Image processing for pose estimation

Inventors A. Benini, M. J. Rutherford, K. P. Valavanis
Publication date 2020/1/21
Patent office US
Patent number 10540782
Application number 15814232
Description A method for estimating a pose of a first object in relation to a second object, the second object comprising a visual marker comprising a plurality of ellipses comprises capturing a video image of the visual marker with an image capture device on the first object, then pre-processing frames of the video image on a graphics processing unit. The method comprises detecting the visual marker by finding contours in the frames to identify the plurality of ellipses and determining that a pattern of the plurality of ellipses match a known pattern of the visual marker. Then the method comprises obtaining coordinates of two or more of the plurality of ellipses of the visual marker, estimating the pose of the first object in relation to the second object by inputting the coordinates of the plurality of ellipses into a pose estimation algorithm, and filtering results of the pose estimation algorithm.
Link https://patents.google.com/patent/US10540782B2/en
 

Visual landing target

Inventors A. Benini, M. J. Rutherford, K. P. Valavanis
Publication date 2018/5/15
Patent office US
Application number 29585482
Description FIG. 2 is a front elevational view of a second embodiment of a visual landing target thereof; FIG. 3 is a left side elevational view of FIGS. 1 and 2; FIG. 4 is a bottom plan view of FIGS. 1 and 2; FIG. 5 is a top plan view of FIGS. 1 and 2; and, FIG. 6 is a right side elevational view of FIGS. 1 and 2. The broken lines which define the bounds of the claimed design form no part thereof.
Link https://patents.google.com/patent/USD818046S1/en