Patent US4026746A successfully refreshed from Google Patents.
Patent US5801970A successfully refreshed from Google Patents.
US5801970A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Model-based feature tracking system
Assignee: Lockheed Martin Corp
•
Filing: 1995-12-06
•
Granted: 1998-09-01
•
Expires: 2015-12-06
Abstract
Abstract Methods and apparatus providing model-based feature tracking for location assessment of a sensor platform, or tracking of a feature are disclosed wherein a series of predictive models are developed to predict a location of features in subsequently acquired sensor data. Feature location data acquired by a sensor in a previous platform position assessment is used to build a model corresponding to anticipated feature locations in data acquired for a present platform position assessment.
Inventors
- 👤 Patricia J. Rowland
- 👤 Kevin A. Kreeger
- 👤 Albert R. Sanders
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 16:16
CPC Classifications
G; G01; G01S; G01S3/00; G01S3/78; G01S3/782; G01S3/785; G01S3/786; G01S3/7864; G01S3/7865; G06; G06T; G06T7/00; G06T7/20; G06T7/246; G06T7/251; G01S13/00; G01S13/66; G01S13/88; G01S13/89; G01S15/00; G01S15/66; G01S15/88; G01S15/89; G01S17/00; G01S17/66; G01S17/88; G01S17/89; G06T2207/00; G06T2207/10; G06T2207/10016; G06T2207/30; G06T2207/30248; G06T2207/30252
Claims Analysis
Total Claims: 32
Claim 1
Independent Claim
132 words
A method for tracking a feature within data gathered by a sensor, the method comprising the steps of: developing an a priori model corresponding to a first location assessment point, which model contains data identifying the feature and an anticipated location of the feature; extracting feature location data from sensor data gathered at the first location assessment point; comparing the extracted feature location data with the anticipated feature location data; making a correction involving the sensor based on results of the comparison; building a new model with the feature location data extracted from the sensor data gathered at the first location assessment point; and at the first location assessment point, predicting the location of the feature in sensor data to be gathered at a second location assessment point using the new model.
Claim 2
Independent Claim
132 words
A method for tracking a feature within data gathered by a sensor, the method comprising the steps of: developing an a priori model corresponding to a first location assessment point, which model contains data identifying the feature and an anticipated location of the feature; extracting feature location data from sensor data gathered at the first location assessment point; comparing the extracted feature location data with the anticipated feature location data; making a correction involving the sensor based on results of the comparison; building a new model with the feature location data extracted from the sensor data gathered at the first location assessment point; and at the first location assessment point, predicting the location of the feature in sensor data to be gathered at a second location assessment point using the new model.
Claim 3
Dependent Claim
28 words
The method as claimed in claim 1 wherein the a priori model is developed based on one of a photograph, topographical data, contour image data, and anatomical data.
Claim 4
Dependent Claim
18 words
The method as claimed in claim 1 wherein the step of extracting feature location data includes pattern matching.
Claim 5
Dependent Claim
17 words
The method as claimed in claim 1 wherein the step of comparing involves utilizing a Hough transform.
Claim 6
Dependent Claim
51 words
The method as claimed in claim 1 wherein the step of making a correction involving the sensor based on results of the comparison includes one of an adjustment to the sensor, reorientation of a platform to which the sensor is attached, calculation of a correction factor, and correcting a reference point.
Claim 7
Dependent Claim
19 words
The method of claim 1 further comprising the step of: replacing the a priori model with the new model.
Claim 8
Independent Claim
183 words
A method for maintaining a point of reference as a sensor scans an object where one of the sensor and the object move relative to the other, the method comprising the steps of: sensing the object at a present assessment point to produce image data; extracting feature location data from the image data; prior to a second assessment point, using the feature location data to prepare a first model which contains information identifying a feature and an anticipated location of the feature in a subsequent image associated with the second assessment point; comparing the anticipated feature location data in the first model to feature location data extracted from the subsequent image; determining when a match occurs between the anticipated feature location data in the first model and the feature location data extracted from the subsequent image; correcting a sensor orientation based on conditions corresponding to when a match occurs between the model data and the subsequent image data; and replacing the first model with a new model, wherein the new model is constructed using the feature location data extracted from the subsequent image.
Claim 9
Independent Claim
183 words
A method for maintaining a point of reference as a sensor scans an object where one of the sensor and the object move relative to the other, the method comprising the steps of: sensing the object at a present assessment point to produce image data; extracting feature location data from the image data; prior to a second assessment point, using the feature location data to prepare a first model which contains information identifying a feature and an anticipated location of the feature in a subsequent image associated with the second assessment point; comparing the anticipated feature location data in the first model to feature location data extracted from the subsequent image; determining when a match occurs between the anticipated feature location data in the first model and the feature location data extracted from the subsequent image; correcting a sensor orientation based on conditions corresponding to when a match occurs between the model data and the subsequent image data; and replacing the first model with a new model, wherein the new model is constructed using the feature location data extracted from the subsequent image.
Claim 10
Dependent Claim
25 words
The method of claim 7 wherein the step of correcting a sensor includes changing an orientation of a platform to which the sensor is attached.
Claim 11
Independent Claim
218 words
A method for tracking a feature within sensor data gathered along a succession of location assessment points, the method comprising the steps of: acquiring a priori data containing the feature; extracting first feature location data from the a priori data; building a first predictive model, based on the first feature location data, which first predictive model contains data identifying the feature and an anticipated location of the feature in sensor data to be gathered at a first location assessment point; acquiring a plural number of sensor data sets at the first location assessment point, each of the plural sensor data sets corresponding to a sensor orientation in a sensor scan pattern; extracting feature identification and location data from each of the plural sensor data sets and comparing the extracted feature identification and location data from each data set with the feature identification data and anticipated feature location data associated with the first predictive model until a match is found; using a sensor orientation corresponding to the match to align the sensor; and at the first location assessment point, preparing a second predictive model with the extracted feature identification and location data corresponding to the match, wherein the second predictive model contains data identifying the feature and an anticipated location of the feature at a second location assessment point.
Claim 12
Independent Claim
218 words
A method for tracking a feature within sensor data gathered along a succession of location assessment points, the method comprising the steps of: acquiring a priori data containing the feature; extracting first feature location data from the a priori data; building a first predictive model, based on the first feature location data, which first predictive model contains data identifying the feature and an anticipated location of the feature in sensor data to be gathered at a first location assessment point; acquiring a plural number of sensor data sets at the first location assessment point, each of the plural sensor data sets corresponding to a sensor orientation in a sensor scan pattern; extracting feature identification and location data from each of the plural sensor data sets and comparing the extracted feature identification and location data from each data set with the feature identification data and anticipated feature location data associated with the first predictive model until a match is found; using a sensor orientation corresponding to the match to align the sensor; and at the first location assessment point, preparing a second predictive model with the extracted feature identification and location data corresponding to the match, wherein the second predictive model contains data identifying the feature and an anticipated location of the feature at a second location assessment point.
Claim 13
Dependent Claim
42 words
The method as claimed in claim 9 wherein alignment of the sensor includes one of adjusting the mechanical orientation of the sensor, reorienting a platform to which the sensor is attached, calculating a sensor correction factor, and correcting a point of reference.
Claim 14
Dependent Claim
20 words
The method of claim 9 further comprising the step of: replacing the first predictive model with the second predictive model.
Claim 15
Independent Claim
137 words
A method for providing correction for a sensor in a sensor platform which gathers sensor data at successive position assessment points, the method comprising the steps of: forming a succession of models each corresponding to one of the position assessment points, wherein each model contains data for predicting the location of features in sensor data to be gathered at a subsequent position assessment point, each model being formed prior to the subsequent position assessment point based on sensor data exclusively associated with a current position assessment point; acquiring a sensor data set at each position assessment point; extracting sensor feature location data from each sensor data set; comparing extracted sensor feature location data and model feature location data to determine a difference between a location of the feature; and aligning the sensor in accordance with the difference.
Claim 16
Independent Claim
137 words
A method for providing correction for a sensor in a sensor platform which gathers sensor data at successive position assessment points, the method comprising the steps of: forming a succession of models each corresponding to one of the position assessment points, wherein each model contains data for predicting the location of features in sensor data to be gathered at a subsequent position assessment point, each model being formed prior to the subsequent position assessment point based on sensor data exclusively associated with a current position assessment point; acquiring a sensor data set at each position assessment point; extracting sensor feature location data from each sensor data set; comparing extracted sensor feature location data and model feature location data to determine a difference between a location of the feature; and aligning the sensor in accordance with the difference.
Claim 17
Independent Claim
146 words
A method for tracking a feature appearing in successive sensor data sets acquired by a sensor, the method comprising the steps of: extracting feature location data from a priori information; forming a first predictive model based on the extracted feature location data, which first predictive model provides anticipated feature location data within a first position assessment area; acquiring a plural number of first sensor data sets in the first position assessment area; extracting feature location data from each sensor data set comparing the extracted feature location data to the anticipated feature location data until a match is found; correcting the sensor based on conditions corresponding to the match; and at the first position assessment area, forming a second predictive model from the extracted feature location data corresponding to the match, wherein the second predictive model provides anticipated feature location data for a second position assessment area.
Claim 18
Independent Claim
146 words
A method for tracking a feature appearing in successive sensor data sets acquired by a sensor, the method comprising the steps of: extracting feature location data from a priori information; forming a first predictive model based on the extracted feature location data, which first predictive model provides anticipated feature location data within a first position assessment area; acquiring a plural number of first sensor data sets in the first position assessment area; extracting feature location data from each sensor data set comparing the extracted feature location data to the anticipated feature location data until a match is found; correcting the sensor based on conditions corresponding to the match; and at the first position assessment area, forming a second predictive model from the extracted feature location data corresponding to the match, wherein the second predictive model provides anticipated feature location data for a second position assessment area.
Claim 19
Dependent Claim
20 words
The method of claim 13 further comprising the step of: replacing the first predictive model with the second predictive model.
Claim 20
Independent Claim
192 words
An apparatus for maintaining a correct point of reference as a sensor scans an object where one of the sensor and the object move relative to the other, the apparatus comprising: means for sensing the object at a first assessment point to produce image data; means for extracting location data for a feature from the image data; means for using the feature location data prior to a second assessment point to prepare a model which contains information identifying the feature and an anticipated location of the feature in a first subsequent image associated with the second assessment point; means for comparing the anticipated location with feature location data extracted from the first subsequent image; means for determining a match between the anticipated location of the feature and the feature location data extracted from the first subsequent image; means for performing a correction involving the sensor based on conditions corresponding to the match ; and at the second assessment point, means for using the feature location data extracted from the first subsequent image to prepare a new model which contains information regarding an anticipated location of the feature in a second subsequent image.
Claim 21
Independent Claim
192 words
An apparatus for maintaining a correct point of reference as a sensor scans an object where one of the sensor and the object move relative to the other, the apparatus comprising: means for sensing the object at a first assessment point to produce image data; means for extracting location data for a feature from the image data; means for using the feature location data prior to a second assessment point to prepare a model which contains information identifying the feature and an anticipated location of the feature in a first subsequent image associated with the second assessment point; means for comparing the anticipated location with feature location data extracted from the first subsequent image; means for determining a match between the anticipated location of the feature and the feature location data extracted from the first subsequent image; means for performing a correction involving the sensor based on conditions corresponding to the match ; and at the second assessment point, means for using the feature location data extracted from the first subsequent image to prepare a new model which contains information regarding an anticipated location of the feature in a second subsequent image.
Claim 22
Dependent Claim
35 words
The apparatus as claimed in claim 15 wherein the correction means performs one of a sensor alignment, sensor platform reorientation, or calculation of a sensor data correction factor to maintain the correct point of reference.
Claim 23
Dependent Claim
23 words
The apparatus as claimed in claim 15 wherein the sensing means is one of an infra-red sensor, a radar set, or video camera.
Claim 24
Dependent Claim
19 words
The apparatus as claimed in claim 15 wherein a processor is used to perform sensor and model data management.
Claim 25
Dependent Claim
18 words
The apparatus as claimed in claim 18 wherein the processor is comprised of at least one GAPP™ chip.
Claim 26
Dependent Claim
15 words
The apparatus as claimed in claim 15 wherein the comparing means uses a Hough transform.
Claim 27
Dependent Claim
17 words
The apparatus of claim 15 further comprising: means for replacing the first model with the new model.
Claim 28
Independent Claim
142 words
An apparatus for tracking a feature appearing in data acquired by a sensor, the apparatus comprising: at a present feature location assessment point, means for preparing a model for predicting a location of the feature in sensor data to be gathered at a future location assessment point, wherein the model is based on feature location data exclusively associated with the present feature location assessment point; means for extracting feature location data from sensor data gathered at the future location assessment point; means for comparing the predicted feature location from the model with the feature location data extracted from the sensor data gathered at the future location assessment point; means for determining when the comparison results in a match; means for deriving sensor conditions corresponding to the match; and means for correcting a sensor orientation based on the conditions corresponding to the match.
Claim 29
Independent Claim
142 words
An apparatus for tracking a feature appearing in data acquired by a sensor, the apparatus comprising: at a present feature location assessment point, means for preparing a model for predicting a location of the feature in sensor data to be gathered at a future location assessment point, wherein the model is based on feature location data exclusively associated with the present feature location assessment point; means for extracting feature location data from sensor data gathered at the future location assessment point; means for comparing the predicted feature location from the model with the feature location data extracted from the sensor data gathered at the future location assessment point; means for determining when the comparison results in a match; means for deriving sensor conditions corresponding to the match; and means for correcting a sensor orientation based on the conditions corresponding to the match.
Claim 30
Dependent Claim
227 words
An article of manufacture for use in a computer for tracking a feature through a succession of sensor data acquired by a sensor comprising a computer usable medium having computer readable program code means for causing the computer to: effect acquisition of a first set of data containing feature information associated with a first feature location assessment point; effect extraction of first feature data from the first set of data; prior to a second feature location assessment point, effect building of a first predictive model based on the extracted first feature data, which first predictive model provides anticipated feature locations in a second set of data to be gathered at the second feature location assessment point; at the second feature location assessment point, effect acquisition of the second set of data using the sensor; effect extraction of feature location data from the second set of sensor data; effect comparison of feature location data extracted from the second set of sensor data with the location data from the first predictive model to provide a comparison result; effect use of the comparison result to correct a sensor angle; and effect use of the feature location data extracted from the second set of sensor data to prepare a second predictive model, independent of any feature location data other than the feature location data from the second set of sensor data.
Claim 31
Dependent Claim
227 words
An article of manufacture for use in a computer for tracking a feature through a succession of sensor data acquired by a sensor comprising a computer usable medium having computer readable program code means for causing the computer to: effect acquisition of a first set of data containing feature information associated with a first feature location assessment point; effect extraction of first feature data from the first set of data; prior to a second feature location assessment point, effect building of a first predictive model based on the extracted first feature data, which first predictive model provides anticipated feature locations in a second set of data to be gathered at the second feature location assessment point; at the second feature location assessment point, effect acquisition of the second set of data using the sensor; effect extraction of feature location data from the second set of sensor data; effect comparison of feature location data extracted from the second set of sensor data with the location data from the first predictive model to provide a comparison result; effect use of the comparison result to correct a sensor angle; and effect use of the feature location data extracted from the second set of sensor data to prepare a second predictive model, independent of any feature location data other than the feature location data from the second set of sensor data.
Claim 32
Dependent Claim
32 words
The article of manufacture described in claim 23 further comprising computer readable program code means for causing the computer to: effect replacement of the first predictive model with the second predictive model.
References Cited (Backward Citations)
US4220967A
Cited
US4700307A
Cited
US5564650A
Cited
US4639774A
Cited
US4707647A
Cited
US5036474A
Cited
US5087916A
Cited
GB2239369A
Cited
US5259040A
Cited
US5166689A
Cited
US5422828A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-08-31 | 2002-03-02 | 2002-09-01 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-08-31 | 2006-03-02 | 2006-09-01 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-08-31 | 2010-03-02 | 2010-09-01 | $7700.00 | Window Closed / Lapsed |