US 12,136,234 B2
Vision-based navigation system incorporating model-based correspondence determination with high-confidence ambiguity identification
Christopher M. Boggs, Gainesville, VA (US); Robert B. Anderson, Sterling, VA (US); Weston J. Lahr, Sherwood, OR (US); and Richard M. Rademaker, Cedar Rapids, IA (US)
Assigned to Rockwell Collins, Inc., Cedar Rapids, IA (US)
Filed by Rockwell Collins, Inc., Cedar Rapids, IA (US)
Filed on Jan. 11, 2022, as Appl. No. 17/573,283.
Prior Publication US 2023/0222684 A1, Jul. 13, 2023
Int. Cl. G06V 10/24 (2022.01); G06T 7/73 (2017.01); G06V 20/17 (2022.01)
CPC G06T 7/73 (2017.01) [G06V 10/24 (2022.01); G06V 20/17 (2022.01); G06T 2207/10032 (2013.01); G06T 2207/30244 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An aircraft-based vision-based navigation system, comprising:
at least one camera mounted to an aircraft and configured to capture at least one image associated with a target environment and with an image plane;
at least one aircraft-based memory configured to store 1) processor-executable code and 2) at least one constellation database comprising one or more constellation features associated with the target environment, each constellation feature including three-dimensional (3D) feature information relative to a constellation plane;
and
at least one aircraft-based processor in communication with the camera and the memory, the at least one processor configured via the processor-executable code to:
receive the at least one captured image;
detect within the at least one captured image one or more image features, each image feature associated with two-dimensional (2D) feature information relative to the image plane;
align the one or more image features and the one or more constellation features into a common domain based on 1) at least one orthocorrection input and 2) at least one error bound corresponding to the orthocorrection input;
determine, based on the aligned image features and constellation features, at least one set of candidate correspondences, each candidate correspondence comprising:
at least one image feature;
and
at least one constellation feature corresponding to the at least one image feature.