WO2012151333A3 - Marking methods, apparatus and systems including optical flow-based dead reckoning features - Google Patents

Marking methods, apparatus and systems including optical flow-based dead reckoning features Download PDF

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Publication number
WO2012151333A3
WO2012151333A3 PCT/US2012/036198 US2012036198W WO2012151333A3 WO 2012151333 A3 WO2012151333 A3 WO 2012151333A3 US 2012036198 W US2012036198 W US 2012036198W WO 2012151333 A3 WO2012151333 A3 WO 2012151333A3
Authority
WO
WIPO (PCT)
Prior art keywords
marking device
optical flow
position information
dead reckoning
features
Prior art date
Application number
PCT/US2012/036198
Other languages
French (fr)
Other versions
WO2012151333A2 (en
Inventor
Steven Nielsen
Curtis Chambers
Jeffrey Farr
Jack M. Vice
Original Assignee
Certusview Technologies, Llc
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
Priority claimed from US13/236,162 external-priority patent/US9124780B2/en
Application filed by Certusview Technologies, Llc filed Critical Certusview Technologies, Llc
Priority to EP12779689.4A priority Critical patent/EP2704855A4/en
Priority to AU2012250766A priority patent/AU2012250766A1/en
Priority to CA2838328A priority patent/CA2838328A1/en
Publication of WO2012151333A2 publication Critical patent/WO2012151333A2/en
Publication of WO2012151333A3 publication Critical patent/WO2012151333A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points
    • G01C15/06—Surveyors' staffs; Movable markers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)

Abstract

Position of a marking device is monitored by receiving start position information of an initial position of the marking device, capturing images using camera systems attached to the marking device, and analyzing the image to determine tracking information indicative of a motion of the marking device. Tracking information and start position information are analyzed to determine current position information. Images of a target surface over which the marking device is carried are analyzed by optical flow algorithm for estimates of relative position for a deadreckoning process, current position information is determined based on the estimates of relative position and the start position information. Geo-location device generates geo-location data indicative of positions of the device as it traverses portions of the path. Camera system(s) obtain optical flow-based dead reckoning data indicative of relative positions of the device as it traverses at least a second portion of the path.
PCT/US2012/036198 2011-05-02 2012-05-02 Marking methods, apparatus and systems including optical flow-based dead reckoning features WO2012151333A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP12779689.4A EP2704855A4 (en) 2011-05-02 2012-05-02 Marking methods, apparatus and systems including optical flow-based dead reckoning features
AU2012250766A AU2012250766A1 (en) 2011-05-02 2012-05-02 Marking methods, apparatus and systems including optical flow-based dead reckoning features
CA2838328A CA2838328A1 (en) 2011-05-02 2012-05-02 Marking methods, apparatus and systems including optical flow-based dead reckoning features

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201161481539P 2011-05-02 2011-05-02
US61/481,539 2011-05-02
US13/236,162 2011-09-19
US13/236,162 US9124780B2 (en) 2010-09-17 2011-09-19 Methods and apparatus for tracking motion and/or orientation of a marking device

Publications (2)

Publication Number Publication Date
WO2012151333A2 WO2012151333A2 (en) 2012-11-08
WO2012151333A3 true WO2012151333A3 (en) 2013-01-03

Family

ID=47108214

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2012/036198 WO2012151333A2 (en) 2011-05-02 2012-05-02 Marking methods, apparatus and systems including optical flow-based dead reckoning features

Country Status (4)

Country Link
EP (1) EP2704855A4 (en)
AU (1) AU2012250766A1 (en)
CA (1) CA2838328A1 (en)
WO (1) WO2012151333A2 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013201769A1 (en) * 2013-02-04 2014-08-07 Deutsches Zentrum für Luft- und Raumfahrt e.V. Surveying arrangement and method of surveying
US9541420B2 (en) * 2013-04-03 2017-01-10 Caterpillar Inc. System for determining error in a sensed machine position
WO2017007713A1 (en) * 2015-07-06 2017-01-12 Locus Energy, Inc. Solar irradiance modeling augmented with atmospheric water vapor data
CN105044756B (en) * 2015-08-29 2017-05-10 安凯 Vehicle tracking method based on GPS and electronic compass
US11353566B2 (en) * 2018-04-26 2022-06-07 Navico Holding As Sonar transducer having a gyroscope
CN110567468A (en) 2018-06-06 2019-12-13 百度在线网络技术（北京）有限公司 Road track acquisition method, equipment and storage medium
US11656081B2 (en) 2019-10-18 2023-05-23 Anello Photonics, Inc. Integrated photonics optical gyroscopes optimized for autonomous terrestrial and aerial vehicles
CN112967228B (en) * 2021-02-02 2024-04-26 中国科学院上海微系统与信息技术研究所 Determination method and device of target optical flow information, electronic equipment and storage medium
CN113516037B (en) * 2021-05-11 2024-01-23 中国石油大学(华东) Marine vessel track segment association method, system, storage medium and equipment
CN114440874B (en) * 2021-12-31 2022-11-01 深圳市云鼠科技开发有限公司 Fusion positioning method and device based on optical flow and grating

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6074693A (en) * 1999-02-22 2000-06-13 Trimble Navigation Limited Global positioning system controlled paint sprayer
US6330503B1 (en) * 1999-02-22 2001-12-11 Trimble Navigation Limited Global positioning system controlled staking apparatus
US20060188131A1 (en) * 2005-02-24 2006-08-24 Xiang Zhang System and method for camera tracking and pose estimation
US20100086671A1 (en) * 2008-10-02 2010-04-08 Certusview Technologies, Llc Methods and apparatus for generating an electronic record of a marking operation including service-related information and/or ticket information
US20100189887A1 (en) * 2008-10-02 2010-07-29 Certusview Technologies, Llc Marking apparatus having enhanced features for underground facility marking operations, and associated methods and systems
US20120069178A1 (en) * 2010-09-17 2012-03-22 Certusview Technologies, Llc Methods and apparatus for tracking motion and/or orientation of a marking device

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US5517419A (en) * 1993-07-22 1996-05-14 Synectics Corporation Advanced terrain mapping system
US8213706B2 (en) * 2008-04-22 2012-07-03 Honeywell International Inc. Method and system for real-time visual odometry

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6074693A (en) * 1999-02-22 2000-06-13 Trimble Navigation Limited Global positioning system controlled paint sprayer
US6299934B1 (en) * 1999-02-22 2001-10-09 Trimble Navigation Limited Global positioning system controlled paint sprayer
US6330503B1 (en) * 1999-02-22 2001-12-11 Trimble Navigation Limited Global positioning system controlled staking apparatus
US20060188131A1 (en) * 2005-02-24 2006-08-24 Xiang Zhang System and method for camera tracking and pose estimation
US20100086671A1 (en) * 2008-10-02 2010-04-08 Certusview Technologies, Llc Methods and apparatus for generating an electronic record of a marking operation including service-related information and/or ticket information
US20100189887A1 (en) * 2008-10-02 2010-07-29 Certusview Technologies, Llc Marking apparatus having enhanced features for underground facility marking operations, and associated methods and systems
US20100245086A1 (en) * 2008-10-02 2010-09-30 Certusview Technologies, Llc Marking apparatus configured to detect out-of-tolerance conditions in connection with underground facility marking operations, and associated methods and systems
US20100247754A1 (en) * 2008-10-02 2010-09-30 Certusview Technologies, Llc Methods and apparatus for dispensing marking material in connection with underground facility marking operations based on environmental information and/or operational information
US20120069178A1 (en) * 2010-09-17 2012-03-22 Certusview Technologies, Llc Methods and apparatus for tracking motion and/or orientation of a marking device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2704855A4 *

Also Published As

Publication number Publication date
AU2012250766A1 (en) 2013-12-19
CA2838328A1 (en) 2012-11-08
EP2704855A4 (en) 2014-11-19
WO2012151333A2 (en) 2012-11-08
EP2704855A2 (en) 2014-03-12

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