US 11,875,533 B2
Pose estimation and applications using computer imaging
Justin Creaby, Westminster, CO (US); and Brandon Sights, San Marcos, CA (US)
Assigned to Trimble Inc., Westminster, CO (US)
Filed by Trimble Inc., Westminster, CO (US)
Filed on Dec. 27, 2022, as Appl. No. 18/089,118.
Application 18/089,118 is a continuation of application No. 16/731,856, filed on Dec. 31, 2019, granted, now 11,568,563.
Prior Publication US 2023/0133319 A1, May 4, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); G06T 7/80 (2017.01); B60R 1/00 (2022.01)
CPC G06T 7/74 (2017.01) [G06T 7/80 (2017.01); B60R 2300/402 (2013.01); B60R 2300/808 (2013.01)] 20 Claims
OG exemplary drawing
 
15. A system for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site, the system comprising:
an image capturing device mounted on the primary component;
memory configured to store data;
a control interface for displaying information to a user; and
a pose estimation control module formed of one or more processors coupled to the image capturing device, the memory, and the control interface, the pose estimation control module being configured to:
receive, by the pose estimation control module from an image capturing device, digital image data representing one or more features of the secondary part;
perform, by the pose estimation control module, image analysis on the digital image data to identify a characteristic of the secondary part and positions of the one or more features of the secondary part;
identify, by the pose estimation control module, an angle of at least a portion of the secondary part based on the characteristic of the secondary part and the positions of the one or more features of the secondary part;
calculate, by the pose estimation control module, a current position of the secondary part based on the angle of the at least a portion of the secondary part;
calculate, by the pose estimation control module, a positional difference between a correct position at the project site for the secondary part and the current position of the secondary part at the project site, wherein the positional difference is a vector;
determine, by the pose estimation control module, that the positional difference is greater than a threshold; and thereafter
initiate, by the pose estimation control module, a change in position so that the secondary part is positioned on the correct position.