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1. 发明授权

US08860933B2 Multi-axis atomic inertial sensor system 有权
标题翻译：多轴原子惯性传感器系统
公开(公告)号：US08860933B2
公开(公告)日：2014-10-14
申请号：US13661809
申请日：2012-10-26
申请人： Honeywell International Inc.
发明人： Robert Compton , Benjamin Mohr , Nicholas C. Cirillo, Jr.
IPC分类号： G01N21/00 , G01N21/64
CPC分类号： G01N21/64 , G01C19/58 , G01C21/16 , G01N21/00 , G01P15/08 , G01P15/18 , G01P21/00
摘要： An inertial sensing system comprises a first multi-axis atomic inertial sensor, a second multi-axis atomic inertial sensor, and an optical multiplexer optically coupled to the first and second multi-axis atomic inertial sensors. The optical multiplexer is configured to sequentially direct light along different axes of the first and second multi-axis atomic inertial sensors. A plurality of micro-electrical-mechanical systems (MEMS) inertial sensors is in operative communication with the first and second multi-axis atomic inertial sensors. Output signals from the first and second multi-axis atomic inertial sensors aid in correcting errors produced by the MEMS inertial sensors by sequentially updating output signals from the MEMS inertial sensors.
摘要翻译：惯性感测系统包括第一多轴原子惯性传感器，第二多轴原子惯性传感器和与第一和第二多轴原子惯性传感器光耦合的光学多路复用器。光复用器被配置为顺序地引导沿着第一和第二多轴原子惯性传感器的不同轴的光。多个微机电系统（MEMS）惯性传感器与第一和第二多轴原子惯性传感器操作性地通信。来自第一和第二多轴原子惯性传感器的输出信号有助于通过依次更新来自MEMS惯性传感器的输出信号来校正由MEMS惯性传感器产生的误差。

2. 发明授权

US11650057B2 Edge detection via window grid normalization 有权
公开(公告)号：US11650057B2
公开(公告)日：2023-05-16
申请号：US16855518
申请日：2020-04-22
申请人： Honeywell International Inc.
发明人： Justin Joseph Syrstad , Benjamin Mohr , Kevin Sweeney
IPC分类号： G01S19/48 , G01C21/16 , G01S19/40 , G01S19/47 , F01D9/06 , F01D5/18 , G06T7/13
CPC分类号： G01C21/165 , F01D5/186 , F01D9/065 , G01S19/40 , G01S19/47 , G01S19/48 , G06T7/13 , F05D2260/20 , F05D2260/204
摘要： In an embodiment, a method is provided. The method comprises extracting, from an image acquired with a first image-capture device, an image portion having dimensions of an extent of a second image-capture device. The method further comprises normalizing a parameter of the image portion. The method further comprises determining at least one edge of at least one object in the image portion; and generating, in response to the determined at least one edge, an edge map corresponding to the image portion.

3. 发明授权

US10767996B2 System and methods for reducing the map search space requirements in a vision-inertial navigation system 有权
公开(公告)号：US10767996B2
公开(公告)日：2020-09-08
申请号：US15974629
申请日：2018-05-08
申请人： Honeywell International Inc.
发明人： Benjamin Mohr , Vijay Venkataraman
IPC分类号： G01C21/16 , G06K9/62 , G06N3/08 , G06T17/05 , G06T7/11
摘要： A system and methods for reducing map search area requirements in a navigation system are disclosed. The system includes a vehicle, an imaging device onboard the vehicle configured to generate an image scan, receive at least one image responsive to the image scan, and a processing device configured to receive and store the at least one image. The system further includes a navigation system onboard the vehicle configured to store an image of a map, and a learning network associated with the navigation system and configured to divide the image of the map into a plurality of map subsections, recognize each one of a plurality of images of different landmarks on the map, generate a set of classifications for each map subsection, and associate each classification of the set of classifications with at least one landmark of the different landmarks on the map.

4. 发明授权

US10607364B2 Position and attitude determination method and system using edge images 有权
公开(公告)号：US10607364B2
公开(公告)日：2020-03-31
申请号：US15799444
申请日：2017-10-31
申请人： Honeywell International Inc.
发明人： Michael Ray Elgersma , Benjamin Mohr
IPC分类号： G06T7/70 , G01B11/00 , G01C11/10 , G01C21/28 , G05D1/10 , G06K9/62 , G05D1/08 , G06T7/593 , G06T7/73 , G06T7/579
摘要： A method of determining at least one of position and attitude in relation to an object is provided. The method includes capturing at least two images of the object with at least one camera. Each image is captured at a different position in relation to the object. The images are converted to edge images. The edge images of the object are converted into three-dimensional edge images of the object using positions of where the at least two images were captured. Overlap edge pixels in the at least two three-dimensional edge images are located to identify overlap points. A three dimensional edge candidate point image of the identified overlapped points in an evidence grid is built. The three dimensional candidate edge image in the evidence grid is compared with a model of the object to determine at least one of a then current position and attitude in relation to the object.

5. 发明申请

US20230113059A1 EDGE DETECTION VIA WINDOW GRID NORMALIZATION 有权
公开(公告)号：US20230113059A1
公开(公告)日：2023-04-13
申请号：US16855518
申请日：2020-04-22
申请人： Honeywell International Inc.
发明人： Justin Joseph Syrstad , Benjamin Mohr , Kevin Sweeney
IPC分类号： G01C21/00 , G06T7/13 , G06T5/00
摘要： In an embodiment, a method is provided. The method comprises extracting, from an image acquired with a first image-capture device, an image portion having dimensions of an extent of a second image-capture device. The method further comprises normalizing a parameter of the image portion. The method further comprises determining at least one edge of at least one object in the image portion; and generating, in response to the determined at least one edge, an edge map corresponding to the image portion.

6. 发明授权

US10731989B2 System and methods for reducing the map search space requirements in a vision-inertial navigation system 有权
公开(公告)号：US10731989B2
公开(公告)日：2020-08-04
申请号：US15974629
申请日：2018-05-08
申请人： Honeywell International Inc.
发明人： Benjamin Mohr , Vijay Venkataraman
IPC分类号： G01C21/16 , G06K9/62 , G06N3/08 , G06T17/05 , G06T7/11
摘要： A system and methods for reducing map search area requirements in a navigation system are disclosed. The system includes a vehicle, an imaging device onboard the vehicle configured to generate an image scan, receive at least one image responsive to the image scan, and a processing device configured to receive and store the at least one image. The system further includes a navigation system onboard the vehicle configured to store an image of a map, and a learning network associated with the navigation system and configured to divide the image of the map into a plurality of map subsections, recognize each one of a plurality of images of different landmarks on the map, generate a set of classifications for each map subsection, and associate each classification of the set of classifications with at least one landmark of the different landmarks on the map.

7. 发明授权

US10540785B2 Compressing data points into polygons 有权
公开(公告)号：US10540785B2
公开(公告)日：2020-01-21
申请号：US15993294
申请日：2018-05-30
申请人： Honeywell International Inc.
发明人： Michael Ray Elgersma , Benjamin Mohr
IPC分类号： G06T9/00 , G06T15/08
摘要： A method for compressing three-dimensional data points is disclosed. The method includes measuring a plurality of three-dimensional data points using one or more sensors communicatively coupled to the computing device, where each three-dimensional data point represents a point in a three-dimensional environment. The method also includes dividing the three-dimensional environment into a plurality of spatial cubes, wherein each three-dimensional data point is mapped to one spatial cube. The method also includes, for each spatial cube, converting the three-dimensional data points in the respective spatial cube to a two-dimensional plane based on a number of three-dimensional data points in the respective spatial cube. The method also includes, for each two-dimensional plane, determining polygon vertices of a planar polygon at points where an edge of an associated spatial cube intersects the respective two-dimensional plane. The method also includes sending the polygon vertices of each planar polygon to a ground station.

8. 发明申请

US20190371007A1 COMPRESSING DATA POINTS INTO POLYGONS 审中-公开
公开(公告)号：US20190371007A1
公开(公告)日：2019-12-05
申请号：US15993294
申请日：2018-05-30
申请人： Honeywell International Inc.
发明人： Michael Ray Elgersma , Benjamin Mohr
IPC分类号： G06T9/00 , G06T15/08
摘要： A method for compressing three-dimensional data points is disclosed. The method includes measuring a plurality of three-dimensional data points using one or more sensors communicatively coupled to the computing device, where each three-dimensional data point represents a point in a three-dimensional environment. The method also includes dividing the three-dimensional environment into a plurality of spatial cubes, wherein each three-dimensional data point is mapped to one spatial cube. The method also includes, for each spatial cube, converting the three-dimensional data points in the respective spatial cube to a two-dimensional plane based on a number of three-dimensional data points in the respective spatial cube. The method also includes, for each two-dimensional plane, determining polygon vertices of a planar polygon at points where an edge of an associated spatial cube intersects the respective two-dimensional plane. The method also includes sending the polygon vertices of each planar polygon to a ground station.

9. 发明授权

US10311752B2 Compressed edge map representation for image aided navigation 有权
公开(公告)号：US10311752B2
公开(公告)日：2019-06-04
申请号：US15424188
申请日：2017-02-03
申请人： Honeywell International Inc.
发明人： Michael Ray Elgersma , Benjamin Mohr
IPC分类号： G06K9/48 , G09B23/04 , G06F16/50 , G06T17/00 , G01C21/00 , G06F17/30 , G06T9/20 , G06F16/29 , G06T7/13
摘要： A method of generating a map for image aided navigation comprises detecting one or more edges in one or more terrain images, and obtaining a compressed edge representation of the one or more edges. The compressed edge representation is obtained by a method comprising fitting a geometric form or other mathematical model to the one or more edges, calculating one or more coefficients based on the fitted geometric form or other mathematical model, and storing the one or more coefficients in a database for use in generating the map for image aided navigation.

10. 发明申请

US20190130595A1 POSITION AND ATTITUDE DETERMINATION METHOD AND SYSTEM USING EDGE IMAGES 审中-公开
公开(公告)号：US20190130595A1
公开(公告)日：2019-05-02
申请号：US15799444
申请日：2017-10-31
申请人： Honeywell International Inc.
发明人： Michael Ray Elgersma , Benjamin Mohr
IPC分类号： G06T7/70 , G01B11/00 , G01C11/10 , G01C21/28 , G05D1/08 , G05D1/10 , G06K9/62
摘要： A method of determining at least one of position and attitude in relation to an object is provided. The method includes capturing at least two images of the object with at least one camera. Each image is captured at a different position in relation to the object. The images are converted to edge images. The edge images of the object are converted into three-dimensional edge images of the object using positions of where the at least two images were captured. Overlap edge pixels in the at least two three-dimensional edge images are located to identify overlap points. A three dimensional edge candidate point image of the identified overlapped points in an evidence grid is built. The three dimensional candidate edge image in the evidence grid is compared with a model of the object to determine at least one of a then current position and attitude in relation to the object.

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