CA2025971A1 - Inertial navigation sensor integrated obstacle detection system - Google Patents

Inertial navigation sensor integrated obstacle detection system

Info

Publication number
CA2025971A1
CA2025971A1 CA2025971A CA2025971A CA2025971A1 CA 2025971 A1 CA2025971 A1 CA 2025971A1 CA 2025971 A CA2025971 A CA 2025971A CA 2025971 A CA2025971 A CA 2025971A CA 2025971 A1 CA2025971 A1 CA 2025971A1
Authority
CA
Canada
Prior art keywords
detection system
obstacle detection
optical flow
inertial navigation
sensor integrated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA2025971A
Other languages
French (fr)
Other versions
CA2025971C (en
Inventor
Bir Bhanu
Barry A. Roberts
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honeywell Inc
Original Assignee
Honeywell Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell Inc filed Critical Honeywell Inc
Publication of CA2025971A1 publication Critical patent/CA2025971A1/en
Application granted granted Critical
Publication of CA2025971C publication Critical patent/CA2025971C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Abstract

A system that incorporates inertial sensor information into optical flow computations to detect obstacles and to provide alternative navigational paths free from obstacles. The system is a maximally passive obstacle detection system that makes selective use of an active sensor, The active detection typically utilizes a laser. Passive sensor suite includes binocular stereo, motion stereo and variable fields-of-view. Optical flow computations involve extraction, denotation and matching of interest points from sequential frames of imagery, for range interpolation of the sensed scene, which in turn provides obstacle information for purposes of safe navigation.
CA002025971A 1989-12-30 1990-09-21 Inertial navigation sensor integrated obstacle detection system Expired - Lifetime CA2025971C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US45993089A 1989-12-30 1989-12-30
US07/459,930 1989-12-30

Publications (2)

Publication Number Publication Date
CA2025971A1 true CA2025971A1 (en) 1991-07-01
CA2025971C CA2025971C (en) 2000-12-26

Family

ID=23826736

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002025971A Expired - Lifetime CA2025971C (en) 1989-12-30 1990-09-21 Inertial navigation sensor integrated obstacle detection system

Country Status (1)

Country Link
CA (1) CA2025971C (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3051494A1 (en) * 2015-01-28 2016-08-03 Connaught Electronics Ltd. Method for determining an image depth value depending on an image region, camera system and motor vehicle
CN114858226A (en) * 2022-07-05 2022-08-05 武汉大水云科技有限公司 Unmanned aerial vehicle torrential flood flow measuring method, device and equipment

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3051494A1 (en) * 2015-01-28 2016-08-03 Connaught Electronics Ltd. Method for determining an image depth value depending on an image region, camera system and motor vehicle
CN114858226A (en) * 2022-07-05 2022-08-05 武汉大水云科技有限公司 Unmanned aerial vehicle torrential flood flow measuring method, device and equipment
CN114858226B (en) * 2022-07-05 2022-10-25 武汉大水云科技有限公司 Unmanned aerial vehicle torrential flood flow measuring method, device and equipment

Also Published As

Publication number Publication date
CA2025971C (en) 2000-12-26

Similar Documents

Publication Publication Date Title
Dev et al. Navigation of a mobile robot on the temporal development of the optic flow
EP0436213A2 (en) Obstacle detection system
ES2194756T3 (en) HEAD TRACKING SYSTEM.
US20040149036A1 (en) Motion-tracking
Nair et al. Moving obstacle detection from a navigating robot
ATE282835T1 (en) CONTROL AND GOAL GUIDANCE SYSTEM
CA2094650A1 (en) Apparatus for Analyzing Depth Perception
CA2057625A1 (en) Fault-tolerant inertial navigation system
CA2197079A1 (en) Device and method for the detection and demodulation of an intensity-modulated radiation field
WO1997024577A3 (en) Improved vehicle navigation system and method
WO2000034803A3 (en) Vision-assisted camera pose determination
CA2245044A1 (en) Stereovision procedure for producing cartographic data
FR2592962A1 (en) PANORAMIC PERISCOPE.
Blais et al. Optical range image acquisition for the navigation of a mobile robot
CA2025971A1 (en) Inertial navigation sensor integrated obstacle detection system
Lobo et al. Ground plane detection using visual and inertial data fusion
Burgess et al. The representation of space and the hippocampus in rats, robots and humans
Siedersberger et al. Combining EMS-vision and horopter stereo for obstacle avoidance of autonomous vehicles
Bhanu et al. Synergism of binocular and motion stereo for passive ranging
FR2706636B1 (en) Binocular optical device with increased resolution and / or field of vision, especially for night vision.
Sridhar et al. Integration of motion and stereo sensors in passive ranging systems
Finnefrock et al. Visual-based assistance for electric vehicle driving
Ogata et al. Motion perception model with interactions between spatial frequency channels
FR2717279B1 (en) System and method of communication by reserved access messaging for the recovery of lost or stolen objects.
FR2703452B1 (en) Optical detection device for gyroscopes or gyrometers.

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed
MKEC Expiry (correction)

Effective date: 20121202