US5633946A
Expired / Lapsed
US
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Method and apparatus for collecting and processing visual and spatial position information from a moving platform
Assignee: GEOSPAN Corp
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Filing: 1995-11-03
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Granted: 1997-05-27
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Expires: 2015-11-03
Abstract
Abstract Visual and spatial position information is collected and processed for the formation of a geographic information database. In addition, the information collected and processed can be used to update the United States Census Bureau TIGER/Line files to improve the accuracy of the files. Information collected and processed can also be used to accurately determine the spatial position of an object seen in the collected visual information. The method includes the high speed collection and correlation of video images and spatial position information.
Inventors
- 👤 Theodore M. Lachinski
- 👤 Louis S. Ptacek
- 👤 Paul M. Blais
- 👤 Stephen Boggs
- 👤 John W. Longfellow
- 👤 Jeffrey M. Setterholm
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 22:17
CPC Classifications
G; G01; G01C; G01C15/00; G01C21/00; G01C21/38; G01C21/3804; G01C21/3833; G01C21/3848; G06; G06T; G06T7/00; G06T7/60; G06T7/66; G06T7/70; G06V; G06V10/00; G06V10/40; G06V10/44
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
175 words
A method for collection of visual and spatial position information from a moving platform, the method comprising: obtaining spatial position data relating to spatial position and orientation of the moving platform; obtaining video images from a plurality of video cameras carried by the moving platform at known positions and orientations with respect to the moving platform; recording non-coplanar video images obtained at different times from the video cameras; associating with each recorded video image an instantaneous spatial position and orientation of the video camera which produced the video image at the time that the video image was obtained, based upon the spatial position and orientation of the moving platform and the known position and orientation of the video camera with respect to the moving platform; and determining location of an object shown in at least two of the recorded non-coplanar video images obtained at different times based upon a location of the object in each of those recorded images and the associated spatial positions and orientations of the video cameras which produced those video images.
Claim 2
Independent Claim
175 words
A method for collection of visual and spatial position information from a moving platform, the method comprising: obtaining spatial position data relating to spatial position and orientation of the moving platform; obtaining video images from a plurality of video cameras carried by the moving platform at known positions and orientations with respect to the moving platform; recording non-coplanar video images obtained at different times from the video cameras; associating with each recorded video image an instantaneous spatial position and orientation of the video camera which produced the video image at the time that the video image was obtained, based upon the spatial position and orientation of the moving platform and the known position and orientation of the video camera with respect to the moving platform; and determining location of an object shown in at least two of the recorded non-coplanar video images obtained at different times based upon a location of the object in each of those recorded images and the associated spatial positions and orientations of the video cameras which produced those video images.
Claim 3
Dependent Claim
15 words
The method of claim 1 wherein the video images are recorded in a sequential cycle.
Claim 4
Dependent Claim
31 words
The method of claim 1 wherein the spatial position data includes data obtained from a receiver located on the moving platform and capable of receiving data from Global Positioning System satellite.
Claim 5
Dependent Claim
27 words
The method of claim 3 wherein the spatial position data further includes relative spatial position data obtained from an inertial navigation system located on the moving platform.
Claim 6
Dependent Claim
13 words
The method of claim 1 wherein operation of the video cameras is synchronized.
Claim 7
Dependent Claim
23 words
The method of claim 1 and further comprising: associating with each recorded video image the time at which that video image was obtained.
Claim 8
Dependent Claim
30 words
The method of claim 1 wherein the plurality of video cameras are positioned and oriented to capture video images in front, behind, and on each side of the moving platform.
Claim 9
Dependent Claim
38 words
The method of claim 1 and further comprising: replacing selected data in a geographic information system database, based upon the recorded video images and associated spatial position and orientation of the video cameras which produced the video images.
Claim 10
Dependent Claim
20 words
The method of claim 8 wherein the database includes data relating to spatial positions of a plurality of street segments.
Claim 11
Dependent Claim
24 words
The method of claim 9 wherein replacing selected data includes replacing data relating to a beginning and an end of a selected street segment.
Claim 12
Dependent Claim
44 words
The method of claim 1 wherein the moving platform is moved along streets, and wherein the method further comprises: matching street segments to at least one video image based upon the spatial position and orientation of the video camera associated with that video image.
Claim 13
Independent Claim
236 words
An apparatus for collection of visual and spatial position information, the apparatus comprising: a moving platform; means located on the moving platform for obtaining spatial position data relating to spatial position and orientation of the moving platform; a plurality of video cameras located on the moving platform, the video cameras being positioned at known locations and orientations with respect to the moving platform and being oriented to capture images of fields of view in front, behind, on a left side and on a right side of the moving platform; means for recording non-coplanar video images obtained at different times from the video cameras; means for associating each recorded video image with an instantaneous spatial position and orientation of the video camera which produced the recorded video image at the time that the video image was obtained, based upon the spatial position data relating to the spatial position and orientation of the moving platform and the known position and orientation of the video cameras with respect to the moving platform; and means for deriving spatial position information relating to an object appearing in at least two of the recorded images obtained at different times from the video cameras from (a) a location of the object in each of the recorded images, and (b) the instantaneous spatial position and orientation of the video camera which produced each recorded video image at the time that video image was obtained.
Claim 14
Independent Claim
236 words
An apparatus for collection of visual and spatial position information, the apparatus comprising: a moving platform; means located on the moving platform for obtaining spatial position data relating to spatial position and orientation of the moving platform; a plurality of video cameras located on the moving platform, the video cameras being positioned at known locations and orientations with respect to the moving platform and being oriented to capture images of fields of view in front, behind, on a left side and on a right side of the moving platform; means for recording non-coplanar video images obtained at different times from the video cameras; means for associating each recorded video image with an instantaneous spatial position and orientation of the video camera which produced the recorded video image at the time that the video image was obtained, based upon the spatial position data relating to the spatial position and orientation of the moving platform and the known position and orientation of the video cameras with respect to the moving platform; and means for deriving spatial position information relating to an object appearing in at least two of the recorded images obtained at different times from the video cameras from (a) a location of the object in each of the recorded images, and (b) the instantaneous spatial position and orientation of the video camera which produced each recorded video image at the time that video image was obtained.
Claim 15
Independent Claim
24 words
The apparatus of 12 wherein the means for obtaining spatial position data includes a receiver capable of receiving data from global positioning system satellites.
Claim 16
Independent Claim
24 words
The apparatus of 12 wherein the means for obtaining spatial position data includes a receiver capable of receiving data from global positioning system satellites.
Claim 17
Independent Claim
18 words
The apparatus of 13 wherein the means for obtaining spatial position data further includes an inertial navigation system.
Claim 18
Independent Claim
18 words
The apparatus of 13 wherein the means for obtaining spatial position data further includes an inertial navigation system.
Claim 19
Independent Claim
16 words
The apparatus of 14 and further comprising: synchronizing means for synchronizing operation of the video cameras.
Claim 20
Independent Claim
16 words
The apparatus of 14 and further comprising: synchronizing means for synchronizing operation of the video cameras.
Claim 21
Independent Claim
301 words
A method for collection of visual and spatial position information from a moving platform, the method comprising obtaining spatial position data relating to spatial position and orientation of the moving platform; obtaining video images from a first video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a first field of view in front of the moving platform; obtaining video images from a second video camera carried by the moving platform at a second known position and orientation with respect to the moving platform to capture images of a second field of view behind the moving platform; obtaining video images from a third video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a third field of view on a left side of the moving platform; obtaining video images from a fourth video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a fourth field of view on a right side of the moving platform; recording a sequence of non-coplanar video images obtained at different times from the first, second, third, and fourth video cameras; associating with each recorded video image an instantaneous spatial position and orientation of the video camera which produced that video image at the time that the video image was obtained, based upon the spatial position and orientation of the moving platform and the known position and orientation of that video camera with respect to the moving platform; and determining location of an object shown in at least two of the recorded non-coplanar video images obtained from different ones of the first, second, third, and fourth video cameras.
Claim 22
Independent Claim
301 words
A method for collection of visual and spatial position information from a moving platform, the method comprising obtaining spatial position data relating to spatial position and orientation of the moving platform; obtaining video images from a first video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a first field of view in front of the moving platform; obtaining video images from a second video camera carried by the moving platform at a second known position and orientation with respect to the moving platform to capture images of a second field of view behind the moving platform; obtaining video images from a third video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a third field of view on a left side of the moving platform; obtaining video images from a fourth video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a fourth field of view on a right side of the moving platform; recording a sequence of non-coplanar video images obtained at different times from the first, second, third, and fourth video cameras; associating with each recorded video image an instantaneous spatial position and orientation of the video camera which produced that video image at the time that the video image was obtained, based upon the spatial position and orientation of the moving platform and the known position and orientation of that video camera with respect to the moving platform; and determining location of an object shown in at least two of the recorded non-coplanar video images obtained from different ones of the first, second, third, and fourth video cameras.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2000-05-26 | 2000-11-25 | 2001-05-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-05-26 | 2004-11-25 | 2005-05-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-05-26 | 2008-11-25 | 2009-05-27 | $7700.00 | Window Closed / Lapsed |