US6501537B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Range finding
Assignee: Australian National University
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Filing: 1998-08-19
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Granted: 2002-12-31
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Expires: 2018-08-19
Abstract
Abstract A method and apparatus for determining the range of an object. A first image of at least a portion of the object viewed from a first position is generated. A second image of the portion viewed from a second position spaced apart from the first position is generated by calculation from the first image and the distance between the first and second position. It is assumed that all of the portion represented by the first image lies on a radius less than the distance to the object. A third image of the portion viewed from the second position is generated and the range determined by comparison of the first and third images.
Inventors
- 👤 Javaan Singh Chahl
- 👤 Mandyam Veerambudi Srinivasan
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 11:50
CPC Classifications
G; G01; G01C; G01C11/00; G01C11/02; G01C3/00; G01C3/02; G01C3/06; G01C3/08
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
115 words
A method of determining the range of an object including the steps of generating a first image of at least a portion of the object viewed from a first position, producing a second image of said portion viewed from a second position spaced apart from the first position by calculation from said first image using the distance between said first and second positions and assuming all of the portion represented by said first image lies on an arc of constant radius less than the distance to the object, generating a third image of the portion viewed from said second position, and determining the range of the object by comparison of said second and third images.
Claim 2
Independent Claim
115 words
A method of determining the range of an object including the steps of generating a first image of at least a portion of the object viewed from a first position, producing a second image of said portion viewed from a second position spaced apart from the first position by calculation from said first image using the distance between said first and second positions and assuming all of the portion represented by said first image lies on an arc of constant radius less than the distance to the object, generating a third image of the portion viewed from said second position, and determining the range of the object by comparison of said second and third images.
Claim 3
Dependent Claim
35 words
A method as claimed in claim 1 further including the steps of generating the first and third images by moving the effective position of the image generator from the first position to the second position.
Claim 4
Dependent Claim
32 words
A method as claimed in claim 1 wherein the first and third images are respectively generated by two separate image generators of identical configuration at each of the first and second positions.
Claim 5
Dependent Claim
19 words
A method as claimed in claim 1 wherein the first and third images generated using a panoramic imaging system.
Claim 6
Dependent Claim
21 words
A method as claimed in claim 4 wherein the images are a circular array representing an image space around a horizon.
Claim 7
Dependent Claim
27 words
A method as claimed in claim 5 wherein the images are a one dimensional array of pixels that represent intensity in equally spaced regions around a horizon.
Claim 8
Dependent Claim
13 words
A method as claimed in claim 6 wherein said regions are slightly overlapping.
Claim 9
Dependent Claim
38 words
A method as claimed in claim 1 wherein the determination of range is made from a comparison of the deformation between the second and third images using the relationship that local image deformation is inversely proportional to range.
Claim 10
Dependent Claim
26 words
A method as claimed in claim 1 wherein the local optical flow is determined from the first and second images and the range determined by triangulation.
Claim 11
Independent Claim
120 words
An apparatus for determining the range of an object including means to generate a first image of at least a portion of the object viewed from a first position, calculating means to produce a second image of said portion viewed from a second position spaced apart from the first position by calculation from said first image using the distance between said first and second positions and assuming all of the portion represented by said first image lies on an arc of constant radius less than the distance to the object, means to generate a third image of the portion viewed from said second position, and comparator means to determine the range of the object from said second and third images.
Claim 12
Independent Claim
120 words
An apparatus for determining the range of an object including means to generate a first image of at least a portion of the object viewed from a first position, calculating means to produce a second image of said portion viewed from a second position spaced apart from the first position by calculation from said first image using the distance between said first and second positions and assuming all of the portion represented by said first image lies on an arc of constant radius less than the distance to the object, means to generate a third image of the portion viewed from said second position, and comparator means to determine the range of the object from said second and third images.
Claim 13
Dependent Claim
32 words
An apparatus as claimed in claim 10 wherein the first and third images are generated by moving the effective position of the image generator from the first position to the second position.
Claim 14
Dependent Claim
32 words
An apparatus as claimed in claim 10 wherein the first and third images are respectively generated by two separate image generators of identical configuration at each of the first and second positions.
Claim 15
Dependent Claim
20 words
An apparatus as claimed in claim 10 wherein the first and third images are generated using a panoramic imaging system.
Claim 16
Dependent Claim
21 words
An apparatus as claimed in claim 13 wherein the images are a circular array representing an image space around a horizon.
Claim 17
Dependent Claim
27 words
An apparatus as claimed in claim 14 wherein the images are a one dimensional array of pixels that represent intensity in equally spaced regions around a horizon.
Claim 18
Dependent Claim
13 words
An apparatus as claimed in claim 15 wherein said regions are slightly overlapping.
Claim 19
Dependent Claim
38 words
An apparatus as claimed in claim 10 wherein the determination of range is made from a comparison of the deformation between the second and third images using the relationship that local image deformation is inversely proportional to range.
Claim 20
Dependent Claim
26 words
An apparatus as claimed in claim 10 wherein the local optical flow is determined from the first and second images and the range determined by triangulation.
References Cited (Backward Citations)
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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) | 2005-12-30 | 2006-07-01 | 2006-12-31 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-12-30 | 2010-07-01 | 2010-12-31 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-12-30 | 2014-07-01 | 2014-12-31 | $7700.00 | Window Closed / Lapsed |