or more internal registers or internal caches or in memory unit 570 (as opposed to data storage 590 or elsewhere). One or more memory buses may couple processor unit (560) to memory unit 570. The bus (not shown) may include one or more memory buses. The memory unit 570 may include random access memory (RAM). This RAM may be volatile memory. Where appropriate, this RAM may be dynamic RAM (DRAM) or static RAM (SRAM). Moreover, where appropriate, this RAM may be single-ported or multi-ported RAM. Memory unit 570 may include one or more memories, where appropriate.

[0094] The data storage 590 may include mass storage for data or instructions. The data storage 590 may include a hard disk drive (HDD), flash memory, an optical disc,a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination therein. Data storage 590 may include removable or non-removable (or fixed) media, where appropriate. Data storage 590 may be internal or external to computer system, where appropriate. Data storage may include read-only memory (ROM). Where appropriate, this ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory or a combination thereof.

[0095] In certain embodiments, I / O interface (not shown) may include hardware, software, or both, providing one or more interfaces for communication between computer system and one or more I / O devices. Computer system may include one or more of these I / O devices, where appropriate. One or more of these I / O devices may enable communication between a person and computer system. An I / O device may include a keyboard, keypad, microphone, monitor, mouse, printer, scanner, speaker, still camera, stylus, tablet, touch screen, trackball, video camera, another suitable I / O device or a combination thereof. An I / O device may include one or more sensors. This disclosure contemplates any suitable I / O devices and any suitable I / O interfaces for them. Where appropriate, I / O interface may include one or more device or software drivers enabling the processor unit (560) to drive one or more of these I / O devices. I / O interface may include one or more I / O interfaces, where appropriate.

[0096] Further advantages and / or features of the claimed subject matter will become apparent from the following examples describing certain embodiments of the claimed subject matter.1 . A system comprising: a spatial sensing system that is associated with an analysing vehicle and is configured to determine 3D scene information representative of a scene; an INS sensor that is associated with the analysing vehicle, to determine pose information of a field of view of the spatial sensing system; at least one projected model representative of the one or more target vehicles; a computer system associated with the analysing vehicle that is configured to:(a) receive at least one projected model representative of the one or more target vehicles;(b) determine the pose of a selected projected model located at a point in the 3D scene information corresponding to a point in scene; and(c) use the pose to determine if the point is navigable by the one or more target vehicles represented by the selected projected model. . A system comprising: a spatial sensing system that is associated with an analysing vehicle and is configured to determine 3D scene information representative of a scene; an INS sensor that is associated with the analysing vehicle, to determine location information of the spatial sensing system and determine pose information of a field of view of the spatial sensing system; at least one projected model representative of the one or more target vehicles; a computer system associated with the analysing vehicle that is configured to:(a) receive at least one projected model representative of the one or more target vehicles;(b) determine the pose of a selected projected model located at a point in the 3D scene information corresponding to a point in scene where the project model has supporting contact at the point on the surface of 3D scene information;(c) use the pose to determine if the point is navigable by the one or more target vehicles represented by the selected projected model;(d) repeating the (b) and (c) steps in order to calculate the pose for a sequence of points that comprise a created route; and(e) transferring the created route to a processor; wherein the created route is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicle along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse. . The system of examples 1 or 2, wherein the analysing vehicle and the one or more target vehicles are the same. . The system of examples 1 or 2, wherein the analysing vehicle and the one or more target vehicles are different. . The system of any of examples 1 to 4, wherein the supporting contact for at least a portion of the contacting points has a maximal contact that is within 0.5%, 1%, 1.5%, 2%, 3%, 4%, 5% or 8% of the maximal contact of the areas of the projected model contacting the surface.The system of any of examples 1 to 5, wherein one or more points of the modelled contacting the surface are not in contact with projected model contacting the surface. The system of any of examples 1 to 6, wherein the system asserts the pose of a projected model to a filtered patch, where the filtering function is selected by the system. The system of any of examples 1 to 7, wherein projected model of the system asserts the pose of a projected surface at a point in the scene. The system of any of examples 1 to 8, wherein projected model of the system asserts the pose of a projected geometry at a point in the scene. The system of any of examples 1 to 9, wherein the system determines whether the projected geometry intersects with other objects in the scene at a point in the scene. The system of any of examples 1 to 10, wherein the system calculates the pose for a sequence of points in the scene that comprise a route. The system of any of examples 1 to 11 , wherein the system calculates the pose for a sequence of points in the scene that comprise a clear route. The system of any of examples 1 to 12, wherein the system calculates the pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles. The system of any of examples 1 to 13, wherein the system calculates the pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles or a processing center other than the at least 1 , 5, or 10 target vehicles, or combinations thereof. The system of any of examples 1 to 14, wherein the system determines whether or not a collision occurs at one or more points along the route, designating a route that is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse. The system of any of examples 1 to 15, wherein at least 1 , 2, 3, 4, 5, 10, 100, or 1000 routes are considered and designated as either clear routes or not. The system of any of examples 1 to 16, wherein the projected model, the projected surface and the projected geometry are determined for at least 1 , 2, 3, 4, 5, 10, 20, 100, or 1000 of the one or more target vehicles.The system of any of examples 1 to 17, wherein the analysing vehicle is a wheeled or tracked land vehicle. The system of any of examples 1 to 18, wherein the analysing vehicle is a marine vessel. The system of any of examples 1 to 19, wherein the one or more target vehicles are wheeled or tracked land vehicles. The system of any of examples 1 to 20, wherein the operator draws potential routes through the 3D scene and selects at least 1 , 2, 3, 4, 5, 10, 20, or 100 projected route for the one or more target vehicles to traverse the route and determines if the selected routes are navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse. The system of any of examples 1 to 21 , wherein the operators select at least 1 , 2, 3, 4, 5, or 10 of the one or more target vehicles and the system is configured to calculate routes through the scene ahead for the selected one or more target vehicles such that the selected routes have substantially no collisions and substantially no breaches of operating characteristics. The system of any of examples 1 to 22, wherein the spatial sensing system that is associated with the analysing vehicle is affixed to or contained within the analysing vehicle. The system of any of examples 1 to 23, wherein the INS sensor that is associated with the analysing vehicle is affixed to or contained within the analysing vehicle. A method of generating an operating route that is navigable for one or more target vehicles comprising: determining 3D scene information about a scene using a spatial sensing system that is associated with an analysing vehicle; using an INS sensor, that is associated with the analysing vehicle, to determine location information of the spatial sensing system and determine pose information of a field of view of the spatial sensing system; providing at least one projected model representative of the one or more target vehicles to a computer system associated with the analysing vehicle; determining the pose of a selected projected model located at a point in the 3D scene information corresponding to a point in scene where the projected model has supporting contact at the point on the surface of 3D scene information and using thecomputer system associated with the analysing vehicle that is configured to process the 3D scene information, location information and pose information; using the pose to determine if the point is navigable by the one or more target vehicles represented by the selected projected model; repeating the above steps in order to calculate the pose for a sequence of points that comprise a created route; and transferring the created route to a processor; wherein the created route is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicle along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse. The method of example 25, wherein the analysing vehicle and the one or more target vehicles are the same. The method of example 25, wherein the analysing vehicle and the one or more target vehicles are different. The method of any of examples 25 to 27, wherein the supporting contact for at least a portion of the contacting points has a maximal contact that is within 0.5%, 1 %, 1.5%, 2%, 3%, 4%, 5% or 8% of the maximal contact of the areas of the modelling contacting the surface. The method of any of examples 25 to 28, wherein one or more points of the modelled contacting the surface are not in contact with modelled contacting the surface. The method of any of examples 25 to 29, wherein the method asserts the pose of a projected model to a filtered patch, where the filtering function is selected by the method. The method of any of examples 25 to 30, wherein projected model of the method asserts the pose of a projected surface at a point in the scene. The method of any of examples 25 to 31 , wherein projected model of the method asserts the pose of a projected geometry at a point in the scene. The method of any of examples 25 to 32, wherein the method determines whether the projected geometry intersects with other objects in the scene at a point in the scene. The method of any of examples 25 to 33, wherein the method calculates the pose for a sequence of points in the scene that comprise a route. The method of any of examples 25 to 34, wherein the method calculates the pose for a sequence of points in the scene that comprise a clear route.The method of any of examples 25 to 35, wherein the method calculates the pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configures to provide that clear rout the at least 1 , 5, or 10 target vehicles. The method of any of examples 25 to 36, wherein the method calculates the pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configures to provide that clear rout the at least 1 , 5, or 10 target vehicles or a processing center other than the at least 1 , 5, or 10 target vehicles, or combinations thereof. The method of any of examples 25 to 37, wherein the method determines whether or not a collision occurs at one or more points along the route, designating a route that is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the tone or more target vehicles to traverse. The method of any of examples 25 to 38, wherein at least 1 , 2, 3, 4, 5, 10, 100, or 1000 routes are considered and designated as either clear routes or not. The method of any of examples 25 to 39, wherein the projected model, the projected surface and the projected geometry are determined for at least 1 , 2, 3, 4, 5, 10, 20, 100, or 1000 of the one or more target vehicles. The method of any of examples 25 to 40, wherein the analysing vehicle is a wheeled or tracked land vehicle. The method of any of examples 25 to 41 , wherein the analysing vehicle is a marine vessel. The method of any of examples 25 to 42, wherein the one or more target vehicles are wheeled or tracked land vehicles. The method of any of examples 25 to 43, wherein the operator draws potential routes through the 3D scene and selects at least 1 , 2, 3, 4, 5, 10, 20, or 100 projected route for the one or more target vehicles to traverse the route and determines if the selected routes are navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the tone or more target vehicles to traverse. The method of any of examples 25 to 44, wherein the operators select at least 1 , 2, 3, 4, 5, or 10 of the one or more target vehicles and the method is configured tocalculate routes through the scene ahead for the selected one or more target vehicles such that the selected routes have substantially no collisions and substantially no breaches of operating characteristics. The method of any of examples 25 to 45, wherein the spatial sensing system that is associated with the analysing vehicle is affixed to or contained within the analysing vehicle. The method of any of examples 25 to 46, wherein the INS sensor that is associated with the analysing vehicle is affixed to or contained within the analysing vehicle. One or more computer-readable non-transitory storage media embodying software that is operable when executed using any of the systems or methods in examples 1 to 47. A system comprising: a spatial sensing system configured to move through a scene and determine 3D scene information representative of the scene; an orientation measuring system configured to determine pose information of a field of view of the spatial sensing system; and a computer system communicatively connected to the spatial sensing system and the orientation measuring system and configured to:(a) receive at least one projected model representative of one or more target vehicles;(b) determine a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and(c) determine if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose. The system of example 49, wherein the orientation measuring system is further configured to determine location information of the spatial sensing system. The system of example 49 or 50, wherein the projected model has supporting contact at a point on a surface of 3D scene information. The system of any one of examples 49 to 51 , wherein the computer system is further configured to repeat the steps (b) and (c) in order to calculate a pose for a sequence of points that comprise a created route and transfer the created route to a processor, wherein the created route is navigable (or substantially navigable) and does not breach one or more operating characteristics of the one or more target vehicle along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.The system of any one of examples 49 to 52, wherein the spatial sensing system is associated with an analysing vehicle that is capable of moving through the scene. The system of example 53, wherein the analysing vehicle and the one or more target vehicles are the same. The system of example 53, wherein the analysing vehicle and the one or more target vehicles are different. The system of any one of examples 51 to 55, wherein the supporting contact for at least a portion of the contacting points has a maximal contact that is within 0.5%, 1%, 1 .5%, 2%, 3%, 4%, 5% or 8% of the maximal contact of the areas of the projected model contacting the surface. The system of any one of examples 51 to 58, wherein one or more points of the projected model contacting the surface are not in contact with projected model contacting the surface. The system of any one of examples 49 to 57, wherein the system determines whether a projected geometry intersects with other objects in the scene at a point in the scene. The system of any one of examples 49 to 58, wherein the system calculates a pose for a sequence of points in the scene that comprise a route. The system of any one of examples 49 to 59, wherein the system calculates a pose for a sequence of points in the scene that comprise a clear route. The system of any one of examples 49 to 60, wherein the system calculates a pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles. The system of any one of examples 49 to 61 , wherein the system calculates a pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles or a processing center other than the at least 1 , 5, or 10 target vehicles, or combinations thereof. The system of any one of examples 49 to 62, wherein the system determines whether or not a collision occurs at one or more points along the route, designating a route that is navigable (or substantially navigable) and does not breach the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the tone or more target vehicles to traverse.The system of any one of examples 49 to 63, wherein at least 1 , 2, 3, 4, 5, 10, 100, or 1000 routes are considered and designated as either clear routes or not. The system of any one of examples 49 to 64, wherein the projected model is determined for at least 1 , 2, 3, 4, 5, 10, 20, 100, or 1000 of the one or more target vehicles. The system of any one of examples 53 to 65, wherein the analysing vehicle is one of: a wheeled land vehicle, a tracked land vehicle, a marine vessel. The system of any one of examples 49 to 66, wherein the one or more target vehicles are wheeled or tracked land vehicles. The system of any one of examples 49 to 67, wherein an operator draws potential routes through the 3D scene and selects at least 1 , 2, 3, 4, 5, 10, 20, or 100 projected route for the one or more target vehicles to traverse the route and determines if the selected routes are navigable (or substantially navigable) without breaching the operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse. The system of any one of examples 49 to 68, wherein an operators select at least 1 , 2, 3, 4, 5, or 10 of the one or more target vehicles and the system is configured to calculate routes through the scene ahead for the selected one or more target vehicles such that the selected routes have substantially no collisions and substantially no breaches of operating characteristics. A method comprising: determining, using a spatial sensing system configured to move through a scene, 3D scene information representative of the scene; determining, using an orientation measuring system, pose information of a field of view of the spatial sensing system; and using a computer system communicatively connected to the spatial sensing system and the orientation measuring system:(a) receiving at least one projected model representative of one or more target vehicles;(b) determining a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and(c) determining if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.. A non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method of example 70. . A method comprising: determining, using a spatial sensing system, 3D scene information representative of a scene; determining, using a pose measurement system, pose information of a field of view of the spatial sensing system; generating at least one projected model representative of one or more target vehicles; determining a pose of the projected model located at a point in the 3D scene information corresponding to a point in the scene; and determining if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose. . A method of generating an operating route that is navigable for one or more target vehicles comprising: determining 3D scene information about a scene using a spatial sensing system associated with an analysing vehicle; determining location information of the spatial sensing system and pose information of a field of view of the spatial sensing system using an Inertial Navigation System associated with the analysing vehicle; generating at least one projected model representative of one or more target vehicles to a computer system associated with the analysing vehicle; determining the pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in scene where the projected model has supporting contact at the point on a surface of 3D scene information; processing the 3D scene information, location information and pose information using the computer system associated with the analysing vehicle; determining if the point is navigable by the one or more target vehicles represented by the at least one projected model based on the determined pose; repeating the above steps in order to calculate a pose for a sequence of points that comprise a created route; and transferring the created route to a processor; wherein the created route is navigable (or substantially navigable) and does not breach one or more operating characteristics of the one or more target vehicle along thecreated route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.74. A non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method of example 72.75. A non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method of example 73.

[0097] Any description of prior art documents herein, or statements herein derived from or based on those documents, is not an admission that the documents or derived statements are part of the common general knowledge of the relevant art.

[0098] While certain embodiments have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only.

[0099] In the foregoing description of certain embodiments, specific terminology has been resorted to for the sake of clarity. However, the disclosure is not intended to be limited to the specific terms so selected, and it is to be understood that a specific term includes other technical equivalents which operate in a similar manner to accomplish a similar technical purpose. Terms such as “left” and right”, “front” and “rear”, “above” and “below” and the like are used as words of convenience to provide reference points and are not to be construed as limiting terms.

[0100] In this specification, the word “comprising” is to be understood in its “open” sense, that is, in the sense of “including”, and thus not limited to its “closed” sense, that is the sense of “consisting only of’. A corresponding meaning is to be attributed to the corresponding words “comprise”, “comprised” and “comprises” where they appear.

[0101] It is to be understood that the present disclosure is not limited to the disclosed embodiments, and is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the present disclosure. Also, the various embodiments described above may be implemented in conjunction with other embodiments, e.g., aspects of one embodiment may be combined with aspects of anotherembodiment to realize yet other embodiments. Further, independent features of a given embodiment may constitute an additional embodiment. In addition, a single feature or combination of features in certain of the embodiments may constitute additional embodiments. Specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the disclosed embodiments and variations of those embodiments.

Claims

WHAT IS CLAIMED IS:1 . A system comprising: a spatial sensing system configured to move through a scene and determine 3D scene information representative of the scene; an orientation measuring system configured to determine pose information of a field of view of the spatial sensing system; and a computer system communicatively connected to the spatial sensing system and the orientation measuring system and configured to:(a) receive at least one projected model representative of one or more target vehicles;(b) determine a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and(c) determine if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.

2. The system of claim 1 , wherein the orientation measuring system is further configured to determine location information of the spatial sensing system.

3. The system of claim 1 or 2, wherein the projected model has supporting contact at a point on a surface of the 3D scene information.

4. The system of any one of claims 1 to 3, wherein the computer system is further configured to repeat the steps (b) and (c) in order to calculate a pose for a sequence of points that comprise a created route and transfer the created route to a processor, wherein the created route is navigable (or substantially navigable) and does not breach one or more operating characteristics of the one or more target vehicles along the created route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.

5. The system of any one of claims 1 to 4, wherein the spatial sensing system is associated with an analysing vehicle that is capable of moving through the scene.

6. The system of claim 5, wherein the analysing vehicle and the one or more target vehicles are the same.

7. The system of claim 5, wherein the analysing vehicle and the one or more target vehicles are different.

8. The system of any one of claims 3 to 7, wherein the supporting contact for at least a portion of the contacting points has a maximal contact that is within 0.5%, 1%, 1.5%, 2%, 3%, 4%, 5% or 8% of the maximal contact of areas of the projected model contacting the surface.

9. The system of any one of claims 3 to 8, wherein one or more points of the projected model are not in contact with the surface of the 3D scene information.

10. The system of any one of claims 1 to 9, wherein the system determines whether the at least one projected model intersects with other objects in the scene at a point in the scene.11 . The system of any one of claims 1 to 10, wherein the system calculates a pose for a sequence of points in the scene that comprise a route.

12. The system of any one of claims 1 to 11 , wherein the system calculates a pose for a sequence of points in the scene that comprise a clear route.

13. The system of any one of claims 1 to 12, wherein the system calculates a pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles.

14. The system of any one of claims 1 to 13, wherein the system calculates a pose for a sequence of points that comprise a clear route for at least 1 , 5, or 10 target vehicles and is configured to provide that clear route to the at least 1 , 5, or 10 target vehicles or a processing center other than the at least 1 , 5, or 10 target vehicles, or combinations thereof.

15. The system of any one of claims 1 to 14, wherein the system determines whether or not a collision occurs at one or more points along a route, designating a route that is navigable (or substantially navigable) and does not breach one or more operatingcharacteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.

16. The system of any one of claims 1 to 15, wherein at least 1 , 2, 3, 4, 5, 10, 100, or 1000 routes are considered and designated as either clear routes or not.

17. The system of any one of claims 1 to 16, wherein the projected model is determined for at least 1 , 2, 3, 4, 5, 10, 20, 100, or 1000 of the one or more target vehicles.

18. The system of any one of claims 5 to 17, wherein the analysing vehicle is any one of: a wheeled land vehicle, a tracked land vehicle, a marine vessel, a drone.

19. The system of any one of claims 1 to 18, wherein the one or more target vehicles are wheeled or tracked land vehicles.

20. The system of any one of claims 1 to 19, wherein an operator draws potential routes through the 3D scene information and selects at least 1 , 2, 3, 4, 5, 10, 20, or 100 projected route for the one or more target vehicles to traverse and determines if the selected routes are navigable (or substantially navigable) and does not breach one or more operating characteristics of the one or more target vehicles along the route, thereby creating a clear (or substantially clear) operating route for the one or more target vehicles to traverse.

21. The system of any one of claims 1 to 20, wherein an operators select at least 1 , 2, 3, 4, 5, or 10 of the one or more target vehicles and the system is configured to calculate routes through the scene ahead for the selected one or more target vehicles such that the selected routes have substantially no collisions and substantially no breaches of one or more operating characteristics.

22. A method comprising: determining, using a spatial sensing system configured to move through a scene, 3D scene information representative of the scene; determining, using an orientation measuring system, pose information of a field of view of the spatial sensing system; andusing a computer system communicatively connected to the spatial sensing system and the orientation measuring system:(a) receiving at least one projected model representative of one or more target vehicles;(b) determining a pose of the at least one projected model located at a point in the 3D scene information corresponding to a point in the scene; and(c) determining if the point in the scene is navigable by the one or more target vehicles represented by the projected model based on the determined pose.

23. A non-transitory computer-readable medium storing instructions that when executed by a processor causes an information processing apparatus to perform the method of claim 22.

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