3885 results about "Laser rangefinder" patented technology

Single-camera image processing methods are disclosed for 3D navigation within ordinary moving video. Along with color and brightness, XYZ coordinates can be defined for every pixel. The resulting geometric models can be used to obtain measurements from digital images, as an alternative to on-site surveying and equipment such as laser range-finders. Motion parallax is used to separate foreground objects from the background. This provides a convenient method for placing video elements within different backgrounds, for product placement, and for merging video elements with computer-aided design (CAD) models and point clouds from other sources. If home users can save video fly-throughs or specific 3D elements from video, this method provides an opportunity for proactive, branded media sharing. When this image processing is used with a videoconferencing camera, the user's movements can automatically control the viewpoint, creating 3D hologram effects on ordinary televisions and computer screens.

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer system.

The invention relates to a high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device belonging to the technical field of power line inspection. The invention aims at solving the problem of single technology of the existing overhead transmission line line-inspection. The high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device mainly comprises an unmanned aerial vehicle, a GPS (global position system) inertial integrated attitude azimuth detection device, a damping device, a rotation detection nacelle, a ground data receiving processor and a controller. The high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device is characterized in that the GPS inertial integrated attitude azimuth detection device is arranged at the inner part of the unmanned aerial vehicle; the rotation detection nacelle is hung below the unmanned aerial vehicle by the damping device; a photoelectric stabilized platform is installed in the rotation detection nacelle; flexible combination of any two or more of a visible light camera, an ultraviolet ray imager and a full-digital dynamic thermal infrared imager and a laser ranging device are borne on the photoelectric stabilized platform; and the rotation detection nacelle is provided with a visible window. With the adoption of the high voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device, a high voltage transmission line can be monitored, and a comprehensive and precise high voltage overhead transmission line line-inspection task is realized by combining interchange among a plurality of sensors.

The present invention is a laser ranging device that incorporates an internal tilt sensor, an internal temperature sensor, and an internal pressure sensor. The tilt sensor is used to measure the target's vertical angle relative to the horizontal reference plane. Digital signal processing circuitry controls the firing of the laser pulse, calculation of time-of-flight range, measurement of the vertical angle of the tilt sensor, measurement of ambient temperature and storage of tilt sensor and temperature sensor calibration data. The digital signal processing circuitry then provides the user temperature corrected ballistic ranging information, including horizontal range. Additionally, an automatic gain control system minimizes the effects of target to target variance in reflectivity and its associated errors. It is also an object of this invention to electronically minimize errors in the measurement of a vertical angle caused by housing vibration and by temperature variance errors.

A microprocessor circuit that is used to monitor and control a firearm. The microprocessor circuit accomplishes this by monitoring various sensor & control inputs, and acting on these inputs to execute user defined functions. The microprocessor circuit can use the sensory input to determine firearm statistics. These statistics can include the number of times the firearm has been shot, the efficiency of the firearm automatic action, range-to-target, and et cetera. The firearm system can also use a combination of sensors to fabricate a bullet chronograph whereby the muzzle velocity of a cartridge can be determined. These statistics can be date-stamped and recorded into memory. Statistics from Law Enforcement firearms can be used for courtroom evidence and police reporting. These statistics can also be used for firearm maintenance and warranty repair. The microprocessor circuit can display the statistical data to the user via simple light emitting diodes, or sophisticated liquid crystal displays. Data can also be downloaded to a computer docking station as well. The microprocessor circuit can also display the information within the optics of a riflescope. When used in conjunction with a laser range finder sensor, the microprocessor circuit can adjust the electronic cross-hairs (reticle) to compensate for the bullet trajectory.

Embodiments of the invention comprise an apparatus for use with a laser range finder configured to direct a laser beam toward a scene to measure the distance to a target in the scene and having a range finder display for displaying data, including data that is indicative of the distance to a target, wherein the apparatus comprises a protective housing, a camera module in the housing, the camera module including a lens mounted in a front end portion of the housing, and a light path through the lens to image sensor, an image sensor operatively connected to the camera module for receiving images acquired by the camera module, electronic memory for selectively storing data of images from the image sensor, circuitry for controlling the operation of the image sensor and the memory, a camera display in the housing operatively connected to the image sensor for receiving the image data and providing a visual display of the image, and a switch for storing image data in the memory. Other embodiments include a projector in the housing for projecting the data displayed by the second display onto the image sensor to thereby capture the image data of the scene and displayed distance data together.

A vehicle detection and classification sensor provides accurate 3D profiling and classification of highway vehicles for speeds up to 100 mph. A scanning time-of-flight laser rangefinder is used to measure the distance to the highway from a fixed point above the road surface and then measure the distance to the surfaces of any vehicle that is viewed by the sensor. The beam is pulsed at a high repetition rate for determining vehicle speeds with a high accuracy and uses the calculated speed and consecutive range measurements as the vehicle moves past the sensor to develop a three-dimensional profile of the vehicle. An algorithm is applied to the three-dimensional profile for providing a vehicle-classification. A laser is also used to count the number of axles associated with the vehicle.

A stealth laser sighting system for a firearm includes a non-visible laser and night imaging device with display. The stealth laser sighting system combines all of the features required for stealth laser sighting within a self-contained accessory. The stealth laser sighting system provides for an optional visible laser system. and can include features such as electronic calibration, laser rangefinder compensation, target zoom, projected graphic laser marking, and windage and elevation adjustments on a graphical overlay. The stealth laser sighting system can be packaged as an accessory or all of the features can be integrated into a firearm.

A closed-loop LRF pointing technology to measure the range of a target satellite from a chaser satellite for rendezvous is provided that includes several component technologies: LOS angle measurements of the target satellite on a visible sensor focal plane and the angles' relationships with the relative position of the target in inertial or LVLH frame, a relative navigation Kalman filter, attitude determination of the visible sensor with gyros, star trackers and a Kalman filter, pointing and rate commands for tracking the target, and an attitude controller. An analytical, steady-state, three-axis, six-state Kalman filter is provided for attitude determination. The system and its component technologies provide improved functionality and precision for relative navigation, attitude determination, pointing, and tracking for rendezvous. Kalman filters are designed specifically for the architecture of the closed-loop system to allow for pointing the laser rangefinder to a target even if a visible sensor, a laser rangefinder, gyros and a star tracker are misaligned and the LOS angle measurements from the visible sensor are interrupted.

An unmanned aerial delivery device has a plurality of rotors for propulsion and control, including redundant rotors in case of failure of a primary rotor, and uses a Laser Rangefinder system to guide the delivery device around an obstacle in its path until an acceptable straight-line path to a recipient is found, detect when a rotor is inoperable, and detect the distance from a take-off or landing surface to retract or extend support legs. The device has an insulated payload chamber that can only be opened by entering an unlock code on a touchscreen

A method and system for detecting and tracking objects near a vehicle using a three dimensional laser rangefinder. The method receives points from the laser rangefinder, where the points represent locations in space where the rangefinder senses that some object exists. An algorithm first estimates the location of a ground plane, based on a previous ground plane location, data from onboard sensors, and an eigenvector calculation applied to the point data. Next, a plan view occupancy map and elevation map are computed for stationary objects, based on point data in relation to the ground plane. Finally, dynamic objects are detected and tracked, sensing objects which are moving, such as other vehicles, pedestrians, and animals. The output of the method is a set of stationary and dynamic objects, including their shape, range, and velocity. This output can be used by downstream applications.

The invention discloses a device for measuring six-dimensional position poses of an object, which consists of a laser tracking instrument, a receiver, a computing unit and at least one small-sized laser light emitter, wherein the computing unit and the laser tracking instrument are fixedly arranged on the ground surface; the receiver is arranged on a moving object to be measured; the laser tracking instrument and the receiver communicate with the computing unit; the small-sized laser light emitter is arranged on the laser tracking instrument; a horizontal intersection angle and a pitching intersection angle of the laser tracking instrument are controllable, and the laser tracking instrument is provided with a laser distance measuring instrument; and the laser distance measuring instrument and the small-sized laser light emitter project laser light to a projection panel of the receiver respectively. The laser tracking instrument acquires a three-dimensional position of the receiver, and the computing unit solves three-dimensional postures of the receiver corresponding to a fixed coordinate system on the ground surface according to an azimuth angle of the laser tracking instrument and image data of laser faculae on the projection panel. The device can continuously measure moving objects or static objects in a large space, has the advantages of high precision, quick measuring speed, low cost and convenient arrangement, and can replace an expensive laser tracking instrument for measuring the six-dimensional poses.

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

An embodiment may comprise a camera based target coordinate measuring system or apparatus for use in measuring the position of objects in manner that preserves a high level of accuracy. This high level of measurement accuracy is usually only associated with more expensive laser based devices. Many different arrangements are possible. Other embodiments may comprise related methods of using a camera based target coordinate measuring method for use in measuring the position of objects. Many variations on the methods are possible. For example, a camera based coordinate measuring system for use in measuring the position of a target relative to at least one frame of reference without requiring use of a laser range finder for measuring distance may comprise at least three or more light sources located on a target wherein the light sources are located on the target at known three-dimensional coordinates relative to each other; at least one rotatable mirror rotatable on about a first axis and a second axis; a camera located to receive light emitted by the light sources that is reflected off the minor; two angular measuring devices to measure the angles of rotation of the mirror about the first and second axes; and a processor for determining up to three positional degrees of freedom and up to three rotational degrees of freedom of the target.

The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.

A laser range finder includes a circular in-sight field of view which incorporates within it a magnified "TV view" of the target area with the TV view roughly approximating the rectangular shape of a standard television picture. Also within the circular field, over and under the TV view, are a target quality indicator, a range distance display, and other indicators. Within the TV view is a targeting reticle which indicates roughly the footprint of ranging laser pulses such that a target can be selected. The target quality indicator is a bar graph which displays the number of identifiable received reflected laser pulses from a series of such pulses emitted by the range finder. By aiming the range finder at various targets via the footprint reticle, repeatedly firing the range finder and monitoring the target quality graph for each firing, a user can move the range finder to find a surface proximate the target with a reflective quality sufficient to yield an accurate target range reading. Alternatively, with a range finder equipped with Scan mode capability, the range finder can be slowly panned across multiple targets with the range to each target being displayed, in sequence, on the range display.

A vehicle detection and classification sensor provides accurate 3D profiling and classification of highway vehicles for speeds up to 100 mph. A scanning time-of-flight laser rangefinder is used to measure the distance to the highway from a fixed point above the road surface and then measure the distance to the surfaces of any vehicle that is viewed by the sensor. A rotating polygon scans a beam laser into two beams projected across the road surface at a fixed angle between them. The beam is pulsed at a high repetition rate for determining vehicle speeds with a high accuracy and uses the calculated speed and consecutive range measurements as the vehicle moves past the sensor to develop a three-dimensional profile of the vehicle. An algorithm is applied to the three-dimensional profile for providing a vehicle-classification.

The invention relates to the technical field of mobile robot autonomous navigation and particularly relates to an omnidirectional mobile robot autonomous navigation apparatus and method based on a laser range finder. The omnidirectional mobile robot autonomous navigation apparatus based on the laser range finder comprises an encoder for measuring the movement distance of wheels of a mobile robot, and an inertia measurement unit for measuring the rotation angular velocity and the acceleration of the mobile robot. The encoder and the inertia measurement unit are connected with a controller. The omnidirectional mobile robot autonomous navigation apparatus also comprises the laser ranger finder which is connected with a host computer. The host computer is connected with the controller, and the controller is connected with an execution unit. The invention utilizes the laser range finder to position the mobile robot, establishes a two-dimensional planar map of the environment, carries out autonomous navigation according to a target task, and achieves autonomous obstacle avoidance in the movement.

The invention discloses an intelligent geologic hazard comprehensive monitoring system and a multi-level forecast analyzing method. The system is a monitoring device which can be assembled and disassembled according to the requirement, and is applicable to outdoor assembly. The system is a shaft after assembly, measures in fixed time and wirelessly transmits information of slope underground depth deformation to a system information analysis control unit form the ground, acquires an image in a monitoring area by continuously scanning in fixed time by a laser scanner, and is provided with a multipoint fixed point ranging laser to carry out accurate range measurement on a selected object. The system and the method take the geologic hazard underground depth deformation and ground surface direct deformation displacement as main monitoring forecast foundation, and divide hazard forecast into four levels, namely a preparing level, a pre-warning level, an early forecast level and a hazard forecast level by combining with assistant parameters and induction factors of physical and chemical field variations, thereby integrally completing the functions of monitoring, analyzing and forecasting on site.

An indoor surveying apparatus comprises a 2D range finder, means for automatically aligning 2D range finder data and computing a 2D map of the environment, a calibrated optical imaging system for capturing images of environment, and means for establishing positions and extents of walls, doors, and windows and for drawing floor plans using the computed 2D map and calibrated images where 2D range finder data is missing. It is further contemplated that the imaging system can also be part of the range finder, that the range finder can be a scanning laser range finder, that the imaging system can include a panoramic lens with 180 degree field of view, that the apparatus can further include an IMU, an electronic compass, a panoramic rotator, and means for measuring positions of points on the floor using the image data.

A compact optical payload for an unmanned aircraft includes two infrared cameras for wide and narrow field viewing, a daylight color camera, a laser pointer and a laser range finder.

An optical system for a riflescope (10) includes an objective element (11), an eyepiece element (17), an LD (12), an APD prism (130), an erector lens (15), an LED prism (160) and an LED panel (16). The erector lens is positioned between a first focal plane (18) and a second focal plane (19). The reticle is disposed at a distance of the second focal length so as to coincide with on the second focal plane. The LED prism is positioned between the erector lens and the second focal plane. The image of data of the range displayed by the LED panel is projected on the second focal plane through the LED prism. By this arrangement, the size and brightness of the reticle and the image of data of the range will not grow or shrink along with the target image size when the magnification is changed, and thus the shooter's vision feeling can be improved.

A lazer rangefinder employs time-of-flight measurements for providing high resolution when measuring range and intensity in a system for accurately mapping and classifying agriculture foliage. Profiles and parameters of the foliage and trees are measured and calculated for classifying the tree, controlling mechanical devices for applying only a pre-selected amount of treatment materials to the tree, and estimating production yeilds. Using a global positioning receiver, a global location for the center of each tree, whether fully grown, juvenile, or dead is identified and used in mapping the measured trees.

A system is provided for determining a distance to a target. In an exemplary embodiment, the system includes a pole and a distance measuring device. The pole includes a plurality of sockets formed in a surface of the pole above a selected lower reflecting point and a reflector mounted in each of the plurality of sockets. The lower reflecting point defines a minimum distance from a first end of the pole above which the reflectors are located for use with the distance measuring device. At least a portion of a signal received from the distance measuring device is reflected back to the distance measuring device by a receiving reflector. The distance measuring device includes a transmitter that transmits the signal at a first time, a receptor that receives the reflected signal from the receiving reflector at a second time, and a processor to determine the distance from the transmitter to the receiving reflector using the first time and the second time.

The invention discloses a three-dimensional environmental information collection and reconstitution system and method. The three-dimensional environmental information collection and reconstitution system comprises two-dimensional laser range finders, a panorama camera, a rotating platform, an airborne processor, a power supply, a base, a wire sliding rail, a signal collector, a motor, a speed reduction gear set, a panorama camera supporting frame and a connecting rod. The connecting rod, the airborne processor and the power supply are arranged on the base, the connecting rod is sequentially sleeved with the speed reduction gear set, the wire sliding rail and the rotating platform from bottom to top. The panorama camera supporting frame and the panorama camera are sequentially arranged on the top of the connecting rod from bottom to top. The signal collector is fixed to the lower surface of the rotating platform, one or more two-dimensional laser range finders are fixed to the upper surface of the rotating platform, the two-dimensional laser range finders are located below the panorama camera supporting frame, and the motor is arranged on the speed reduction gear set. The three-dimensional environmental information collection and reconstitution system is large in measurement view angle and long in measurement distance, and accurate and abundant in information, a generated model has a very good view angle effect, abundant original environmental information can be provided, and the cost is relatively low.

A weather monitoring, measuring and reporting system which uses unattended, high-resolution digital cameras and laser rangers to both measure and display weather conditions in a local region, such as the region surrounding an airport. Visibility is estimated by processing images in the camera's field of view at known range distances. The light response of the camera is matched to the light response of the human eye. In a preferred embodiment of the invention, the camera generates a digital pixel image of range objects; that is, prominent terrain objects such as, buildings, water towers, etc. in the camera's field of view. The digital pixel values of these range objects are stored in system memory at known address locations. The contrast between an average background pixel value in a region adjacent to an object and the average object pixel value is used to determine if the object is visible. Objects in the field of view are sequentially examined until the contrast to an object falls below the established threshold at which point the visibility is reported as extending to the next closest object with a contrast above the threshold. If the contrast for all objects exceeds the threshold, the process stops and the visibility range is reported as unlimited.

A system for determining a depth of a hole drilled by a drilling machine. The system can include a drill string including one or more drill rods, wherein each of the one or more drill rods has a length; a target; a laser range finder configured to determine a plurality of distance readings, wherein each of the plurality of distance readings includes a distance value between the laser range finder and the target; and a controller configured to obtain the plurality of distance readings from the laser range finder. The controller processes the plurality of distance readings to produce a calculated distance between the laser range finder and the target. The controller may also use the calculated distance and the length of each of the one or more drill rods included in the drill string to determine the depth of the hole drilled by the drilling machine.