US 11,810,309 B2
Multi-camera system for altitude estimation
Stephen P. DelMarco, North Andover, MA (US); and Victor T. Tom, Bedford, MA (US)
Assigned to BAE Systems Information and Electronic Systems Integration Inc., Nashua, NH (US)
Filed by BAE Systems Information and Electronic Systems Integration Inc., Nashua, NH (US)
Filed on Dec. 22, 2020, as Appl. No. 17/131,219.
Prior Publication US 2022/0198692 A1, Jun. 23, 2022
Int. Cl. G06T 7/55 (2017.01); G06T 7/30 (2017.01); H04N 23/90 (2023.01); G01C 21/04 (2006.01); G01C 5/00 (2006.01); G06T 7/70 (2017.01)
CPC G06T 7/55 (2017.01) [G01C 5/005 (2013.01); G01C 21/04 (2013.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01); H04N 23/90 (2023.01); G06T 2207/10032 (2013.01); G06T 2207/30244 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A computer program product including one or more non-transitory machine-readable mediums encoded with instructions that when executed by one or more processors cause a process to be carried out for altitude estimation of a platform, the process comprising:
generating a first projected ground image based on imagery provided by a first camera of the platform and based on a hypothesized altitude;
obtaining a first reference ground image based on navigation data associated with the platform;
registering the first projected ground image to the first reference ground image;
generating a second projected ground image based on an image provided by a second camera of the platform and based on the hypothesized altitude;
obtaining a second reference ground image based on navigation data associated with the platform;
performing a second registration to register the second projected ground image to the second reference ground image;
generating a match score associated with the first registration and the second registration; and
selecting the hypothesized altitude as the estimated altitude based on the match score.