US 12,249,093 B2
System and method for geo-referencing object on floor
Brian Earp, Merrimack, NH (US); and Jan-Phillipp Mohr, Hamburg (DE)
Filed by DARVIS INC, San Francisco, CA (US)
Filed on Feb. 25, 2022, as Appl. No. 17/681,291.
Claims priority of provisional application 63/154,141, filed on Feb. 26, 2021.
Prior Publication US 2022/0277474 A1, Sep. 1, 2022
Int. Cl. G06T 7/00 (2017.01); G06T 7/246 (2017.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/73 (2017.01) [G06T 7/246 (2017.01); G06T 7/60 (2013.01); G06T 2207/30232 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for geo-referencing an object on a floor, the method comprising:
receiving a camera frame providing view of a section of the floor;
receiving a detailed floor plan of the floor;
selecting a first area from the section of the floor in which the object needs to be tracked;
defining a plurality of reference points, wherein
at least one of the plurality of reference points is close to a mid-point along one of corresponding axes of the first area, and
the mid-point is chosen based on a correlation between pixel distance and distance on the floor plan;
mapping the plurality of reference points to the floor plan;
processing the camera frame to determine if the object has been placed in the first area; and
geo-referencing the one or more object in the floor plan if the object is determined to be placed in the first area.