Patent ID: 7991222
Filing Date: 2011-08-02
Classification: G01C,G01S

Abstract:
1. A method of calculating trajectory, comprising: providing a device wherein the device includes an inertial guidance system and an array of optical detectors; transmitting a first optical pulse so that a portion of the first optical pulse is reflected from the scene as a first reflected pulse; detecting arrival of the first reflected pulse at the array of detectors; forming a first range image from data corresponding to the first reflected pulse arriving at the array of detectors; moving the camera relative to objects in the scene; monitoring angular velocity and acceleration via the inertial guidance system; transmitting a second optical pulse so that a portion of the second optical pulse is reflected from the scene as a second reflected pulse; detecting arrival of the second reflected pulse at the array of detectors; forming a second range image from data corresponding to the second reflected pulse arriving at the array of detectors; determining registration-derived camera motion as a function of registration of the first and second range images; and determining an estimated camera trajectory as a function of the registration-derived camera motion, the angular velocity measured by the inertial guidance system and the acceleration measured by the inertial guidance system using a process that minimizes sensor measurement errors and image alignment errors.