US 12,254,646 B2
System for refining a six degrees of freedom pose estimate of a target object
William K Leach, Castro Valley, CA (US); Leon Nguyen, Santa Ana, CA (US); Fan Hung, Woodland Hills, CA (US); Yang Chen, Westlake Village, CA (US); Deepak Khosla, Camarillo, CA (US); and Haden H. Smith, Topanga, CA (US)
Assigned to The Boeing Company, Arlington, VA (US)
Filed by The Boeing Company, Chicago, IL (US)
Filed on Dec. 20, 2021, as Appl. No. 17/556,157.
Claims priority of provisional application 63/133,718, filed on Jan. 4, 2021.
Prior Publication US 2022/0215571 A1, Jul. 7, 2022
Int. Cl. G06T 7/70 (2017.01); B64D 39/00 (2006.01); G06T 7/30 (2017.01); G06V 10/40 (2022.01)
CPC G06T 7/70 (2017.01) [B64D 39/00 (2013.01); G06T 7/30 (2017.01); G06V 10/40 (2022.01); G06T 2207/20084 (2013.01); G06T 2207/30248 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system (10) for refining a six degrees of freedom pose estimate (8) of a target object (12) based on a one-dimensional measurement, the system (10) comprising:
a camera (42) configured to capture image data of the target object (12);
a range-sensing device (44) configured to determine an actual distance (d) measured between the range-sensing device (44) and an actual point of intersection (W′), wherein the range-sensing device (44) projects a line-of-sight (L) that intersects with the target object (12) at the actual point of intersection (W′);
one or more processors (1032) in electronic communication with the camera (42) and the range-sensing device (44); and
a memory (1034) coupled to the one or more processors (1032), the memory (1034) storing data into one or more databases (1044) and program code that, when executed by the one or more processors (1032), causes the system (10) to:
predict (206), based on the image data of the target object (12), the six degrees of freedom pose estimate (8) of the target object (12);
determine (208) an estimated point of intersection (W) representing where the line-of-sight (L) intersects with the six degrees of freedom pose estimate (8) of the target object (12);
determine (210) an estimated distance (D) measured between the range-sensing device (44) and the estimated point of intersection (W);
calculate (212) an absolute error associated with the six degrees of freedom pose estimate (8) of the target object (12) based on a difference between the actual distance (d) and the estimated distance (D); and
calculate (216) a revised six degrees of freedom pose estimate of the target object (12) based on at least the absolute error.