	US 11,967,104 B1
	Method for determining the actual location of an object in a camera field of view
Anthony Ligouri, Bellbrook, OH (US); Hayk Azatyan, Springfield, OH (US); William Erwin, Oakwood, OH (US); Travis Rennich, Oakwood, OH (US); David Shald, Dayton, OH (US); and Adam Warren, Fairborn, OH (US)
Assigned to United States of America as represented by the Secretary of the Air Force, Wright-Patterson AFB, OH (US)
Filed by Government of the United States, as represented by the Secretary of the Air Force, Wright-Patterson AFB, OH (US)
Filed on Nov. 29, 2021, as Appl. No. 17/536,176.
Claims priority of provisional application 63/129,953, filed on Dec. 23, 2020.
Int. Cl. G06T 7/73 (2017.01); G06V 20/17 (2022.01); H04N 7/18 (2006.01)

CPC G06T 7/73 (2017.01) [G06V 20/17 (2022.01); H04N 7/183 (2013.01)]

13 Claims

1. A method of determining the location of an object in a camera field of view, wherein said camera is located on a platform, said method comprising the steps of:

using a camera having a lens to bring an object located on an object plane into focus with said camera, said camera having a focal plane, wherein the distance between the camera focal plane and the lens is designated F;

determining, h, the height of the camera lens above the object plane;

determining the center Line of Sight, the target Line of Sight, and the maximum Line of Sight;

determining y, the distance between the endpoint of the center Line of Sight and the target Line of Sight on the focal plane;

determining the angle, θ, between the center Line of Sight and the maximum Line of Sight;

calculating x, wherein:

x=h*tan(tan⁻¹(y/F)+θ);

determining w, the distance between the endpoint of the center Line of Sight and the endpoint of the target Line of Sight on the focal plane;

calculating z, wherein:

z=x*tan(tan⁻¹(w/F));

calculating the range:

range=square root of (x²+z²)

calculating the bearing ω, which is the angle from the center Line of Sight to the target Line of Sight.